CN113786136B - Lifting device for cleaning robot and cleaning robot - Google Patents
Lifting device for cleaning robot and cleaning robot Download PDFInfo
- Publication number
- CN113786136B CN113786136B CN202110894310.2A CN202110894310A CN113786136B CN 113786136 B CN113786136 B CN 113786136B CN 202110894310 A CN202110894310 A CN 202110894310A CN 113786136 B CN113786136 B CN 113786136B
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- Prior art keywords
- transmission
- rope
- cleaning robot
- water absorption
- rolling brush
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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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
- A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
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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
- A47L11/4036—Parts or details of the surface treating tools
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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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
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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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
- E01H1/108—Removing liquids or semi- liquids, e.g. absorbing rain water, sucking-off mud
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
The invention discloses a lifting device for a cleaning robot and the cleaning robot, and relates to the technical field of cleaning robots. The water absorption scraper comprises a rolling brush component, a water absorption scraper component, a driving device, a first transmission piece and a second transmission piece, wherein the first transmission piece is in transmission connection between the driving device and the rolling brush component, and the second transmission piece is in transmission connection between the driving device and the water absorption scraper component. According to the lifting device for the cleaning robot and the cleaning robot, the lifting control of the rolling brush assembly and the water absorption raking assembly is realized through the driving device, and the problem of high structural complexity of the cleaning robot is effectively solved.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a lifting device for a cleaning robot and the cleaning robot.
Background
At present, with the development of automation technology and artificial intelligence, the demand of intelligent robots is more and more extensive. The cleaning robot can clean the ground and is suitable for various indoor and outdoor environments, such as roads, parks, hotels, stations and the like. The cleaning robot generally comprises a rolling brush and a water absorption rake, wherein the rolling brush is used for sweeping up dust at the bottom of the cleaning robot and allowing the dust to enter a dust collection box through a dust collection port; the water sucking scratcher can suck sewage on the ground into the sewage tank.
The lifting heights of the rolling brush and the water absorption rake in the existing cleaning robot are controlled by the motors respectively and correspondingly arranged, so that the number of the motors for controlling the rolling brush and the water absorption rake in the existing cleaning robot is at least two. Therefore, the load of the whole cleaning robot is increased, the operation time of the cleaning robot is influenced, and the structural complexity of the whole cleaning robot is improved.
Disclosure of Invention
In order to solve the defects in the background art, the invention provides a lifting device for a cleaning robot and the cleaning robot, which can realize that a single motor simultaneously controls the lifting height of a rolling brush and a water absorption rake, and effectively solve the problem of high structural complexity of the cleaning robot.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a lifting device for a cleaning robot comprises a rolling brush assembly, a water absorption raking assembly, a driving device, a first transmission piece and a second transmission piece, wherein the output end of the driving device is in transmission connection with the rolling brush assembly through the first transmission piece so as to provide power and control the rolling brush assembly to lift; the output end of the driving device is in transmission connection with the water absorption raking assembly through the second transmission piece so as to provide power and control the water absorption raking assembly to ascend and descend.
Further, the first transmission piece adopts any one of a belt transmission mechanism, a gear transmission mechanism, a chain transmission mechanism, a worm transmission mechanism and a screw transmission mechanism for transmitting the power of the driving device to the rolling brush assembly; the second transmission part adopts any one mechanical transmission mode of a belt transmission mechanism, a gear transmission mechanism, a chain transmission mechanism, a worm transmission mechanism and a spiral transmission mechanism, and is used for transmitting the power of the driving device to the water absorption raking component. The specific construction of the transmission member can be selected by those skilled in the art based on the knowledge of mechanical design and practical needs.
Further, the first transmission piece and the second transmission piece adopt a rope transmission mechanism; the rope transmission mechanism comprises a rope and a transmission wheel in matched transmission with the rope; the rope comprises a cotton rope, a hemp rope, a polyester rope or a steel wire rope; the transmission wheel comprises a pulley or a sheave. The rope transmission mode has the advantages of simple structure, convenient control and low cost.
Further, drive arrangement's power take off end is provided with the adapter, the both ends of adapter are connected with first driving medium and second driving medium respectively. Can control the rolling brush component and the water absorption raking component simultaneously and has the advantage of simple structure.
Furthermore, an elastic element is arranged on the rope of the first transmission piece, a limiting piece used for limiting the lifting height of the rolling brush assembly is arranged on the rolling brush assembly and/or the robot, and when the rope of the first transmission piece is tensioned and the rolling brush assembly is lifted to the limiting position of the limiting piece, the elastic element deforms in a telescopic mode to absorb the continuous transmission stroke of the rope of the first transmission piece.
Furthermore, a guide post is arranged between the rolling brush assembly and the robot, so that the rolling brush assembly can be stably lifted under the guide action when lifted. The lifting stability of the rolling brush assembly is enhanced, the tensile force borne by the rope of the first transmission piece is shared, the service life of the first transmission piece is prolonged, and the lifting device has the advantage of simple structure.
Further, the elastic element is a spiral spring or a rubber band. So as to share the tensile force borne by the rope and have the advantage of prolonging the service life of the rope.
Further, the transmission stroke of the rope of the second transmission member is greater than the lifting stroke of the water absorption rake assembly, so that when the rope transmission stroke of the second transmission member is within a preset stroke, the lifting stroke of the water absorption rake assembly is 0, and when the rope transmission stroke of the second transmission member is greater than the preset stroke, the water absorption rake assembly starts to lift. The water absorption raking assembly can still absorb the sewage on the ground cleaned by the rolling brush assembly into the sewage tank even after the rolling brush assembly is lifted, and a complete operation flow can be completed.
Further, the driving device comprises an electric motor or a hydraulic driving device; the motor comprises any one of a push rod motor, a stepping motor or a servo motor. So as to ensure the stable output of power and has the advantage of stable lifting.
The invention also provides a cleaning robot, which comprises a robot body and a lifting device for the cleaning robot. Has the advantage of low structural complexity.
According to the lifting device for the cleaning robot and the cleaning robot, the rolling brush component and the water absorption raking component are in transmission connection with the same driving device through the transmission part respectively, the single driving device provides power for the rolling brush component and the water absorption raking component simultaneously, and lifting control over the rolling brush component and the water absorption raking component is achieved, so that structural complexity of the whole cleaning robot is reduced, load of the whole cleaning robot is reduced, and operation duration of the cleaning robot is prolonged.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 shows a schematic configuration of a cleaning robot of the present invention;
FIG. 2 shows a schematic structural diagram (one) of a lifting device for a cleaning robot according to the present invention;
FIG. 3 shows a schematic structural diagram (two) of the lifting device for a cleaning robot of the present invention;
fig. 4 shows a schematic structural diagram (three) of the lifting device for a cleaning robot according to the invention;
FIG. 5 is a schematic view showing an assembly structure of the driving device and the transmission member in the embodiment;
fig. 6 shows a schematic view of a partial structure at a in fig. 4 according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying 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. 2 to 6, the lifting device for the cleaning robot provided by the invention is mounted on the body of the cleaning robot to control the lifting positions of the rolling brush assembly 1 and the water absorption rake assembly 2. In general, the lifting device for a cleaning robot of the present invention may include a roller brush assembly 1, a water absorption rake assembly 2, and a driving device 3. The rolling brush component 1 is in transmission connection with the output end of the driving device 3 through the first transmission piece 6, so that the driving device 3 can control the lifting of the rolling brush component 1, and the water absorption raking component 2 is in transmission connection with the output end of the driving device 3 through the second transmission piece 5, so that the driving device 3 can control the lifting of the water absorption raking component 2.
Alternatively, the driving means 3 includes, but is not limited to, a motor, which may be a push rod motor, a step motor or a servo motor, or a hydraulic driving means.
Preferably, in a specific embodiment, as shown in fig. 3, the driving device 3 is a push rod motor, in order to realize dual control of the rolling brush assembly 1 and the water absorption scraping assembly 2 by a single driving device 3 at the same time, a power output end of the push rod motor is provided with an adapter 7, the adapter 7 includes U-shaped fixing pieces fixedly connected to two sides of a head of a power output shaft of the push rod motor and a shaft pin sequentially penetrating through the power output shaft and the U-shaped fixing pieces of the push rod motor, and the first transmission piece 6 and the second transmission piece 5 are respectively arranged on two sides of the power output shaft of the push rod motor and between the U-shaped fixing pieces and the shaft pin. Namely, the ropes of the first transmission member 6 and the second transmission member 5 are connected to the shaft pins on both sides of the power output shaft, respectively. When the push rod motor works, the power output shaft moves along a straight line, namely, the ropes of the first transmission piece 6 and the second transmission piece 5 can be pulled to move simultaneously, and the lifting or descending control of the rolling brush component 1 and the water absorption raking component 2 is realized.
The first transmission piece 6 and the second transmission piece 5 provided by the invention only need to transmit the power output by the push rod motor to the rolling brush component 1 and the water absorption scraping component 2, the structural form of the transmission mechanism is not limited, and workers in the field can select a more applicable transmission mechanism and a combination form thereof according to actual engineering requirements.
Alternatively, the first transmission element and the second transmission element may be a rope transmission, a belt transmission, a gear transmission, a chain transmission, a worm transmission or a screw transmission.
Preferably, in a particular embodiment, as shown in fig. 3, the first transmission member 6 and the second transmission member 5 adopt a rope transmission mechanism, which comprises a rope and a transmission wheel cooperating with the rope. The position of the driving wheel can be selected by those skilled in the art according to the design of the bottom plate of the robot, and the purpose of the driving wheel is to guide and connect the rope to the roller brush assembly 1 and the suction rake assembly 2 respectively.
Alternatively, in order to ensure that the suction rake assembly 2 can suck the sewage on the ground swept by the roller brush assembly 1 into the sewage tank, the suction rake assembly 2 is lifted later than the roller brush assembly 1. Therefore, the length of the rope of the second transmission member 5 is greater than that of the rope of the first transmission member 6, that is, the transmission stroke of the rope of the second transmission member 5 is greater than the lifting stroke of the wicking assembly 2, so that when the rope transmission stroke of the second transmission member 5 is within a predetermined stroke, the lifting stroke of the wicking assembly 2 is 0, and when the rope transmission stroke of the second transmission member 5 is greater than the predetermined stroke, the wicking assembly 2 starts to lift. The lifting height of the water absorption raking component 2 is determined by the length of the rope of the second transmission piece 5, and the lifting height of the rolling brush component 1 is limited by the limiting piece 8.
Alternatively, the limit stop 8 may be located on the robot, on the roller brush assembly 1, or on both the roller brush assembly 1 and the robot.
In a specific embodiment, as shown in fig. 4, the limiting member 8 is mounted on the roller brush assembly 1, and a guide post 9 is particularly disposed between the roller brush assembly 1 and the robot in order to ensure the stability of the roller brush assembly 1 during the lifting process. An elastic element is also arranged on the rope of the first transmission piece. When the rope of the first transmission member is tensioned and the rolling brush assembly 1 is lifted to the limiting position of the limiting member, the elastic element arranged on the rope of the first transmission member can absorb the continuous transmission stroke of the rope of the first transmission member 6 through telescopic deformation.
Alternatively, the elastic element may be a helical spring, rubber band or other element that can be deformed telescopically to absorb or compensate the transmission stroke when the rope is stretched or tensioned.
Preferably, in a particular embodiment, as shown in fig. 2, the elastic element for absorbing the continued transmission travel of the cord of the first transmission member is a helical spring.
The invention provides a lifting device for a cleaning robot and the cleaning robot, and the working process is as follows:
in the process of cleaning the ground by the cleaning robot, the rolling brush assembly 1 and the water absorption rake assembly 2 need to work simultaneously, at the moment, a push rod motor serving as a driving device moves to the maximum operable stroke from an initial state, at the moment, ropes of the first transmission piece 6 and the second transmission piece 5 are in a loose state, the rolling brush assembly 1 and the water absorption rake assembly 2 are in contact with the ground, and the cleaning robot can perform normal ground cleaning work.
When the cleaning robot does not need to carry out ground cleaning operation or needs to lift the rolling brush component 1 and the water absorption raking component 2 when meeting special conditions, a push rod of a push rod motor serving as a driving device starts to retract, a first transmission piece 6 and a second transmission piece 5 connected to the push rod motor (the driving device 3) are pulled in the retraction process of the push rod motor, and the transmission wheels of the first transmission piece 6 and the second transmission piece 5 and ropes correspondingly matched with the transmission wheels guide the power output by the push rod motor to the rolling brush component 1 and the water absorption raking component 2 which are respectively connected, so that the water absorption raking component 2 and the rolling brush component 1 are lifted; in a preset stroke, only with the aid of the guide column 9, the rolling brush assembly 1 is stably lifted along with the operation of the push rod motor, and the water absorption raking assembly 2 is not lifted to continue ground cleaning operation; the push rod motor continues to operate, when the rope transmission stroke of the second transmission piece 5 is larger than the preset stroke, the water absorption raking assembly 2 starts to lift, when the rolling brush assembly 1 lifts to a certain height, the limiting piece 8 limits the rolling brush assembly 1 to not lift any more, the push rod motor continues to move to strain the first transmission piece 6 and the second transmission piece 5, the second transmission piece 5 drives the water absorption raking assembly 2 to continue to lift, at the moment, the spiral spring arranged on the rope of the first transmission piece 6 stretches and deforms to absorb the continuous transmission stroke of the rope of the first transmission piece, when the push rod motor operates to the initial state, the first transmission piece 6 and the second transmission piece 5 are kept in the current tensioning state, the water absorption raking assembly 2 does not lift any more, and therefore, the cleaning robot completes the lifting operation of the rolling brush assembly 1 and the water absorption raking assembly.
The invention also provides a cleaning robot, which comprises a robot body and a lifting device arranged on the robot body, as shown in fig. 1. Optionally, the lifting device is mounted at a bottom plate position of the robot body. The specific structure of the lifting device can be referred to the foregoing, and is not described in detail herein.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true spirit and scope of the embodiments of the present invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A lifting device for a cleaning robot comprises a rolling brush assembly, a water absorption raking assembly and is characterized by further comprising a driving device, a first transmission piece and a second transmission piece, wherein the output end of the driving device is in transmission connection with the rolling brush assembly through the first transmission piece so as to provide power and control the rolling brush assembly to lift; the output end of the driving device is in transmission connection with the water absorption rake assembly through the second transmission piece so as to provide power and control the water absorption rake assembly to ascend and descend; the first transmission piece and the second transmission piece adopt rope transmission mechanisms; the rope of the first transmission member is provided with an elastic element, the rolling brush assembly and/or the robot are/is provided with a limiting member for limiting the lifting height of the rolling brush assembly, and when the rope of the first transmission member is tensioned and the rolling brush assembly is lifted to the limiting position of the limiting member, the elastic element is stretched and deformed to absorb the continuous transmission stroke of the rope of the first transmission member; the rope transmission stroke of the second transmission piece is larger than the lifting stroke of the water absorption raking component, so that when the rope transmission stroke of the second transmission piece is within a preset stroke, the lifting stroke of the water absorption raking component is 0, and when the rope transmission stroke of the second transmission piece is larger than the preset stroke, the water absorption raking component starts to lift.
2. The lifting device for a cleaning robot as claimed in claim 1, wherein the first transmission member adopts any one of a belt transmission mechanism, a gear transmission mechanism, a chain transmission mechanism, a worm transmission mechanism and a screw transmission mechanism for transmitting the power of the driving device to the rolling brush assembly;
the second transmission part adopts any one mechanical transmission mode of a belt transmission mechanism, a gear transmission mechanism, a chain transmission mechanism, a worm transmission mechanism and a screw transmission mechanism so as to transmit the power of the driving device to the water absorption raking component.
3. The lifting device for a cleaning robot of claim 1, wherein the first and second transmission members employ a rope transmission mechanism;
the rope transmission mechanism comprises a rope and a transmission wheel in matched transmission with the rope; the rope comprises a cotton rope, a hemp rope, a polyester rope or a steel wire rope; the transmission wheel comprises a pulley or a sheave.
4. A lifting device for a cleaning robot as claimed in claim 3, wherein the power take off of the drive means is provided with an adapter to which are connected a first transmission member and a second transmission member respectively.
5. The lifting device for a cleaning robot as claimed in claim 1, wherein a guide post is provided between the roller brush assembly and the robot for guiding the roller brush assembly when lifting and lowering, so that the roller brush assembly is lifted stably.
6. The lifting device for a cleaning robot of claim 1, wherein the elastic member is a coil spring or a rubber band.
7. A lifting device for a cleaning robot as claimed in any one of claims 1 to 6, characterised in that the drive means comprises an electric motor or hydraulic drive; the motor comprises any one of a push rod motor, a stepping motor or a servo motor.
8. A cleaning robot, characterized by comprising a robot body, which is mounted with a lifting device according to any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110894310.2A CN113786136B (en) | 2021-08-04 | 2021-08-04 | Lifting device for cleaning robot and cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110894310.2A CN113786136B (en) | 2021-08-04 | 2021-08-04 | Lifting device for cleaning robot and cleaning robot |
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| Publication Number | Publication Date |
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| CN113786136A CN113786136A (en) | 2021-12-14 |
| CN113786136B true CN113786136B (en) | 2022-10-21 |
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| CN202110894310.2A Active CN113786136B (en) | 2021-08-04 | 2021-08-04 | Lifting device for cleaning robot and cleaning robot |
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| CN114642382B (en) * | 2022-03-04 | 2023-09-22 | 深圳甲壳虫智能有限公司 | Self-moving cleaning equipment and control method thereof |
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| CN207886174U (en) * | 2017-04-18 | 2018-09-21 | 上海洁驰清洁设备有限公司 | Lifter drawing bar is taken off in a kind of water suction for floor-cleaning machine |
| CN111714046A (en) * | 2020-06-19 | 2020-09-29 | 上海高仙自动化科技发展有限公司 | Cleaning mechanism and cleaning robot |
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| US3460184A (en) * | 1966-11-15 | 1969-08-12 | Hoover Co | Automatic conversion system for a scrubbing and liquid pickup appliance |
| CN209629583U (en) * | 2018-12-28 | 2019-11-15 | 南京特沃斯清洁设备有限公司 | A kind of floor-cleaning machine head handhold electric lifting system |
| CN110051282A (en) * | 2019-03-28 | 2019-07-26 | 王昕� | A kind of cleaning floor-cleaning machine device people |
| CN111374612B (en) * | 2020-05-07 | 2021-08-10 | 苏州高之仙自动化科技有限公司 | Cleaning device, cleaning robot, and control method for cleaning device |
| CN115413957A (en) * | 2021-03-12 | 2022-12-02 | 苏州高之仙自动化科技有限公司 | Cleaning robot |
| CN113133726B (en) * | 2021-04-29 | 2022-06-21 | 上海高仙自动化科技发展有限公司 | Water absorption scraping and cleaning robot |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207886174U (en) * | 2017-04-18 | 2018-09-21 | 上海洁驰清洁设备有限公司 | Lifter drawing bar is taken off in a kind of water suction for floor-cleaning machine |
| CN111714046A (en) * | 2020-06-19 | 2020-09-29 | 上海高仙自动化科技发展有限公司 | Cleaning mechanism and cleaning robot |
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