CN204685531U - Intelligence automated cleaning unit cleaning machine hand - Google Patents

Intelligence automated cleaning unit cleaning machine hand Download PDF

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Publication number
CN204685531U
CN204685531U CN201520212865.4U CN201520212865U CN204685531U CN 204685531 U CN204685531 U CN 204685531U CN 201520212865 U CN201520212865 U CN 201520212865U CN 204685531 U CN204685531 U CN 204685531U
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CN
China
Prior art keywords
round brush
brushing
washing
driving
internal channel
Prior art date
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Expired - Fee Related
Application number
CN201520212865.4U
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Chinese (zh)
Inventor
郝新浦
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Xuzhou DKEC Electrical Technology Co Ltd
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Xuzhou DKEC Electrical Technology Co Ltd
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Publication date
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Priority to CN201520212865.4U priority Critical patent/CN204685531U/en
Application granted granted Critical
Publication of CN204685531U publication Critical patent/CN204685531U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of intelligent automated cleaning unit cleaning machine hand, comprise body (1) and washing and brushing device (3), body interior is at least provided with an internal channel (11), internal channel is connected respectively by the output of the barotropic gas Controlling solenoid valve of pipeline and control valve group (5), cleaning agent Controlling solenoid valve and clean water pressure-controlled magnetic valve, body is also provided with pattern-recognition sensor, position sensor and range sensor, and sensor is electrically connected with the industrial control computer of electric control gear (6) respectively; In washing and brushing device, the position of corresponding internal channel is provided with the spray orifice (31) be communicated with internal channel, washing and brushing device comprises round brush driving mechanism (32) and round brush (34), the driving shaft of round brush driving mechanism is connected with round brush, and round brush driving mechanism is electrically connected with industrial control computer.This manipulator is arranged on intelligent automated cleaning unit can improve cleaning efficiency, ensure follow-up coating quality, and automaticity is higher.

Description

Intelligence automated cleaning unit cleaning machine hand
Technical field
The utility model relates to a kind of manipulator, and specifically a kind of intelligent automated cleaning unit cleaning machine hand being applicable to number bus factory spraying dust-removing process, belongs to coating equipment technical equipment field.
Background technology
Along with the raising of social development and living standards of the people, the surface treatment of market to industrial goods and life goods proposes more and more higher requirement, spraying is always as a kind of main method and the means of product surface process, namely be coating is dispersed into vaporificly be sprayed at coated article surface, coating is formed and sticks firmly, there is some strength continuous print solid film, external environment can be stoped the destruction of product surface, increase the service life, bright and colourful outward appearance can be obtained simultaneously, beautify the environment, even can provide as mildew-resistant according to different coating, sterilization, high temperature resistant, insulation, insulation, conduction, anti-skidding, the specific functions such as noise-proofing, therefore spraying is an important step in the surface manufacturing process of product.
Coating quality is one of importance of product total quality, in prior art, pure manual operations is rare, Large-scale Manufacturing many employings automatic coating, automatic coating utilizes electrical equipment or theory of mechanics (manipulator or robot) automatically to control a kind of spraying method carried out, automatic coating many employings industrial control computer PLC formula controls and monitoring, automatic spraying production line is generally arranged in confined space, comprise supply unit, dust removing units, spray unit, exhaust unit and baking unit, dust removing units, spray unit and baking unit compartment are arranged, exhaust unit is provided with in each compartment, delivery unit runs through whole automatic spraying production line, workpiece or goods are entered in the spray booth of spray unit or spray painting room by delivery unit and spray after dust removing units dedusting, enter baking unit after spraying to dry, export through delivery unit finished product again, spread in and include dust in each compartment, the industrial waste gas of vaporific coating waste gas is discharged through exhaust unit.
Painting environments General Requirements is at least 100,000 grades of dust-free workshops, namely the quantity that in every cubic metres of air, diameter is more than or equal to the grey grit of 0.5um is at least less than 100,000, electrostatic precipitator is typically provided with in present painting workshop, the deduster such as sack cleaner or filter cartridge dust remover carries out absorption and control to the micronic dust in workshop, the clean subelement of existing dust removing units adopts the mode of industrial dust collector dust suction to carry out dedusting to workpiece or product surface usually, but if workpiece or goods there is greasy dirt, then simple industrial dust collector dust suction cannot clear up greasy dirt, usual needs carry out artificial organic solvent and carry out wiping.
There is following defect in existing cleaning unit:
1. in order to ensure dustless painting environments, the personnel entering spray room must wear clean electrostatic cap, wear clean electrostatic clothing and thoroughly drench through wind, therefore complex procedures and cleaning efficiency is lower;
2. because the thing of the band silks such as fiber, woollen, leatheroid easily causes the flaw spraying rear workpiece or product surface, therefore the instrument of wiped clean workpiece or product surface can not be with the thing of the band such as fiber, woollen, leatheroid silk, otherwise not easily cleans out and cause cleaning efficiency to reduce further;
3. manually operate owing to adopting, therefore the impact of human factor on manufacturing schedule such as operating personnel's sense of responsibility, mood is larger, simultaneously, manual operation is by the restriction of operating personnel's operative skill qualification, cleaning efficiency and effect have difference, the skilled operation degree of multiple operating personnel is uneven is also affecting manufacturing schedule in varying degrees, and easily causes unstable product quality.
Summary of the invention
For above-mentioned prior art Problems existing, the utility model provides a kind of intelligent automated cleaning unit cleaning machine hand, be arranged on intelligent automated cleaning unit and can realize reducing complicated operation degree, improve cleaning efficiency, ensure follow-up coating quality, and can realize intelligent clean, automaticity is higher, is applicable to number bus factory spraying dust-removing process.
To achieve these goals, this intelligent automated cleaning unit cleaning machine hand comprises body and washing and brushing device;
Body rear end is connected with the minor details of mechanical arm, front end is connected with washing and brushing device rear end, body interior is at least provided with an internal channel, internal channel is connected respectively by the output of the barotropic gas Controlling solenoid valve of pipeline and control valve group, cleaning agent Controlling solenoid valve and clean water pressure-controlled magnetic valve, body is also provided with towards the pattern-recognition sensor in washing and brushing device direction, position sensor and range sensor, pattern-recognition sensor, position sensor and range sensor are electrically connected with the industrial control computer of electric control gear respectively;
In washing and brushing device, the position of corresponding internal channel is provided with the spray orifice be communicated with internal channel, and washing and brushing device comprises round brush driving mechanism 32 and round brush, and the driving shaft of round brush driving mechanism is connected with round brush, and round brush driving mechanism is electrically connected with the industrial control computer of electric control gear.
As further improvement of the utility model scheme, also comprise rotation control mechanism assembly, described body rear end is connected with the minor details of mechanical arm by rotation control mechanism assembly, and rotation control mechanism assembly at least comprises an A coordinate rotation control or B coordinate rotates control or C coordinate rotates control.
As further improvement of the utility model scheme, described round brush driving mechanism front end is provided with the automatic round brush clamping device be fixedly connected with the driving shaft of round brush driving mechanism, and round brush back end grip is on automatic round brush clamping device.
As a kind of embodiment of the utility model, slide rail is provided with in described body, described round brush driving mechanism and automatic round brush clamping device are arranged on body interior, round brush driving mechanism rear end is provided with push-pull mechanism, automatic round brush gripping device front end be provided be flexibly connected with it, with multiple taper claws of back-moving spring, the position of the corresponding taper claw in washing and brushing device front end be provided be arranged on washing and brushing device front end by bearing and the fore shaft plate of taper fit with taper claw.
As further improvement of the utility model scheme, the annular spread of described internal channel in concentric structure on the cross section of body.
Compared with prior art, this intelligent automated cleaning unit cleaning machine hand is at least provided with an internal channel due to body interior, barotropic gas Controlling solenoid valve, the cleaning agent Controlling solenoid valve of control valve group are connected with internal channel respectively by pipeline with the output of clean water pressure-controlled magnetic valve, therefore cleaning agent, barotropic gas and clean water can be confessed according to the corresponding control internal channel of cleaning procedure, can carry out in cleaning course that cleaning agent is scrubbed, clean water is washed away and Quick-air-drying successively to workpiece or goods, cleaning process prosthetic participates in, and operation is simple and cleaning efficiency is high, automation mechanized operation can be avoided because the human factors such as operating personnel's sense of responsibility, mood are on the impact of manufacturing schedule, from the restriction of operating personnel's operative skill qualification, and then can ensure cleaning quality simultaneously, because body is provided with the pattern-recognition sensor towards shower nozzle direction, position sensor and range sensor, therefore can identify workpiece or goods and locate before spraying operation, be convenient to the shape of industrial control computer to workpiece or goods, size, the information such as position judge, whether carry out already present data in calling data storehouse and carry out automated cleaning, still existing workpiece or the product information of similar structures is found in a database, carry out permutation and combination and automatically generate optimum cleaning path and spray orifice control data information carries out automated cleaning, intelligence degree is higher, be applicable to intelligent automated cleaning unit.
Accompanying drawing explanation
Fig. 1 is three-dimensional structure schematic diagram of the present utility model;
Fig. 2 is sectional structure schematic diagram of the present utility model;
Fig. 3 is the three-dimensional structure schematic diagram of the utility model when being arranged on intelligent automated cleaning unit.
In figure: 1, body, 11, internal channel, 2, rotation control mechanism assembly, 3, washing and brushing device, 31, spray orifice, 32, round brush driving mechanism, 33, automatically round brush clamping device, 34, round brush, 4, mechanical arm, 5, control valve group, 6, electric control gear, 7, delivery unit, 8, workpiece or goods.
Detailed description of the invention
Below in conjunction with accompanying drawing the utility model is described further and (describes with left and right horizontal direction as X-coordinate below, with front and back horizontal direction for Y-coordinate, take vertical direction as Z coordinate, with the direction rotated for rotating shaft along X-coordinate axis for A coordinate, with the direction rotated for rotating shaft along Y-coordinate axis for B coordinate, the direction rotated for rotating shaft with Z-direction axis is for C coordinate).
As shown in Figure 3, this intelligent automated cleaning unit cleaning machine hand is a part for intelligent automated cleaning unit, intelligence automated cleaning unit also comprises mechanical arm 4, control valve group 5 and electric control gear 6, mechanical arm 4 fixedly mounts on the ground, comprises at least one X-coordinate driving mechanism or Y-coordinate driving mechanism or Z coordinate driving mechanism; Control valve group 5 comprises barotropic gas Controlling solenoid valve, cleaning agent Controlling solenoid valve and clean water pressure-controlled magnetic valve, the input of barotropic gas Controlling solenoid valve is connected with clean malleation source of the gas, the input of cleaning agent Controlling solenoid valve is connected with cleaning agent feed mechanism, and input and the clean water pressure source of clean water pressure-controlled magnetic valve link; Electric control gear 6 comprises industrial control computer, electric power loop, washing and brushing device position control loop, pattern-recognition loop, analyzes the clean parameter loop of planning, clean control loop, gas circuit control loop, clean water control loop etc., industrial control computer is electrically connected with the barotropic gas Controlling solenoid valve of control valve group 5, cleaning agent Controlling solenoid valve and clean water pressure-controlled magnetic valve respectively, and industrial control computer is electrically connected with the X-coordinate driving mechanism of mechanical arm 4 or Y-coordinate driving mechanism or Z coordinate driving mechanism respectively.
As shown in Figure 1 and Figure 2, this intelligent automated cleaning unit cleaning machine hand comprises body 1 and washing and brushing device 3;
Body 1 rear end is connected with the minor details of mechanical arm 4, front end is connected with washing and brushing device 3 rear end, body 1 inside is at least provided with an internal channel 11, internal channel 11 is connected respectively by the output of the barotropic gas Controlling solenoid valve of pipeline and control valve group 5, cleaning agent Controlling solenoid valve and clean water pressure-controlled magnetic valve, body 1 is also provided with towards the pattern-recognition sensor in washing and brushing device 3 direction, position sensor and range sensor, pattern-recognition sensor, position sensor and range sensor are electrically connected with the industrial control computer of electric control gear 6 respectively;
In washing and brushing device 3, the position of corresponding internal channel 11 is provided with the spray orifice 31 be communicated with internal channel 11, washing and brushing device 3 comprises round brush driving mechanism 32 and round brush 34, it is inner that round brush driving mechanism 32 is arranged on washing and brushing device 3, the driving shaft of round brush driving mechanism 32 is connected with round brush 34, and round brush driving mechanism 32 is electrically connected with the industrial control computer of electric control gear 6.
The operation principle of this intelligent automated cleaning unit cleaning machine hand: by the pattern-recognition sensor on body 1, position sensor and range sensor feedback, the action of industrial control computer controller mechanical arm 4 makes washing and brushing device 3 move to the coordinate basis point of program setting, then industrial control computer control round brush driving mechanism 32 drives round brush 34 to rotate, industrial control computer controls the over-pressure control magnetic valve of control valve group 5 simultaneously, cleaning agent Controlling solenoid valve and clean water pressure-controlled magnetic valve are opened according to cleaning procedure is corresponding, namely cleaning agent is confessed according to cleaning procedure is corresponding in internal channel 11, barotropic gas and clean water, then industrial control computer controller mechanical arm 4 action makes washing and brushing device 3 move according to the cleaning path of program setting to clean workpiece or goods 8, after completing the cleaning of workpiece or goods 8, delivery unit 7 is received instruction and is carried the workpiece that completes cleaning or goods 8 circulate to next procedure.
As shown in Figure 3, the mechanical arm 4 of intelligent automated cleaning unit is arranged near delivery unit 7, and when system does not start (during zero position), mechanical arm 4 is located, and washing and brushing device 3 is positioned at the zero position dead state towards delivery unit 7, after the conveyer belt of delivery unit 7 or rotatable location conveying hook carry workpiece to be cleaned or goods 8 station are parked in the setting rested near mechanical arm 4 according to blas, the electric power loop of this intelligent automated cleaning unit starts starts working, industrial control computer sends instruction and makes washing and brushing device position control loop and pattern-recognition loop starts, industrial control computer controls X-coordinate driving mechanism or Y-coordinate driving mechanism or the action of Z coordinate driving mechanism, mechanical arm 4 is according to preset program and coordinates computed shift action, namely pattern-recognition sensor on body 1 feeds back the shape of workpiece or goods 8, size, the information such as position are to industrial control computer, analyze the clean parameter loop works of planning, industrial control computer carries out the starting point planning cleaning path, end coordinate values and corresponding internal channel 11 need each the concrete valve rod of the control valve group 5 opened and valve rod to open size, and store relevant information, then industrial control computer is according to the position sensor on body 1 and range sensor feedback, controlling X-coordinate driving mechanism or Y-coordinate driving mechanism or the action of Z coordinate driving mechanism makes washing and brushing device 3 be positioned at the starting point coordinate position of program setting, and then industrial control computer control round brush driving mechanism 32 drives round brush 34 to rotate, clean control loop, gas circuit control loop and clean water control loop are started working:
Cleaning agent sprays in internal channel 11, round brush 34 carries out High Rotation Speed along cleaning path at workpiece or goods 8 surface and scrubs, to during the terminal point coordinate position of program setting or after back and forth scrubbing several times according to cleaning procedure, namely the cleaning agent completing workpiece or goods 8 is scrubbed, and washing and brushing device 3 gets back to zero position;
Then the cleaning agent Controlling solenoid valve that industrial control computer controls control valve group 5 is closed, clean water pressure-controlled magnetic valve is opened, clean water sprays in internal channel 11, round brush 34 carries out High Rotation Speed along cleaning path at workpiece or goods 8 surface and scrubs, to during the terminal point coordinate position of program setting or after back and forth washing away several times according to cleaning procedure, namely the clean water completing workpiece or goods 8 is washed away, and washing and brushing device 3 gets back to zero position;
Then industrial control computer according to the position sensor on body 1 and range sensor FEEDBACK CONTROL washing and brushing device 3 away from workpiece or goods 8 to suitable distance, the round brush of industrial control computer control simultaneously driving mechanism 32 makes round brush 34 stop the rotation, the cleaning agent Controlling solenoid valve of control valve group 5 and clean water pressure-controlled closed electromagnetic valve, barotropic gas Controlling solenoid valve is opened, barotropic gas sprays in internal channel 11, the action of industrial control computer controller mechanical arm 4 makes washing and brushing device 3 move according to the cleaning path of program setting to carry out forced draft to workpiece or goods 8 and make workpiece or goods 8 Quick-air-drying, during to the terminal point coordinate position of program setting, or according to cleaning procedure back and forth several times after, namely the barotropic gas Quick-air-drying of workpiece or goods 8 is completed, washing and brushing device 3 gets back to zero position,
After whole program completes, delivery unit 7 is received instruction and is carried the workpiece that completes cleaning or goods 8 circulate to next procedure.
In order to increase the scope of application of automated cleaning further, as improvement project of the present utility model, this intelligent automated cleaning unit cleaning machine hand also comprises rotation control mechanism assembly 2, described body 1 rear end is connected with the minor details of mechanical arm 4 by rotation control mechanism assembly 2, rotation control mechanism assembly 2 at least comprises an A coordinate rotation control or B coordinate rotates control or C coordinate rotates control, rotation control mechanism assembly 2 can control body 1 in A coordinate system and/or B coordinate system and/or C coordinate system 360 ° rotate freely and locate, the automated cleaning of automatic cleaning apparatus 2 in 4-coordinate system or Five Axis system or six coordinate systems can be realized.
According to varying in size of workpiece or goods 8, round brush 34 is that a size can not meet need of work, in order to increase versatility and the flexibility of this intelligent automated cleaning unit cleaning machine hand, as further improvement of the utility model scheme, as shown in Figure 2, described round brush driving mechanism 32 front end is provided with the automatic round brush clamping device 33 be fixedly connected with the driving shaft of round brush driving mechanism 32, round brush 23 back end grip is on automatic round brush clamping device 33, when the workpiece in industrial control computer calling data storehouse or goods 8 information need use the round brush 34 of other sizes, then round brush changes loop, pattern-recognition sensor on body 1, position sensor and range sensor are started working simultaneously, industrial control computer controller mechanical arm 4 and rotation control mechanism assembly 2 action make washing and brushing device 3 move to the desired location of round brush locating rack and be erected at after on round brush locating rack, industrial control computer controls automatic round brush clamping device 33 and opens, the round brush 34 i.e. stabilizing bracket being connected to washing and brushing device 3 front end is located on round brush locating rack, then industrial control computer controller mechanical arm 4 and rotation control mechanism assembly 2 action make washing and brushing device 3 front end be positioned the round brush rear end that need change, after the round brush that need change is inserted in washing and brushing device 3 front end, industrial control computer controls automatic round brush clamping device 33 and clamps, namely the round brush that need change firmly is connected with washing and brushing device 3 front end, system gets back to zero position, realize round brush automatically to change.
As a kind of embodiment of the present utility model, slide rail is provided with in described body 1, it is inner that described round brush driving mechanism 32 and automatic round brush clamping device 33 are arranged on body 1, round brush driving mechanism 32 rear end is provided with push-pull mechanism, round brush driving mechanism 32 and automatic round brush clamping device 33 can under the push-and-pull action of push-pull mechanism on slide rail slide anteroposterior move, automatic round brush clamping device 33 front end is provided with and is flexibly connected with it, with multiple taper claws of back-moving spring, the position of the corresponding taper claw in washing and brushing device 3 front end is provided with and is arranged on washing and brushing device 3 front end by bearing, and the fore shaft plate of taper fit with taper claw, when push-pull mechanism push-and-pull round brush driving mechanism 32 and automatic round brush clamping device 33, fore shaft plate can control the opening and closing of taper claw.
The size of different workpiece or goods 8 and cleaning surface require that difference can cause the width of cleaning and path etc. all not identical, in order to increase the versatility of this intelligent automated cleaning unit cleaning machine hand, optimum cleaning effect can be ensured according to the difference of workpiece or goods 8, as further improvement of the utility model scheme, the annular spread of described internal channel 11 in concentric structure on the cross section of body 1, according to different clean requirements and the cleaning path requirement of workpiece or goods 8, the internal channel 11 of diverse location can be made to eject medium, to be more convenient for clean workpiece or goods 8.
This intelligent automated cleaning unit cleaning machine hand is at least provided with an internal channel 11 due to body 1 inside, barotropic gas Controlling solenoid valve, the cleaning agent Controlling solenoid valve of control valve group 5 are connected with internal channel 11 respectively by pipeline with the output of clean water pressure-controlled magnetic valve, therefore cleaning agent, barotropic gas and clean water can be confessed according to the corresponding control internal channel 11 of cleaning procedure, can carry out in cleaning course that cleaning agent is scrubbed, clean water is washed away and Quick-air-drying successively to workpiece or goods 8, cleaning process prosthetic participates in, and operation is simple and cleaning efficiency is high, automation mechanized operation can be avoided because the human factors such as operating personnel's sense of responsibility, mood are on the impact of manufacturing schedule, from the restriction of operating personnel's operative skill qualification, and then can ensure cleaning quality simultaneously, because body 1 is provided with the pattern-recognition sensor towards shower nozzle 3 direction, position sensor and range sensor, therefore can workpiece or goods 8 be identified and be located before spraying operation, be convenient to the shape of industrial control computer to workpiece or goods 8, size, the information such as position judge, whether carry out already present data in calling data storehouse and carry out automated cleaning, still existing workpiece or the product information of similar structures is found in a database, carry out permutation and combination and automatically generate optimum cleaning path and spray orifice control data information carries out automated cleaning, intelligence degree is higher, be applicable to intelligent automated cleaning unit.

Claims (5)

1. an intelligent automated cleaning unit cleaning machine hand, comprise body (1) and washing and brushing device (3), body (1) rear end is connected with the minor details of mechanical arm (4), and front end is connected with washing and brushing device (3) rear end, it is characterized in that
Described body (1) inside is at least provided with an internal channel (11), internal channel (11) is connected respectively by the output of the barotropic gas Controlling solenoid valve of pipeline and control valve group (5), cleaning agent Controlling solenoid valve and clean water pressure-controlled magnetic valve, body (1) is also provided with towards the pattern-recognition sensor in washing and brushing device (3) direction, position sensor and range sensor, pattern-recognition sensor, position sensor and range sensor are electrically connected with the industrial control computer of electric control gear (6) respectively;
In described washing and brushing device (3), the position of corresponding internal channel (11) is provided with the spray orifice (31) be communicated with internal channel (11), washing and brushing device (3) comprises round brush driving mechanism (32) and round brush (34), the driving shaft of round brush driving mechanism (32) is connected with round brush (34), and round brush driving mechanism (32) is electrically connected with the industrial control computer of electric control gear (6).
2. intelligent automated cleaning unit cleaning machine hand according to claim 1, it is characterized in that, also comprise rotation control mechanism assembly (2), described body (1) rear end is connected with the minor details of mechanical arm (4) by rotation control mechanism assembly (2), and rotation control mechanism assembly (2) at least comprises an A coordinate rotation control or B coordinate rotates control or C coordinate rotates control.
3. intelligent automated cleaning unit cleaning machine hand according to claim 1 and 2, it is characterized in that, described round brush driving mechanism (32) front end is provided with the automatic round brush clamping device (33) be fixedly connected with the driving shaft of round brush driving mechanism (32), and round brush (23) back end grip is on automatic round brush clamping device (33).
4. intelligent automated cleaning unit cleaning machine hand according to claim 3, it is characterized in that, slide rail is provided with in described body (1), it is inner that described round brush driving mechanism (32) and automatic round brush clamping device (33) are arranged on body (1), round brush driving mechanism (32) rear end is provided with push-pull mechanism, automatic round brush clamping device (33) front end is provided with and is flexibly connected with it, with multiple taper claws of back-moving spring, the position of the corresponding taper claw in washing and brushing device (3) front end is provided with and is arranged on washing and brushing device (3) front end by bearing, and the fore shaft plate of taper fit with taper claw.
5. intelligent automated cleaning unit cleaning machine hand according to claim 1 and 2, is characterized in that, the annular spread of described internal channel (211) in concentric structure on the cross section of body (21).
CN201520212865.4U 2015-04-09 2015-04-09 Intelligence automated cleaning unit cleaning machine hand Expired - Fee Related CN204685531U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108366707A (en) * 2015-10-27 2018-08-03 三星电子株式会社 Clean robot and its control method
CN109127630A (en) * 2018-09-29 2019-01-04 武汉华星光电技术有限公司 Cleaning systems
CN110575980A (en) * 2018-06-08 2019-12-17 汉达精密电子(昆山)有限公司 automatic wiping structure

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108366707A (en) * 2015-10-27 2018-08-03 三星电子株式会社 Clean robot and its control method
CN110575980A (en) * 2018-06-08 2019-12-17 汉达精密电子(昆山)有限公司 automatic wiping structure
CN109127630A (en) * 2018-09-29 2019-01-04 武汉华星光电技术有限公司 Cleaning systems
WO2020062487A1 (en) * 2018-09-29 2020-04-02 武汉华星光电技术有限公司 Cleaning system and cleaning device
US10974284B2 (en) 2018-09-29 2021-04-13 Wuhan China Star Optoelectronics Technology Co., Ltd. Cleaning system and cleaning apparatus

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20151007

Termination date: 20170409