CN203953561U - Cleaning device - Google Patents
Cleaning device Download PDFInfo
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- CN203953561U CN203953561U CN201420366044.1U CN201420366044U CN203953561U CN 203953561 U CN203953561 U CN 203953561U CN 201420366044 U CN201420366044 U CN 201420366044U CN 203953561 U CN203953561 U CN 203953561U
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- gear
- travelling gear
- drive unit
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- travelling
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- 238000004140 cleaning Methods 0.000 title claims abstract description 89
- 238000004064 recycling Methods 0.000 claims description 15
- 230000004888 barrier function Effects 0.000 claims description 9
- 230000003139 buffering effect Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000010408 sweeping Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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- Electric Vacuum Cleaner (AREA)
Abstract
A kind of cleaning device, keep a public place clean and comprise cleaning robot and cradle for ground, cradle cleaning robot fills can, cleaning robot comprises housing, is installed in the upper cover of housing upper surface, is installed in lower cover, the first drive unit, driving wheel and limit brush, the second drive unit, the two limit brushes of housing lower surface and controls module, the first drive unit is connected with driving wheel, the second drive unit and limit brush is connected, and control module is connected with the first drive unit, the second drive unit and controls the first drive unit, the second drive unit work; Cradle comprises outer cover and is installed in two charging terminals, the first transmitter, the second transmitter on outer cover, the first transmitter comprises remotely-controlled two transmitting tubes, the second transmitter comprises a transmitting tube of closely controlling, cradle also comprises a butt-ended tube, and this butt-ended tube is installed in exterior wall top.The cleaning robot of the utility model cleaning device coordinates accurately with cradle, and intelligent level is high, practical.
Description
Technical field
The utility model relates to a kind of robot, relates to more specifically a kind of cleaning device of keeping a public place clean for ground.
Background technology
Society, sweep ground and expended a large amount of time of people, therefore a lot of families and company have all expended a large amount of manpower and materials, thereby the appearance of Intelligent robot for sweeping floor has greatly reduced drain on manpower and material resources, people are freed from loaded down with trivial details daily housework, thereby be subject to consumers in general's welcome.In the course of work of Intelligent robot for sweeping floor, along with the loss of electric weight, need cradle to charge to sweeping robot, repeat the process of " charging-cleaning ".
But, current clean robot, complicated integral structure, degree of intelligence is not high, cleaning effect is not good, and the gearratio design of the transmission mechanism of existing clean robot inside is unreasonable, when work, power consumption is large, shortens the working time of sweeping robot, reduces cleaning efficiency.
In addition, in the time that existing sweeping robot charges at every turn, sweeping robot and cradle are realized exactitude position, thereby cause the phenomenon of mobile robot and cradle loose contact.
Utility model content
Based on this, the purpose of this utility model is for the deficiencies in the prior art, provides a kind of intelligent level high, practical cleaning device.
A kind of cleaning device, keep a public place clean and comprise cleaning robot and cradle for ground, this cradle coordinates with cleaning robot, cleaning robot is filled can, described cleaning robot comprises housing, be installed in the upper cover of housing upper surface, be installed in the lower cover of housing lower surface, the first drive unit, driving wheel and limit brush, the second drive unit, two limit brushes and control module, described the first drive unit is connected with driving wheel, described the second drive unit is connected with limit brush, described control module and the first drive unit, the second drive unit connects and controls the first drive unit, the second drive unit work, described control module comprises keeps away barrier sensor, infrared inductor and control chip, the described barrier sensor of keeping away comprises virtual wall detecting sensor, infrared obstacle detecting sensor and infrared ground detection sensor, described cradle comprises outer cover and is installed in two charging terminals, the first transmitter, the second transmitter on outer cover, and described the first transmitter comprises remotely-controlled two transmitting tubes, and described the second transmitter comprises a transmitting tube of closely controlling, described cradle also comprises a butt-ended tube, and this butt-ended tube is installed in exterior wall top.
Further, the first gear train that described the first drive unit comprises the first motor and is connected with the first motor, described the first gear train comprises the first input gear, the first travelling gear engaging with the first input gear, the second travelling gear engaging with the first travelling gear, the 3rd travelling gear engaging with the second travelling gear, and the first output gear engaging with the 3rd travelling gear, described the first input gear, the first travelling gear, the second travelling gear, the 3rd travelling gear, and first output gear be spur gear, described the first travelling gear, the second travelling gear and the 3rd travelling gear include a gear wheel and are vertically connected at the pinion at gear wheel middle part, the gear wheel of described the first travelling gear and pinion engage with the gear wheel of the first input gear and the second travelling gear respectively, the gear wheel of described the 3rd travelling gear and pinion engage with pinion and first output gear of the second travelling gear respectively, the gearratio of the gear wheel of described the first travelling gear and the first input gear is 2.9～3.1:1, the gearratio of the pinion of the gear wheel of described the 3rd travelling gear and the second travelling gear is 2.5～2.6:1, the gearratio of the pinion of the gear wheel of described the second travelling gear and the first travelling gear is 2.5～2.6:1, and the gearratio of the pinion of described the first output gear and the 3rd travelling gear is 2.4～2.5:1.
Further, the second gear train that described the second drive unit comprises the second motor and is connected with the second motor, described the second gear train comprises second input gear being connected with the second motor, one the 4th travelling gear and the second output gear, described the second input gear, the 4th travelling gear and the second output gear are spur gear, described the 4th travelling gear comprises a gear wheel and is connected in the pinion at gear wheel middle part, the gear wheel of described the 4th travelling gear engages with the second input gear, the pinion of described the 4th travelling gear and the second output gear are intermeshing, the gearratio of the gear wheel of described the 4th travelling gear and the second input gear is 4.5～4.6:1, gearratio between described the second output gear and the pinion of the 4th travelling gear is 4.5～4.7:1.
Further, described housing front side is provided with a buffering shell, described buffering shell by an elastic component with flexible fastening on this housing.
Further, described cleaning robot also comprises a rechargeable battery, and this rechargeable battery is installed in housing, and is fixed by lower cover, and described cleaning robot is provided with charging terminal in housing front bottom end.
Further, described cleaning robot also comprises a recycling box and evacuator, and described recycling box and evacuator are installed in housing, and evacuator and recycling box interconnect.
Further, described limit brush is located at respectively the both sides at middle part, housing bottom surface, and described housing bottom is provided with suction port between two limit brushes, and described recycling box bottom is provided with opening and is connected with suction port.
Further, described driving wheel comprises second wheel and a driven pulley, and described second wheel is located at respectively both sides, housing middle part, and described driven pulley is located at housing bottom front end, and described second wheel and driven pulley are triangular shape distribution.
Further, described outer cover comprises exterior wall and is connected in the base plate of exterior wall bottom one side, described charging terminal is installed on base plate, and part stretches out in the upper surface of base plate, correspondingly, described cleaning robot bottom is provided with external terminal, and this external terminal is connected with battery, when charging, the outside external terminal of cleaning robot and the charging terminal of cradle are electrically connected.
Further, described charging terminal is located at the leading flank of exterior wall, and correspondingly, the front side of described cleaning robot is provided with external terminal.
In sum, the utility model cleaning device carries out Based Intelligent Control by control module is set at cleaning robot to cleaning robot, and the first transmitter, the second transmitter and butt-ended tube be set on cradle, cleaning robot is coordinated with cradle accurately, intelligent level is high, practical, keep a public place clean effective.
Brief description of the drawings
Fig. 1 is the structural representation of the cleaning robot of the utility model cleaning device.
Fig. 2 is the upward view of cleaning robot shown in Fig. 1.
Fig. 3 is that cleaning robot shown in Fig. 1 is removed the structural representation after upper cover.
Fig. 4 is that cleaning robot shown in Fig. 1 is removed the top view after housing bottom.
Fig. 5 is the structural representation of the first drive unit of cleaning robot shown in Fig. 1.
Fig. 6 is the structural representation of the first drive unit and the limit brush of cleaning robot shown in Fig. 5 while coordinating.
Fig. 7 is the front view of the second drive unit of cleaning robot shown in Fig. 1 while coordinating with driving wheel.
Fig. 8 is the structural representation of the second drive unit of cleaning robot shown in Fig. 7 another angle while coordinating with driving wheel.
Fig. 9 is the top view of the cradle of the utility model cleaning device.
Figure 10 is the structural representation of another embodiment of the cradle of cleaning device shown in Fig. 9, and wherein base plate does not show.
Detailed description of the invention
For the technical solution of the utility model can more clearly be showed, below in conjunction with accompanying drawing, the utility model is described in further detail.
Please refer to Fig. 1 to Figure 10, the utility model provides a kind of cleaning device, for cleaning floor.This cleaning device comprises a cleaning robot, and described cleaning robot comprises housing 10, is installed in the upper cover 20 of housing 10 upper surfaces, is installed in lower cover 30, recycling box 40, the first drive unit 50, driving wheel (figure is mark not), the second drive unit 70, two limit brushes 80, the evacuator 90 of housing 10 lower surfaces and controls module (figure is mark not).Described the first drive unit 50 is connected with driving wheel, and described the second drive unit 70 is connected with limit brush 80, and described recycling box 40 and evacuator 90 are installed in housing 10, and evacuator 90 is connected with recycling box 40.Described control module be connected with the first drive unit 50, the second drive unit 70 and control the first drive unit 50, the second drive unit 70 is worked, described the first drive unit 50 drives driving wheel, the second drive unit 70 to drive limit brush 80 to rotate.
The front side of described housing 10 is provided with a buffering shell 11, and described buffering shell 11 is arranged on housing 10 with elasticity by an elastic component; In the time being subject to impacting, buffering shell 11 moves towards housing 10, elastic compression.Described limit brush 80 is located at respectively the both sides at housing 10 middle parts, bottom surface, and described housing 10 bottoms are provided with suction port 12 between two limit brushes 80, and described recycling box 40 bottoms are provided with opening and are connected with suction port 12; When work, described evacuator 90 is found time to recycling box 40, and the interior formation negative pressure of recycling box 40, sucks rubbish in recycling box 40.
Described cleaning robot also comprises a rechargeable battery, and this rechargeable battery is installed in housing 10, and is fixed by lower cover 30, and described the first drive unit 50, the second drive unit 70 are connected with rechargeable battery respectively.Described cleaning robot is provided with charging terminal, for being electrically connected with outside cradle, thereby rechargeable battery is charged.
Described driving wheel comprises second wheel 61 and a driven pulley 62, and described second wheel 61 is located at respectively housing 10 both sides, middle part, and described driven pulley 62 is located at housing 10 bottom front, and described second wheel 61 and driven pulley 62 are triangular shape and distribute.
Described the first drive unit 50 comprises the first motor 51, and the first gear train 52 being connected with the first motor 51, described the first gear train 52 comprises the first input gear 53, the first travelling gear 54 engaging with the first input gear 53, the second travelling gear 55 engaging with the first travelling gear 54, the 3rd travelling gear 56 engaging with the second travelling gear 55, and the first output gear 57 engaging with the 3rd travelling gear 56, described the first input gear 53, the first travelling gear 54, the second travelling gear 55, the 3rd travelling gear 56, and first output gear 57 be spur gear.Described the first travelling gear 54, the second travelling gear 55 and the 3rd travelling gear 56 include a gear wheel and are vertically connected at the pinion at gear wheel middle part, the gear wheel of described the first travelling gear 54 and pinion engage with the gear wheel of the first input gear 53 and the second travelling gear 55 respectively, and the gear wheel of described the 3rd travelling gear 56 and pinion engage with pinion and first output gear 57 of the second travelling gear 55 respectively.
The gearratio of the gear wheel of described the first travelling gear 54 and the first input gear 53 is 2.9～3.1:1, the gearratio of the pinion of the gear wheel of described the 3rd travelling gear 56 and the second travelling gear 55 is 2.5～2.6:1, the gearratio of the pinion of the gear wheel of described the second travelling gear 55 and the first travelling gear 54 is 2.5～2.6:1, and the gearratio of the pinion of described the first output gear 57 and the 3rd travelling gear 56 is 2.4～2.5:1.In the present embodiment, the gearratio of the gear wheel of described the first travelling gear 54 and the first input gear 53 is 3:1, the gearratio of the pinion of the gear wheel of described the 3rd travelling gear 56 and the second travelling gear 55 is 2.58:1, the gearratio of the pinion of the gear wheel of described the second travelling gear 55 and the first travelling gear 54 is 2.53:1, and the gearratio of the pinion of described the first output gear 57 and the 3rd travelling gear 56 is 2.45:1.
The second gear train 72 that described the second drive unit 70 comprises the second motor 71 and is connected with the second motor 71, described the second gear train 72 comprises the second input gear 73, one the 4th travelling gear 74 and second output gear 75 being connected with the second motor 71, and described the second input gear 73, the 4th travelling gear 74 and the second output gear 75 are similarly spur gear.Intermeshing between gear and gear, described the 4th travelling gear 74 comprises a gear wheel and is connected in the pinion at gear wheel middle part.Wherein, the gear wheel of described the 4th travelling gear 74 engages with the second input gear 73, and the pinion of described the 4th travelling gear 74 and the second output gear 75 are intermeshing.
The gearratio of the gear wheel of described the 4th travelling gear 74 and the second input gear 73 is 4.5～4.6:1, gearratio between described the second output gear 75 and the pinion of the 4th travelling gear 74 is 4.5～4.7:1, in the present embodiment, the gearratio of the gear wheel of described the 4th travelling gear 74 and the second input gear 73 is 4.555:1, and the gearratio between described the second output gear 75 and the pinion of the 4th travelling gear 74 is 4.6:1.
Described control module comprises keeps away barrier sensor, infrared inductor and control chip, the described barrier sensor of keeping away comprises virtual wall detecting sensor, infrared obstacle detecting sensor and infrared ground detection sensor, described virtual wall detecting sensor is for gathering the position of virtual wall, while making cleaning machine robot run into virtual wall, be closed to traffic, described infrared obstacle detecting sensor gathers the information of cleaning robot peripheral obstacle; Described infrared ground detection sensor detects robot ground environment around.The position of described infrared inductor induction external charging seat, makes cleaning robot get back to the position of cradle, and cradle is charged to cleaning robot.Described control chip receives the information of keeping away barrier sensor, and according to keep away barrier sensor feedack planning cleaning robot operating path and control the first drive unit 50 and the second drive unit 70 is worked.
The utility model cleaning device also provides a kind of cradle, and cleaning robot is filled to energy.This cradle comprises outer cover 91 and is installed in the first transmitter, the second transmitter 92, the charging terminal 93 on outer cover 91.
Described outer cover 91 comprises exterior wall 911 and is connected in the base plate 912 of exterior wall 911 bottom one sides, and described exterior wall 911 is hollow structure, and the front and back sides of this exterior wall 911 is circular arc.Described charging terminal 93 is installed on base plate 912, and part stretches out in the upper surface of base plate 912, correspondingly, the external terminal of described cleaning robot is located at bottom, this external terminal is connected with battery, when charging, the outside external terminal of cleaning robot and the charging terminal of cradle 93 are electrically connected.In other embodiments, described charging terminal 93 is located at the leading flank of exterior wall 911, and correspondingly, the external terminal of described cleaning robot is located at front side.
Described the first transmitter is installed in the upper surface of exterior wall 911, and described the second transmitter 92 is installed in the leading flank of exterior wall 911.Described the first transmitter includes two transmitting tubes, and it is far distance controlled, and described the second transmitter 92 comprises a transmitting tube, for closely controlling.Described cradle also comprises a butt-ended tube 94, and this butt-ended tube 94 is installed in exterior wall 911 tops.
When work, if the electric weight of cleaning robot is lower than setting value, control chip in cleaning robot can receive the first transmitter of cradle and the signal that the second transmitter 92 sends, cleaning robot is by the signal Automatic-searching cradle that sends on the first transmitter and coordinate and keep away barrier sensor, infrared inductor and control chip and move towards cradle direction, when cleaning robot near time, the second transmitter 92 and butt-ended tube 94 are proofreaied and correct the moving direction of cleaning robot, cleaning robot and cradle are coordinated and put in place.In whole moving process, in the time shortening to 4 meters between cradle and cleaning robot, described control module control cleaning robot is done retarded motion for the first time, and in the time that the distance between cradle and cleaning robot is less than 1 meter, described control module control cleaning robot is done retarded motion for the second time.The single charge time completes about 4 hours.After having charged, cradle can stop charging.
In sum, the utility model cleaning device carries out Based Intelligent Control by control module is set at cleaning robot to cleaning robot, and the first transmitter, the second transmitter 92 and butt-ended tube 94 be set on cradle, cleaning robot is coordinated with cradle accurately, intelligent level is high, practical, keep a public place clean effective.
The above embodiment has only expressed a kind of embodiment of the present utility model, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (10)
1. a cleaning device, for cleaning floor, comprise cleaning robot and cradle, this cradle fills cleaning robot can, it is characterized in that: described cleaning robot comprises housing, be installed in the upper cover of housing upper surface, be installed in the lower cover of housing lower surface, the first drive unit, driving wheel and limit brush, the second drive unit, two limit brushes and control module, described the first drive unit is connected with driving wheel, described the second drive unit is connected with limit brush, described control module and the first drive unit, the second drive unit connects and controls the first drive unit, the second drive unit work, described control module comprises keeps away barrier sensor, infrared inductor and control chip, the described barrier sensor of keeping away comprises virtual wall detecting sensor, infrared obstacle detecting sensor and infrared ground detection sensor, described cradle comprises outer cover and is installed in two charging terminals, the first transmitter, the second transmitter on outer cover, and described the first transmitter comprises remotely-controlled two transmitting tubes, and described the second transmitter comprises a transmitting tube of closely controlling, described cradle also comprises a butt-ended tube, and this butt-ended tube is installed in exterior wall top.
2. cleaning device as claimed in claim 1, it is characterized in that: the first gear train that described the first drive unit comprises the first motor and is connected with the first motor, described the first gear train comprises the first input gear, the first travelling gear engaging with the first input gear, the second travelling gear engaging with the first travelling gear, the 3rd travelling gear engaging with the second travelling gear, and the first output gear engaging with the 3rd travelling gear, described the first input gear, the first travelling gear, the second travelling gear, the 3rd travelling gear, and first output gear be spur gear, described the first travelling gear, the second travelling gear and the 3rd travelling gear include a gear wheel and are vertically connected at the pinion at gear wheel middle part, the gear wheel of described the first travelling gear and pinion engage with the gear wheel of the first input gear and the second travelling gear respectively, the gear wheel of described the 3rd travelling gear and pinion engage with pinion and first output gear of the second travelling gear respectively, the gearratio of the gear wheel of described the first travelling gear and the first input gear is 2.9～3.1:1, the gearratio of the pinion of the gear wheel of described the 3rd travelling gear and the second travelling gear is 2.5～2.6:1, the gearratio of the pinion of the gear wheel of described the second travelling gear and the first travelling gear is 2.5～2.6:1, and the gearratio of the pinion of described the first output gear and the 3rd travelling gear is 2.4～2.5:1.
3. cleaning device as claimed in claim 1, it is characterized in that: the second gear train that described the second drive unit comprises the second motor and is connected with the second motor, described the second gear train comprises second input gear being connected with the second motor, one the 4th travelling gear and the second output gear, described the second input gear, the 4th travelling gear and the second output gear are spur gear, described the 4th travelling gear comprises a gear wheel and is connected in the pinion at gear wheel middle part, the gear wheel of described the 4th travelling gear engages with the second input gear, the pinion of described the 4th travelling gear and the second output gear are intermeshing, the gearratio of the gear wheel of described the 4th travelling gear and the second input gear is 4.5～4.6:1, gearratio between described the second output gear and the pinion of the 4th travelling gear is 4.5～4.7:1.
4. cleaning device as claimed in claim 1, is characterized in that: described housing front side is provided with a buffering shell, described buffering shell by an elastic component with flexible fastening on this housing.
5. cleaning device as claimed in claim 1, is characterized in that: described cleaning robot also comprises a rechargeable battery, and this rechargeable battery is installed in housing, and is fixed by lower cover.
6. cleaning device as claimed in claim 1, is characterized in that: described cleaning robot also comprises a recycling box and evacuator, and described recycling box and evacuator are installed in housing, and evacuator and recycling box interconnect.
7. cleaning device as claimed in claim 6, is characterized in that: described limit brush is located at respectively the both sides at middle part, housing bottom surface, and described housing bottom is provided with suction port between two limit brushes, and described recycling box bottom is provided with opening and is connected with suction port.
8. cleaning device as claimed in claim 1, it is characterized in that: described driving wheel comprises second wheel and a driven pulley, described second wheel is located at respectively both sides, housing middle part, and described driven pulley is located at housing bottom front end, and described second wheel and driven pulley are triangular shape distribution.
9. cleaning device as claimed in claim 1, is characterized in that: described outer cover comprises exterior wall and be connected in the base plate of exterior wall bottom one side, and described charging terminal is installed on base plate, and part stretches out in the upper surface of base plate; Described cleaning robot bottom is provided with external terminal, and this external terminal is connected with battery; When charging, the outside external terminal of cleaning robot and the charging terminal of cradle are electrically connected.
10. cleaning device as claimed in claim 1, is characterized in that: described charging terminal is located at the leading flank of exterior wall, and the front side correspondence of described cleaning robot is provided with external terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420366044.1U CN203953561U (en) | 2014-07-02 | 2014-07-02 | Cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420366044.1U CN203953561U (en) | 2014-07-02 | 2014-07-02 | Cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203953561U true CN203953561U (en) | 2014-11-26 |
Family
ID=51914207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420366044.1U Expired - Fee Related CN203953561U (en) | 2014-07-02 | 2014-07-02 | Cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203953561U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104771118A (en) * | 2015-05-08 | 2015-07-15 | 上海思岚科技有限公司 | Intelligent floor sweeping robot with touch input function |
| CN105942932A (en) * | 2016-07-07 | 2016-09-21 | 广西科技大学鹿山学院 | Narrow gap wet mopping robot |
| CN106264359A (en) * | 2016-09-29 | 2017-01-04 | 苏州大学 | Clean robot and barrier-avoiding method thereof |
| CN109567683A (en) * | 2019-01-31 | 2019-04-05 | 任飞 | A kind of intelligent sweeping robot |
| CN111776080A (en) * | 2015-02-12 | 2020-10-16 | 美国iRobot公司 | Liquid management for floor traversing robot |
| CN112168081A (en) * | 2020-01-02 | 2021-01-05 | 尚科宁家(中国)科技有限公司 | Sweeper, sweeper replenishment system and replenishment station for sweeper |
-
2014
- 2014-07-02 CN CN201420366044.1U patent/CN203953561U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776080A (en) * | 2015-02-12 | 2020-10-16 | 美国iRobot公司 | Liquid management for floor traversing robot |
| CN104771118A (en) * | 2015-05-08 | 2015-07-15 | 上海思岚科技有限公司 | Intelligent floor sweeping robot with touch input function |
| CN105942932A (en) * | 2016-07-07 | 2016-09-21 | 广西科技大学鹿山学院 | Narrow gap wet mopping robot |
| CN105942932B (en) * | 2016-07-07 | 2018-07-03 | 广西科技大学鹿山学院 | Narrow slit Shi Tuo robots |
| CN106264359A (en) * | 2016-09-29 | 2017-01-04 | 苏州大学 | Clean robot and barrier-avoiding method thereof |
| CN106264359B (en) * | 2016-09-29 | 2019-08-06 | 苏州大学 | Clean robot and its barrier-avoiding method |
| CN109567683A (en) * | 2019-01-31 | 2019-04-05 | 任飞 | A kind of intelligent sweeping robot |
| CN112168081A (en) * | 2020-01-02 | 2021-01-05 | 尚科宁家(中国)科技有限公司 | Sweeper, sweeper replenishment system and replenishment station for sweeper |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141126 |