CN115349789A - Automatic deashing robot of building outer wall - Google Patents
Automatic deashing robot of building outer wall Download PDFInfo
- Publication number
- CN115349789A CN115349789A CN202211008478.XA CN202211008478A CN115349789A CN 115349789 A CN115349789 A CN 115349789A CN 202211008478 A CN202211008478 A CN 202211008478A CN 115349789 A CN115349789 A CN 115349789A
- Authority
- CN
- China
- Prior art keywords
- wall
- robot
- signal
- climbing
- servo motor
- 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.)
- Granted
Links
- 230000009194 climbing Effects 0.000 claims abstract description 170
- 238000004140 cleaning Methods 0.000 claims abstract description 46
- 230000008054 signal transmission Effects 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims description 35
- 230000009193 crawling Effects 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 29
- 239000000428 dust Substances 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000010408 sweeping Methods 0.000 claims description 7
- 230000002493 climbing effect Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 238000012546 transfer Methods 0.000 description 7
- 241000252254 Catostomidae Species 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
-
- 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
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention provides an automatic ash cleaning robot for an outer wall of a building, and relates to the field of building cleaning equipment. This automatic deashing robot of building outer wall, including main control equipment main part, signal switching equipment main part and robot main part, robot main part upside is connected with the machine end signal through the mobile device shell and climb wall signal processor and send the ware, main control equipment main part upside is provided with main control end signal and sends the ware, signal switching equipment main part upside is connected with signal switching transmitter and signal switching receiver through signal switching processor, signal switching transmitter and signal switching receiver all have main control end signal to send the ware and machine end signal to send the ware through wireless signal connection. Through setting up several signal switching equipment between main control terminal and the wall climbing robot, make things convenient for remote wireless signal transmission effect of carrying on, and then the person of facilitating the use passes through the remote operating condition who monitors the wall climbing robot of main control terminal.
Description
Technical Field
The invention relates to the technical field of building cleaning equipment, in particular to an automatic dust cleaning robot for an outer wall of a building.
Background
With the development of times, the traditional building is easy to damage the service life of the outer wall of the building due to the fact that the outer wall cannot be cleaned after dust is accumulated all the year round because most windows are arranged towards the south and the outer wall of the north of the building is not provided with a wall and an outer platform.
The automatic deashing robot of outer wall of current building is because the outer wall shape of building is different when carrying out the deashing of crawling, and develops at any time and probably remains various foreign matters in the wall outside, consequently can not climb the wall deashing operation smoothly and climb the wall deashing operation when carrying out the deashing of crawling.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an automatic dust cleaning robot for an external wall of a building, which solves the problems that the external wall has no window and is too large, the accumulated dust on the external wall cannot be cleaned, the robot cannot be controlled in real time when the traditional robot carries out dust cleaning operation, the robot cannot smoothly carry out wall climbing dust cleaning operation due to the blocked path when the traditional robot climbs for dust cleaning, and the service life of the building is damaged.
In order to achieve the purpose, the invention is realized by the following technical scheme: automatic deashing robot of building outer wall, including master control equipment main part, signal switching equipment main part and robot main part, robot main part upside middle part fixedly connected with mobile device shell, mobile device shell upside middle part fixedly connected with wall climbing signal processor, wall climbing signal processor rear end is provided with machine end signal and connects the ware, the inside left rear end of mobile device shell and inside right front end all are provided with removal servo motor, left rear end remove servo motor downside and right front end the equal fixedly connected with driving gear of removal servo motor upside drive end, the equal meshing in the driving gear outside is connected with drive gear, drive gear keeps away from the equal fixedly connected with spacing dwang in the middle part of removal servo motor one side, the equal rotation in the mobile device shell in the spacing dwang outside is connected, driving gear and drive gear are all in the inside spacing rotation of mobile device shell, the equal meshing in the driving gear and the drive gear outside is connected with the drive end, the connection internal tooth all sets up in removal dead slot inboard both sides, the removal dead slot all sets up inside the movable plate middle part, just both sides about the removal dead slot all link up, wall climbing signal processor has through PLC data electrical connection through moving servo motor.
Preferably, the inside upper end of robot main part is provided with the clearance treater, the inside right part of robot main part is provided with the removal battery, the inside clearance servo motor that is provided with in robot main part lower part, clearance servo motor downside drive end fixedly connected with brush dwang, brush dwang lower extreme fixedly connected with sweeps grey brush board, just it is provided with the brush to sweep grey brush board downside, robot main part downside fixed connection is at clearance limiting plate upside middle part, the brush dwang outside is rotated and is connected inside clearance limiting plate middle part, it rotates inside clearance limiting plate downside to sweep grey brush board upper end outside and connects in the clearance limiting plate downside, climb wall signal processor and be connected with the clearance treater through data connection line, the clearance treater has clearance servo motor through PLC code structure electric connection.
Preferably, both ends of the moving plate are fixedly connected with limit sleeve blocks, the upper sides of both ends of the moving plate are fixedly connected with lifting servo motors, the driving ends of the outer sides of the lifting servo motors are fixedly connected with lifting rotating rods, the other ends of the lifting rotating rods are fixedly connected with lifting gears, the outer sides of the lifting gears are respectively connected with lifting inner teeth in a meshing way, the lifting inner teeth are respectively and fixedly connected with one side of the inner side of the lifting groove, the lifting groove is arranged in the middle of one side of the lifting plate close to the moving plate, the outer sides of the lifting plate are both in limited sliding connection with the inner part of the middle of the limiting sleeve block, and the outer sides of the lifting rotating rods are rotatably connected with the inner part of the middle part of one side of the limiting sleeve block close to the movable plate, the lower sides of the lifting plates are fixedly connected with wall-climbing sucker mounting seats, the lower sides of the wall-climbing sucker mounting seats are provided with wall-climbing robot suckers, the outer sides of the suckers of the wall climbing robot are fixedly connected with wall climbing vacuum hoses which penetrate through the inner side and the outer side of the suckers of the wall climbing robot, the other ends of the wall climbing vacuum hoses are provided with wall climbing vacuum pumps, and the wall climbing vacuum hoses positioned at the two sides of the same moving plate are all arranged at the air suction end of the same wall climbing vacuum pump, the wall climbing vacuum pump is respectively and fixedly connected with the left end and the right end of the upper side of the shell of the mobile equipment, the wall climbing signal processor is electrically connected with a lifting servo motor through a PLC data transmission line, just the signal processor climbs the wall has the vacuum pump of climbing through data transmission line electric connection, remove battery electric connection and have clearance servo motor, clearance treater, remove servo motor, lift servo motor, climb the wall vacuum pump, climb wall signal processor and machine end signal and send out the ware, it has the removal battery through data transmission line electric connection to climb wall signal processor.
Preferably, master control equipment main part front side upper portion is provided with touch panel, master control equipment main part downside fixed connection is at the main control base upside, master control equipment main part upside middle part is provided with the master control end signal and receives the ware, the inside central processing unit that is provided with of master control equipment main part lower part, touch panel has the master control end signal to receive the ware through central processing unit electric connection.
Preferably, signal switching equipment main part downside middle part fixedly connected with switching sucking disc mount pad, switching sucking disc mount pad downside is provided with the switching equipment sucking disc, the equal fixedly connected with in switching equipment sucking disc outside runs through the switching vacuum hose of the inside and outside both sides of switching equipment sucking disc, the switching vacuum hose other end sets up at switching vacuum pump air suction end, switching vacuum pump fixed connection is at signal switching equipment main part upside right-hand member, signal switching equipment main part upside left end fixedly connected with signal switching treater, both ends are provided with signal switching transmitter and signal switching receiver respectively around the signal switching treater upside, just signal switching treater electric connection has signal switching transmitter and signal switching receiver, signal switching transmitter and signal switching receiver all have the master control end signal to connect the ware through radio signal connection, just signal switching transmitter and signal switching receiver all have the machine end signal to connect the ware through radio signal connection.
Preferably, the central processing unit internal system is provided with a main control end positioning module, a climbing path setting module, an electric quantity monitoring module and a remote control module, wherein:
the main control end positioning module is used for receiving a positioning signal transmitted by the signal switching transmitter and displaying the position of the wall climbing robot through the touch panel;
the climbing path setting module is used for presetting a climbing action route before the climbing robot performs climbing ash removal treatment operation, so that the climbing robot performs climbing ash removal treatment on the outer side of the building wall according to the preset action route;
the electric quantity monitoring module is used for presetting the electric quantity value used by the wall climbing robot after the action path of the wall climbing robot is established, giving an alarm if the electric quantity data signal transmitted by the signal in the wall climbing robot indicates that the electric quantity stored in the storage battery does not reach the preset electric quantity value, performing charging treatment before the wall climbing robot performs wall climbing and ash removing operation, starting wall climbing operation when the electric quantity reaches the preset value, facilitating the wall climbing robot to completely perform outer wall ash removing treatment, and avoiding the insufficient power and electric quantity of the wall climbing robot during the ash removing operation;
and the remote control module is used for carrying out control processing on the crawling path aiming at the manual remote operation of the wall climbing robot.
Preferably, the internal system of the signal switching processor is provided with a positioning signal transmission module and a control signal transmission module, wherein:
the positioning signal transmission module is used for calculating the azimuth distance between the wall climbing robot and the main control terminal through the transmission distance and the transmission direction of the wireless signals, so that the positioning processing of the wall climbing robot in the wall climbing and ash removing processing operation process is facilitated;
and the control signal transmission module is used for switching and receiving control signals of the wall climbing robot, preset path setting signals, electric quantity value data signals and electric quantity value alarm signals sent by the master control end signal receiving and sending device, so that the problem that the transmission signals are failed due to the fact that the distance between the master control terminal and the wall climbing robot is too long is prevented.
Preferably, wall climbing signal processor internal system is provided with robot orientation module, wall climbing path control module, control module and remote signal processing module are predetermine to the electric quantity, clearance treater internal system is provided with servo motor control module, wherein:
the robot positioning module is used for continuously sending positioning wireless signals outwards through the machine end signal receiver, so that a user can conveniently acquire positioning information of the crawling robot through the master control terminal, and the crawling robot can be conveniently remotely controlled to crawl;
the climbing path control module is used for summarizing an execution algorithm of a climbing path according to a crawling action route preset signal sent by the main control terminal, and performing timing driving processing on the moving servo motor and the lifting servo motor according to the execution algorithm, so that the crawling robot can automatically perform crawling processing according to a preset crawling action route;
the electric quantity presetting control module is used for setting an electric quantity warning minimum value before the robot carries out wall climbing operation, constantly monitoring the internal stored electric quantity of the mobile storage battery, transmitting electric quantity information to the main control terminal through a wireless signal, sending an electric quantity value alarm signal by using the machine end signal receiver when the stored electric quantity is lower than the set electric quantity warning minimum value, and displaying the electric quantity value alarm signal through a touch panel of the main control terminal;
the remote signal processing module is used for carrying out independent processing operation on remote control signals, clearing an execution algorithm in the climbing path control module when the remote control signals are acquired, and carrying out driving operation control on the moving servo motor and the lifting servo motor through the remote signals so as to avoid that the climbing path control module cannot smoothly carry out climbing dust cleaning operation due to damage;
and the servo motor control module is used for controlling the cleaning servo motor to perform driving operation, and further controlling the dust sweeping brush plate to rotate to perform dust sweeping and cleaning operation on the wall at the bottom of the wall climbing robot.
The working principle is as follows: when the automatic dust cleaning robot for the outer wall of the building is used, firstly, the mobile storage battery is charged until the electric quantity is full, the main control terminal utilizes the touch panel to carry out the wall climbing path setting processing of the whole structure of the wall climbing robot, the wall climbing robot can carry out dust deposition cleaning operation on the outer side of the wall of the building according to the self-preset climbing action route, the dust cleaning efficiency of the outer wall of the building can be improved by judging the area and the outline of the outer wall of the building and the self-preset cleaning route according to the size and the shape of the outer wall of the cleaning wall, the phenomenon that the robot is unstable in adsorption and falls and is damaged due to the outward opening window in the climbing process is avoided, as the climbing path setting module, the remote control signal and the climbing path control module are utilized to preset the climbing path, the mobile servo motor and the lifting servo motor can be controlled to be driven at regular time, and the meshing connection of the driving gear and the transmission gear is utilized, and then the movable plate moves and the lifting plate goes up and down, the whole structure of the creeping robot is driven to perform fixed creeping movement on the outer wall of the building, at the moment, the electric quantity preset control module can also transmit electric quantity information to the main control terminal through wireless signals in real time, and further a user can conveniently regulate and control the operation on the machine at the main control terminal part, and further control the consumption of electric quantity, because a plurality of signal switching devices are erected between the main control terminal and the creeping robot, the signal middle ends can be erected at long distance intervals, the transmission of wireless signals is convenient to be carried out at long distance, and further the user can conveniently monitor the operation state of the creeping robot at long distance through the main control terminal, the building outer wall ash cleaning treatment can be conveniently carried out on the higher wall building, and when the robot is blocked in the creeping ash cleaning process, the operation of the manual control robot can not be smoothly carried out, the robot can be prevented from stopping on the outer wall of the building for too long time when running, and can be suitable for the ash removal treatment operation of building structures with different sizes.
The invention provides an automatic dust cleaning robot for the outer wall of a building. The method has the following beneficial effects:
1. according to the invention, the climbing path setting module, the remote control signal and the climbing path control module are utilized to preset the climbing path, so that the mobile servo motor and the lifting servo motor can be controlled to be driven at regular time, the mobile plate can move and the lifting plate can lift, the overall structure of the crawling robot is driven to perform fixed crawling movement on the outer wall of the building, the overall structure of the crawling robot controls the adsorption state of a sucker of the crawling robot on the outer wall of the building through the climbing vacuum pump, the fixed adsorption capacity of the overall structure of the crawling robot on the outer wall of the building can be enhanced, the problem that the accumulated dust on the outer wall cannot be cleaned due to the fact that no window is arranged on the outer wall part of the traditional building or the branches of the outer wall are dense is solved, the damage to the service life of the building is avoided, and the crawling robot is suitable for different building scenes.
2. According to the invention, the main control terminal utilizes the touch panel to set and process the climbing path of the whole structure of the climbing robot, so that the climbing robot can perform accumulated dust cleaning operation on the outer side of the building wall according to a self-preset climbing action path, and the dust cleaning efficiency of the building outer wall can be improved by judging the area and the contour of the building outer wall and the self-preset cleaning path according to the size and the shape of the outer wall of the cleaned wall, so that the robot is prevented from being unstably adsorbed, falling and damaged due to outward opening of a window in the climbing process.
3. According to the invention, by arranging the electric quantity monitoring module and the electric quantity presetting control module, an alarm can be given when the electric quantity stored in the robot does not reach the electric quantity preset value, the phenomenon that the wall climbing robot falls due to insufficient power and electric quantity in the ash cleaning operation is avoided, the safety of the wall climbing robot in working is improved, meanwhile, the electric quantity presetting control module can also transmit electric quantity information to the main control terminal through a wireless signal in real time, and thus a user can conveniently regulate and control the machine in the main control terminal part to further perform electric quantity consumption control operation.
4. According to the invention, the signal intermediate ends can be erected at intervals in a long distance by erecting the plurality of signal switching equipment between the main control terminal and the wall climbing robot, so that the wireless signal transmission function can be carried out at a long distance conveniently, a user can conveniently monitor the running state of the wall climbing robot in a long distance through the main control terminal, the building outer wall dust cleaning treatment can be conveniently carried out on a relatively large wall building, when the robot is blocked in the wall climbing dust cleaning process, the manual control robot is adopted for operation, the phenomenon that the robot is blocked in the running process for too long time and stays on the outer wall of the building can be avoided, the dust cleaning treatment device can be suitable for carrying out dust cleaning treatment operation on building structures with different sizes, and the application range is wide.
Drawings
FIG. 1 is a front perspective view of the wall climbing robot according to the present invention;
FIG. 2 is a schematic bottom perspective view of the wall climbing robot according to the present invention;
FIG. 3 is an enlarged view taken at A in FIG. 1;
FIG. 4 is a front perspective view of the lifting structure of the wall climbing robot of the present invention;
FIG. 5 is a schematic sectional view of the brush dust structure of the present invention;
FIG. 6 is a front perspective view of the moving plate moving structure of the present invention;
FIG. 7 is a front perspective view of a signal transfer device according to the present invention;
FIG. 8 is a schematic front perspective view of a host device according to the present invention;
FIG. 9 is a schematic cross-sectional front view of the main control device according to the present invention;
FIG. 10 is a schematic diagram of signal transmission according to the present invention;
fig. 11 is a diagram of a signal transmission control system according to the present invention.
Wherein, 1, a main control device body; 2. a main control base; 3. a touch panel; 4. a central processing unit; 5. a master control end signal receiver; 6. a signal transfer device main body; 7. a switching device sucker; 8. a switching sucker mounting seat; 9. transferring a vacuum pump; 10. switching a vacuum hose; 11. a signal transfer processor; 12. a signal transfer receiver; 13. a signal transfer transmitter; 14. a robot main body; 15. cleaning the limiting plate; 16. cleaning the servo motor; 17. a brush rotating rod; 18. a dust sweeping brush plate; 19. cleaning the processor; 20. a mobile device housing; 21. moving the servo motor; 22. a driving gear; 23. a transmission gear; 24. a limiting rotating rod; 25. connecting the inner teeth; 26. moving the empty slot; 27. moving the plate; 28. a limiting sleeve block; 29. a lifting servo motor; 30. a lifting rotating rod; 31. a lifting gear; 32. lifting internal teeth; 33. a lifting plate; 34. a lifting groove; 35. a wall climbing sucker mounting seat; 36. a wall climbing robot sucker; 37. climbing a wall vacuum hose; 38. a wall climbing vacuum pump; 39. a wall climbing signal processor; 40. a machine end signal receiver; 41. and moving the storage battery.
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.
Example (b):
as shown in fig. 1 to 11, an embodiment of the present invention provides an automatic dust cleaning robot for an external wall of a building, including a main control device body 1, a signal transfer device body 6 and a robot body 14, a mobile device housing 20 is fixedly connected to the middle of the upper side of the robot body 14, a wall-climbing signal processor 39 is fixedly connected to the middle of the upper side of the mobile device housing 20, a machine end signal transceiver 40 is disposed at the rear end of the wall-climbing signal processor 39, mobile servo motors 21 are disposed at the left rear end and the right front end inside the mobile device housing 20, a driving gear 22 is fixedly connected to the lower side driving end of the left rear mobile servo motor 21 and the upper side driving end of the right front mobile servo motor 21, transmission gears 23 are respectively engaged with the external sides of the driving gear 22, a limit rotating rod 24 is fixedly connected to the middle of one side of the mobile servo motor 21 of the transmission gear 23, the external sides of the limit rotating rod 24 are rotatably connected inside the mobile device housing 20, the driving gear 22 and the transmission gear 23 both limit rotating inside the mobile device housing 20, internal teeth are respectively engaged with the external sides of the transmission gear 25, connecting gears 25, connecting the internal teeth are respectively connected to the connecting plates 25, connecting plates 25 are disposed at both sides of the internal side of the mobile device housing 26, the mobile hollow grooves 27 are respectively connected to the mobile device housing 27, and the mobile servo motors 27, and the PLC movable plate 27, and the mobile device housing 27 are electrically connected to the PLC movable plate, and the mobile device housing 27, and the PLC board.
The inside upper end of robot main part 14 is provided with clearance treater 19, the inside right part of robot main part 14 is provided with mobile battery 41, the inside clearance servo motor 16 that is provided with in robot main part 14 lower part, 16 downside drive end fixedly connected with brush dwang 17 of clearance servo motor, brush dwang 17 lower extreme fixedly connected with sweeps grey brush board 18, and it is provided with the brush to sweep grey brush board 18 downside, 14 downside fixed connection of robot main part is at clearance limiting plate 15 upside middle part, 17 outside brush dwang rotates to be connected inside clearance limiting plate 15 middle part, it rotates inside clearance limiting plate 15 downside to sweep grey brush board 18 upper end outside, it is connected with clearance treater 19 to climb wall signal processor 39 through data connection line, clearance treater 19 has clearance servo motor 16 through PLC code structure electric connection.
The two ends of the moving plate 27 are fixedly connected with limit sleeve blocks 28, the upper sides of the two ends of the moving plate 27 are fixedly connected with lifting servo motors 29, the driving ends of the outer sides of the lifting servo motors 29 are fixedly connected with lifting rotating rods 30, the other ends of the lifting rotating rods 30 are fixedly connected with lifting gears 31, the outer sides of the lifting gears 31 are respectively connected with lifting inner teeth 32 in a meshing manner, the lifting inner teeth 32 are respectively and fixedly connected to one side of the inner sides of lifting grooves 34, the lifting grooves 34 are arranged in the middle of one side, close to the moving plate 27, of the lifting plate 33, the outer sides of the lifting plate 33 are respectively connected in the middle of the limit sleeve blocks 28 in a limiting and sliding manner, and the outer side of the lifting rotating rod 30 is rotatably connected with the inner part of the middle part of one side of the limiting sleeve block 28 close to the movable plate 27, the lower side of the lifting plate 33 is fixedly connected with a wall climbing sucker mounting seat 35, the lower side of the wall climbing sucker mounting seat 35 is provided with a wall climbing robot sucker 36, the outer side of the wall climbing robot sucker 36 is fixedly connected with a wall climbing vacuum hose 37 penetrating through the inner side and the outer side of the wall climbing robot sucker 36, the other end of the wall climbing vacuum hose 37 is provided with a wall climbing vacuum pump 38, and the climbing vacuum hoses 37 at both sides of the same moving plate 27 are all arranged at the air suction end of the same climbing vacuum pump 38, the climbing vacuum pumps 38 are respectively and fixedly connected to the left and right ends of the upper side of the mobile equipment shell 20, the climbing signal processor 39 is electrically connected with the lifting servo motor 29 through a PLC data transmission line, and the wall climbing signal processor 39 is electrically connected with a wall climbing vacuum pump 38 through a data transmission line, the mobile storage battery 41 is electrically connected with a cleaning servo motor 16, a cleaning processor 19, a mobile servo motor 21, a lifting servo motor 29, a wall climbing vacuum pump 38, a wall climbing signal processor 39 and a machine end signal transceiver 40, and the wall climbing signal processor 39 is electrically connected with the mobile storage battery 41 through a data transmission line.
6 downside middle part fixedly connected with switching sucking disc mount pad 8 of signal switching equipment main part, 8 downside of switching sucking disc mount pad is provided with switching equipment sucking disc 7, the equal fixedly connected with in switching equipment sucking disc 7 outside runs through the switching vacuum hose 10 of 7 inside and outside both sides of switching equipment sucking disc, the setting of the switching vacuum hose 10 other end is at switching vacuum pump 9 air suction end, switching vacuum pump 9 fixed connection is at 6 upside right-hand members of signal switching equipment main part, 6 upside left end fixedly connected with signal switching treater 11 of signal switching equipment main part, both ends are provided with signal switching transmitter 13 and signal switching receiver 12 respectively around the signal switching treater 11 upside, and 11 electric connection of signal switching treater has signal switching transmitter 13 and signal switching receiver 12, signal switching transmitter 13 and signal switching receiver 12 all connect receiver 5 through radio signal connection master control end signal, and signal switching transmitter 13 and signal switching receiver 12 all connect receiver 40 through radio signal connection machine end signal.
The 4 internal systems of central processing unit are provided with main control end orientation module, climb wall route and set up module, electric quantity monitoring module and remote control module, wherein:
the main control end positioning module is used for receiving a positioning signal transmitted by the signal switching transmitter 13 and displaying the position of the wall climbing robot through the touch panel 3;
the climbing path setting module is used for presetting a climbing action path before the climbing robot performs climbing ash removal treatment operation, so that the climbing robot performs climbing ash removal treatment on the outer side of the wall of a building according to the preset action path, and the climbing path setting treatment of the whole structure of the climbing robot is performed by using the touch panel 3 at the master control terminal, so that the climbing robot can perform ash accumulation cleaning operation on the outer side of the wall of the building according to the self-preset climbing action path;
the electric quantity monitoring module is used for presetting the electric quantity value used by the wall climbing robot after the action path of the wall climbing robot is established, if the electric quantity data signal transmitted by the signal in the wall climbing robot shows that the electric quantity stored in the mobile storage battery 41 does not reach the preset electric quantity value, an alarm is given, charging processing is carried out before the wall climbing robot carries out wall climbing and ash removing operation, the wall climbing operation can be started when the electric quantity reaches the preset value, the wall climbing robot can conveniently and completely carry out outer wall ash removing processing, and the situation that the power electric quantity is insufficient in the ash removing operation of the wall climbing robot is avoided;
and the remote control module is used for carrying out control processing on a crawling path aiming at the manual remote operation of the wall climbing robot.
The internal system of the signal transfer processor 11 is provided with a positioning signal transmission module and a control signal transmission module, wherein:
the positioning signal transmission module is used for calculating the azimuth distance between the wall climbing robot and the main control terminal through the transmission distance and the transmission direction of the wireless signals, so that the wall climbing robot can conveniently perform positioning treatment in the wall climbing and ash removing operation process;
control signal transmission module, a control signal for the switching send out the wall climbing robot control signal that sends through main control end signal transceiver 5, predetermine the route and set up the signal, electric quantity value data signal and electric quantity value alarm signal, prevent that the distance is too far away to cause the transmission signal failure between main control terminal and the wall climbing robot, through setting up several signal switching equipment between main control terminal and wall climbing robot, can long distance partition set up the signal middle-end, make things convenient for the remote transmission effect that carries out radio signal, and then the person of facilitating the use passes through the remote control of main control terminal and creeps the running state of robot, be convenient for carry out the outer wall deashing of building to higher great wall building and handle, adopt manual control robot operation when the robot is obstructed to lead to can not smoothly carrying out the deashing operation of climbing in the deashing process of crawling of deashing route, can avoid the robot operation time of blocking to stop at the outer wall of building, can be applicable to the building structure of overlength equidimension and carry out the deashing operation.
Wall climbing signal processor 39 internal system is provided with robot orientation module, wall climbing path control module, control module and remote signal processing module are predetermine to the electric quantity, and clearance treater 19 internal system is provided with servo motor control module, wherein:
the robot positioning module is used for continuously sending positioning wireless signals to the outside through the machine end signal receiver 40, so that a user can conveniently acquire positioning information of the crawling robot through the main control terminal, and the crawling robot can be conveniently and remotely controlled to crawl;
the climbing path control module is used for summarizing an execution algorithm of a climbing path according to a crawling action path preset signal sent by a master control terminal, performing timing driving processing of the moving servo motor 21 and the lifting servo motor 29 according to the execution algorithm, and further enabling the crawling robot to automatically perform crawling processing according to the preset crawling action path, and controlling the moving servo motor 21 and the lifting servo motor 29 to be driven at regular time by using a climbing path setting module, a remote control signal and a crawling path preset by using the climbing path control module, so that the moving plate 27 is moved and the lifting plate 33 is lifted, and the whole structure of the crawling robot is driven to perform fixed crawling movement on the outer wall of the building;
the electric quantity presetting control module is used for setting an electric quantity warning minimum value before the robot carries out wall climbing operation, constantly monitoring the internal stored electric quantity of the mobile storage battery 41, transmitting electric quantity information to the main control terminal through wireless signals, sending an electric quantity value alarm signal by using the machine end signal receiver 40 when the stored electric quantity is lower than the set electric quantity warning minimum value, displaying the electric quantity value alarm signal through the touch panel 3 of the main control terminal, sending an alarm when the internal stored electric quantity of the robot does not reach an electric quantity preset value by setting the electric quantity monitoring module and the electric quantity presetting control module, avoiding the phenomenon that the wall climbing robot drops due to insufficient power and electric quantity during ash cleaning operation, improving the safety of the climbing robot during operation, meanwhile, the electric quantity presetting control module can also transmit the electric quantity information to the main control terminal through wireless signals in real time, and further facilitating a user to run on a main control terminal part regulation and control machine, and further carrying out electric quantity consumption control operation;
the remote signal processing module is used for carrying out independent processing operation on remote control signals, clearing an execution algorithm in the climbing path control module when the remote control signals are acquired, and carrying out driving operation control on the moving servo motor 21 and the lifting servo motor 29 by the remote signals so as to avoid that the climbing path control module is damaged to cause that climbing ash removal operation cannot be smoothly carried out;
and the servo motor control module is used for controlling the cleaning servo motor 16 to carry out driving operation, and further controlling the ash sweeping brush plate 18 to rotate to carry out ash sweeping and cleaning operation on the bottom wall of the wall climbing robot.
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 (8)
1. Automatic deashing robot of building outer wall, including main control equipment main part (1), signal switching equipment main part (6) and robot main part (14), its characterized in that: the robot comprises a robot body (14), a mobile device shell (20) is fixedly connected to the middle of the upper side of the robot body (14), a wall climbing signal processor (39) is fixedly connected to the middle of the upper side of the mobile device shell (20), a machine end signal receiver (40) is arranged at the rear end of the wall climbing signal processor (39), a mobile servo motor (21) is arranged at the left rear end and the right front end of the inside of the mobile device shell (20), a driving gear (22) is fixedly connected to the driving end of the upper side of the mobile servo motor (21) at the lower side and the right front end of the left rear end, a transmission gear (23) is meshed with the outside of the driving gear (22), the transmission gear (23) is far away from the middle of one side of the mobile servo motor (21) and is fixedly connected with a limit rotating rod (24), the outside of the limit rotating rod (24) is rotatably connected to the inside of the mobile device shell (20), the driving gear (22) and the transmission gear (23) are rotatably connected to the inner gear (25), inner gears (25) are arranged on the inner side of the mobile hollow grooves (26), and the moving plate (27) is arranged on the upper side and the lower side of the moving plate (26) and the moving plate (27) is arranged on the two sides of the hollow groove (26), the wall climbing signal processor (39) is electrically connected with a mobile servo motor (21) through a PLC data transmission line.
2. The automatic ash cleaning robot for the outer wall of the building according to claim 1, wherein: the inside upper end of robot main part (14) is provided with clearance treater (19), the inside right part of robot main part (14) is provided with mobile battery (41), inside clearance servo motor (16) that is provided with in robot main part (14) lower part, clearance servo motor (16) downside drive end fixedly connected with brush dwang (17), brush dwang (17) lower extreme fixedly connected with sweeps grey brush board (18), just it is provided with the brush to sweep grey brush board (18) downside, robot main part (14) downside fixed connection is at clearance limiting plate (15) upside middle part, brush dwang (17) outside is rotated and is connected inside clearance limiting plate (15) middle part, it rotates inside clearance limiting plate (15) downside to sweep grey brush board (18) upper end outside, climb wall signal processor (39) and have clearance treater (19) through data connection line, clearance treater (19) have clearance servo motor (16) through PLC code structure electric connection.
3. The automatic ash cleaning robot for the outer wall of the building according to claim 2, wherein: the lifting mechanism is characterized in that limiting sleeve blocks (28) are fixedly connected to both ends of the movable plate (27), a lifting servo motor (29) is fixedly connected to the upside of both ends of the movable plate (27), a lifting rotating rod (30) is fixedly connected to the driving end of the outer side of the lifting servo motor (29), a lifting gear (31) is fixedly connected to the other end of the lifting rotating rod (30), lifting inner teeth (32) are meshed and connected to the outer side of the lifting gear (31), the lifting inner teeth (32) are respectively and fixedly connected to one side of the inner side of a lifting groove (34), the lifting groove (34) is arranged in the middle of one side, close to the movable plate (27), of the lifting plate (33), the outer side of the lifting plate (33) is in limiting sliding connection inside the middle of the limiting sleeve blocks (28), just it is inside all to rotate in the lift dwang (30) outside and connect and be close to movable plate (27) one side middle part at stop collar piece (28), the equal fixedly connected with wall climbing sucking disc mount pad (35) of lifter plate (33) downside, wall climbing sucking disc mount pad (35) downside all is provided with wall climbing robot sucking disc (36), the equal fixedly connected with in the wall climbing robot sucking disc (36) outside runs through wall climbing vacuum hose (37) of the inside and outside both sides of wall climbing robot sucking disc (36), wall climbing vacuum hose (37) other end all is provided with wall climbing vacuum pump (38), and is located same wall climbing vacuum hose (37) of movable plate (27) both sides all are inside The setting is at the air suction end of same wall vacuum pump (38) of climbing, both ends about mobile device shell (20) upside are fixed connection respectively in wall vacuum pump (38), wall signal processor (39) of climbing has lift servo motor (29) through PLC data transmission line electric connection, just wall signal processor (39) of climbing has wall vacuum pump (38) through data transmission line electric connection, remove battery (41) electric connection has clearance servo motor (16), clearance treater (19), removes servo motor (21), lift servo motor (29), wall vacuum pump (38), wall signal processor (39) of climbing and machine end signal transceiver (40), wall signal processor (39) of climbing has mobile battery (41) through data transmission line electric connection.
4. The automatic ash cleaning robot for the outer wall of the building according to claim 1, wherein: the utility model discloses a main control equipment, including main control equipment main part (1), main control equipment main part (1) front side upper portion is provided with touch panel (3), main control equipment main part (1) downside fixed connection is in main control base (2) upside, main control equipment main part (1) upside middle part is provided with main control end signal and receives ware (5), main control equipment main part (1) lower part inside is provided with central processing unit (4), touch panel (3) have main control end signal to receive ware (5) through central processing unit (4) electric connection.
5. The automatic ash cleaning robot for the outer wall of the building according to claim 4, wherein: signal switching equipment main part (6) downside middle part fixedly connected with switching sucking disc mount pad (8), switching sucking disc mount pad (8) downside is provided with switching equipment sucking disc (7), the equal fixedly connected with in switching equipment sucking disc (7) outside runs through switching vacuum hose (10) of the inside and outside both sides of switching equipment sucking disc (7), switching vacuum hose (10) other end sets up at switching vacuum pump (9) air suction end, switching vacuum pump (9) fixed connection is at signal switching equipment main part (6) upside right-hand member, signal switching equipment main part (6) upside left end fixedly connected with signal switching treater (11), both ends are provided with signal switching transmitter (13) and signal switching receiver (12) respectively before signal switching treater (11) upside, just signal switching treater (11) electric connection has signal switching transmitter (13) and signal switching receiver (12), signal switching transmitter (13) and signal switching receiver (12) all have main control end signal to connect and connect receiver (5) through wireless signal connection, just signal switching transmitter (13) and signal switching receiver (12) all connect and connect signal machine end (40) through wireless signal.
6. The automatic ash cleaning robot for the outer wall of the building according to claim 1, wherein: central processing unit (4) internal system is provided with main control end orientation module, climbs wall route and sets up module, electric quantity monitoring module and remote control module, wherein:
the main control end positioning module is used for receiving a positioning signal transmitted by the signal switching transmitter (13) and displaying the position of the wall climbing robot through the touch panel (3);
the climbing path setting module is used for presetting a climbing action path before the climbing robot carries out climbing ash removal treatment operation, so that the climbing robot carries out climbing ash removal treatment on the outer side of the building wall according to the preset action path;
the electric quantity monitoring module is used for presetting the electric quantity value used by the wall climbing robot after the action path of the wall climbing robot is set up, giving an alarm if the electric quantity data signal transmitted by signals in the wall climbing robot indicates that the electric quantity stored in the mobile storage battery (41) does not reach the preset electric quantity value, performing charging processing before the wall climbing and ash removing operation of the wall climbing robot, starting the wall climbing operation when the electric quantity reaches the preset value, facilitating the wall climbing robot to completely perform outer wall ash removing processing, and avoiding the insufficient power and electric quantity of the wall climbing robot in the ash removing operation;
and the remote control module is used for carrying out control processing on a crawling path aiming at the manual remote operation of the wall climbing robot.
7. The automatic ash cleaning robot for the outer wall of the building according to claim 1, wherein: the internal system of the signal switching processor (11) is provided with a positioning signal transmission module and a control signal transmission module, wherein:
the positioning signal transmission module is used for calculating the azimuth distance between the wall climbing robot and the main control terminal through the transmission distance and the transmission direction of the wireless signals, so that the wall climbing robot can conveniently perform positioning treatment in the wall climbing and ash removing operation process;
and the control signal transmission module is used for switching and receiving control signals of the wall-climbing robot, preset path setting signals, electric quantity value data signals and electric quantity value alarm signals sent by the master control end signal receiving and sending device (5), so that failure of signal transmission caused by too long distance between the master control terminal and the wall-climbing robot is prevented.
8. The automatic ash cleaning robot for the outer wall of the building according to claim 1, wherein: climb wall signal processor (39) internal system and be provided with robot orientation module, climb wall path control module, the electric quantity and predetermine control module and remote signal processing module, clearance treater (19) internal system is provided with servo motor control module, wherein:
the robot positioning module is used for continuously sending positioning wireless signals outwards through the machine end signal receiver (40), so that a user can conveniently acquire positioning information of the crawling robot through the main control terminal, and the crawling robot can be conveniently remotely controlled to crawl;
the climbing path control module is used for summarizing an execution algorithm of a climbing path according to a crawling action path preset signal sent by the main control terminal, performing timing driving processing of the moving servo motor (21) and the lifting servo motor (29) according to the execution algorithm, and further enabling the crawling robot to automatically perform crawling processing according to a preset crawling action path;
the electric quantity presetting control module is used for setting an electric quantity warning minimum value before the robot climbs a wall, constantly monitoring the internal stored electric quantity of the mobile storage battery (41), transmitting electric quantity information to the master control terminal through a wireless signal, sending an electric quantity value alarm signal by using the machine end signal receiver (40) when the stored electric quantity is lower than the set electric quantity warning minimum value, and displaying the electric quantity value alarm signal through the touch panel (3) of the master control terminal;
the remote signal processing module is used for carrying out independent processing operation on remote control signals, clearing an execution algorithm in the climbing path control module when the remote control signals are acquired, and carrying out driving operation control on the moving servo motor (21) and the lifting servo motor (29) through the remote signals so as to avoid that the climbing path control module cannot smoothly carry out climbing ash removal operation due to damage;
and the servo motor control module is used for controlling the cleaning servo motor (16) to carry out driving operation, and further controlling the dust sweeping brush plate (18) to rotate to carry out dust sweeping and cleaning operation on the wall at the bottom of the wall climbing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211008478.XA CN115349789B (en) | 2022-08-22 | 2022-08-22 | Automatic ash removing robot for building outer wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211008478.XA CN115349789B (en) | 2022-08-22 | 2022-08-22 | Automatic ash removing robot for building outer wall |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115349789A true CN115349789A (en) | 2022-11-18 |
| CN115349789B CN115349789B (en) | 2023-08-04 |
Family
ID=84003408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211008478.XA Active CN115349789B (en) | 2022-08-22 | 2022-08-22 | Automatic ash removing robot for building outer wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115349789B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2406781Y (en) * | 2000-01-27 | 2000-11-22 | 北京航空航天大学 | Cleaning robot |
| CN2512555Y (en) * | 2001-12-28 | 2002-09-25 | 吴志明 | Single sucking disc and crawler-type multiple sucking disc combined wall climbing robot |
| CN206544554U (en) * | 2017-03-16 | 2017-10-10 | 王良伟 | Wall device is climbed by a kind of adjustable robot |
| CN110341827A (en) * | 2019-07-22 | 2019-10-18 | 上海神谷电子科技有限公司 | Dropproof Climbing Robot and its traveling method |
| CN212546823U (en) * | 2020-04-29 | 2021-02-19 | 云网智慧(福建)科技有限公司 | Building outer wall cleaning robot |
| CN113738078A (en) * | 2021-09-16 | 2021-12-03 | 湖南康瑞涂料科技有限公司 | Four-pile positioning sucker type wall climbing and tiling robot and working method thereof |
| CN114766957A (en) * | 2022-03-11 | 2022-07-22 | 沈阳航空航天大学 | Full-automatic glass curtain wall cleaning robot |
-
2022
- 2022-08-22 CN CN202211008478.XA patent/CN115349789B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2406781Y (en) * | 2000-01-27 | 2000-11-22 | 北京航空航天大学 | Cleaning robot |
| CN2512555Y (en) * | 2001-12-28 | 2002-09-25 | 吴志明 | Single sucking disc and crawler-type multiple sucking disc combined wall climbing robot |
| CN206544554U (en) * | 2017-03-16 | 2017-10-10 | 王良伟 | Wall device is climbed by a kind of adjustable robot |
| CN110341827A (en) * | 2019-07-22 | 2019-10-18 | 上海神谷电子科技有限公司 | Dropproof Climbing Robot and its traveling method |
| CN212546823U (en) * | 2020-04-29 | 2021-02-19 | 云网智慧(福建)科技有限公司 | Building outer wall cleaning robot |
| CN113738078A (en) * | 2021-09-16 | 2021-12-03 | 湖南康瑞涂料科技有限公司 | Four-pile positioning sucker type wall climbing and tiling robot and working method thereof |
| CN114766957A (en) * | 2022-03-11 | 2022-07-22 | 沈阳航空航天大学 | Full-automatic glass curtain wall cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115349789B (en) | 2023-08-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110876578B (en) | Automatic-turning and obstacle-crossing glass cleaning robot and working method thereof | |
| WO2018053980A1 (en) | Crawler tensioning device and crawler traveling device | |
| CN206432626U (en) | A kind of climbing level robot with electric transmission line isolator cleaning function | |
| KR20190130944A (en) | System for managing solar panel cleaning robot | |
| CN104027043A (en) | Corridor dust collector capable of intelligently climbing stairs | |
| CN109008771B (en) | Modular wipe window intelligent robot | |
| CN115349789A (en) | Automatic deashing robot of building outer wall | |
| CN107377433B (en) | Cable cleaning device | |
| CN208481273U (en) | High-altitude cleaning robot with class manual work mode | |
| CN213488577U (en) | Window cleaning robot | |
| CN211723021U (en) | Spider high altitude cleaning machines people | |
| CN212580861U (en) | Coal conveying trestle washing robot | |
| CN215191224U (en) | Full-automatic glass cleaner based on single chip microcomputer | |
| CN112127307A (en) | Robot for road cleaning | |
| CN113545707A (en) | Cleaning robot with multiple dust suction ports | |
| CN221387703U (en) | Top plate concrete surface dust cleaning structure | |
| CN221561334U (en) | Tunnel inspection robot | |
| CN216312347U (en) | Switch board convenient to maintain and maintain | |
| CN211722965U (en) | Automatic turn-over and glass cleaning robot who stridees across obstacle | |
| CN217013840U (en) | Plane cleaning robot | |
| CN212372221U (en) | Intelligent spraying, cleaning and inspection robot | |
| CN209884026U (en) | Curtain wall cleaning robot | |
| CN221903455U (en) | Window cleaning robot | |
| CN221050789U (en) | Intelligent cleaner for rubber belt conveyor | |
| CN213606142U (en) | Intelligent floor sweeping robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240808 Address after: Building 1, No. 8, Shajiao Qianjin Road, Humen Town, Dongguan City, Guangdong Province, 523165 Patentee after: DONGGUAN SHENCAI PLASTIC PRODUCTS CO.,LTD. Country or region after: China Address before: 650000 No. 320, unit 2, building 6, fashion Holiday Garden, phase II, Guannan community, Jincheng, Guandu District, Kunming City, Yunnan Province Patentee before: KUNMING HUANJIE TECHNOLOGY Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |