CN200978517Y - High building outer wall wiping and spraying robot - Google Patents
High building outer wall wiping and spraying robot Download PDFInfo
- Publication number
- CN200978517Y CN200978517Y CN 200620138412 CN200620138412U CN200978517Y CN 200978517 Y CN200978517 Y CN 200978517Y CN 200620138412 CN200620138412 CN 200620138412 CN 200620138412 U CN200620138412 U CN 200620138412U CN 200978517 Y CN200978517 Y CN 200978517Y
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- robot
- semi girder
- guide rail
- type semi
- jaw type
- Prior art date
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- 238000004140 cleaning Methods 0.000 claims abstract description 29
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- 239000002699 waste material Substances 0.000 claims abstract description 9
- 239000012530 fluid Substances 0.000 claims abstract description 8
- 238000001914 filtration Methods 0.000 claims abstract description 6
- 239000000725 suspension Substances 0.000 claims description 25
- 210000001847 Jaw Anatomy 0.000 claims description 23
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Abstract
The utility model relates to an equipment for decoration and high-lift operation, in particular to a high-rise apartment exterior wall scrubbing spraying robot. The utility model relates to a high-rise apartment exterior wall scrubbing spraying robot, which comprises a pincer type cantilever beam mechanism, a wire rope hanging device, a robot operating mechanism, a cleaning fluid suction and discharge treatment mechanism and a robot vision monitoring mechanism five parts. The difference between the utility model and a negative pressure adsorption refrigeration and a magnetic adsorption refrigeration wall climbing robot is a hanging robot, therefore, operation is not restricted by load station. The utility model not only can free location up and down, but also is convenience to move left and right. The work of scrubbing or spraying wall surface is done on ground through the vision monitoring mechanism, not only concrete but also clean. The waste liquid after scrubbing also can be done precipitation filtration treatment, and then being repeatedly recycled using through the suction and discharge treatment mechanism.
Description
One, technical field
The utility model relates to a kind of finishing and aerial lift device, and particularly a kind of high-rise building residence exterior wall is cleaned spray robot.
Two, background technology
The particularly scouring of curtain wall of exterior wall that high-rise building is resided at present, the wire rope hanging boxes that adopt are manually cleaned more, this mode is than past employing scaffolding short construction period, cost is low, but hang artificial scouring concerning the operator, extremely dangerous beyond doubt, the person that at home and abroad therefrom do not get killed happens occasionally.For seeking a kind of robot that utilizes, the many scientific workers of the generation of avoiding accident replace artificial method, develop a kind of negative-pressure adsorption-type for this reason, the magnetic adsorption type robot, but because the construction objective environment varies, this kind robot be difficult to adapt to, and in fact only adopts this absorption type robot to clean, and not only creep height and angle are restricted, and cleaning speed is also slow, and therefore this robot also is difficult to promote all the time.
Three, summary of the invention
And the purpose of this utility model provides a kind of high-rise building residence exterior wall scouring spray robot, it changes the absorption type robot translation of into suspension type track by the operation of creeping and manipulator is upper and lower, the front and back operation, it has bigger independence and flexibility than climbing robot, but have bigger operating space, broken away from the constraint of building surface material and various different situations.
This robot makes every effort to multi-functional textural, can not only clean metope, but also has surperficial spraying ability etc., on the speed of service, on the load capacity, all than fast many of adsorbed wall-climbing robot, big is many, main is that whole operating process of this suspension type robot all are to carry out on the vision monitoring platform, so work is not only safe and efficient, and clean also the cleanest.
The purpose of this utility model is achieved in that the semi girder mechanism of hanging robot can decide according to the objective environment of construction, both available counter weight type semi girder also can adopt the jaw type semi girder, the utility model then adopts jaw type semi girder (shown among the figure 1～11), the operating principle of this jaw type semi girder is head and the afterbody by the jaw type semi girder, directly be fastened on (being commonly called as parapet) on the enclosure wall of roof by winding device and also can the jaw type semi girder be installed in the bottom of any layer window platform wall according to need of work, by two wire rope that dangle respectively again of the pulley on the semi girder, lower end at the both sides steel cable is connected with the two ends rectangular frame of suspension platform respectively, having connected two in the centre of this platform framework can be for the grooved track of servomotor translation, with two can be for the channel suspending rail of robot translation, motor hoist and safety lock have been installed respectively on the rectangular frame at suspension platform two ends simultaneously, platform is followed in the lump with the servomotor and the robot that are bound up on the suspension platform when the motor hoist upstream or downstream, move down, and when servomotor when the grooved track cross level moves, so it is owing to connect mutually with robot and also just to drive robot left and right sides translation in the lump.Robot just can finish the purpose of upper and lower, left and right operation like this.The concrete enforcement action of robot subrange is then finished by the manipulator of robot, and what it can up, down, left, right, before and after moving or rotating, thereby reaches in a big way or purpose that particular location is cleaned.
Four, description of drawings
The utility model is described in further detail below in conjunction with accompanying drawing:
Fig. 1 is a side structure operation schematic diagram of the present utility model
Fig. 2 is a Facad structure operation schematic diagram of the present utility model
Fig. 3 is that semi girder of the present utility model is fixed on the schematic diagram of working on the window sill, (owing to be subjected to hydraulic pump that map sheet is limit 25, penstocks 26 are not drawn)
Among Fig. 1: A. roof enclosure wall is commonly called as parapet, 1. jaw type semi girder rocking handle, 2. trip bolt, 3. jaw type semi girder after-poppet, 4. backing plate, 5. endurance rubber cushion, 6. screw screw mandrel, 7. jaw type semi girder head, 8. wire rope pulley, 9. attachment bolt, 10. backing plate, 11. endurance rubber cushions, 12. the bowl-type rubber suction cups, 12a. push rod, 13. safety ropes, 14. hoisting line, 15. cameras, 16. safety locks, 17. the monitor cable, 18. robot cables, 19. servomotor cables, 20. the motor hoist cable, 21. suspension platforms, 22. vision monitoring devices, 23. the safety rope counter weight, 24. hoisting line counter weights, 25. hydraulic pumps, 26. the pressure woven hose, 27. suction pumps, 28. waste liquid return ducts, 29. motor hoist, 30. servomotor, 31. servomotors and robot linkage, 32, robot, 33. manipulator, 34. spray equipments, 35. sewage suction treating apparatus.
Among Fig. 2: 36. bolts, 37. robots move horizontally guide rail, and 38. servomotors move horizontally guide rail, 39. suspension platform base plates, 40. settlement of sewage groove lautertuns.
Among Fig. 3: the B. window sill.
Five, embodiment
Shown in Fig. 1, Fig. 2, Fig. 3, embodiment, the utility model mainly contains five great institutions and forms:
1. jaw type semi girder mechanism
The jaw type semi girder is made of 11 component, its concrete implementing method is: according to the concrete condition of implementing ground, at first head (7) and the afterbody (3) with semi girder is stuck on parapet A or the window sill B, screw trip bolt (2) then, pressure is delivered on backing plate (4) and the endurance rubber cushion (5), shake rocking handle (1) at last again, drive screws leading screw (6), make semi girder head (7), compress endurance rubber cushion (11) gradually, thereby semi girder and body of wall are fixed together firmly.Then through pulley (8) (about each one), hoist rope (14) and safe wire rope (13) are hung in pairs, respectively with safety lock (16), motor hoist (29) is cascaded, and motor hoist (29) connects by the frame of bolt (36) with suspension platform (21) mutually with safety lock (16).
2. steel cable hitch
It mainly comprises the steel cable hitch, safety rope (13), hoisting line (14), safety lock (16), suspension platform (21), motor hoist (29), safety rope counter weight (23), hoisting line counter weight (24), robot moves horizontally guide rail (37), and servomotor moves horizontally guide rail (38), wherein safety lock (16), motor hoist (29) is to link together by bolt (36) and suspension platform (21), robot moves horizontally the two ends that guide rail (37) and servomotor move horizontally guide rail (38), links by bolt (36) and suspension platform (21), when moving down on the motor hoist (29), will drive the suspension platform (21) that connects mutually with it all on, move down, thereby reach the purpose of robot (32) perpendicular positioning.The counter weight of installing at the end of safety rope (13) (23) and at the terminal counter weight of installing (24) of hoisting line (14), purpose all is to make wire rope to keep the vertical stretching state, is beneficial to elevator or safety lock moves up and down.For making hoisting line (14) and metope keep certain distance, between safety rope (13) and hoisting line (14) and metope, established a push rod (12a) respectively, at the head of push rod one sucker (12) has been installed, so that hoisting line and safety rope and metope keep a relative distance, push rod and hoisting line (14) safety rope (13) is by the slip ring link joint, safety lock (16) plays and makes guide rail (37) (38), and suspension platform (21) is in balance and safe condition.
3. robot manipulation mechanism
The chassis of described robot (32) (among the figure shown in the JR) is installed in and moves horizontally on the guide rail (37), guide rail (37) is two parallel channel-section steels, section is a π shape, the chassis of robot is equipped with roller, roller can roll in π shape groove, the chassis of servomotor (30) is installed on two closed slides (38), roll in guide-track groove by second wheel equally, and robot (32) and servomotor (30) link together by linkage (31), so when servomotor (30) when moving horizontally, nature is with regard to driven machine people (32) move left and right in the lump, when to electronic electric rise machine (29) and send instruction after, suspension platform (21) will integral body move up and down, and both cooperations just make robot determine position in the space like this.Be equipped with under its operation of removable spraying jetter (34) at the head of manipulator (33) metope is cleaned or spraying work in robot.Said removable spraying jetter (34) is to change according to the different demands of metope hydro-peening.
4. cleaning fluid suction processing mechanism
The jetter (34) of above-mentioned robot arm (33) head is to be connected with pressure woven hose (26) and hydraulic pump (25), when hydraulic pump (25) with cleaning fluid by pipeline (26) suppress jetter (34) after, cleaning fluid promptly is sprayed onto on the curtain wall of desire cleaning by shower nozzle, let out the metope that overflows to periphery for avoiding cleaning fluid, skin at shower nozzle has installed sewage sucking-exhausting device (35) additional, this sucking-exhausting device is to make with rubber sea material, it promptly can not touch hinders metope and the sewage suction can be discharged in the sump to return duct (28) and through suction pump (27), recycles at post precipitation after filtration.
5. robot vision monitor control mechanism
Robot is that automation is carried out to the cleaning or the spraying work of metope fully, this is because robot is subjected to wired (or wireless) straighforward operation controller operation and control, at first the camera (15) that is associated in one with servomotor, robot feeds back on the screen of vision monitoring device (22) by the concrete condition of circuit (17) with metope, the operator again by circuit (20) to motor hoist (29 '); By circuit (19) to servomotor (30); By circuit (18), to robot (32), send instruction respectively, and successively start hydraulic pump (25) suction pump (27) and carry out feed flow, hydro-peening, suction work of treatment.
The inside of vision monitoring mechanism is undertaken by Industrial Personal Computer (IPC), position control device, interface board, servo-driver, long-range wired or wireless communication device, straighforward operation controller, visual monitor system, power transmission controller.The utility model is maximum different with general adsorbed wall-climbing robot, being exactly the utility model does not only depend on automatically controlled MA monitoring agency to the station manipulation of robot, and the more important thing is and adopted jaw type semi girder and steel cable hitch that it has solved the limited and limited shortcoming of operative orientation of adsorbed wall-climbing robot heavy burden.
Below in conjunction with drawings and Examples the technical solution of the utility model is further described:
Concrete implementation step is: the width of at first determining the opening and closing of jaw type semi girder front and back support according to the wall thickness of intending fixing, the distance of preset semi girder fore-stock (7) and after-poppet (3) clips on exterior wall or the window sill wall then then, screw the interior hexagonal counterbore of trip bolt (2) then with die nut, again that after-poppet (3) spinning is tight, shake the effect that is subjected to handle (1) to pass through leading screw (6) afterwards semi girder front and back support (7) is strained, thereby reach the purpose of fastening semi girder on wall.Two pulleys (8) respectively hang steel cable about passing through after inspection is errorless, be connect respectively on safety rope (13) and the hoisting line (14) safety lock (16) and motor hoist (29) again at the wire rope two ends, and safety lock (16) and motor hoist (29) are fixed on the edge of suspension platform (21) by fastening bolt (36) respectively, so move up and down when elevator (29) drives suspension platform (21) when moving up and down, and the guide rail (37) and (38) that are fixed on the suspension platform (21) also just move up and down thereupon, move up and down thereby drive servomotor (30) and robot (32), just reach the purpose of robot perpendicular positioning.
Centre at safety rope (13) and hoisting line (14) and metope, installed push rod (12a) respectively, installed a flexible sucker (12) on the top of push rod (12a), this sucker (12) can adsorb with metope, its absorption affinity is enough to make push rod (12a) fixing, thereby has guaranteed that safety rope (13) and hoisting line (14) keep certain distance with metope.Push rod (12a) is by the pulley link joint with hoisting line (14).
About the wire rope suspension has solved robot, after left and right displacement and the space orientation, the following work system that robot is described in detail in detail.
The running of robot is that power transmission controller, straighforward operation controller, visual monitor system, hydraulic control system, manipulator all control system are finished by Industrial Personal Computer (IPC), position control device, interface board, servo-driver, telecommunication.
The head of manipulator has spray equipment and the spray equipment that can change with need, with shower nozzle (contain spray and spray equipment) connects mutually pressure woven hose (26) arranged, the pressure woven hose connects mutually with hydraulic pump (25), hydraulic pump (25) reaches the metope that is cleaned with cleaning fluid or spray liniment by spray equipment (34), and spray equipment (34) is mounted in sewage suction treating apparatus (35) the inside, so cleaning the sewage of metope can be to overflow around the metope, connection waste liquid return duct (28) below sewage suction treating apparatus (35), connection suction pump (27) below waste liquid return duct (28), thereby waste liquid is pumped to sedimentation and filtration groove (40) (shown in Figure 2), waste liquid is after the precipitation filtering, return again again and recycle, not only guaranteed that the metope that is cleaned cleaned but also using water wisely like that.
Above-mentioned motor hoist (29), servomotor (30), robot (32) and stylus (15), hydraulic pump (25), the station manipulation of suction pump (27) is all controlled by watch-dog (22), motor hoist (29) is to transmit instruction by circuit (20) to move up and down, servomotor (30) is to transmit instruction and move left and right by circuit (19), it also drives robot (32) move left and right in the lump simultaneously by the hookup (31) with robot, stylus (15) is to feed back on the monitor by circuit (17) transmission instruction and with metope live telecast, and then sends instruction by watch-dog (22) and carry out hydro-peening or spraying work by circuit (18) robot command arm (33).What comprise hydraulic pump (25) and suction pump (27) opens, stops all to carry out work under monitored instruction, watch-dog (22) is the control centre of robot total system thus.
Claims (5)
1. a high-rise building residence exterior wall is cleaned spray robot, include manual rocking handle (1) trip bolt (2) of jaw type semi girder mechanism on it, jaw type semi girder after-poppet (3), backing plate (4), endurance rubber cushion (5), screw leading screw (6), jaw type semi girder head (7), wire rope pulley (8), connecting bolt (9), backing plate (10), endurance rubber cushion (11), bowl-type rubber suction cups (12), push rod (12a), safety rope (13), hoisting line (14), camera (15), safety lock (16), monitor cable (17), robot cable (18), servomotor cable (19), motor hoist cable (20), suspension platform (21), visual surveillance device (22), safety rope counter weight (23), hoisting line counter weight (24), hydraulic pump (25), pressure woven hose (26), suction pump (27), waste liquid return duct (28), motor hoist (29), servomotor (30), servomotor and robot linkage (31), robot (32), manipulator (33), spray equipment (34), sewage suction treating apparatus (35), coupling bolt (36), robot moves horizontally guide rail (37), servomotor moves horizontally guide rail (38), suspension platform base plate (39), sedimentation and filtration groove (40) is characterized in that: described jaw type semi girder mechanism is that to be made of three big parts be that jaw type semi girder head (7) screws leading screw (6) and jaw type semi girder posterior bracket (3), jaw type semi girder posterior bracket (3) is made of trip bolt (2) backing plate (4) endurance rubber cushion (5), screws leading screw (6) and handle (1) and forms Poewr transmission mechanism, and jaw type semi girder head (7) is made of pulley (8) coupling bolt (9) backing plate (10) endurance rubber cushion (11), pulley (8) is mounted in the centre of two groove type plates on jaw type semi girder (7) head, pulley (8) hangs safety rope (13) and hoisting line (14), because jaw type semi girder after-poppet (3) fixes, so when shaking will be (1) time turning moment backing plate (10) endurance rubber cushion (11) when passing through leading screw (6) with the past post-tensioning of jaw type semi girder head (7), also just all compress, and be fixed on the wall firmly.
2. a kind of high-rise building residence exterior wall according to claim 1 is cleaned spray robot, it is characterized in that by safety rope (13), hoisting line (14), safety lock (16), suspension platform (21) motor hoist (29) safety rope counter weight (23) hoisting line counter weight (24), robot translation guide rail (37), servomotor moves horizontally guide rail (38) and constitutes the steel cable suspension gear, wherein safety lock (16) motor hoist (29) is to be bound up by bolt (36) and suspension platform (21), when will driving the suspension platform (21) that connects mutually with it when moving up and down, motor hoist (29) all moves up and down, thereby reach the purpose of robot (32) perpendicular positioning, the counter weight of installing at the end of safety rope (13) (23), with breeding hammer (24) in the terminal installation of hoisting line (14), purpose all is to make wire rope to keep the vertical stretching state, is beneficial to elevator or safety lock moves up and down.For hoisting line (14) and metope are maintained a certain distance, between safety rope (13) and hoisting line (14) and metope, installed a push rod (12a) respectively, at the head of push rod one sucker (12) has been installed, this sucker is adsorbed on the metope so that hoisting line (13) and safety rope (14) keep a relative distance with metope, push rod (12a), with hoisting line (14) and safety rope (13) be by the pulley link joint, safety lock (16) plays and makes guide rail (37), (38), suspension platform (21) is in balance and safe condition.
3. a kind of high-rise building residence exterior wall according to claim 1 is cleaned spray robot and be it is characterized in that moving horizontally guide rail (37) by robot of robot (32), servomotor moves horizontally guide rail (38) manipulator (33) spray equipment (34) servomotor (30) and robot (32) and hookup (31) thereof and has formed the robot operating mechanism, drive robot (32) along the guide rail translation by hookup (31) simultaneously when servomotor (30) is accepted the instruction translation, the balance of guide rail (36) and guide rail (37) and location are the control that is subjected to safety lock (16) and motor hoist (29).
4. a kind of high-rise building residence exterior wall spray robot according to claim 1 is characterized in that by spray equipment (34) hydraulic pump (25), pressure woven hose (26) sewage sucking-exhausting device (35) waste liquid return duct (28) suction pump (27) has been formed cleaning fluid suction processing mechanism, after visual surveillance device (22) sends instruction, manipulator (33) spray equipment (34), hydraulic pump (25) suction pump (27) all starts simultaneously, the shower nozzle of spray equipment (34) lining got to cleaning fluid by hydraulic pump (25) through pressure woven hose (26), aim at wall by shower nozzle and carry out hydro-peening, waste water after the cleaning is extracted in the settling pit (40) by suction pump (27) through waste liquid return duct (28), can utilize again after filtering again.
5. a kind of high-rise building residence exterior wall according to claim 1 is cleaned spray robot, it is characterized in that by camera (15) circuit (17), vision monitoring device (22) has been formed vision monitoring mechanism, vision monitoring mechanism is by circuit (17), (18), (19), (20) are sent and are instructed the driven machine people to carry out work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620138412 CN200978517Y (en) | 2006-08-30 | 2006-08-30 | High building outer wall wiping and spraying robot |
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| CN 200620138412 CN200978517Y (en) | 2006-08-30 | 2006-08-30 | High building outer wall wiping and spraying robot |
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| CN200978517Y true CN200978517Y (en) | 2007-11-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100594833C (en) * | 2008-01-08 | 2010-03-24 | 合肥通用机械研究院 | Tall building climbing wall water cleaning method and complete equipment thereof |
| CN103603483A (en) * | 2013-11-29 | 2014-02-26 | 程涛 | Intelligent spray system for external vertical face of high-rise building |
| CN104339358A (en) * | 2013-07-27 | 2015-02-11 | 昝士录 | Skilled robot for scrubbing or spraying outer layer surface of high-rise building |
| TWI472377B (en) * | 2012-08-03 | 2015-02-11 | Shun Yuan Chen | Wall hanging machine hanging structure |
| CN105457856A (en) * | 2015-11-20 | 2016-04-06 | 武汉达顺创新科技有限公司 | Spraying device and method for wall external heat preservation layer |
| CN106223585A (en) * | 2016-07-19 | 2016-12-14 | 洪明 | A kind of device for flooring auto spray painting |
| CN106214052A (en) * | 2016-07-28 | 2016-12-14 | 河北工程大学 | Curtain cleaning sky vehicle control |
| WO2017171644A1 (en) * | 2016-03-29 | 2017-10-05 | Elid Technology International Pte Ltd | System and method for cleaning external walls of building |
| WO2017171640A1 (en) * | 2016-03-29 | 2017-10-05 | Elid Technology International Pte Ltd | System and method for spray painting external walls of building |
| CN108056711A (en) * | 2017-12-04 | 2018-05-22 | 广州大学 | A kind of wall clean robot control method and control system |
| CN109436992A (en) * | 2018-11-19 | 2019-03-08 | 程坤 | A kind of monitoring device with collision prevention function |
| CN110158927A (en) * | 2019-06-04 | 2019-08-23 | 东莞方凡智能科技有限公司 | A kind of wall surface spraying device |
| CN110453895A (en) * | 2019-08-05 | 2019-11-15 | 广东博智林机器人有限公司 | Paint finishing |
| CN110772185A (en) * | 2019-05-31 | 2020-02-11 | 刘禄军 | Wall walking device |
| US10827899B2 (en) * | 2017-08-25 | 2020-11-10 | Ecovacs Robotics Co., Ltd. | Multimedia intelligent cleaning system and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100594833C (en) * | 2008-01-08 | 2010-03-24 | 合肥通用机械研究院 | Tall building climbing wall water cleaning method and complete equipment thereof |
| TWI472377B (en) * | 2012-08-03 | 2015-02-11 | Shun Yuan Chen | Wall hanging machine hanging structure |
| CN104339358A (en) * | 2013-07-27 | 2015-02-11 | 昝士录 | Skilled robot for scrubbing or spraying outer layer surface of high-rise building |
| CN104339358B (en) * | 2013-07-27 | 2017-11-28 | 昝士录 | High building superficies are cleaned or spraying technical ability robot |
| CN103603483A (en) * | 2013-11-29 | 2014-02-26 | 程涛 | Intelligent spray system for external vertical face of high-rise building |
| CN103603483B (en) * | 2013-11-29 | 2016-07-06 | 程涛 | Skyscraper alien invasion Intelligent spray system |
| CN105457856A (en) * | 2015-11-20 | 2016-04-06 | 武汉达顺创新科技有限公司 | Spraying device and method for wall external heat preservation layer |
| CN108472673A (en) * | 2016-03-29 | 2018-08-31 | 亿立科技国际有限公司 | For the external wall to building spray the system and method for japanning |
| CN108472674A (en) * | 2016-03-29 | 2018-08-31 | 亿立科技国际有限公司 | The system and method for external wall for cleaning of buildings |
| WO2017171644A1 (en) * | 2016-03-29 | 2017-10-05 | Elid Technology International Pte Ltd | System and method for cleaning external walls of building |
| WO2017171640A1 (en) * | 2016-03-29 | 2017-10-05 | Elid Technology International Pte Ltd | System and method for spray painting external walls of building |
| US10213801B2 (en) * | 2016-03-29 | 2019-02-26 | Elid Technology International Pte Ltd | System and method for spray painting external walls of building |
| US10214926B2 (en) | 2016-03-29 | 2019-02-26 | Elid Technology International Pte Ltd | System and method for cleaning external walls of building |
| CN106223585A (en) * | 2016-07-19 | 2016-12-14 | 洪明 | A kind of device for flooring auto spray painting |
| CN106223585B (en) * | 2016-07-19 | 2018-12-07 | 温州圆拓机械科技有限公司 | A kind of device for flooring auto spray painting |
| CN106214052A (en) * | 2016-07-28 | 2016-12-14 | 河北工程大学 | Curtain cleaning sky vehicle control |
| CN106214052B (en) * | 2016-07-28 | 2018-11-16 | 河北工程大学 | Curtain cleaning day vehicle control |
| US10827899B2 (en) * | 2017-08-25 | 2020-11-10 | Ecovacs Robotics Co., Ltd. | Multimedia intelligent cleaning system and control method thereof |
| CN108056711A (en) * | 2017-12-04 | 2018-05-22 | 广州大学 | A kind of wall clean robot control method and control system |
| CN109436992A (en) * | 2018-11-19 | 2019-03-08 | 程坤 | A kind of monitoring device with collision prevention function |
| CN110772185A (en) * | 2019-05-31 | 2020-02-11 | 刘禄军 | Wall walking device |
| CN110158927A (en) * | 2019-06-04 | 2019-08-23 | 东莞方凡智能科技有限公司 | A kind of wall surface spraying device |
| CN110453895A (en) * | 2019-08-05 | 2019-11-15 | 广东博智林机器人有限公司 | Paint finishing |
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Owner name: LIU YUNCHENG Free format text: FORMER OWNER: MAI YONGGUANG Effective date: 20091106 |
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Effective date of registration: 20091106 Address after: Tianjin City, Hebei District civil rights outside the sweeper King Zhao put in company, zip code: 300251 Patentee after: Liu Yuncheng Address before: Room 105, Nanhai building, Luoyang Road, Heping District, Tianjin, 300050 Patentee before: Mai Yongguang |
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