CN203920967U - A kind of corridor cleaning robot - Google Patents
A kind of corridor cleaning robot Download PDFInfo
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- CN203920967U CN203920967U CN201420176880.3U CN201420176880U CN203920967U CN 203920967 U CN203920967 U CN 203920967U CN 201420176880 U CN201420176880 U CN 201420176880U CN 203920967 U CN203920967 U CN 203920967U
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- pivoted arm
- sprocket wheel
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- cleaning robot
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- 238000004140 cleaning Methods 0.000 title claims abstract description 65
- 239000000428 dust Substances 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 210000001624 Hip Anatomy 0.000 claims description 2
- 230000001360 synchronised Effects 0.000 abstract description 2
- 230000001429 stepping Effects 0.000 abstract 1
- 230000002493 climbing Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 9
- 230000001276 controlling effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 240000001307 Myosotis scorpioides Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006011 modification reaction Methods 0.000 description 2
- 230000000875 corresponding Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004301 light adaptation Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Abstract
The utility model discloses a kind of corridor cleaning robot, comprise fuselage, be symmetrically distributed in fuselage both sides two translation rotating leg mechanisms, be installed on cleaning mechanism and the whistle control system of fuselage below, on described fuselage, be provided with pivoted arm driver train, described translation rotating leg mechanism comprises supporting leg for supportting ground, with described supporting leg by the hinged pivoted arm of pivot shaft, be arranged at first sprocket wheel at pivoted arm two ends, with described the first teeth number of sprocket, the second sprocket wheel that radius is identical, be connected the chain of described the first sprocket wheel and described the second sprocket wheel.By the synchronous rotation of sprocket wheel, realize the translation rotating motion of the relative fuselage of supporting leg, based on this structure, realize robot steadily downstairs upper.Robot of the present utility model can turn to neatly and be clean back and forth on stairway step tread, by the control system with sensor, guarantees that sky, collision do not appear stepping in robot, realizes autonomous cleaning stair, without people's intervention.
Description
Technical field
The utility model relates to a kind of corridor cleaning robot, based in translation rotating leg formula structure downstairs, relate in particular to and a kind ofly clean stair and passageway thereof, and take into account the corridor cleaning robot on cleaning level land, belong to robot field.
Background technology
Along with socioeconomic development, land use cost constantly raises, and building has become a kind of trend to high level development.In the high building standing in great numbers, cleaning stair how effectively, is easily problems that we need solution badly.The existing longer history of research for stair climbing robot, as far back as the sixties in 20th century, has just started the research about stair climbing robot, according to Climbing building device formal classification, can be divided into planet gear type, crawler type, leg foot formula, parallelogram lindage formula etc.The stair climbing robot Pa building mode of several forms and self mechanism's more complicated above, mechanism is huge, lacks actv. space and lays clearing apparatus.And the indoor floor-sweeping machine device people of coming into vogue in recent years can only, for the cleaning works of plane, should also not have to take into account the corridor cleaning product of cleaning pacifically on this market.
At present, clean robot has been carried out to a large amount of research both at home and abroad, and obtained some achievements.For example, the stair clean robot that Harbin Institute of Technology released the first half of the year in 2008 is subject to gear to mesh former road to inspire, utilize the method in involute Lun Xingpa building, and then designed a kind of novel climbing machine, and increased on this basis stair cleaning function, but the scraper plate that the clearing apparatus adopting on it is fixed length, in order to strike off the rubbish on stairway step, cause thus the stairway width of its adaptation limited, and can not on level land, clean, usage range is very limited.
In addition a kind of current eight more popular caster structure design corridor cleaning robots of employing that have, upper steady downstairs, can carry out limited cleaning to stair; Shandong Dezhou College proposes the feature that a kind of corridor cleaning robot utilizes parallelogram deformation and realizes stair activity function.Although reduce to some extent based on these novel structures such as the relative crawler type of corridor cleaning robot volume of climbing building method, but still there is volume and the larger problem of floor area, cause robot inconvenience to turn flexibly and walk back and forth in stair step and clean, be also difficult to accomplish can work in short, narrow space as current indoor cleaning machine people.
If Chinese patent CN200910028019.6 is with the stairs climbing control method of leading the caterpillar mobile robot of arm, with the stair climbing method of leading the caterpillar mobile robot of arm, it is characterized in that: step 1: robot approaching stair, leading arm is rotated down, after contacting with stair step, robot is lifted, and speeling stairway forward, when ultrasonic, the infrared distance sensor on robot records robot and objects in front distance and is greater than the width of stair step, think that robot climbed to stair top, stop climbing.Step 2: lead arm and be rotated down, contact with ground until lead arm front end, when producing torque M being greater than setting value on the S. A. of leading arm, lead arm and stop operating, robot continues upwards climbing, leads arm random device people's climbing and departs from ground, torque M disappears, and robot stops climbing.Step 3: repeating step 2, the car body that two-dimensional attitude sensor records and horizontal plane angle Φ random device people climb and reduce, and robot continues to climb while no longer reducing to described angle Φ, stops climbing, leading arm and rotate backward, is 45 to stop operating while spending with the angle of car body.The robot of said method, owing to adopting track structure, for in rescue to climb fast building effective, but huge volume cleans for stair and is not suitable for, be embodied in: 1, robot cannot complete the cleaning task back and forth on stairway step step surface, causes Practical Performance limited, can only climb building; 2, the additional related of robot is swept the operations such as stair, crawl article and is made mechanism huge, can not work in narrow space, and range of applicability reduces; 3 these robots are bulky, cause cost high, are unfavorable for to marketing.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of corridor cleaning robot, based in translation rotating leg formula structure downstairs, there is compact conformation, to climb building succinctly convenient, can clean stair and passageway thereof, and take into account cleaning level land.
For solving the problems of the technologies described above, the technical solution of the utility model is: a kind of corridor cleaning robot, its innovative point is to comprise: fuselage, be symmetrically distributed in two translation rotating leg mechanisms of fuselage both sides, be installed on cleaning mechanism and the whistle control system of fuselage below, on described fuselage, be provided with pivoted arm driver train, described pivoted arm driver train comprises drive motor, the pivoted arm axle drive shaft being connected by gear pair with described drive motor, described translation rotating leg mechanism comprises for supportting the supporting leg on ground, pass through the hinged pivoted arm of pivot shaft with described supporting leg, be arranged at the first sprocket wheel and second sprocket wheel at pivoted arm two ends, the chain that connects described the first sprocket wheel and described the second sprocket wheel, the number of teeth of described the first sprocket wheel and described the second sprocket wheel, radius is identical, described pivoted arm is direct-connected to described pivoted arm axle drive shaft, described the first sprocket wheel is positioned between described pivoted arm and described fuselage and is enclosed within on described pivoted arm axle drive shaft, and be provided with clutch shaft bearing between described the first sprocket wheel and described pivoted arm axle drive shaft, described the second sprocket wheel is affixed on described supporting leg by described pivot shaft, and be provided with the second bearing between described pivot shaft and described pivoted arm, on described fuselage, be fixedly installed the bearing seat passing for described pivoted arm axle drive shaft, between described bearing seat and described pivoted arm axle drive shaft, be provided with the 3rd bearing, and described the first sprocket wheel is fixedly installed on described bearing seat.
Preferably, on described fuselage, be provided with two drive wheels that auxiliary fuselage advances, and two drive wheels are symmetrically distributed in fuselage down either side; On described fuselage, be also provided with the cardan wheel a and the cardan wheel b that are distributed in respectively described two drive wheel the place aheads and rear.
Preferably, described cleaning mechanism comprises at least one group of rotating brushes being connected with actuating device, receives box, with described in receive box to be communicated with centrifugal dust collector, on described dust-absorbing box, be provided with the suction port being in communication with the outside, and described centrifugal dust collector and described in receive and between box, be provided with filtering net.
Preferably, described whistle control system comprises that symmetry is installed on two groups of distance measuring sensors of fuselage two sides, is installed on proximity transducer a, the proximity transducer b that is installed on fuselage the place ahead, the proximity transducer c that is installed on waist below and the singlechip control panel being connected with proximity transducer signal feedback with distance measuring sensor signal feedback at fuselage rear.
Preferably, described whistle control system also comprises the crash sensor that is installed on fuselage the place ahead, and this crash sensor signal feedback is connected with described singlechip control panel.
Preferably, being fixedly connected as between described bearing seat and described the first sprocket wheel welded or bolt.
The utility model has the advantage of: by translation rotating leg mechanism, can climb common stair, and can on stairway step tread, turn to neatly and clean back and forth.Often complete the cleaning of one-level step, can independently climb up or climb down one-level step, continue cleaning, without people's intervention.Climb after building action completing, translation rotating leg mechanism is packed up and is put in body both sides, and Climbing building device is evagination not, overall volume is little, highly low, can complete the level land cleaning task identical with commercially available level land robot, expand its field of application, be conducive to marketing.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Fig. 1 is the structural representation of a kind of corridor cleaning robot of the utility model.
Fig. 2 a is the principle of work sketch of translation rotating leg mechanism in a kind of corridor cleaning robot of the utility model.
Fig. 2 b is the principle of work Dynamic Graph of translation rotating leg mechanism in a kind of corridor cleaning robot of the utility model.
Fig. 3 is the structural representation of translation rotating leg mechanism in a kind of corridor cleaning robot of the utility model.
Fig. 4 is the structural representation of supporting leg and pivoted arm bound fraction in a kind of corridor cleaning robot of the utility model.
Fig. 5 is the structural representation of a kind of corridor cleaning robot middle machine body of the utility model.
Fig. 6 is the structural representation of a kind of corridor cleaning robot middle machine body of the utility model and pivoted arm bound fraction.
Fig. 7 is the structural representation of a kind of corridor cleaning robot middle machine body of the utility model and translation rotating leg mechanism.
Fig. 8 is the structural representation of cleaning mechanism in a kind of corridor cleaning robot of the utility model.
Fig. 9 is the birds-eye view structural representation of whistle control system in a kind of corridor cleaning robot of the utility model.
Figure 10 is the left view structural representation of whistle control system in a kind of corridor cleaning robot of the utility model.
Figure 11 is gravity centre distribution situation in the upper process downstairs of a kind of corridor cleaning robot of the utility model.
Figure 12 is the state of kinematic motion schematic diagram upstairs or in the process of going downstairs of a kind of corridor cleaning robot of the utility model.
In figure: 1-fuselage, 2-supporting leg, 3-pivot shaft, 4-pivoted arm, 5-the first sprocket wheel, 6-the second sprocket wheel, 7-chain, 8-the second bearing, 9-clutch shaft bearing, 10-pivoted arm axle drive shaft, 11-the 3rd bearing, 12-bearing seat, 13-drive motor, 14-gear pair, 15-drive wheel, 16-cardan wheel a, 17-cardan wheel b, 18-rotating brushes, 19-receives box, 20-centrifugal dust collector, 21-suction port, 22-filtering net, 23-distance measuring sensor, 24-proximity transducer a, 25-proximity transducer b, 26-proximity transducer c, 27-crash sensor, 28-singlechip control panel.
The specific embodiment
Corridor cleaning robot of the present utility model comprises fuselage 1, translation rotating leg mechanism, cleaning mechanism and whistle control system, as shown in Figure 1.
As Fig. 3, Fig. 4 and Fig. 6 translation rotating leg mechanism comprise supporting leg 2 for supportting ground, with supporting leg 2 by the hinged pivoted arm 4 of pivot shaft 3, the first sprocket wheel 5 and the second sprocket wheel 6 that are arranged at pivoted arm 4 two ends, be connected the chain 7 of the first sprocket wheel 5 and the second sprocket wheel 6, wherein, the first sprocket wheel 5 is identical with the number of teeth, the radius of the second sprocket wheel 6.Pivoted arm 4 is direct-connected to pivoted arm 4 axle drive shafts 10, and the first sprocket wheel 5 is positioned at pivoted arm 4 and 1, fuselage and is enclosed within on pivoted arm 4 axle drive shafts 10, and the first sprocket wheel 5 and 10 of pivoted arm 4 axle drive shafts are provided with clutch shaft bearing 9.The second sprocket wheel 6 is affixed on supporting leg 2 by pivot shaft 3, and 4 of pivot shaft 3 and pivoted arms are provided with the second bearing 8, on fuselage 1, be fixedly installed the bearing seat 12 passing for pivoted arm 4 axle drive shafts 10, bearing seat 12 and 10 of pivoted arm 4 axle drive shafts are provided with the 3rd bearing 11, and the first sprocket wheel 5 is fixedly installed on described bearing seat 12.
In translation rotating leg mechanism, the first sprocket wheel 5 and the second sprocket wheel 6 are hinged on respectively on pivoted arm 4, form revolute pair, and the first sprocket wheel 5 and the second sprocket wheel 6 form chain transmission under the constraint of chain 7.In Fig. 2 a-2b, the number of teeth, the first sprocket wheel 5 and the second sprocket wheel 6 that radius is identical can synchronously rotate under the constraint of sprocket wheel, the first sprocket wheel 5 is connected with fuselage 1 and bearing seat 12 thereof, and supporting leg 2 is connected by pivot shaft 3 and the second sprocket wheel 6, therefore fuselage 1 is with respect to the rotation of pivoted arm 4, can synchronously pass to supporting leg 2 relative to the rotating of pivoted arm 4, vice versa.Fuselage 1 can keep constantly parallel with supporting leg 2 in a word, sees Fig. 2 a.Utilize this phenomenon, actual upper while downstairs moving, be that fuselage 1 is motionless, and rotate pivoted arm 4, the first sprocket wheel 5 does not rotate, rotation be pivoted arm 4.But this does not change the relation that relatively rotates of the first sprocket wheel 5 and pivoted arm 4, therefore above-mentioned principle, when pivoted arm 4 rotation, is still achieved supporting leg 2 and fuselage 1 keeping parallelism relation.As Fig. 2 b, supporting leg 24 is with respect in fuselage 1 motion process, because the rotation with respect to self does not occur supporting leg 2, in kinematics, be called " translation ", but supporting leg 2 is rotation with respect to the path of motion of fuselage 1, form a circle, therefore, in upper process of going downstairs, the relative fuselage 1 of supporting leg 2 is done " translation rotating ".
As shown in Figure 5, pivoted arm 4 axle drive shafts 10 that pivoted arm 4 driver trains comprise drive motor 13, are connected by gear pair 14 with drive motor 13, these pivoted arm 4 axle drive shafts 10 are direct-connected to pivoted arm 4.By drive motor 13 driven gear pairs 14, and utilize gear pair 14 power transmissions to give pivoted arm 4 axle drive shafts 10 direct-connected with pivoted arm 4, drive pivoted arm 4 axle drive shafts 10 rotations.Pivoted arm 4 axle drive shafts 10 are arranged on corresponding bearing seat 12 through the bearing of respective side edge respectively, pivoted arm 4 axle drive shafts 10 respectively with the translation rotating leg mechanism of respective side edge in pivoted arm 4 be connected, two pivoted arms 4 that therefore can guarantee dual-side can be realized synchronous rotation under the driving of same pivoted arm 4 axle drive shafts 10, the translation rotating leg mechanism synchronization action of both sides can guarantee to go downstairs on robot steadily not reliably.
On fuselage 1, be provided with two drive wheels 15 that auxiliary fuselage 1 advances, and two drive wheels 15 are symmetrically distributed in fuselage 1 down either side.On fuselage 1, be also provided with the cardan wheel a16 and the cardan wheel b17 that are distributed in respectively two drive wheel 15 the place aheads and rear.By controlling the interlock of two drive wheels 15 and differential, can realize robot walking, turn round, cardan wheel a16 and cardan wheel b17 play and support and assisted diversion effect, as shown in Figure 7.
As shown in Figure 8, cleaning mechanism comprises at least one group of rotating brushes being connected with actuating device 18, receives box 19, with described in receive box 19 to be communicated with centrifugal dust collector 20, on dust-absorbing box, be provided with the suction port 21 being in communication with the outside, and centrifugal dust collector 20 and described in receive 19, box to be provided with filtering net 22.Because centrifugal dust collector 20 is connected with receiver, and interface keeps sealing, form negative pressure, thereby rubbish is sucked in receiver, and rubbish stays in receiver after filter screen 22 filters at suction port 21, realizes cleaning function.
As shown in Figure 9 and Figure 10, figure whistle control system comprise symmetry be installed on two groups of distance measuring sensors 23 of fuselage 1 two sides, be installed on fuselage 1 rear proximity transducer a24, be installed on fuselage 1 the place ahead proximity transducer b25, be installed on fuselage 1 middle part below proximity transducer c26, be installed on the crash sensor 27 in fuselage 1 the place ahead and the singlechip control panel 28 being connected with distance measuring sensor 23 signal feedback and proximity transducer signal feedback with crash sensor 27 signal feedback.Whether crash sensor 27 can bump in sensing the place ahead, make robot avoid with stair, half space, level land on obstacle collision, the straight-line distance that distance measuring sensor 23 can be surveyed 3～80cm, whether proximity transducer can block in sensing the place ahead.The task that control system comprises following components:
1. control cleaning action: whistle control system is by controlling rotating brushes 18 and centrifugal dust collector 20, and whether control carries out cleaning action.
2. prevent from falling: be positioned at fuselage 1 rear two proximity transducer a24, be positioned at the oblique lower detection of proximity transducer c26 that proximity transducer d under fuselage 1 surveyed, was positioned at fuselage 1 the place ahead vertically downward.The signal detecting by four proximity transducers, judgement fuselage 1 has or not and leans out stairway step tread, if detect unobstructedly, drive machines people is driven towards safety zone.
3. position centering: the two proximity transducer a24 at fuselage 1 rear are used for judging whether two jiaos of fuselage 1 rear sides stretch out tread, and judge that whether fuselage 1 rear portion flushes with step edge, makes robot over against the edge of marking time.Meanwhile, when stretching out tread for two jiaos, illustrate that fuselage 1 rear portion flushes with stair edge, whistle control system on this basis control is carried out operation downstairs simultaneously.The crash sensor 27 in fuselage 1 the place ahead, can detect obstacle, on the one hand for robot avoiding obstacles when walking forward, on the other hand, guarantee to carry out while moving upstairs, the orientation of touching by judgement upper class step riser, makes robot over against stair riser, the centering effect while playing upstairs.
4. route departs from correction: when robot is walked on the left and right directions of marking time, can there is route off-set phenomenon in robot, robot is by being arranged on fuselage 1 wherein two distance measuring sensors, 23 detections of a side and the distance of upper class step riser, if not etc., by whistle control system, adjust machine People's Bank of China route line, guarantee that the route that Robot is parallel to upper class step riser advances.
In addition, on while downstairs moving, proximity transducer c26 judgement fuselage 1 has or not and reliably drops on step tread or ground, upstairs in process, if approach sensing c, detect nearby and block, whistle control system is controlled the withdrawal of parallel rotating leg formula Climbing building device thus.On robot, downstairs center-of-gravity position changes constantly, and for guaranteeing the smooth operation of robot, center of gravity drops between cardan wheel b17 and drive wheel 15, as Figure 11 all the time.
On this concrete corridor cleaning robot, downstairs action is as follows; as shown in figure 12; upstairs in process; during initial condition, guarantee that fuselage 1 and supporting leg 2 fall back on step step surface in the lump; control is over against upper class step riser; then controlling drive motor 13 drives pivoted arm 4 to the direction rotation of upper class step step surface; the cardan wheel a16 of fuselage 1 below is fallen within on upper class step; by proximity transducer a24, guarantee that the cardan wheel b17 of fuselage 1 below is on upper class step step surface.Continue to drive pivoted arm 4 rotations, lifting supporting leg 2 leaves when front step step surface, until supporting leg 2 falls back on the upper class step step surface at fuselage 1 place with pivoted arm 4, the stair that complete one-period are climbed building, can complete and so forth corridor Pa building and be aided with stair clean.
Downstairs process is inverse process upstairs, so downstairs process just starts, make robot cardan wheel trailing wheel near and over against after front step nosing edge, pivoted arm 4 is to next stage step direction rotation, then drop on next stage step step surface, then by fuselage 1 from propping up when front step step surface, pivoted arm 4 continues rotation, to until supporting leg 2 fall back on the upper class step step surface at fuselage 1 place with pivoted arm 4.
For those skilled in the art, not departing under the prerequisite of the utility model principle, can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (6)
1. a corridor cleaning robot, it is characterized in that comprising: fuselage, be symmetrically distributed in two translation rotating leg mechanisms of fuselage both sides, be installed on cleaning mechanism and the whistle control system of fuselage below, on described fuselage, be provided with pivoted arm driver train, described pivoted arm driver train comprises drive motor, the pivoted arm axle drive shaft being connected by gear pair with described drive motor, described translation rotating leg mechanism comprises for supportting the supporting leg on ground, pass through the hinged pivoted arm of pivot shaft with described supporting leg, be arranged at the first sprocket wheel and second sprocket wheel at pivoted arm two ends, the chain that connects described the first sprocket wheel and described the second sprocket wheel, the number of teeth of described the first sprocket wheel and described the second sprocket wheel, radius is identical, described pivoted arm is direct-connected to described pivoted arm axle drive shaft, described the first sprocket wheel is positioned between described pivoted arm and described fuselage and is enclosed within on described pivoted arm axle drive shaft, and be provided with clutch shaft bearing between described the first sprocket wheel and described pivoted arm axle drive shaft, described the second sprocket wheel is affixed on described supporting leg by described pivot shaft, and be provided with the second bearing between described pivot shaft and described pivoted arm, on described fuselage, be fixedly installed the bearing seat passing for described pivoted arm axle drive shaft, between described bearing seat and described pivoted arm axle drive shaft, be provided with the 3rd bearing, and described the first sprocket wheel is fixedly installed on described bearing seat.
2. a kind of corridor cleaning robot as claimed in claim 1, is characterized in that: on described fuselage, be provided with two drive wheels that auxiliary fuselage advances, and two drive wheels are symmetrically distributed in fuselage down either side; On described fuselage, be also provided with the cardan wheel a and the cardan wheel b that are distributed in respectively described two drive wheel the place aheads and rear.
3. a kind of corridor cleaning robot as claimed in claim 1, it is characterized in that: described cleaning mechanism comprises at least one group of rotating brushes being connected with actuating device, receives box, with described in receive box to be communicated with centrifugal dust collector, on described dust-absorbing box, be provided with the suction port being in communication with the outside, and described centrifugal dust collector and described in receive and between box, be provided with filtering net.
4. a kind of corridor cleaning robot as claimed in claim 1, is characterized in that: described whistle control system comprises that symmetry is installed on two groups of distance measuring sensors of fuselage two sides, is installed on proximity transducer a, the proximity transducer b that is installed on fuselage the place ahead, the proximity transducer c that is installed on waist below and the singlechip control panel being connected with proximity transducer signal feedback with distance measuring sensor signal feedback at fuselage rear.
5. a kind of corridor cleaning robot as claimed in claim 4, is characterized in that: described whistle control system also comprises the crash sensor that is installed on fuselage the place ahead, and this crash sensor signal feedback is connected with described singlechip control panel.
6. a kind of corridor cleaning robot as claimed in claim 1, is characterized in that: being fixedly connected as between described bearing seat and described the first sprocket wheel welded or bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420176880.3U CN203920967U (en) | 2014-04-11 | 2014-04-11 | A kind of corridor cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420176880.3U CN203920967U (en) | 2014-04-11 | 2014-04-11 | A kind of corridor cleaning robot |
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| Publication Number | Publication Date |
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| CN203920967U true CN203920967U (en) | 2014-11-05 |
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| CN201420176880.3U Withdrawn - After Issue CN203920967U (en) | 2014-04-11 | 2014-04-11 | A kind of corridor cleaning robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103909992A (en) * | 2014-04-11 | 2014-07-09 | 南通大学 | Robot cleaner for corridors |
| CN104545709A (en) * | 2015-02-03 | 2015-04-29 | 袁泉 | Mopping robot capable of automatically cleaning mop cloth |
| CN105686754A (en) * | 2016-04-12 | 2016-06-22 | 刘洋 | Intelligent dust collection robot having photoelectric remote control function |
| CN105996910A (en) * | 2016-05-19 | 2016-10-12 | 上海电机学院 | Domestic stair automatic cleaning robot |
| CN106214053A (en) * | 2016-08-31 | 2016-12-14 | 洪海斌 | Multifunction simple wipes ground machine |
| EP3446606A3 (en) * | 2017-08-25 | 2019-03-27 | Vorwerk & Co. Interholding GmbH | Automatically moving soil tillage implement with a rising lever |
| CN109932726A (en) * | 2019-04-18 | 2019-06-25 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| CN112572634A (en) * | 2020-11-16 | 2021-03-30 | 长春工业大学 | Wheel-foot hybrid walking robot structure and control system |
-
2014
- 2014-04-11 CN CN201420176880.3U patent/CN203920967U/en not_active Withdrawn - After Issue
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103909992B (en) * | 2014-04-11 | 2016-06-29 | 南通大学 | A kind of corridor cleaning robot |
| CN103909992A (en) * | 2014-04-11 | 2014-07-09 | 南通大学 | Robot cleaner for corridors |
| CN104545709A (en) * | 2015-02-03 | 2015-04-29 | 袁泉 | Mopping robot capable of automatically cleaning mop cloth |
| CN104545709B (en) * | 2015-02-03 | 2016-09-14 | 袁泉 | A kind of floor-mopping robot of automatic cleaning rag |
| CN105686754A (en) * | 2016-04-12 | 2016-06-22 | 刘洋 | Intelligent dust collection robot having photoelectric remote control function |
| CN105686754B (en) * | 2016-04-12 | 2018-01-05 | 广东博工三六五机器人信息技术有限公司 | A kind of Autonomous Cleaning Robot with photoelectricity distant control function |
| CN105996910B (en) * | 2016-05-19 | 2018-06-29 | 上海电机学院 | Domestic stair automatic cleaning machine people |
| CN105996910A (en) * | 2016-05-19 | 2016-10-12 | 上海电机学院 | Domestic stair automatic cleaning robot |
| CN106214053A (en) * | 2016-08-31 | 2016-12-14 | 洪海斌 | Multifunction simple wipes ground machine |
| CN106214053B (en) * | 2016-08-31 | 2018-08-14 | 洪海斌 | Multifunction simple wipes ground machine |
| EP3446606A3 (en) * | 2017-08-25 | 2019-03-27 | Vorwerk & Co. Interholding GmbH | Automatically moving soil tillage implement with a rising lever |
| CN109932726A (en) * | 2019-04-18 | 2019-06-25 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| CN109932726B (en) * | 2019-04-18 | 2020-08-18 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| CN112572634A (en) * | 2020-11-16 | 2021-03-30 | 长春工业大学 | Wheel-foot hybrid walking robot structure and control system |
| CN112572634B (en) * | 2020-11-16 | 2023-03-31 | 长春工业大学 | Wheel-foot hybrid walking robot structure and control system |
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