CN205031188U - Clean robot can fly - Google Patents
Clean robot can fly Download PDFInfo
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- CN205031188U CN205031188U CN201520697548.6U CN201520697548U CN205031188U CN 205031188 U CN205031188 U CN 205031188U CN 201520697548 U CN201520697548 U CN 201520697548U CN 205031188 U CN205031188 U CN 205031188U
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Abstract
The utility model discloses a clean robot can fly, including unmanned vehicles, clean host computer, group battery and circuit board, wherein: clean host computer passes through the rotation axis and installs unmanned vehicles's bottom, including first motor, first driving medium, secondary drive spare in clean host computer and/or the unmanned vehicles, the circuit board includes main control chip and the drive circuit, the signal reception circuit that are connected to this main control chip, just first motor is rotated by drive circuit drive to make clean host computer around axis of rotation through first driving medium, and make unmanned vehicles around axis of rotation through secondary drive spare. The utility model discloses a combine the unmanned vehicles of maturity technique with clean robotechnology and develop clean robot can fly together, realize building outer wall optional position walk the cleanness certainly, reduced spider -man's in the clean operation of building outer wall use.
Description
Technical field
The utility model relates to a kind of clean robot, is specifically related to kind can to fly enter the clean robot of external wall.
Background technology
It is the outdoor study of a high-risk that external wall cleans, and generally uses rope personnel to be hung in external wall to carry out cleaning operation, and industry is referred to as spider-man.The spider-man carrying out external wall clean is breakneck work, spider-man is only hung in the air with rope in cleaning operation process, and the whole world has a lot of spider-man in external wall cleaning operation process because injures and deaths appear in the bad weather of error or strong wind and heavy rain every year.
Have at present use climb wall clean robot replace spider-man carry out external wall cleaning, greatly reduce the injures and deaths phenomenon of spider-man.But higher to operating condition requirement owing to climbing wall clean robot, obstacle climbing ability is inadequate, cannot arrive all metopes and carry out cleaning operation, still need spider-man to carry out cleaning.
Utility model content
The purpose of this utility model is to propose for above-mentioned technical problem a kind of in conjunction with unmanned vehicle make clean robot to arrive flown clean robot that cleaning operation is carried out in external wall optional position.
The utility model solves the problems of the technologies described above adopted technical scheme: one can be flown clean robot, comprise unmanned vehicle, clean main frame, battery pack and circuit board, wherein: described clean main frame is arranged on the bottom of described unmanned vehicle by rotating shaft, described battery pack and circuit board are located in clean main frame; The first motor, the first driving member, the second driving member is included in described clean main frame and/or unmanned vehicle; Described circuit board comprises main control chip and is connected to the first drive circuit, the signal receiving circuit of this main control chip, and described first motor drives rotation by this first drive circuit, to make clean main frame rotate relative to unmanned vehicle around rotating shaft by the first driving member, and by the second driving member, unmanned vehicle is rotated around rotating shaft relative clean main frame.
Fly in clean robot described in the utility model, described clean main frame comprises walking mechanism, and this walking mechanism comprises multiple vacuum cup and vavuum pump, multiple air entries of described vavuum pump respectively by many tubes connection to each vacuum cup; Described circuit board has absorption and control circuit, this absorption and control circuit is connected to vavuum pump to open or to close the air entry of vavuum pump, makes corresponding vacuum cup be adsorbed onto body surface or discharges from body surface.
Fly in clean robot described in the utility model, described clean main frame comprises the cleaning agency being located at walking mechanism front end and the wiper mechanism being located at walking mechanism rear end, described cleaning agency comprises the Clean Brush for cleaning that at least one is arranged on the bottom front of clean main frame, and described Clean Brush for cleaning is driven by the second motor and swings to clean rubbish; Described wiper mechanism comprises the clean soft scraping blade that at least one is located at the rear side of the walking mechanism of clean main frame, and described clean soft scraping blade is driven the walking vestige swinging and stay with the walking mechanism of cleaning clean main frame by the 3rd motor; Described circuit board is provided with output and is connected to the 3rd drive circuit that the second drive circuit of the second motor and output are connected to the 3rd motor, and the input of described second drive circuit and the 3rd drive circuit is connected respectively to main control chip.
Fly in clean robot described in the utility model, described unmanned vehicle comprises mounting bracket, described mounting bracket is provided with the infrared acquisition assembly of distance on can to fly for perception clean robot and external wall border, and described infrared acquisition assembly comprises the infrared inductor being located at described mounting bracket side; Described circuit board is provided with the signal processing circuit that input is connected to described infrared inductor, and the output of described signal processing circuit is connected to main control chip.
Fly in clean robot described in the utility model, vacuum motor and the hydrojet mechanism for spraying cleaning fluid is provided with in described clean main frame, described hydrojet mechanism comprises at least one group of high pressure spray hole and cleaning fluid storage box, described circuit board comprises sprinkling control circuit, this sprinkling control circuit is connected with vacuum motor to make this vacuum motor carry out supercharging to the cleaning fluid in described cleaning fluid storage box, and cleaning fluid is sprayed from described high pressure spray hole.
Fly in clean robot described in the utility model, the upper surface of described unmanned vehicle is provided with photovoltaic battery panel, and described circuit board comprises charging circuit, and the input of this charging circuit connects photovoltaic battery panel, output connects battery pack.
Fly in clean robot described in the utility model, described unmanned vehicle is four-axle aircraft, four groups of rotor assemblies of this four-axle aircraft and each group rotor assemblies comprises the rotor motor being connected to circuit board.
Fly in clean robot described in the utility model, described unmanned vehicle is provided with ejection mechanism and parachute, described circuit board is provided with acceleration induction device and launches control circuit, described acceleration induction device and launch control circuit and be connected respectively to main control chip, and described in launch control circuit and be also electrically connected with ejection mechanism.
Fly in clean robot described in the utility model, the described clean robot that flies is provided with the camera assembly being connected to circuit board, and described circuit board is provided with video processing circuit and video transmission circuit.
The utility model develops by the unmanned vehicle technology of maturation and clean robot technology being organically combined the clean robot that can fly, clean main frame is delivered to the presumptive area of external wall by unmanned vehicle, the clean robot that can fly is converted to cleaning mode by twice mechanically deform by offline mode, realize clean in certainly walking of external wall optional position, decrease the use of spider-man in external wall cleaning operation.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the flown clean robot in the utility model one embodiment;
Fig. 2 is the decomposition texture schematic diagram of the clean main frame in the utility model one embodiment;
Fig. 3 is the structural representation bottom the clean main frame in the utility model one embodiment.
Detailed description of the invention
In order to be illustrated more clearly in the technical solution of the utility model, below in conjunction with drawings and Examples, the technical solution of the utility model is further elaborated, apparently, the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other embodiment can also be obtained according to these embodiments.
As shown in Figure 1 to Figure 3, be the schematic diagram of a kind of clean robot embodiment of flying of the utility model.This clean robot that can fly, for the cleaning operation of external wall 300 be made up of glass curtain wall, is specially adapted to the cleaning operation of external wall 300 operation difficult region.Flown clean robot in the present embodiment comprises unmanned vehicle 100, clean main frame 200, battery pack and circuit board 17, wherein: clean main frame 200 is rotatably installed in the bottom of unmanned vehicle 100 by rotating shaft 16.Battery pack and circuit board 17 are located in clean main frame 200 (namely between upper cover 15 and drain pan 18), and include the first motor, the first driving member, the second driving member in this clean main frame 200 and/or unmanned vehicle 100.Circuit board 17 comprises main control chip and is connected to the first drive circuit, the signal receiving circuit of this main control chip, and the first motor drives rotation by this first drive circuit, to be made clean main frame 200 rotate relative to unmanned vehicle 100 around rotating shaft 16 by the first driving member, and by the second driving member, unmanned vehicle 100 is rotated around rotating shaft 16 relative clean main frame 200.Signal receiving circuit is used for receiving the control signal from remote controller (such as dedicated remote control, be provided with the mobile phone etc. of APP), controls to realize flight and/or cleanly to control.Battery pack is used for powering for all electrical equipments can flown in clean robot.
Unmanned vehicle 100 is mainly used in by the air transport of clean main frame 200 to the presumptive area of external wall 300, and then clean main frame 200 carries out cleaning operation.This process is specific as follows: main control chip control unmanned vehicle 100 carries clean main frame 200 and flies to the precalculated position of external wall 300, then drive the first motor to run by the first drive circuit, the first driven by motor first driving member makes the bottom of clean main frame 200 rotate to upright position by horizontal level around rotating shaft 16; Then main control chip makes unmanned vehicle 100 stall, and by the first driven by motor second driving member, unmanned vehicle 100 is rotated around rotating shaft 16 relative clean main frame 200, and folds on vertical clean main frame 200, and main control chip makes the first motor out of service.After the cleaning is completed, main control chip drives the first motor to run by the first drive circuit again, and the first motor first drives the second driving member to make unmanned vehicle 100 run to level by vertical, and opens unmanned vehicle 100; Then main control chip makes the first driven by motor first driving member, makes clean main frame 200 by the vertical below rotating to the unmanned vehicle 100 of level.
Clean main frame 200 comprises the walking mechanism 19 being driven (under main control chip controls) by motor, and this walking mechanism 19 comprises multiple vacuum cup and vavuum pump, multiple air entries of vavuum pump respectively by many tubes connection to each vacuum cup; Correspondingly, circuit board 17 has absorption and control circuit, this absorption and control circuit is connected to vavuum pump to open or to close the air entry of vavuum pump, makes corresponding vacuum cup be adsorbed onto body surface or discharges from body surface.Particularly, above-mentioned walking mechanism is by the horizontal sucker crawler belt of the bottom of clean main frame laying in T shape and longitudinal sucker crawler belt, each sucker crawler belt in horizontal sucker crawler belt and longitudinal sucker crawler belt comprises flexible pedrail, multiple vacuum cup is located on flexible pedrail, and vavuum pump to be connected with each vacuum cup by swivel joint and to carry out vacuum pumping by absorption and control control circui to vacuum cup.By above-mentioned walking mechanism 19, clean main frame 200 can be adsorbed onto vertical building wall, and moves on building wall.
Clean main frame 200 also can comprise the cleaning agency being located at walking mechanism 19 front end and the wiper mechanism being located at walking mechanism rear end, wherein cleaning agency comprises the Clean Brush for cleaning 20 that at least one is arranged on the bottom front of clean main frame 200, and this Clean Brush for cleaning 20 is driven by the second motor and swings to clean rubbish; Wiper mechanism comprises at least one rear side being located at the walking mechanism 19 of clean main frame 200 and is positioned at the clean soft scraping blade 21 between cleaning agency and rubbish adsorbing mechanism (being positioned at clean main frame 200), and clean soft scraping blade 21 is driven the walking vestige swinging and stay with the walking mechanism 19 of cleaning clean main frame by the 3rd motor; Circuit board 17 is provided with output and is connected to the 3rd drive circuit that the second drive circuit of the second motor and output are connected to the 3rd motor, and the input of the second drive circuit and the 3rd drive circuit is connected respectively to main control chip.
Unmanned vehicle 100 in the present embodiment can adopt four-axle aircraft, four groups of rotor assemblies of this four-axle aircraft and each group rotor assemblies comprises the rotor motor being connected to circuit board 17, and namely this unmanned vehicle 100 carries out flight control by circuit board 17.All parts of clean main frame 200 are all positioned at the below in the gap of four groups of rotor assemblies.
This unmanned vehicle 100 comprises mounting bracket 22, this mounting bracket 22 is provided with the infrared acquisition assembly of distance (comprising border) of can to fly for perception clean robot and building exterior wall face, and this infrared acquisition assembly comprises the infrared inductor being located at mounting bracket 22 side; Circuit board 17 is provided with the signal processing circuit that input is connected to each infrared inductor, and the output of this signal processing circuit is connected to main control chip.By the signal from infrared inductor that signal processing circuit obtains, main control chip can calculate the barrier on the distance of unmanned vehicle 100 and building exterior wall face and building exterior wall face in real time, to realize clean main frame 200 " logging in " building exterior wall face and the movement on building exterior wall face.
Also be provided with vacuum motor and the hydrojet mechanism for spraying cleaning fluid in clean main frame 200, this hydrojet mechanism comprises at least one group of high pressure spray hole and cleaning fluid storage box; Correspondingly, circuit board 17 comprises sprinkling control circuit, and this sprinkling control circuit is connected with vacuum motor to make this vacuum motor carry out supercharging to the cleaning fluid in cleaning fluid storage box, and cleaning fluid is sprayed from described high pressure spray hole.
The upper surface of above-mentioned unmanned vehicle 100 is provided with photovoltaic battery panel, and circuit board 17 comprises charging circuit, and the input of this charging circuit connects photovoltaic battery panel, output connects battery pack.Like this, when clean main frame 200 carries out metope cleaning, by photovoltaic battery panel, battery pack is charged.
In addition, hurt sb.'s feelings in order to avoid the clean robot that can fly surprisingly falls, unmanned vehicle 100 can be provided with ejection mechanism and parachute, circuit board 17 is provided with acceleration induction device and launches control circuit, and acceleration induction device and launch control circuit and be connected respectively to main control chip, and launch control circuit and be also electrically connected with ejection mechanism.Like this, main control chip according to the signal of acceleration induction device judge to fly clean robot fall time, to launching control circuit output signal, controlling ejection mechanism and parachute launched out.
The above-mentioned clean robot that flies also can be provided with the camera assembly 14 being connected to circuit board 17, and circuit board 17 is provided with video processing circuit and video transmission circuit.Like this, the clean robot that can fly by camera assembly capture video or rest image (such as the aging conditions etc. on the surface of external wall 300), and is sent to long-range receiving terminal.
The above is only preferred embodiment of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from 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 (9)
1. the clean robot that can fly, it is characterized in that, comprise unmanned vehicle, clean main frame, battery pack and circuit board, wherein: described clean main frame is arranged on the bottom of described unmanned vehicle by rotating shaft, described battery pack and circuit board are located in clean main frame; The first motor, the first driving member, the second driving member is included in described clean main frame and/or unmanned vehicle; Described circuit board comprises main control chip and is connected to the first drive circuit, the signal receiving circuit of this main control chip, and described first motor drives rotation by this first drive circuit, to make clean main frame rotate relative to unmanned vehicle around rotating shaft by the first driving member, and by the second driving member, unmanned vehicle is rotated around rotating shaft relative clean main frame.
2. can fly clean robot as claimed in claim 1, it is characterized in that, described clean main frame comprises walking mechanism, and this walking mechanism comprises multiple vacuum cup and vavuum pump, multiple air entries of described vavuum pump respectively by many tubes connection to each vacuum cup; Described circuit board has absorption and control circuit, this absorption and control circuit is connected to vavuum pump to open or to close the air entry of vavuum pump, makes corresponding vacuum cup be adsorbed onto body surface or discharges from body surface.
3. can fly clean robot as claimed in claim 1, it is characterized in that, described clean main frame comprises the cleaning agency being located at walking mechanism front end and the wiper mechanism being located at walking mechanism rear end, described cleaning agency comprises the Clean Brush for cleaning that at least one is arranged on the bottom front of clean main frame, and described Clean Brush for cleaning is driven by the second motor and swings to clean rubbish; Described wiper mechanism comprises the clean soft scraping blade that at least one is located at the rear side of the walking mechanism of clean main frame, and described clean soft scraping blade is driven the walking vestige swinging and stay with the walking mechanism of cleaning clean main frame by the 3rd motor; Described circuit board is provided with output and is connected to the 3rd drive circuit that the second drive circuit of the second motor and output are connected to the 3rd motor, and the input of described second drive circuit and the 3rd drive circuit is connected respectively to main control chip.
4. can fly clean robot as claimed in claim 1, it is characterized in that, described unmanned vehicle comprises mounting bracket, described mounting bracket is provided with the infrared acquisition assembly of distance on can to fly for perception clean robot and external wall border, and described infrared acquisition assembly comprises the infrared inductor being located at described mounting bracket side; Described circuit board is provided with the signal processing circuit that input is connected to described infrared inductor, and the output of described signal processing circuit is connected to main control chip.
5. can fly clean robot as claimed in claim 1, it is characterized in that, vacuum motor and the hydrojet mechanism for spraying cleaning fluid is provided with in described clean main frame, described hydrojet mechanism comprises at least one group of high pressure spray hole and cleaning fluid storage box, described circuit board comprises sprinkling control circuit, this sprinkling control circuit is connected with vacuum motor to make this vacuum motor carry out supercharging to the cleaning fluid in described cleaning fluid storage box, and cleaning fluid is sprayed from described high pressure spray hole.
6. can fly clean robot as claimed in claim 1, it is characterized in that, the upper surface of described unmanned vehicle is provided with photovoltaic battery panel, and described circuit board comprises charging circuit, and the input of this charging circuit connects photovoltaic battery panel, output connects battery pack.
7. can fly clean robot as claimed in claim 1, and it is characterized in that, described unmanned vehicle is four-axle aircraft, four groups of rotor assemblies of this four-axle aircraft and each group rotor assemblies comprises the rotor motor being connected to circuit board.
8. can fly clean robot as claimed in claim 1, it is characterized in that, described unmanned vehicle is provided with ejection mechanism and parachute, described circuit board is provided with acceleration induction device and launches control circuit, described acceleration induction device and launch control circuit and be connected respectively to main control chip, and described in launch control circuit and be also electrically connected with ejection mechanism.
9. can fly clean robot as claimed in claim 1, and it is characterized in that, the described clean robot that flies is provided with the camera assembly being connected to circuit board, and described circuit board is provided with video processing circuit and video transmission circuit.
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| CN201520697548.6U CN205031188U (en) | 2015-09-10 | 2015-09-10 | Clean robot can fly |
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| CN201520697548.6U CN205031188U (en) | 2015-09-10 | 2015-09-10 | Clean robot can fly |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105728398A (en) * | 2016-04-15 | 2016-07-06 | 淮安信息职业技术学院 | Automatic flight surface cleaning robot for photovoltaic array |
| CN105942920A (en) * | 2016-06-30 | 2016-09-21 | 张学衡 | High-altitude glass cleaning robot |
| CN106200671A (en) * | 2016-07-19 | 2016-12-07 | 成都通甲优博科技有限责任公司 | A kind of comprehensive clean robot device and control method thereof |
| CN106264311A (en) * | 2016-09-13 | 2017-01-04 | 成都创慧科达科技有限公司 | A kind of building exterior window cleaning unmanned plane |
| CN106388722A (en) * | 2016-09-12 | 2017-02-15 | 成都创慧科达科技有限公司 | Unmanned aerial vehicle based cleaning robot |
| CN106423969A (en) * | 2016-10-25 | 2017-02-22 | 饶斯婷 | Robot for cleaning facade |
| CN106510566A (en) * | 2016-11-15 | 2017-03-22 | 北京历途科技有限公司 | Grading obstacle-surmounting type cleaning machine |
| CN106510558A (en) * | 2017-01-03 | 2017-03-22 | 上海量明科技发展有限公司 | Flying cleaning robot and cleaning method thereof |
| CN106514663A (en) * | 2016-11-15 | 2017-03-22 | 北京历途科技有限公司 | Multilayer distributed-type building outer surface cleaning robot |
| CN106510567A (en) * | 2016-12-13 | 2017-03-22 | 内蒙古格润思贝思建筑维护有限公司 | Curtain wall scrubbing system based on flying robot |
| CN107012817A (en) * | 2017-04-28 | 2017-08-04 | 苏州亮磊知识产权运营有限公司 | Intelligent road purging system and collaboration method based on unmanned plane integration and cooperation |
| CN107320010A (en) * | 2017-09-05 | 2017-11-07 | 界首市民强农业发展有限公司 | The robot that a kind of remote control work high above the ground cleans the windows |
| CN107334418A (en) * | 2017-09-05 | 2017-11-10 | 见保林 | A kind of robot for being remotely controlled work high above the ground and cleaning the windows |
| CN107456152A (en) * | 2017-09-05 | 2017-12-12 | 纪小坤 | A kind of robot for being remotely controlled work high above the ground and cleaning the windows |
| WO2017219256A1 (en) * | 2016-06-21 | 2017-12-28 | 深圳市博飞航空科技有限公司 | Flying cleaning device capable of wall-climbing |
| WO2018053974A1 (en) * | 2016-09-21 | 2018-03-29 | 珠海天空速递有限公司 | Aerial robot with climbing function |
| CN108316665A (en) * | 2018-03-30 | 2018-07-24 | 四川大学 | Building Vertical cleaning machine device people device and its adsorption method |
| CN108639176A (en) * | 2018-03-26 | 2018-10-12 | 浙江大学 | A kind of suspension push-press type climbing robot |
| CN108755520A (en) * | 2018-06-13 | 2018-11-06 | 苏州若依玫信息技术有限公司 | A kind of automation mountain rank cleaning equipment and its system |
| CN108852147A (en) * | 2018-07-18 | 2018-11-23 | 深圳利尔阳光科技有限公司 | Glass curtain wall robotic cleaning device |
| CN108939424A (en) * | 2016-12-22 | 2018-12-07 | 李峰 | A kind of multifunctional body-building equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105728398A (en) * | 2016-04-15 | 2016-07-06 | 淮安信息职业技术学院 | Automatic flight surface cleaning robot for photovoltaic array |
| WO2017219256A1 (en) * | 2016-06-21 | 2017-12-28 | 深圳市博飞航空科技有限公司 | Flying cleaning device capable of wall-climbing |
| CN105942920A (en) * | 2016-06-30 | 2016-09-21 | 张学衡 | High-altitude glass cleaning robot |
| CN106200671A (en) * | 2016-07-19 | 2016-12-07 | 成都通甲优博科技有限责任公司 | A kind of comprehensive clean robot device and control method thereof |
| CN106388722B (en) * | 2016-09-12 | 2019-04-16 | 成都创慧科达科技有限公司 | A kind of clean robot based on unmanned plane |
| CN106388722A (en) * | 2016-09-12 | 2017-02-15 | 成都创慧科达科技有限公司 | Unmanned aerial vehicle based cleaning robot |
| CN106264311A (en) * | 2016-09-13 | 2017-01-04 | 成都创慧科达科技有限公司 | A kind of building exterior window cleaning unmanned plane |
| WO2018053974A1 (en) * | 2016-09-21 | 2018-03-29 | 珠海天空速递有限公司 | Aerial robot with climbing function |
| CN106423969A (en) * | 2016-10-25 | 2017-02-22 | 饶斯婷 | Robot for cleaning facade |
| CN106514663A (en) * | 2016-11-15 | 2017-03-22 | 北京历途科技有限公司 | Multilayer distributed-type building outer surface cleaning robot |
| CN106514663B (en) * | 2016-11-15 | 2023-06-20 | 北京历途科技有限公司 | Multilayer distributed building outer surface cleaning robot |
| CN106510566A (en) * | 2016-11-15 | 2017-03-22 | 北京历途科技有限公司 | Grading obstacle-surmounting type cleaning machine |
| CN106510567A (en) * | 2016-12-13 | 2017-03-22 | 内蒙古格润思贝思建筑维护有限公司 | Curtain wall scrubbing system based on flying robot |
| CN108969995A (en) * | 2016-12-22 | 2018-12-11 | 李峰 | A kind of multifunctional body-building equipment |
| CN108939424A (en) * | 2016-12-22 | 2018-12-07 | 李峰 | A kind of multifunctional body-building equipment |
| CN106510558A (en) * | 2017-01-03 | 2017-03-22 | 上海量明科技发展有限公司 | Flying cleaning robot and cleaning method thereof |
| CN107012817B (en) * | 2017-04-28 | 2018-10-12 | 慧谷人工智能研究院（南京)有限公司 | Intelligent road purging system and collaboration method based on unmanned plane integration and cooperation |
| CN107012817A (en) * | 2017-04-28 | 2017-08-04 | 苏州亮磊知识产权运营有限公司 | Intelligent road purging system and collaboration method based on unmanned plane integration and cooperation |
| CN107456152A (en) * | 2017-09-05 | 2017-12-12 | 纪小坤 | A kind of robot for being remotely controlled work high above the ground and cleaning the windows |
| CN107334418A (en) * | 2017-09-05 | 2017-11-10 | 见保林 | A kind of robot for being remotely controlled work high above the ground and cleaning the windows |
| CN107320010A (en) * | 2017-09-05 | 2017-11-07 | 界首市民强农业发展有限公司 | The robot that a kind of remote control work high above the ground cleans the windows |
| CN108639176A (en) * | 2018-03-26 | 2018-10-12 | 浙江大学 | A kind of suspension push-press type climbing robot |
| CN108316665A (en) * | 2018-03-30 | 2018-07-24 | 四川大学 | Building Vertical cleaning machine device people device and its adsorption method |
| CN108755520A (en) * | 2018-06-13 | 2018-11-06 | 苏州若依玫信息技术有限公司 | A kind of automation mountain rank cleaning equipment and its system |
| CN108852147A (en) * | 2018-07-18 | 2018-11-23 | 深圳利尔阳光科技有限公司 | Glass curtain wall robotic cleaning device |
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