CN116965730A - Four-wheel foot magnetic wall climbing cleaning robot - Google Patents
Four-wheel foot magnetic wall climbing cleaning robot Download PDFInfo
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- CN116965730A CN116965730A CN202311009123.7A CN202311009123A CN116965730A CN 116965730 A CN116965730 A CN 116965730A CN 202311009123 A CN202311009123 A CN 202311009123A CN 116965730 A CN116965730 A CN 116965730A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 212
- 230000005291 magnetic effect Effects 0.000 title claims abstract description 113
- 230000009194 climbing Effects 0.000 title claims abstract description 103
- 239000000428 dust Substances 0.000 claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 239000004744 fabric Substances 0.000 claims abstract description 26
- 238000005507 spraying Methods 0.000 claims abstract description 22
- 238000011161 development Methods 0.000 claims abstract description 13
- 210000003108 foot joint Anatomy 0.000 claims description 19
- 239000012459 cleaning agent Substances 0.000 claims description 17
- 239000000203 mixture Substances 0.000 claims description 5
- 238000013461 design Methods 0.000 abstract description 6
- 238000001179 sorption measurement Methods 0.000 description 37
- 239000011521 glass Substances 0.000 description 10
- 239000002131 composite material Substances 0.000 description 7
- 239000003302 ferromagnetic material Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005201 scrubbing Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000003599 detergent Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 239000013043 chemical agent Substances 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
- A47L11/4072—Arrangement of castors or wheels
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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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
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- 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
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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
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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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses a four-wheel foot magnetic attraction wall climbing cleaning robot which comprises a four-wheel foot magnetic attraction wall climbing cleaning robot shell, a wall climbing foot mechanism, a wheel fixing driving motor, a plurality of rubber wheels, a pair of cleaning mechanisms, a dust collection mechanism, a spraying cleaning mechanism, a development board, a magnetic attraction board, a plurality of electromagnets and first cleaning cloth. The four-wheel foot magnet wall-climbing cleaning robot comprises a four-wheel foot magnet wall-climbing cleaning robot shell, wherein a top cover is fixedly connected to the upper end face of the four-wheel foot magnet wall-climbing cleaning robot shell, and a chassis is fixedly connected to the bottom end face of the four-wheel foot magnet wall-climbing cleaning robot shell. The wall climbing foot mechanism comprises a plurality of first mechanical feet and a plurality of second mechanical feet. The application adopts the design of combining the four-wheel moving mode and the four-foot moving mode. The four-wheel moving mode enables the robot to move rapidly on a flat ground, and the cleaning efficiency of the robot is improved. The four-foot moving mode enables the robot to stably move on complex terrains, is high in trafficability, and achieves all-round cleaning capability.
Description
Technical Field
The application relates to the technical field of cleaning robots, in particular to a four-wheel foot magnetic attraction wall climbing cleaning robot.
Background
With the continuous progress of technology, home cleaning robots have become an integral part of modern households. Wherein the home robot is typically a facade cleaning robot.
The key technology of the facade cleaning robot at the present stage mainly researches about three aspects of an adsorption mode, a moving mode and a cleaning mode, wherein the adsorption mode comprises high vacuum adsorption, negative pressure adsorption, magnetic adsorption, bionic adsorption and thrust adsorption
Vacuum adsorption has a high requirement on the surface to be adsorbed, and when the surface is too rough or uneven, the adsorption force is greatly affected. Negative pressure adsorption is similar to the high vacuum adsorption principle.
Magnetic adsorption is mainly classified into permanent magnetic adsorption and electromagnetic adsorption. The permanent magnet adsorption mode is relatively firm, but the adsorption force is possibly overlarge in use, and the robot body is not easy to take off from the working surface. If the robot is powered by the storage battery, the battery capacity is relatively small due to the requirement of the lightweight design of the robot. And if the electromagnetic adsorption is adopted outside the robot battery supply driving system, the limited electric energy is consumed, so that the cruising ability of the robot is reduced, and the affected cleaning efficiency is reduced.
The adsorption force generated by the bionic adsorption mode is relatively small, and is greatly influenced by the roughness and the cleanliness of the wall surface, for example, when more dust exists on the wall surface, the adsorption force of the gecko-like wall climbing robot is greatly influenced. When the roughness of the wall surface is too low, the wall climbing robot imitating father-in-law is incapable of effectively completing the wall climbing function. The thrust adsorption mode has poor stability and is greatly influenced by wind power conditions,
the moving mode mainly comprises foot type, wheel type, crawler type and external auxiliary type. The foot type mobile robot has good obstacle surmounting capability, but compared with other types of robots, the foot type mobile robot has low moving speed, complex foot structure and relatively difficult control mode, and does not meet the design requirements of miniaturization and low complexity of the household robot. The wheel type is flexible to move and steer, and has high speed but poor obstacle crossing capability. The tracked suction cups are typically located on a rotating track. In order to make the moving process of the robot smoother and more stable, the number of the sucking discs is generally larger. External assistance robots of external assistance design, such as SIRSUSc in germany, use gantry crane equipment located on the roof to pull the robot to perform wall cleaning work, which requires equipment to be installed on the roof as early as possible, which is inconvenient for large-scale business.
The cleaning mode is mainly a physical mode and a chemical mode. The physical mode is mainly mechanical force cleaning and high-pressure water flow spraying, and also some brushes rotating at high speed are used for cleaning, and part of water sources used by the robot are provided by external connecting pipes, so that the cleaning range of the robot is limited, and the flexibility of the robot is reduced. At present, compared with the prior robot with a built-in water circulation system, the robot can carry a small amount of water source to finish cleaning work with a larger area. The chemical mode achieves good cleaning effect through the reaction of the chemical agent and the stains.
However, the home cleaning robots on the market still have some limitations in specific application scenarios. For example, in the cleaning process of vertical surfaces such as doors, windows, iron doors and the like, the existing robots often face the problems that the applicable surface is single, uneven surfaces cannot be cleaned effectively and the like.
Disclosure of Invention
The application aims to provide a four-wheel foot magnetic wall climbing cleaning robot which adopts a design combining a four-wheel moving mode and a four-foot moving mode. The four-wheel moving mode enables the robot to move rapidly on a flat ground, and the cleaning efficiency of the robot is improved. The four-foot moving mode enables the robot to stably move on complex terrains, is high in trafficability, and achieves all-round cleaning capability.
In order to achieve the above purpose, the embodiment of the application provides a four-wheel foot magnetic attraction wall climbing cleaning robot, which comprises a four-wheel foot magnetic attraction wall climbing cleaning robot shell, a wall climbing foot mechanism, a wheel fixing driving motor, a plurality of rubber wheels, a pair of cleaning mechanisms, a dust collection mechanism, a spraying cleaning mechanism, a development board, a magnetic attraction board, a plurality of electromagnets and a first cleaning cloth. The four-wheel foot magnet wall-climbing cleaning robot comprises a four-wheel foot magnet wall-climbing cleaning robot shell, wherein a top cover is fixedly connected to the upper end face of the four-wheel foot magnet wall-climbing cleaning robot shell, and a chassis is fixedly connected to the bottom end face of the four-wheel foot magnet wall-climbing cleaning robot shell. The wall climbing foot mechanism comprises a plurality of first mechanical feet and a plurality of second mechanical feet, and the first mechanical feet are fixedly connected with the four-wheel foot magnetic attraction wall climbing cleaning robot shell. The wheel fixed driving motors are fixedly connected with the wheel fixed driving motors on the second mechanical feet, and the wheel fixed driving motors are connected with rubber wheels. The four-wheel foot magnetic wall climbing cleaning robot comprises a four-wheel foot magnetic wall climbing cleaning robot body, wherein a pair of rubber wheels are arranged on the end faces of the side walls of the four-wheel foot magnetic wall climbing cleaning robot body, a wheel fixing driving motor is connected between the pair of rubber wheels, and a plurality of first permanent magnets are arranged on the plurality of rubber wheels. The cleaning mechanism comprises a cleaning brush rotating disc, a plurality of cleaning brushes and a cleaning brush driving motor, wherein the cleaning brush driving motor is fixedly connected to the side wall end face of the four-wheel foot magnetic wall-climbing cleaning robot shell. The dust collection mechanism comprises a dust collection motor and a dust collection box, the dust collection motor is arranged on the end face of the side wall of the dust collection box, which is positioned on the inner wall of the four-wheel foot magnetic wall-climbing cleaning robot shell, and a dust collection opening is formed in the end face of the bottom of the four-wheel foot magnetic wall-climbing cleaning robot shell. The spraying cleaning mechanism comprises a self-priming pump, a cleaning agent storage box and a pair of spraying cylinders, wherein cleaning agents are stored in the cleaning agent storage box, the pair of spraying cylinders are fixedly connected to a pair of opposite end faces of the chassis, a plurality of spraying ports are formed in the spraying cylinders, and the cleaning agent storage box is connected with the self-priming pump. The four-wheel foot magnetic climbing wall cleaning robot comprises a four-wheel foot magnetic climbing wall cleaning robot shell, wherein the four-wheel foot magnetic climbing wall cleaning robot shell is provided with a sound recognition module and a Bluetooth module, the four-wheel foot magnetic climbing wall cleaning robot shell is provided with a gyroscope, the four-wheel foot magnetic climbing wall cleaning robot shell is provided with a Bluetooth module, and the four-wheel foot magnetic climbing wall cleaning robot shell is provided with a Bluetooth module. The magnetic suction plate comprises a handle, a plurality of second permanent magnets and second cleaning cloths, wherein the outer end faces of the bottoms of the second permanent magnets are connected with the second cleaning cloths. The electromagnets are arranged on the bottom end face of the four-wheel foot magnetic wall-climbing cleaning robot shell. The first cleaning cloth is arranged on the bottom end face of the chassis.
In one or more embodiments of the present application, the end surface of the chassis, which is in contact with the first cleaning cloth, is fixedly connected with a hook surface, and the bottom end surface of the first cleaning cloth is fixedly connected with a hook surface, and the hook surface is adhered to the hook surface.
In one or more embodiments of the present application, the four-wheel foot magnetic attraction wall climbing cleaning robot housing, the top cover and the chassis are all made of TPU, and the magnetic attraction plate is made of PLA.
In one or more embodiments of the present application, a first safety hole is provided at the top of the four-wheel foot magnetic climbing robot housing, and a first safety rope is tied in the first safety hole.
In one or more embodiments of the present application, a foot-driven first steering engine is connected between the first mechanical foot and the second mechanical foot, the first mechanical foot is connected with a foot-driven second steering engine, the second mechanical foot comprises a first mechanical foot joint and a second mechanical foot joint, the first mechanical foot joint is fixed on the middle opposite end face of the first mechanical foot, the second mechanical foot joint is rotatably connected on the upper end face of the first mechanical foot, and a fixed driving assembly is connected between the first mechanical foot and the second mechanical foot.
In one or more embodiments of the present application, the stationary drive assembly includes a stationary buckle and a stationary plate that are secured to a pair of opposing end surfaces of the first mechanical foot or the second mechanical foot that are coupled to the foot-driven first steering engine and the foot-driven second steering engine.
In one or more embodiments of the present application, a motor shaft is rotatably connected between a pair of rubber wheels, a gear is connected to the motor shaft, the gear is connected to a wheel fixed driving motor, a fixed composition board is fixedly connected to the wheel fixed driving motor, and the fixed composition board is fixedly connected to the second mechanical foot.
In one or more embodiments of the present application, ultrasonic modules are disposed on the fixed composition boards, the side wall end surfaces of the four-wheel foot magnetic wall-climbing cleaning robot housing are provided with first infrared ranging modules, the bottom end surface of the four-wheel foot magnetic wall-climbing cleaning robot housing is provided with a second infrared ranging module, and the end surface of one side of the inner wall of the four-wheel foot magnetic wall-climbing cleaning robot housing is provided with a buzzer.
In one or more embodiments of the present application, the second permanent magnet is matched with the four-wheel foot magnetic attraction wall climbing cleaning robot housing, and the projection of the magnetic attraction plate on the horizontal plane is the same as the projection of the four-wheel foot magnetic attraction wall climbing cleaning robot housing on the horizontal plane. The bottom end face of the handle is provided with a second safety hole, and a second safety rope is bound in the second safety hole.
In one or more embodiments of the present application, a dust cover is disposed on a top end surface of the dust collection box, and a dust screen is disposed on a top end surface of the dust collection motor.
Compared with the prior art, the four-wheel foot magnetic wall climbing cleaning robot has the following benefits;
1) The adsorption mode of the four-wheel foot magnetic wall climbing robot adopts different adsorption modes aiming at different working environments, has strong adaptability, and can efficiently perform cleaning work in different scenes by applying three adsorption modes of a ferromagnetic material vertical surface, a glass vertical surface and a horizontal flat surface.
2) For the adsorption mode of ferromagnetic material facade, adopt the mode that electro-magnet and permanent magnet combine, the robot uses from the electro-magnet of taking and the permanent magnet of embedding drive wheel to adsorb, reaches better adsorption effect, and no fan noise simultaneously, quiet operation.
3) For the adsorption mode of the glass facade, the robot uses the electromagnet of the body to adsorb an auxiliary outer machine to realize adsorption; and for the adsorption mode of the horizontal flat surface, the robot self-gravity is relied on.
4) The application adopts the design of combining the four-wheel moving mode and the four-foot moving mode. The four-wheel moving mode enables the robot to move rapidly on a flat ground, and the cleaning efficiency of the robot is improved. The four-foot moving mode enables the robot to stably move on complex terrains, is high in trafficability, and achieves all-round cleaning capability.
5) The application solves the problem of scrubbing uneven surfaces of the existing household cleaning robot, and enhances obstacle surmounting capability and improves cleaning efficiency by using the two-degree-of-freedom connecting rod and connecting rod foot wheel composite structure.
6) The machine body is made of TPU shell, so that the damage to the surrounding environment during operation of the household cleaning robot is greatly reduced.
Drawings
Fig. 1 is a schematic structural view of a four-wheel foot magnetic wall climbing cleaning robot according to an embodiment of the present application;
fig. 2 is a schematic structural diagram II of a four-wheel foot magnetic wall climbing cleaning robot according to an embodiment of the application;
fig. 3 is a schematic diagram III of a four-wheel foot magnetic wall climbing cleaning robot according to an embodiment of the application;
FIG. 4 is a bottom view of a four-wheel foot magnetic attraction wall climbing cleaning robot in accordance with one embodiment of the present application;
fig. 5 is a schematic structural view of a four-wheel foot magnetic attraction wall climbing cleaning robot according to an embodiment of the present application, with the top cover 101 and part of the wall climbing foot mechanism 7 removed;
FIG. 6 is a schematic view of the structure at A of FIG. 5;
fig. 7 is a top view of a four-wheel foot magnetic attraction wall climbing cleaning robot after removing the top cover 101 and part of the wall climbing foot mechanism 7 according to an embodiment of the present application;
fig. 8 is a schematic structural view of a four-wheel foot magnetic attraction wall climbing cleaning robot after the chassis 102 and part of the wall climbing foot mechanism 7 are removed according to an embodiment of the application;
FIG. 9 is a schematic view of the structure at B of FIG. 5;
fig. 10 is a schematic view of the structure of the magnetic attraction plate 22;
fig. 11 is a schematic diagram of the structure of the magnetic attraction plate 22;
the main reference numerals illustrate:
1-four-wheel foot magnetic climbing wall cleaning robot shell, 101-top cover, 102-chassis, 1021-spraying cylinder, 1022-spraying port, 2-cleaning agent storage box, 3-rubber wheel, 301-first permanent magnet, 4-dust cover, 5-ultrasonic module, 6-wheel fixed driving motor, 601-gear, 602-fixed combined board, 603-motor shaft, 7-climbing wall foot mechanism, 701-first mechanical foot, 702-second mechanical foot, 7021-first mechanical foot joint, 7022-second mechanical foot joint, 703-fixed buckle, 704-fixed disk, 8-first infrared ranging module, 9-cleaning mechanism, 901-cleaning rotating disc, 902-cleaning, 903-cleaning driving motor, 10-first cleaning cloth, 11-dust collection box, 12-dust screen, 13-self-priming pump, 14-development board, 15-dust collection port, 16-second infrared distance measurement module, 17-electromagnet, 1701-electromagnet mounting groove, 18-foot driving first steering engine, 19-voice recognition module, 20-bluetooth module, 21-foot driving second steering engine, 22-magnetic suction plate, 2201-handle, 2202-second permanent magnet, 2203-second cleaning cloth, 2204-second safety hole.
Detailed Description
The following detailed description of embodiments of the application is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the application is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
As shown in fig. 1 to 2, a four-wheel foot magnetic attraction type wall climbing cleaning robot according to a preferred embodiment of the present application includes a four-wheel foot magnetic attraction type wall climbing cleaning robot housing 1, a wall climbing foot mechanism 7, a wheel fixing driving motor 6, a plurality of rubber wheels 3, a pair of cleaning mechanisms 9, a dust suction mechanism, a spray cleaning mechanism, a development plate 14, a magnetic attraction plate 22, a plurality of electromagnets 17, and a first cleaning cloth 10.
The upper end face of the four-wheel foot magnetic climbing wall cleaning robot shell 1 is fixedly connected with a top cover 101, and the bottom end face of the four-wheel foot magnetic climbing wall cleaning robot shell 1 is fixedly connected with a chassis 102;
as shown in fig. 2 to 3, the wall climbing foot mechanism 7 includes a plurality of first mechanical feet 701 and a plurality of second mechanical feet 702, wherein the first mechanical feet 701 are fixedly connected with the four-wheel foot magnetic wall climbing cleaning robot housing 1, that is, a pair of opposite end surfaces of the first mechanical feet 701 are fixed on a pair of opposite end surfaces of the four-wheel foot magnetic wall climbing cleaning robot housing 1.
The second mechanical foot 702 includes a first mechanical foot joint 7021 and a second mechanical foot joint 7022, the first mechanical foot joint 7021 being secured to a medial opposite end surface of the first mechanical foot 701.
The second mechanical foot joint 7022 is rotatably connected to the upper end surface of the first mechanical foot 701, and the second mechanical foot joint 7022 and the other end surface of the first mechanical foot joint 7021 are rotatably connected to the fixed combination board 602, so that when the first mechanical foot joint 7021 rotates, the second mechanical foot joint 7022 rotates along with the first mechanical foot joint 7021.
A foot-driven first steering engine 18 is connected between the first mechanical foot 701 and the second mechanical foot 702, and the foot-driven first steering engine 18 is fixed on the inner end surface of the first mechanical foot 701.
The first mechanical foot 701 is connected with the foot driving second steering engine 21, the foot driving second steering engine 21 is located on one side end face of the inner wall of the four-wheel foot magnetic climbing wall cleaning robot shell 1, the purpose that the first mechanical foot 701 and the second mechanical foot 702 are driven to operate through the foot driving second steering engine 21 and the foot driving first steering engine 18 is achieved, and the robot is convenient to fully contact with a cleaning elevation.
A fixed driving assembly is connected between the first mechanical foot 701 and the second mechanical foot 702, the first mechanical foot 701 and the second mechanical foot 702 are mutually fixed through the fixed driving assembly, and the second mechanical foot 702 is fixed on the four-wheel foot magnetic climbing wall cleaning robot shell 1 through the fixed driving assembly.
The fixed driving assembly comprises a fixed buckle 703 and a fixed disc 704, the fixed buckle 703 and the fixed disc 704 are fixed on a pair of opposite end surfaces of the first mechanical foot 701 or the second mechanical foot 702, which are connected with the foot driving first steering engine 18 and the foot driving second steering engine 21, namely, the fixed buckle 703 and the fixed disc 704 are connected with the foot driving first steering engine 18 or the foot driving second steering engine 21, so that mutual fixation among the first mechanical foot 701, the second mechanical foot 702, the fixed combination board 602 and the four-wheel foot magnetic climbing wall cleaning robot shell 1 is realized, and the first mechanical foot 701 or the second mechanical foot 702 is driven to operate.
The first mechanical foot 701 and the second mechanical foot 702 are respectively provided with anti-skid grains.
As shown in fig. 3 to 9, the wheel fixing driving motors 6 are fixedly connected to the second mechanical legs 702, the rubber wheels 3 are connected to the wheel fixing driving motors 6, and the wheel fixing driving motors 6 are connected between the pair of rubber wheels 3, so that the pair of rubber wheels 3 can be driven to operate by the wheel fixing driving motors 6.
The four-wheel foot magnet is provided with a pair of rubber wheels 3 on the end faces of the plurality of side walls of the four-wheel foot magnet wall climbing cleaning robot shell 1, namely, the four-wheel foot magnet wall climbing cleaning robot shell 1 is connected with a pair of rubber wheels 3 on the end faces of the four side corners, and the pair of rubber wheels 3 are matched with the first mechanical foot 701 and the second mechanical foot 702, so that the wall climbing foot mechanism 7 can be operated and the rubber wheels 3 can be driven to operate.
Further, a motor shaft 603 is rotatably connected between the pair of rubber wheels 3, a gear 601 is connected to the motor shaft 603, and the end face of the other side of the gear 601 is connected with a wheel fixing driving motor 6, so that the gear 601 is driven to operate when the wheel fixing driving motor 6 operates, and the pair of rubber wheels 3 is driven to operate.
Fixed composite board 602 is fixedly connected to wheel fixed driving motor 6, fixed composite board 602 is fixedly connected to second mechanical foot 702, motor shaft 603 penetrates through fixed composite board 602, fixed composite board 602 penetrates through motor shaft 603, namely motor shaft 603 and gear 601 are connected to fixed composite board 602, and fixing of gear 601, wheel fixed driving motor 6, motor shaft 603 and second mechanical foot 702 is achieved through fixed composite board 602.
The plurality of the first permanent magnets 301 are arranged on the plurality of the rubber wheels 3, so that the rubber wheels 3 can tightly adsorb the robot on the surface to be cleaned through the first permanent magnets 301, and the first permanent magnets 301 can adsorb the magnetic material or the magnetic attraction plate 22, so that the robot can be fixed.
Specifically, the wall climbing foot mechanisms 7 and the rubber wheels 3 which are distributed on the four side end surfaces of the robot body move, so that the rapidness of wheel type movement and the flexibility in steering are exerted. In the irregular moving mode, the first steering engine 18 is driven by the upper feet of the first mechanical foot 701 and the second steering engine 702 and the second steering engine 21 is driven by the feet to rotate to drive the joints to rotate so as to complete the expansion and contraction of the wall climbing foot mechanism 7, so that the contact area between the bottom of the robot body and the cleaned surface is ensured, and the cleaning efficiency is ensured.
The four-wheel foot magnet climbing wall cleaning robot shell 1 is provided with a plurality of electromagnets 17, wherein the electromagnets 17 are arranged on the bottom end face of the four-wheel foot magnet climbing wall cleaning robot shell 1, the bottom end face of the four-wheel foot magnet climbing wall cleaning robot shell 1 is provided with electromagnet mounting grooves 1701 matched with the electromagnets 17, and the electromagnets 17 are fixed in the electromagnet mounting grooves 1701. The robot can be electrified and magnetically generated, so that the robot is closely adsorbed on the vertical surface of the ferromagnetic material.
The number of electromagnets 17 is preferably 4, and the electromagnets are distributed on the four side wall end surfaces at the bottom of the four-wheel foot magnetic wall climbing cleaning robot shell 1. The electromagnet 17 and the first permanent magnet 301 embedded in the rubber wheel 3 are used for adsorption, so that a better adsorption effect is achieved, and meanwhile, no fan noise and quiet operation are achieved.
Further, the attraction force of the electromagnet 17 is: under the action of 12v direct current voltage, the suction force of the single electromagnet 17 is 4kg.
The cleaning mechanisms 9 are distributed on a pair of opposite end surfaces of the bottom of the four-wheel foot magnetic wall climbing cleaning robot shell 1, and each cleaning mechanism 9 comprises a cleaning brush rotating disc 901, a plurality of cleaning brushes 902 and a cleaning brush driving motor 903, and the cleaning brushes 902 are fixedly connected to the end surfaces of the bottom of the cleaning brush rotating disc 901.
The brush driving motor 903 is fixedly connected to the end face of the side wall of the four-wheel foot magnetic wall climbing cleaning robot shell 1, the brush driving motor 903 is connected with the brush rotating disc 901, the brush rotating disc 901 and the brush 902 are controlled to rotate through the brush driving motor 903, and cleaning is conducted through rotation of the brush 902.
The first cleaning cloth 10 is disposed on the bottom end surface of the chassis 102, and cleaning of the end surface located at the bottom of the first cleaning cloth 10 is achieved by the first cleaning cloth 10.
The end face fixedly connected with magic tape of chassis 102 and the contact of first clean cloth 10, the bottom end face fixedly connected with of first clean cloth 10 pastes the face of colluding, and the magic tape is pasted to the magic tape and is colluded the face, reaches the dismantlement and the fixed of first clean cloth 10, conveniently changes after the pollution at first clean cloth 10.
The spraying cleaning mechanism comprises a self-priming pump 13, a cleaning agent storage box 2 and a pair of spraying cylinders 1021, wherein the self-priming pump 13 and the cleaning agent storage box 2 are arranged on the inner wall end face of the four-wheel foot magnetic wall-climbing cleaning robot shell 1, the self-priming pump 13 is adjacent to the cleaning agent storage box 2, and the cleaning agent storage box 2 is connected with the self-priming pump 13.
A pair of spraying drums 1021 are fixedly connected to a pair of opposite end surfaces of the chassis 102, and a plurality of spraying ports 1022 are provided on the spraying drums 1021.
The cleaning agent is stored in the cleaning agent storage box 2, so that when the robot performs cleaning work, the cleaning agent stored in the cleaning agent storage box 2 is pumped by the self-sucking pump 13 and sprayed on the surface of the vertical surface to be cleaned through the plurality of spraying ports 1022, the existing dirt is softened, and the cleaning work of the bottom rotary scrubbing device is facilitated.
As shown in fig. 1 to 5, the dust collection mechanism comprises a dust collection motor and a dust collection box 11, the dust collection motor is arranged on the side wall end face of the four-wheel foot magnetic climbing wall cleaning robot shell 1, the inner wall of the four-wheel foot magnetic climbing wall cleaning robot shell 1 is located on the side wall end face of the dust collection box 11, a dust collection opening 15 is formed in the bottom end face of the four-wheel foot magnetic climbing wall cleaning robot shell 1, dust and fragments generated in the cleaning process of the cleaning mechanism 9 and the first cleaning cloth 10 are adsorbed and conveyed into the dust collection box 11 through the dust collection opening 15, rapid cleaning is achieved, and dust raising is not easy to occur.
The dust screen 12 is arranged on the top end face of the dust collection motor to prevent dust from entering the dust collection motor and affecting the normal use of the dust collection motor.
The dust cover 4 is arranged on the top end face of the dust collection box 11, so that the dust collection box 11 is sealed and opened, and the dust collection box 11 is cleaned conveniently.
The development board 14 is arranged on the inner wall end face of the four-wheel foot magnetic wall climbing cleaning robot shell 1, the development board 14 is connected with a voice recognition module 19 and a Bluetooth module 20, and a gyroscope is arranged in the four-wheel foot magnetic wall climbing cleaning robot shell 1.
The four-wheel foot magnet climbing wall cleaning robot shell 1 is characterized in that ultrasonic modules 5 are arranged on the fixed combination plates 602, first infrared ranging modules 8 are arranged on the end faces of the side walls of the four-wheel foot magnet climbing wall cleaning robot shell 1, and second infrared ranging modules 16 are arranged on the end faces of the bottom of the four-wheel foot magnet climbing wall cleaning robot shell 1.
Specifically, the control of the robot is classified into two modes of automatic and manual. In the automatic control mode, the robot detects its own posture by using an internal gyroscope, judges the working environment, and autonomously controls the on/off of the electromagnet 17. The four-wheel foot magnet wall climbing cleaning robot shell 1 is provided with a first infrared ranging module 8 and a second infrared ranging module 16 at the periphery and the bottom for measuring distance and calculating coordinates so as to plan a cleaning route and improve efficiency. The second infrared ranging module 16 positioned on the bottom end face of the four-wheel foot magnetic wall-climbing cleaning robot shell 1 can also measure and calculate the thickness of glass, and the electromagnet current is controlled through an algorithm, so that the robot is ensured to be fixed on the glass without interference in movement. When cleaning ferromagnetic materials, the second infrared ranging module 16 detects whether the robot bottom is in contact with the surface and ensures sufficient contact by adjusting the mechanical foot.
In the manual control mode, the robot is connected with the mobile device through an internal Bluetooth module, and sends specific characters to control movement. In addition, the voice recognition module 19 implements movement control by specific voice vocabulary entry 。
The end face of the bottom of the development board 14 is connected with a battery to realize power supply to the whole robot equipment. The end face of the bottom of the development board 14 is also provided with a standby power supply, and the end face of one side of the inner wall of the four-wheel foot magnetic wall climbing cleaning robot shell 1 is provided with a buzzer. The stand-by power supply is started by the stand-by motor once the electric quantity of the main battery is found to be insufficient, and an alarm is sent out through the buzzer.
The four-wheel foot magnet wall climbing cleaning robot comprises a four-wheel foot magnet wall climbing cleaning robot shell body 1, wherein first safety holes are formed in the top of the four-wheel foot magnet wall climbing cleaning robot shell body, and first safety ropes are bound in the first safety holes. When the robot equipment is used, the first safety rope is required to be bound on the vertical face frame structure in advance, accidents are prevented from happening, the object falling at high altitude is caused, and the robot is prevented from being damaged due to falling.
The magnetic attraction plate 22 comprises a handle 2201, a plurality of second permanent magnets 2202 and second cleaning cloth 2203, wherein the outer end faces of the bottoms of the second permanent magnets 2202 are connected with the second cleaning cloth 2203, so that the magnetic attraction plate can be stably adsorbed on a glass vertical face through cooperation of a robot and the magnetic attraction plate.
Wherein the second permanent magnet 2202 and the second cleaning cloth 2203 are fixed by using a magic tape.
Specifically, the second permanent magnet 2202 is matched with the four-wheel foot magnetic wall-climbing cleaning robot housing 1, and the projection of the magnetic attraction plate 22 on the horizontal plane is the same as the projection of the four-wheel foot magnetic wall-climbing cleaning robot housing 1 on the horizontal plane. That is, the size and shape of the magnetic attraction plate 22 are consistent with those of the robot body, the projection of the plurality of handles 2201 on the horizontal plane is slightly larger than that of the electromagnet 17 on the horizontal plane, and the edge of the bottom of the handles 2201 is a second cleaning cloth 2203 fixed by a magic tape and used for wiping the outer side of the glass elevation. The magnetic plate 22 moves along with the robot body under the magnetic force of the robot body.
Wherein the number of second permanent magnets 2202 is preferably 4.
The second safety hole 2204 has been seted up to the bottom terminal surface of handle 2201, has tie-in to have the second safety rope in the second safety hole 2204, realizes using the robotic device, need tie-in advance the second safety rope on facade frame construction, prevents to take place the accident, the security when reinforcing magnetic attraction plate 22 operates.
Wherein the first permanent magnet 301 and the second permanent magnet 2202 can reduce the burden on the electromagnet 17, thereby saving the robot energy consumption.
The four-wheel foot magnetic attraction wall climbing cleaning robot shell 1, the top cover 101 and the chassis 102 are all made of TPU, and the magnetic attraction plate 22 is made of PLA. The buffer of the robot when the robot collides with the surface of other objects is increased, the damage of the robot is reduced, and the safety of a user is protected.
Wherein four-wheel foot magnetism is inhaled and is climbed wall cleaning robot casing 1 and with the shell of supplementary outer machine all adopt 3D printing technique to print.
The preferred robot body dimensions are 409mm long and 228mm wide.
It is noted that the robot's suction means mainly relies on the electromagnet 17 at the bottom of the robot, for the three aspects currently in use, namely door, window and table orientation. Three kinds of ferromagnetic material vertical surfaces, glass vertical surfaces and horizontal flat surfaces can be used.
When in use, different adsorption modes are adopted for different working environments;
for the vertical surface of the ferromagnetic material, a mode of combining an electromagnet with a permanent magnet is adopted, the robot uses the electromagnet 17 and the first permanent magnets 301 embedded on the plurality of rubber wheels 3 to adsorb, so that a better adsorption effect is achieved, and meanwhile, no fan noise and quiet operation are realized;
for the glass vertical face, the electromagnet 17 of the robot body is used for placing the magnetic suction plate 22 on the other side of the glass vertical face, and the electromagnet 17 is used for sucking the magnetic suction plate 22, so that the glass vertical face is sucked; the horizontal flat surface relies on its own weight.
After the adsorption is completed, the robot detects the posture of the robot according to the ultrasonic module 5, the first infrared ranging module 8, the second infrared ranging module 16, the development board 14, the voice recognition module 19, the Bluetooth module 20 and the gyroscope, judges the working environment, plans the cleaning route, moves under the action of the plurality of rubber wheels 3 and the climbing wall foot mechanism 7, and exerts the rapidness of wheel type movement and the flexibility in steering. Under the irregular moving mode, the first mechanical foot 701 and the second mechanical foot 702 are driven to rotate and stretch through the foot driving second steering engine 21 and the foot driving first steering engine 18, so that the contact area between the bottom of the robot body and the cleaned surface is ensured, and the cleaning efficiency is ensured.
Then start to start and clean mechanism 9 and rotate and clean and wait to clean the facade, carry out the intensive cleaning through first cleaning cloth 10 simultaneously, spray clean mechanism start when clean, take out the detergent that stores in detergent storage box 2 and spray it on wait to clean the facade surface through a plurality of spraying ports 1022 through self priming pump 13, soften the filth that exists, make things convenient for the cleaning operation of rotatory scrubbing device in bottom.
The application realizes diversified application scenes and efficient cleaning capability. Whether the door, the window or the table top is cleaned, the robot can stably adsorb and perform efficient cleaning work. Compared with the traditional household cleaning robot, the application adopts the combination of the electromagnet and the permanent magnet in the adsorption mode, so that the robot can be more firmly adsorbed on different materials, and more stable cleaning experience and wider cleaning application scene are provided.
The application realizes the high-efficiency cleaning capability in different scenes by combining a plurality of adsorption modes and moving modes. The robot has the advantages of the adsorption mode and the moving mode, and provides a more efficient and convenient solution for household cleaning.
The foregoing descriptions of specific exemplary embodiments of the present application are presented for purposes of illustration and description. It is not intended to limit the application to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the application and its practical application to thereby enable one skilled in the art to make and utilize the application in various exemplary embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the application be defined by the claims and their equivalents.
Claims (10)
1. The four-wheel foot magnetic wall climbing cleaning robot is characterized by comprising the following components;
four-wheel foot magnetic wall climbing cleaning robot shell; the upper end face is fixedly connected with a top cover, and the bottom end face of the four-wheel foot magnetic attraction wall climbing cleaning robot shell is fixedly connected with a chassis;
the wall climbing foot mechanism comprises a plurality of first mechanical feet and a plurality of second mechanical feet, wherein the first mechanical feet are fixedly connected with the four-wheel foot magnetic attraction wall climbing cleaning robot shell;
the wheel fixed driving motors are fixedly connected with the second mechanical feet, and the wheel fixed driving motors are connected with rubber wheels;
the four-wheel foot magnetic wall climbing cleaning robot comprises a four-wheel foot magnetic wall climbing cleaning robot shell, a plurality of rubber wheels, a plurality of permanent magnets and a plurality of permanent magnets, wherein the pair of rubber wheels are arranged on the end faces of the side walls of the four-wheel foot magnetic wall climbing cleaning robot shell, a wheel fixing driving motor is connected between the pair of rubber wheels, and the plurality of rubber wheels are provided with the plurality of first permanent magnets;
the cleaning mechanisms are distributed on a pair of opposite end surfaces at the bottom of the four-wheel foot magnetic wall-climbing cleaning robot shell, and comprise a cleaning brush rotating disc, a plurality of cleaning brushes and a cleaning brush driving motor, and the cleaning brush driving motor is fixedly connected to the end surfaces of the side walls of the four-wheel foot magnetic wall-climbing cleaning robot shell;
the dust collection mechanism comprises a dust collection motor and a dust collection box, wherein the dust collection motor is arranged on the end face of the side wall of the dust collection box on the inner wall of the four-wheel foot magnetic wall-climbing cleaning robot shell, and a dust collection opening is formed in the end face of the bottom of the four-wheel foot magnetic wall-climbing cleaning robot shell;
the spraying cleaning mechanism comprises a self-priming pump, a cleaning agent storage box and a pair of spraying cylinders, wherein cleaning agents are stored in the cleaning agent storage box, the pair of spraying cylinders are fixedly connected to a pair of opposite end surfaces of the chassis, a plurality of spraying ports are formed in the spraying cylinders, and the cleaning agent storage box is connected with the self-priming pump;
the development board is arranged on the inner wall end surface of the four-wheel foot magnetic wall-climbing cleaning robot shell, the bottom end surface of the development board is connected with a battery, the bottom end surface of the development board is also provided with a standby power supply, the development board is connected with a voice recognition module and a Bluetooth module, and a gyroscope is arranged in the four-wheel foot magnetic wall-climbing cleaning robot shell;
the magnetic suction plate comprises a handle, a plurality of second permanent magnets and second cleaning cloth, wherein the outer side end surfaces of the bottoms of the second permanent magnets are connected with the second cleaning cloth;
the electromagnets are arranged on the bottom end face of the four-wheel foot magnetic wall-climbing cleaning robot shell;
the first cleaning cloth is arranged on the bottom end face of the chassis.
2. The four-wheel foot magnetic wall climbing cleaning robot according to claim 1, wherein the end face of the chassis, which is in contact with the first cleaning cloth, is fixedly connected with a magic hook face, the bottom end face of the first cleaning cloth is fixedly connected with a magic hook face, and the magic hook face is adhered to the magic hook face.
3. The four-wheel foot magnetic climbing cleaning robot according to claim 1, wherein the four-wheel foot magnetic climbing cleaning robot shell, the top cover and the chassis are all made of TPU, and the magnetic plate is made of PLA.
4. The four-wheel foot magnetic climbing cleaning robot according to claim 1, wherein a first safety hole is formed in the top of the four-wheel foot magnetic climbing cleaning robot shell, and a first safety rope is bound in the first safety hole.
5. The four-wheel foot magnetic wall climbing cleaning robot according to claim 1, wherein a foot driving first steering engine is connected between the first mechanical foot and the second mechanical foot, the first mechanical foot is connected with a foot driving second steering engine, the second mechanical foot comprises a first mechanical foot joint and a second mechanical foot joint, the first mechanical foot joint is fixed on the middle opposite end face of the first mechanical foot, the second mechanical foot joint is rotatably connected on the upper end face of the first mechanical foot, and a fixed driving assembly is connected between the first mechanical foot and the second mechanical foot.
6. The four-wheeled foot-magnetic wall climbing cleaning robot of claim 5, wherein the fixed drive assembly comprises a fixed clasp and a fixed disk, the fixed clasp and the fixed disk being secured to a pair of opposing end surfaces of the first mechanical foot or the second mechanical foot that are coupled to the foot-driven first steering engine and the foot-driven second steering engine.
7. The four-wheel foot magnetic wall climbing cleaning robot according to claim 1, wherein a motor shaft is rotatably connected between a pair of the rubber wheels, a gear is connected to the motor shaft, a wheel fixing driving motor is connected to the gear, a fixing composition board is fixedly connected to the wheel fixing driving motor, and the fixing composition board is fixedly connected to the second mechanical foot.
8. The four-wheel foot magnet wall climbing cleaning robot according to claim 7, wherein ultrasonic modules are arranged on the fixed combination plates, the side wall end faces of the four-wheel foot magnet wall climbing cleaning robot shell are provided with first infrared ranging modules, the bottom end face of the four-wheel foot magnet wall climbing cleaning robot shell is provided with a second infrared ranging module, and the end face of one side of the inner wall of the four-wheel foot magnet wall climbing cleaning robot shell is provided with a buzzer.
9. The four-wheel foot magnetic climbing cleaning robot according to claim 1, wherein the second permanent magnet is matched with the four-wheel foot magnetic climbing cleaning robot housing, and the projection of the magnetic attraction plate on the horizontal plane is the same as the projection of the four-wheel foot magnetic climbing cleaning robot housing on the horizontal plane. The bottom end face of the handle is provided with a second safety hole, and a second safety rope is bound in the second safety hole.
10. The four-wheel foot magnetic wall climbing cleaning robot according to claim 1, wherein a dust cover is arranged on a top end face of the dust collection box, and a dust screen is arranged on a top end face of the dust collection motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311009123.7A CN116965730A (en) | 2023-08-11 | 2023-08-11 | Four-wheel foot magnetic wall climbing cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311009123.7A CN116965730A (en) | 2023-08-11 | 2023-08-11 | Four-wheel foot magnetic wall climbing cleaning robot |
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| CN116965730A true CN116965730A (en) | 2023-10-31 |
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| CN202311009123.7A Pending CN116965730A (en) | 2023-08-11 | 2023-08-11 | Four-wheel foot magnetic wall climbing cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117502953A (en) * | 2024-01-04 | 2024-02-06 | 苏州派特纳智能科技有限公司 | Lifting structure of wall cleaning robot cleaning assembly and wall cleaning robot |
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2023
- 2023-08-11 CN CN202311009123.7A patent/CN116965730A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117502953A (en) * | 2024-01-04 | 2024-02-06 | 苏州派特纳智能科技有限公司 | Lifting structure of wall cleaning robot cleaning assembly and wall cleaning robot |
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