CN111839340A - Obstacle crossing equipment for high-altitude operation robot - Google Patents
Obstacle crossing equipment for high-altitude operation robot Download PDFInfo
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- CN111839340A CN111839340A CN202010813590.5A CN202010813590A CN111839340A CN 111839340 A CN111839340 A CN 111839340A CN 202010813590 A CN202010813590 A CN 202010813590A CN 111839340 A CN111839340 A CN 111839340A
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- supporting device
- supporting
- connecting rod
- motor
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 32
- 238000004140 cleaning Methods 0.000 abstract description 18
- 239000011521 glass Substances 0.000 abstract description 13
- 238000010248 power generation Methods 0.000 abstract description 12
- 230000004888 barrier function Effects 0.000 abstract description 8
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005192 partition Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B10/00—Integration of renewable energy sources in buildings
- Y02B10/10—Photovoltaic [PV]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of high-altitude operation equipment, and provides equipment for a high-altitude operation robot to cross an obstacle, which comprises an equipment body, wherein the equipment body comprises a first supporting device, the first supporting device is connected with a connecting rod, the end part of the connecting rod far away from the first supporting device is connected with a second supporting device, the first supporting device is respectively connected with a driving device and a first adsorption device, and the second supporting device is connected with a second adsorption device; by adopting the technical scheme, the first adsorption device is adsorbed on the surfaces of the high-rise building, the glass curtain wall and the photovoltaic power generation panel, and the second adsorption device is adsorbed on the cleaning robot, so that the cleaning robot can cross the barriers on the surfaces of the high-rise building, the glass curtain wall and the photovoltaic power generation panel through the cooperation of the first supporting device, the connecting rod and the second supporting device.
Description
Technical Field
The invention relates to the technical field of high-altitude operation equipment, in particular to equipment for a high-altitude operation robot to cross an obstacle.
Background
With the development of modern building technology, aesthetic buildings such as high-rise buildings and glass curtain wall buildings become common types in cities. In addition, with the enhancement of environmental awareness, photovoltaic power generation panels are also widely used. High-rise buildings, glass curtain walls and photovoltaic power generation panels which are contacted by dust, rain and snow need to be cleaned.
In the prior art, high-rise buildings, glass curtain walls and photovoltaic power generation panels need to be cleaned manually, so that the working efficiency is not only required to be improved, but also potential safety hazards exist for cleaning personnel. Although cleaning robots exist in the prior art, most of the cleaning robots cannot cross obstacles such as high-rise buildings, glass curtain walls, barriers on the surfaces of photovoltaic power generation panels and the like. Few cleaning robots capable of crossing the barriers only depend on multiple feet to alternately crawl and can only cross barriers lower than three centimeters.
How to effectively solve the technical problems is a problem to be solved by the technical personnel in the field at present.
Disclosure of Invention
To solve the above technical problem or to at least partially solve the above technical problem, the present invention provides an apparatus for a high-altitude operation robot to cross an obstacle.
The equipment for the high-altitude operation robot to cross the obstacle comprises an equipment body, wherein the equipment body comprises a first supporting device, a connecting rod is connected onto the first supporting device, and a second supporting device is connected to the end, far away from the first supporting device, of the connecting rod;
the first supporting device is connected with a driving device and a first adsorption device respectively, and the second supporting device is connected with a second adsorption device.
Optionally, a first telescopic part is arranged on the first supporting device;
a first rotating member for horizontally rotating the first supporting device is arranged between the first telescopic part and the first absorbing device, and the first rotating member is connected to the driving device.
Optionally, a second telescopic part is arranged on the second supporting device;
and a second rotating piece for enabling the second adsorption device to horizontally rotate is arranged between the second telescopic part and the second adsorption device.
Optionally, a first connecting piece is arranged between the first supporting device and the connecting rod;
the first connecting piece is connected with a first motor.
Optionally, a second connecting piece is arranged between the second supporting device and the connecting rod;
and the second connecting piece is connected with a second motor.
Optionally, the first suction device includes a first suction motor, the first suction motor is electrically connected to a first suction cup, and the first suction cup is provided with a first deflation valve.
Optionally, the second adsorption device comprises a second air exhaust motor, the second air exhaust motor is electrically connected with a second suction cup, and a second air release valve is arranged on the second suction cup.
Optionally, the first supporting device is provided with a control panel for enabling the device body to realize automatic operation.
Optionally, a height sensor electrically connected to the control board is disposed on the first supporting device.
Optionally, the first supporting device is connected with at least one connecting rod;
each connecting rod is connected with one first motor, one second supporting device and one second motor respectively.
According to the invention, the first adsorption device is adsorbed on the surfaces of the high-rise building, the glass curtain wall and the photovoltaic power generation panel, the second adsorption device is adsorbed on the cleaning robot, and the cleaning robot can cross the barriers on the surfaces of the high-rise building, the glass curtain wall and the photovoltaic power generation panel through the cooperation of the first support device, the connecting rod and the second support device.
Drawings
FIG. 1 is a schematic structural diagram of an apparatus body provided by the present invention;
reference numerals:
1. an apparatus body;
2. a first support device; 21. a first telescopic part; 22. a first motor;
3. a drive device;
4. a first adsorption device; 41. a first rotating member; 42. a first pumping motor; 43. a first suction cup; 44. a height sensor;
5. a second adsorption device; 51. a second suction cup; 52. a second rotating member;
6. a second support device; 61. a second motor; 62. a second telescopic part;
7. a connecting rod.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The following examples are intended to illustrate the invention, but not to limit it. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention. Unless otherwise indicated, the technical means used in the examples are conventional means or prior art known to those skilled in the art.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "connected" and "coupled" are used broadly and may include, for example, a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
According to one embodiment of the invention, as shown in fig. 1, the equipment for crossing obstacles by the high-altitude operation robot comprises an equipment body 1, wherein the equipment body 1 comprises a first supporting device 2, a connecting rod 7 is connected to the first supporting device 2, and a second supporting device 6 is connected to the end part, far away from the first supporting device 2, of the connecting rod 7;
the first supporting device 2 is connected with a driving device 3 and a first adsorption device 4 respectively, and the second supporting device 6 is connected with a second adsorption device 5.
In this embodiment, the first adsorption device 4 is adsorbed on the surface of a high-rise building, a glass curtain wall and a photovoltaic power generation panel, the second adsorption device 5 is adsorbed on the cleaning robot, and the cleaning robot spans across the barriers on the surfaces of the high-rise building, the glass curtain wall and the photovoltaic power generation panel through the cooperation of the first supporting device 2, the connecting rod 7 and the second supporting device 6.
In another embodiment of the present invention, as shown in fig. 1, a first telescopic portion 21 is provided on the first supporting device 2;
a first rotating member 41 for horizontally rotating the first support device 2 is provided between the first expansion/contraction part 21 and the first suction device 4, and the first rotating member 41 is connected to the driving device 3.
In this embodiment, the first telescopic part 21 can be contracted, so that the first supporting device 2 can be changed in height. The first telescopic part 21 may be a telescopic device or a telescopic member in the prior art.
The first adsorption device 4 is used for adsorbing the surfaces of high-rise buildings, glass curtain walls and photovoltaic power generation panels.
The first rotating member 41 is horizontally rotatable, and can adjust the horizontal position of the first suction device 4 on the one hand and the horizontal position of the first supporting device 2 on the other hand, the horizontal position being a displacement state of the first suction device 4 and the first supporting device 2 when the first suction device 4 is in a horizontal state. The first rotating member 41 may be a rotating device or a rotating member in the related art. The driving device 3 drives the first rotating member 41 to rotate, and the driving device 3 is a rotating motor.
In another embodiment of the present invention, as shown in fig. 1, a second expansion part 62 is provided on the second supporting device 6;
a second rotating member 52 for horizontally rotating the second suction device 5 is provided between the second expansion/contraction part 62 and the second suction device 5.
In this embodiment, the second telescopic part 62 can be contracted to change the height of the second supporting device 6. The second telescopic part 62 may be a telescopic device or a telescopic member in the prior art.
The second expansion part 62 may not be provided on the second support device 6 according to the actual use requirement. When the second expansion part 62 is not arranged on the second supporting device 6, the height of the first supporting device 2 is adjusted through the first expansion part 21 according to the heights of the cleaning robot and the barrier, so that the second adsorption device 5 on the second supporting device 6 is adsorbed on the cleaning robot and the cleaning robot crosses the barrier.
The second rotating member 52 can rotate horizontally, which can adjust the horizontal position of the second adsorption device 5 on the one hand and the horizontal position of the second support device 6 on the other hand, wherein the horizontal position refers to the displacement state of the second adsorption device 5 and the second support device 6 when the second adsorption device 5 is in the horizontal state. The second rotating member 52 may be a rotating device or a rotating member such as a rotating slip ring in the related art.
According to actual use requirements, the second rotating member 52 may also be provided with a driving device 3, and the driving device 3 drives the second rotating member 52 to rotate.
The second adsorption device 5 is used for adsorbing the cleaning robot.
In another embodiment of the present invention, as shown in fig. 1, a first connecting member is disposed between the first supporting device 2 and the connecting rod 7;
the first connecting member is connected to a first motor 22.
In this embodiment, the first motor 22 drives the first link to displace, thereby displacing the connecting rod 7.
The first connecting member may be a connecting device or a connecting member in the prior art, and the first motor 22 may be a torque motor or a steering engine in the prior art.
In another embodiment of the present invention, as shown in fig. 1, a second connecting member is disposed between the second supporting device 6 and the connecting rod 7;
a second motor 61 is connected to the second connecting member.
In this embodiment, the second motor 61 drives the second link to displace, thereby displacing the connecting rod 7 and the second support means 6.
The second connecting member may be a connecting device or a connecting member in the prior art, and the second motor 61 may be a torque motor or a steering engine in the prior art.
In another embodiment of the present invention, as shown in fig. 1, the first suction device 4 includes a first suction motor 42, the first suction motor 42 is electrically connected to a first suction cup 43, and the first suction cup 43 is provided with a first purge valve.
In this embodiment, the first suction motor 42 sucks air into the first suction cup 43, so that the first suction cup 43 is firmly attached to the surface of a high-rise building, a glass curtain wall, or a photovoltaic panel.
When the adsorption step is completed, the first air release valve is used to release air so that the suction force of the first suction cup 43 is lost.
In another embodiment of the present invention, as shown in fig. 1, the second adsorption device 5 includes a second suction motor, the second suction motor is electrically connected to a second suction cup 51, and the second suction cup 51 is provided with a second deflation valve.
In this embodiment, the second suction motor sucks the second suction pad 51 to firmly adhere the second suction pad 51 to the surface of the cleaning robot.
When the adsorption step is completed, the second air release valve is used to release air so that the suction force of the second suction cup 51 is lost.
In another embodiment of the present invention, as shown in fig. 1, a control panel for automating the apparatus body 1 is provided on the first supporting device 2.
In the present embodiment, the control board performs wireless control on the first supporting device 2, the second supporting device 6, the driving device 3, the first suction device 4, the second suction device 5, and other devices and components on the apparatus body 1, respectively, and the control program is controlled by using a control program or control software in the prior art. The control program or control software is controlled remotely through a controller.
In another embodiment of the present invention, as shown in fig. 1, the first supporting device 2 is provided with a height sensor 44 electrically connected to the control board.
In the present embodiment, the height sensor 44 measures the height of a high-rise building, a glass curtain wall, a partition of the surface of the photovoltaic power generation panel, or other obstacles, and adjusts the height of the first telescopic part 21 according to the height of the partition or other obstacles, so that the height of the second adsorption device 5 lifted up after adsorbing the cleaning robot can cross the partition or other obstacles.
According to another embodiment of the present invention, as shown in fig. 1, at least one connecting rod 7 is connected to the first supporting device 2;
each connecting rod 7 is connected to a first motor 22, a second supporting device 6 and a second motor 61, respectively.
In this embodiment, the first supporting device 2 is connected to the plurality of first motors 22, the second supporting device 6 and the second motor 61, respectively, so that the adsorption balance of the second supporting device 6 on the cleaning robot can be further realized, the inclination of the cleaning robot due to gravity imbalance generated in the displacement process can be prevented, and the inclination of the apparatus body 1 due to gravity imbalance generated in the displacement process can be prevented.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments. Those of ordinary skill in the art will understand that: it is to be understood that modifications may be made to the above-described arrangements in the embodiments or equivalents may be substituted for some of the features of the embodiments without departing from the spirit of the present invention.
Claims (10)
1. A device for a high-altitude operation robot to cross an obstacle comprises a device body and is characterized in that,
the equipment body comprises a first supporting device, a connecting rod is connected to the first supporting device, and a second supporting device is connected to the end, far away from the first supporting device, of the connecting rod;
the first supporting device is connected with a driving device and a first adsorption device respectively, and the second supporting device is connected with a second adsorption device.
2. The obstacle crossing device for a high altitude work robot according to claim 1,
the first support device is provided with a first telescopic part;
a first rotating member for horizontally rotating the first supporting device is arranged between the first telescopic part and the first absorbing device, and the first rotating member is connected to the driving device.
3. The obstacle crossing device for a high altitude work robot according to claim 1,
a second telescopic part is arranged on the second supporting device;
and a second rotating piece for enabling the second adsorption device to horizontally rotate is arranged between the second telescopic part and the second adsorption device.
4. The obstacle crossing device for a high altitude work robot according to claim 2,
a first connecting piece is arranged between the first supporting device and the connecting rod;
the first connecting piece is connected with a first motor.
5. The obstacle crossing device for a high altitude work robot according to claim 3,
a second connecting piece is arranged between the second supporting device and the connecting rod;
and the second connecting piece is connected with a second motor.
6. The obstacle crossing device for the high altitude operation robot according to claim 1, wherein the first suction means comprises a first suction motor electrically connected to a first suction cup, the first suction cup having a first air release valve disposed thereon.
7. The obstacle crossing device for the high-altitude operation robot as claimed in claim 1, wherein the second suction device comprises a second suction motor, the second suction motor is electrically connected with a second suction cup, and a second deflation valve is arranged on the second suction cup.
8. The obstacle crossing device for the high-altitude operation robot as claimed in claim 1, wherein a control panel for automating the operation of the device body is provided on the first supporting means.
9. The obstacle crossing apparatus for a high altitude work robot according to claim 8 wherein the first supporting means is provided with a height sensor electrically connected to the control board.
10. The obstacle crossing device for a high altitude work robot according to claim 1,
the first supporting device is connected with at least one connecting rod;
each connecting rod is connected with one first motor, one second supporting device and one second motor respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010813590.5A CN111839340A (en) | 2020-08-13 | 2020-08-13 | Obstacle crossing equipment for high-altitude operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010813590.5A CN111839340A (en) | 2020-08-13 | 2020-08-13 | Obstacle crossing equipment for high-altitude operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111839340A true CN111839340A (en) | 2020-10-30 |
Family
ID=72968639
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010813590.5A Pending CN111839340A (en) | 2020-08-13 | 2020-08-13 | Obstacle crossing equipment for high-altitude operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111839340A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | Modularized bionic wall climbing robot |
| CN102390453A (en) * | 2011-10-21 | 2012-03-28 | 南京理工大学 | Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof |
| CN106073618A (en) * | 2016-06-16 | 2016-11-09 | 中山国鳌智能科技有限公司 | Intelligence climbing automated cleaning machine people |
| CN206166840U (en) * | 2016-05-22 | 2017-05-17 | 武汉市享昱科技有限公司 | Glass curtain wall cleaning machines people that can hinder more |
| KR20170121768A (en) * | 2016-04-25 | 2017-11-03 | 금오공과대학교 산학협력단 | Wall climbing robot with multi joint legs to handle obstacles |
| CN208631577U (en) * | 2018-08-08 | 2019-03-22 | 宁夏瑞翼天成自动化科技有限公司 | A kind of device shifted between the cleaning equipment array for photovoltaic power station component |
| CN110482150A (en) * | 2019-05-06 | 2019-11-22 | 安徽洁效新能源科技有限公司 | A kind of photovoltaic module cleaning robot across row's handling system |
| CN110860544A (en) * | 2019-11-22 | 2020-03-06 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to biped |
| CN212755463U (en) * | 2020-08-13 | 2021-03-23 | 北京黑蚁兄弟科技有限公司 | Obstacle crossing equipment for high-altitude operation robot |
-
2020
- 2020-08-13 CN CN202010813590.5A patent/CN111839340A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | Modularized bionic wall climbing robot |
| CN102390453A (en) * | 2011-10-21 | 2012-03-28 | 南京理工大学 | Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof |
| KR20170121768A (en) * | 2016-04-25 | 2017-11-03 | 금오공과대학교 산학협력단 | Wall climbing robot with multi joint legs to handle obstacles |
| CN206166840U (en) * | 2016-05-22 | 2017-05-17 | 武汉市享昱科技有限公司 | Glass curtain wall cleaning machines people that can hinder more |
| CN106073618A (en) * | 2016-06-16 | 2016-11-09 | 中山国鳌智能科技有限公司 | Intelligence climbing automated cleaning machine people |
| CN208631577U (en) * | 2018-08-08 | 2019-03-22 | 宁夏瑞翼天成自动化科技有限公司 | A kind of device shifted between the cleaning equipment array for photovoltaic power station component |
| CN110482150A (en) * | 2019-05-06 | 2019-11-22 | 安徽洁效新能源科技有限公司 | A kind of photovoltaic module cleaning robot across row's handling system |
| CN110860544A (en) * | 2019-11-22 | 2020-03-06 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to biped |
| CN212755463U (en) * | 2020-08-13 | 2021-03-23 | 北京黑蚁兄弟科技有限公司 | Obstacle crossing equipment for high-altitude operation robot |
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