CN112842145A - Prevent touching robot of sweeping floor that turns round automatically - Google Patents
Prevent touching robot of sweeping floor that turns round automatically Download PDFInfo
- Publication number
- CN112842145A CN112842145A CN202110012899.9A CN202110012899A CN112842145A CN 112842145 A CN112842145 A CN 112842145A CN 202110012899 A CN202110012899 A CN 202110012899A CN 112842145 A CN112842145 A CN 112842145A
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- China
- Prior art keywords
- fixedly connected
- sliding
- connecting shaft
- sweeping robot
- touch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4025—Means for emptying
-
- 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
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to the technical field of robots and discloses a touch-proof automatic turning floor sweeping robot which comprises a device, a cleaning device and a sealing cylinder, wherein a touch head is fixedly connected above a device main body, a moving column and a first spring are fixedly connected, an air bag is arranged below the moving column, the upper end of the air guide tube is fixedly connected with the sealing cylinder, a movable frame is arranged inside the device main body, the movable frame is movably connected with a connecting shaft, the connecting shaft is rotatably connected with a rotating shaft, and the connecting shaft is fixedly connected with a sliding wheel. According to the invention, when an obstacle is touched, the piston sheet drives the movable rod to move, the resistance value of the sliding variable resistance sheet in the access circuit is changed when the movable rod moves, the movable frame drives the connecting shaft to rotate around the rotating shaft, the connecting shaft can drive the sliding wheel to rotate, so that the sliding wheel changes the action path, the sliding wheel can drive the device to avoid the obstacle to continuously move, and therefore, the effect of avoiding the obstacle by automatically turning to enable the sweeping robot to continuously move when the obstacle is touched is achieved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a floor sweeping robot capable of preventing a user from touching and turning automatically.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally adopt brush to sweep and the vacuum mode, inhale earlier ground debris and get into the rubbish receiver of self to accomplish the function of ground clearance, generally speaking, will accomplish the robot that cleans, the dust absorption, wipe ground work, also unified the returning to the robot of sweeping the floor, the robot of sweeping the floor that uses at present family has a great deal of problem: the floor sweeping robot can be forcibly stopped and cannot move when the floor sweeping robot touches a wall surface or a desk or a chair, and after the floor sweeping robot is stopped, internal rotating wheels can idle, so that a motor is burnt out; the floor sweeping robot can generate a lot of dust when sweeping, the air quality of a family is influenced, and in order to solve the problems, the floor sweeping robot capable of preventing the floor sweeping robot from touching and turning automatically is provided.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a floor sweeping robot capable of preventing the floor sweeping robot from automatically turning when touched, which has the advantages that the floor sweeping robot can continuously move when touched, dust is absorbed by an air bag when the floor sweeping robot is used for sweeping, the collected dust is discharged when the robot stops working, and the like, and the problems that the floor sweeping robot can be forcibly stopped when the floor sweeping robot touches a wall surface or a desk and a chair and can not move, and an internal rotating wheel idles after the floor sweeping robot stops, so that the motor is burnt out are solved; the sweeping robot can generate a lot of dust when sweeping, and the air quality of a family is affected.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme:
a floor sweeping robot capable of preventing touch and turning automatically comprises a device main body and a cleaning device, wherein a touch head is fixedly connected to the upper portion of the device main body, a moving column and a first spring are fixedly connected to the touch head, an air bag is arranged below the moving column, the air bag is fixedly connected with an air guide tube, a sealing cylinder is fixedly connected to the upper end of the air guide tube, a moving rod and a piston sheet are arranged inside the sealing cylinder, the moving rod is connected with a sliding variable resistance sheet in a sliding mode, a moving frame is arranged inside the device main body, the moving frame is movably connected with a connecting shaft, the connecting shaft is rotatably connected with a rotating shaft, a sliding wheel is fixedly connected with the connecting shaft, a coil frame is fixedly connected to the outer portion of the sliding wheel, a magnet is arranged on the outer portion of the coil frame, a tooth rod is fixedly connected with the moving frame, and a, the tooth rod is fixedly connected with a second spring;
preferably, the cleaning device comprises an elastic bag and a driving shaft, a solenoid is arranged outside the driving shaft, a third spring is arranged outside the solenoid, the third spring is fixedly connected with a sliding column, and a guide pipe is fixedly connected to the back of the elastic bag.
Preferably, the movable rod is fixedly provided with a conductive block, the conductive block is tightly attached to the sliding resistance-variable sheet, and the piston sheet is fixedly connected with a return spring.
Preferably, the sliding wheels and the movable frames related to the sliding wheels are arranged in a bilateral symmetry mode by taking the elastic bag as a center, the number of the sliding wheels is four, and the four sliding wheels are connected with driving devices.
Preferably, a first driving device is arranged behind the gear, and the driving device is electrically connected with the sliding variable resistance sheet.
Preferably, a second driving device is arranged behind the driving shaft, and the second driving device and the solenoid are both electrically connected with the coil frame.
Compared with the prior art, the invention provides a floor sweeping robot capable of preventing a user from touching and turning automatically, which has the following beneficial effects:
1. when the sweeping robot is used, when a touch head touches an obstacle, the piston sheet drives the movable rod to move, the movable rod changes the resistance value of the sliding resistance-variable sheet access circuit when moving, the resistance value of the sliding resistance-variable sheet access circuit is reduced, the total circuit current is increased, the first driving device drives the gear to rotate, the gear drives the tooth rod on the left side to move upwards and drives the tooth rod on the right side to move downwards, so that the movable frame drives the connecting shaft to rotate around the rotating shaft, when the connecting shaft rotates around the rotating shaft, the connecting shaft drives the sliding wheel to rotate, so that the sliding wheel drives the whole device to change a motion path, the sliding wheel drives the device to avoid the obstacle to move continuously, and the effect of automatically turning to enable the sweeping robot to move continuously when the obstacle is touched and avoid the obstacle is achieved, the problem of the robot of sweeping the floor can force to stop when the wall or the table chair of touching and can not remove is solved, thereby avoid the robot of sweeping the floor to stop the inside runner of back and can take place idle running and lead to the fact the motor to burn out is avoided.
2. In the anti-touch automatic turning sweeping robot, the second driving device drives the driving shaft to rotate, the driving shaft drives the whole cleaning device to rotate, the sliding wheel drives the coil frame to rotate to cut the magnetic induction lines and generate current, the current of the solenoid is the same as that of the coil frame, the solenoid can generate magnetism after being electrified, thereby attracting the iron sheet on the sliding column, the sliding column moves along with the center of the driving shaft, so that the elastic bag is not extruded and is swelled, the elastic bag can absorb more dust, after the device stops, the coil frame on the sliding wheel stops rotating, the solenoid is powered off, the sliding column returns to the initial position under the action of the elastic force of the third spring and presses the elastic bag, so that the dust in the elastic bag is discharged, through the structure, the effect that the air bag is used for absorbing dust during cleaning and the collected dust is discharged when the robot stops working is achieved.
Drawings
FIG. 1 is a schematic front cross-sectional view of the inventive structure;
FIG. 2 is a schematic diagram of a touch head and related structure thereof according to the present invention;
FIG. 3 is a schematic view of the present invention and the related structure thereof
FIG. 4 is a schematic diagram illustrating the movement state of the related structure in FIG. 3 according to the present invention;
FIG. 5 is a schematic view of an elastomeric bladder and associated structure in accordance with the present invention;
FIG. 6 is an enlarged view of area A of FIG. 3 according to the present invention.
Wherein: 100. a device main body; 200. a touch head; 201. moving the column; 202. a first spring; 203. an air bag; 204. an air duct; 300. a sealing cylinder; 301. a movable rod; 302. a piston plate; 303. sliding the varistor; 400. a movable frame; 401. a connecting shaft; 402. a rotating shaft; 500. a sliding wheel; 501. a coil frame; 502. a magnet; 600. a tooth bar; 601. a gear; 602. a second spring; 700. an elastic bag; 701. a drive shaft; 702. a solenoid; 703. a third spring; 704. a sliding post; 705. a conduit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, a touch-proof automatic turning floor-sweeping robot comprises a device main body 100 and a cleaning device, wherein a touch head 200 is fixedly connected to the upper part of the device main body 100, a moving column 201 and a first spring 202 are fixedly connected to the touch head 200, an air bag 203 is arranged below the moving column 201, an air guide tube 204 is fixedly connected to the air bag 203, a sealing cylinder 300 is fixedly connected to the upper end of the air guide tube 204, a moving rod 301 and a piston plate 302 are arranged inside the sealing cylinder 300, the moving rod 301 is slidably connected with a sliding resistance-changing plate 303, a moving frame 400 is arranged inside the device main body 100, the moving frame 400 is movably connected with a connecting shaft 401, the connecting shaft 401 is rotatably connected with a rotating shaft 402, a sliding wheel 500 is fixedly connected with a sliding wheel 500, a coil frame 501 is fixedly connected to the outside of the sliding wheel 500, a magnet 502 is arranged outside the coil frame 501, the tooth bar 600 is connected with a gear 601 in a meshing manner, and the tooth bar 600 is fixedly connected with a second spring 602;
according to the technical scheme, when the touch head 200 touches an obstacle, the touch head 200 can continuously move forwards and extrude the air bag 203, air enters the sealing cylinder 300 after the air bag 203 is extruded, the air pushes the piston sheet 302 to move, the piston sheet 302 drives the movable rod 301 to move, and the resistance value of the sliding variable resistance sheet 303 in an access line is changed when the movable rod 301 moves.
Specifically, the cleaning device comprises an elastic bag 700 and a driving shaft 701, wherein a solenoid 702 is arranged outside the driving shaft 701, a third spring 703 is arranged outside the solenoid 702, the third spring 703 is fixedly connected with a sliding column 704, and a guide pipe 705 is fixedly connected to the back of the elastic bag 700.
According to the technical scheme, the driving shaft 701 rotates to drive the elastic bag 700 and the related structure thereof to move, and the elastic bag 700 adsorbs dust on the ground through the guide pipe 705 at the bottom, so that the phenomenon that the air quality is polluted due to the floating of larger dust is avoided.
Specifically, a conductive block is fixedly mounted on the movable rod 301, the conductive block is tightly attached to the sliding resistance-changing sheet 303, and the piston sheet 302 is fixedly connected with a return spring.
According to the technical scheme, the movable rod 301 drives the conductive block to move when moving, the resistance value of the sliding variable resistance sheet 303 in the access line is changed when the sliding variable resistance sheet 303 moves, the resistance value of the sliding variable resistance sheet 303 in the access line is reduced, the total current of the circuit is increased, and the first driving device starts to work.
Specifically, the sliding wheels 500 and the associated movable frames 400 are symmetrically arranged left and right about the elastic bag 700, four sliding wheels 500 are provided, and the four sliding wheels 500 are connected with a driving device.
According to the above technical scheme, when the connecting shaft 401 rotates around the rotating shaft 402, the connecting shaft 401 drives the sliding wheel 500 to rotate, so that the sliding wheel 500 drives the whole device to change the action path, and the sliding wheel 500 drives the device to avoid the obstacle and move continuously.
Specifically, a first driving device is disposed behind the gear 601, and the driving device is electrically connected to the sliding varistor 303.
According to the above technical solution, the first driving device drives the gear 601 to rotate, and when the gear 601 rotates, the left tooth bar 600 is driven to move up and the right tooth bar 600 is driven to move down, so that the movable frame 400 drives the connecting shaft 401 to rotate around the rotating shaft 402.
Specifically, a second driving device is disposed behind the driving shaft 701, and the second driving device and the solenoid 702 are electrically connected to the coil frame 501.
According to the above technical solution, the second driving device drives the driving shaft 701 to rotate, the driving shaft 701 drives the whole cleaning device to rotate, the current of the solenoid 702 is the same as the current of the coil frame 501, the solenoid 702 generates magnetism after being energized, thereby attracting the iron sheet on the sliding column 704, the sliding column 704 moves towards the center of the driving shaft 701, thereby the elastic bag 700 is not pressed and swells, the elastic bag 700 can absorb more dust, after the device stops, the coil frame 501 on the sliding wheel 500 stops rotating, the solenoid 702 is de-energized, the sliding column 704 returns to the initial position under the elastic force of the third spring 703 and presses the elastic bag 700, so that the dust in the elastic bag 700 is discharged.
The working principle is as follows: when the sweeping robot is used, when the touch head 200 touches an obstacle, the touch head 200 continuously moves forwards and extrudes the air bag 203, the air bag 203 is extruded, then the air enters the sealing cylinder 300, the air pushes the piston sheet 302 to move, the piston sheet 302 drives the movable rod 301 to move, the resistance value of the sliding resistance-changing sheet 303 connected into the circuit is changed when the movable rod 301 moves, the conductive block is driven to move when the movable rod 301 moves, the resistance value of the sliding resistance-changing sheet 303 connected into the circuit is changed when the sliding resistance-changing sheet 303 moves, the resistance value of the sliding resistance-changing sheet 303 connected into the circuit is reduced, the total current of the circuit is increased, the first driving device starts to work, the first driving device drives the gear 601 to rotate, the gear 601 drives the tooth rod 600 on the left side to move upwards and drives the tooth rod 600 on the right side to move downwards, so that the movable frame 400 drives the connecting shaft 401 to rotate around the rotating shaft 402, when connecting axle 401 rotated round axis of rotation 402, connecting axle 401 can drive movable pulley 500 and rotate, thereby make movable pulley 500 drive whole device and change the action route, thereby movable pulley 500 drives the device and can avoid the barrier and continue to remove, thereby reach and turn round automatically when taking place to touch and make the robot of sweeping the floor can continue to remove, the effect of avoiding the barrier, the problem that the robot of sweeping the floor can force to stop and can not remove when the wall of touching or table chair, thereby avoid the robot of sweeping the floor inside runner can take place to idle and lead to the fact the condition that the motor burns out after stopping.
In the anti-touch automatic turning sweeping robot, the second driving device drives the driving shaft 701 to rotate, the driving shaft 701 drives the whole cleaning device to rotate, the sliding wheel 500 drives the coil frame 501 to rotate to cut magnetic induction lines and generate current, the current of the solenoid 702 is the same as that of the coil frame 501, the solenoid 702 generates magnetism after being electrified, thereby attracting the iron piece on the sliding post 704, the sliding post 704 moves toward the center of the driving shaft 701, so that the elastic bag 700 is not pressed to be swollen, the elastic bag 700 can absorb more dust, after the device stops, the coil frame 501 on the sliding wheel 500 stops rotating, the solenoid 702 is de-energized, the sliding column 704 returns to the initial position under the elastic force of the third spring 703 and presses the elastic bag 700, so that the dust in the elastic bag 700 is discharged, through the structure, the effect of absorbing dust by the air bag 203 during cleaning and discharging the collected dust when the robot stops working is achieved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a prevent touching robot of sweeping floor that automatic turned round, includes device main part (100) and cleaning device, its characterized in that: the device is characterized in that a touch head (200) is fixedly connected to the upper portion of the device main body (100), the touch head (200) is fixedly connected with a movable column (201) and a first spring (202), an air bag (203) is arranged below the movable column (201), an air duct (204) is fixedly connected to the air bag (203), a sealing cylinder (300) is fixedly connected to the upper end of the air duct (204), a movable rod (301) and a piston sheet (302) are arranged inside the sealing cylinder (300), the movable rod (301) is slidably connected with a sliding variable resistance sheet (303), a movable frame (400) is arranged inside the device main body (100), the movable frame (400) is movably connected with a connecting shaft (401), the connecting shaft (401) is rotatably connected with a rotating shaft (402), the connecting shaft (401) is fixedly connected with a sliding wheel (500), and the outer portion of the sliding wheel (500) is fixedly connected with a coil frame (501), the outside of coil former (501) is provided with magnet (502), adjustable shelf (400) fixedly connected with tooth pole (600), tooth pole (600) meshing is connected with gear (601), tooth pole (600) fixedly connected with second spring (602).
2. The anti-touch automatic turning floor sweeping robot as claimed in claim 1, wherein: the cleaning device comprises an elastic bag (700) and a driving shaft (701), wherein a solenoid (702) is arranged on the outer side of the driving shaft (701), a third spring (703) is arranged outside the solenoid (702), the third spring (703) is fixedly connected with a sliding column (704), and a guide pipe (705) is fixedly connected to the back of the elastic bag (700).
3. The anti-touch automatic turning floor sweeping robot as claimed in claim 1, wherein: the movable rod (301) is fixedly provided with a conductive block, the conductive block is tightly attached to the sliding resistance-changing sheet (303), and the piston sheet (302) is fixedly connected with a return spring.
4. The anti-touch automatic turning floor sweeping robot as claimed in claim 1, wherein: the sliding wheels (500) and the related movable frames (400) are arranged in a bilateral symmetry mode by taking the elastic bags (700) as centers, the number of the sliding wheels (500) is four, and the four sliding wheels (500) are connected with driving devices.
5. The anti-touch automatic turning floor sweeping robot as claimed in claim 1, wherein: a first driving device is arranged behind the gear (601), and the driving device is electrically connected with the sliding variable resistance sheet (303).
6. The touch-proof automatic turning floor sweeping robot as claimed in claims 1 and 2, wherein: and a second driving device is arranged behind the driving shaft (701), and the second driving device and the solenoid (702) are electrically connected with the coil frame (501).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110012899.9A CN112842145A (en) | 2021-01-06 | 2021-01-06 | Prevent touching robot of sweeping floor that turns round automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110012899.9A CN112842145A (en) | 2021-01-06 | 2021-01-06 | Prevent touching robot of sweeping floor that turns round automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112842145A true CN112842145A (en) | 2021-05-28 |
Family
ID=76004294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110012899.9A Withdrawn CN112842145A (en) | 2021-01-06 | 2021-01-06 | Prevent touching robot of sweeping floor that turns round automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112842145A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114652222A (en) * | 2022-04-08 | 2022-06-24 | 洛阳师范学院 | Sweeping robot for cleaning household floor |
-
2021
- 2021-01-06 CN CN202110012899.9A patent/CN112842145A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114652222A (en) * | 2022-04-08 | 2022-06-24 | 洛阳师范学院 | Sweeping robot for cleaning household floor |
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Application publication date: 20210528 |
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| WW01 | Invention patent application withdrawn after publication |