CN205094341U - Wall clean robot is climbed to vacuum adsorption formula track - Google Patents

Wall clean robot is climbed to vacuum adsorption formula track Download PDF

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Publication number
CN205094341U
CN205094341U CN201520887636.2U CN201520887636U CN205094341U CN 205094341 U CN205094341 U CN 205094341U CN 201520887636 U CN201520887636 U CN 201520887636U CN 205094341 U CN205094341 U CN 205094341U
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CN
China
Prior art keywords
gear
arm
wheel
cleaning
crawler belt
Prior art date
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CN201520887636.2U
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Chinese (zh)
Inventor
张跃
武培军
蒋勇
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南京理工大学泰州科技学院
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Priority to CN201520887636.2U priority Critical patent/CN205094341U/en
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Publication of CN205094341U publication Critical patent/CN205094341U/en

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Abstract

The utility model discloses a wall clean robot is climbed to vacuum adsorption formula track, belong to service type robotechnology field, the tail end of clean arm is connected with the one end of linking arm through clean rotation of arm steering wheel, the other end of linking arm passes through rotatory steering wheel of linking arm and swivel arm, the swinging boom passes through the revolving stage steering wheel and is connected with the revolving stage, the revolving stage sets up the top at last automobile body, the front side of going up the automobile body is equipped with the display screen, the automobile body passes through bolted connection with last automobile body down, the front side of automobile body is equipped with ventilative net down, be equipped with drive gear in the gear box, the combination gear, each gear of combination gear passes through the minor axis and is connected with the gear box, the combination gear passes through the major axis and is connected with the athey wheel, combination gear and drive gear meshing, drive gear is connected with the motor. Its structural design is reasonable, can satisfy the actual demand of society, reduces manual work's intensity of labour, improves work efficiency, can guarantee the security of operation to improve the high -risk operational environment that manual cleaning faces.

Description

Vacuum adsorption type crawler belt wall-climbing cleaning robot

Technical field

The utility model relates to service class robotics, is specifically related to vacuum adsorption type crawler belt wall-climbing cleaning robot.

Background technology

The develop rapidly of science and technology, very large change is brought to the social life of the mankind, various automation equipment becomes a part indispensable in human society life, and the career field of all kinds of plant equipment is increasingly extensive, equipment performance also by unification to diversification development.From deep-sea detecting to universe exploration, robot be widely used in various manually cannot in the extreme environment of operation, the development for human society provides important help.The novel various modern metropolitan cities of building shape, the skyscraper of building higher and higher, all becomes the mark of busy city.The thing followed is exactly the vehicle exhaust of busy city, the city environmental pollution that the problems such as population concentration cause, and simultaneously, the cleaning of all kinds of building becomes increasingly complex, and frequency is more and more higher.Nowadays the cleaning of most of high building glass curtain wall is all by manually completing, human needs relies on elevator landing or hoist cable to clean high building wall layer by layer, not only dangerous, operating efficiency but also low, and very easily have an accident because of working environment rather harsh, have very large menace to cleaner's personal safety, high-altitude cleaning accident occurs again and again.

Along with the continuous progress in epoch, in world wide, every subjects is all in the state of high speed development, the scope of research and apply at home and abroad of Robotics is more far-reaching, and the mankind recognize that industrial robot can as a kind of tool applications of production in real life gradually.Being applied in manufacturing industry, assembling and emerging various industrial trades of robot has been made significant headway, and has larger development space.

BVE company (Japan) successfully develops a kind of novel trapped orbit formula automatic window wiping robot many years ago.The trapped orbit of robot and hoist cable are arranged on the roof of building, fixing guide groove is arranged on the wall of building, and clean robot determines position according to track and hoist cable, aims at the window needing cleaning, can move vertically along fixing guide groove, and window is cleaned automatically.But the price comparison of this equipment is very expensive, because cleaning equipment is with multiple rotation brush, efficiently convenient, and there is very high automated job ability.Simultaneously, carry out moving clean because this equipment depends on trapped orbit, all corresponding trapped orbit will be laid for different buildings, if building uses this kind of cleaning mechanism, just require that wiping window system auxiliary body will take into account by designer at the beginning of Building Design, certain restriction and impact are created on the scope of application of robot.

China's machinery industry also conducts in-depth research, and the research and development of wall-climbing cleaning robot is constantly able to perfect.CLR-II type wall surface cleaning robot is a automatic machinery people for cleaning glass wall that Harbin Institute of Technology of China develops, travel mechanism is wheeled locomotion mechanism, suction type have employed the single sucking disc absorption, there is fast sensitive translational speed, higher cleaning efficiency, the advantages such as the effect of simultaneously cleaning also very well, mode of operation is simple, cost is lower, its shortcoming is not easy leaping over obstacles, such as, cross over window frame, the apertured wall of tool.

The serial robot of Cleanbot-I, blue sky clean scholar-I type and Washman etc. is the window wiping robot developed by BJ University of Aeronautics & Astronautics's robot research, have employed sufficient formula vacuum absorption device, robot can be enable to adapt to the cleaning carrying out curtain wall at different walls.Frame-type travel mechanism adopts full pneumatic actuation mode, is the technical characteristics of this type of clean robot, utilizes the adsorption structure of polypody multi-sucker, and make it can adapt to concavo-convex glass wall, cleaning performance is good, automaticity is high, is convenient to manual operation.Shortcoming is that translational speed is slow, thus affects the operating efficiency of cleaner, frame for movement relative complex, causes cost of manufacture high.

Along with deepening continuously of climbing robot research, wheel type mobile, crawler-type mobile, many legs such as to move at the move mode, and Dou Shishi robot can in the preferred option of vertical walls safety moving.The comparatively common mobile form that climbing robot adopts, wheel type mobile or crawler-type mobile, the feature of two kinds of move modes is: translational speed is compared to other move modes, velocity ratio is very fast, moving structure is relatively simple, reduce the complexity of robot, but these two kinds of move modes also has certain limitation, they have during the glass curtain wall of barrier and move in cleaning and can be subject to certain restrictions, be difficult to intelligence complete ground and absorption is between the walls moved.Also have a kind of common many legs formula move mode, the advantage of this type of move mode is the multivariant feature that can utilize self, moves freely flexibly, and automatically processes the barrier in front.But because the free degree of climbing robot is more, cause its structure kinematically very complicated, the cost of making is higher.

Summary of the invention

For the problems referred to above, the technical problems to be solved in the utility model be to provide a kind of reasonable in design, easy to operate, reduce the labour intensity of manual work, increase work efficiency, ensure the vacuum adsorption type crawler belt wall-climbing cleaning robot of operational security.

Vacuum adsorption type crawler belt wall-climbing cleaning robot of the present utility model, it comprises hairbrush, brush, hinge, brush head motor, cleaning arm, linking arm, cleaning arm rotates steering wheel, linking arm rotates steering wheel, turning arm, turntable steering wheel, turntable, display screen, upper body, lower body, gas-permeable nets, crawler belt, zone of aeration, bolt, Athey wheel, motor, driven wheel, built-up gear, minor axis, major axis, sucker, gearbox breather, described hairbrush is connected with brush, brush is connected with the front end of cleaning arm by hinge, and brush is connected with the brush head motor in cleaning arm, the tail end of cleaning arm rotates steering wheel by cleaning arm and is connected with one end of linking arm, the other end of linking arm rotates steering wheel by linking arm and is connected with turning arm, turning arm is connected with turntable by turntable steering wheel, turntable is arranged on the top of upper body, the front side of upper body is provided with display screen, lower body and upper body are bolted, the front side of lower body is provided with gas-permeable nets, upper body, the both sides of lower body are equipped with crawler belt, the outer wall of crawler belt is evenly provided with several sucker, the junction of sucker and crawler belt is provided with zone of aeration, zone of aeration is connected with the passage bottom sucker, crawler belt is socketed on Athey wheel, Athey wheel is connected with the gear-box in lower body, driven wheel is provided with in gear-box, built-up gear, each gear of built-up gear is connected with gear-box by minor axis, built-up gear is connected with Athey wheel by major axis, built-up gear engages with driven wheel, driven wheel is connected with motor.

As preferably, described major axis and the junction of gear-box are provided with deep groove ball bearing.

As preferably, the bottom of described sucker is provided with check valve body, and unidirectional valve rod is connected with the bottom of check valve body, and the side of unidirectional valve rod is connected with passage, and the end of unidirectional valve rod is provided with sealing ring.

As preferably, described Athey wheel is made up of large Athey wheel and little Athey wheel, is connected between large Athey wheel and little Athey wheel by crawler belt.

Described brush head materials adopts polypropylene, and hairbrush end diameter is more tiny than common hairbrush, more gos deep into the gap that wall is tiny; softness is high resilience more, and hairbrush, while cleaning operation, can protect wall not to be scratched; not only improve cleaning efficiency, also make clean area reach maximization.Brushhead portion can be dismantled, and receives after wearing and tearing can not work, can change at brush, easy to use.Being provided with a hinge in the junction of brush and cleaning arm, being connected with brush by linkage, making brush can be good at when rotating keeping and the contact of curtain wall, can scope in rotate, do not stay the cleaning wall at dead angle.

During the utility model operation, the whole gear-box internal gear of driven by motor carries out transmission, transmission outputs to driving wheel, driving wheel by the engaged transmission of crawler belt and belt wheel to driven pulley, drive the sucker on crawler belt, sucker links inner vacuum pump by gas dish, realizes the vacuum suction avoided, and completes the process of whole transmission absorption walking.

Vehicle body upper portion divides installation rotating seat, is connected by bolt, and steering wheel is installed in rotating seat inside, and driven rotary arm rotates, and realizes the function that cleaning mechanism rotates freely.Turning arm inside has little steering wheel to carry out the rotation of control connection arm, and in order to wall mechanical arm and robot itself interfere, inside is provided with spacing.Linking arm scope in freely swing, to meet the clean needs of diverse location.Linking arm is connected with cleaning arm, also controls the rotation of cleaning arm simultaneously.And the part interior that cleaning arm is connected with brush has little motor, be used for controlling the rotation of brush.The effect of connecting rod is also very important, and its effect allows brush obtain moment of torsion, and can rotate.One section at brush is provided with a hinge, is connected with brush by coach mechanism, makes brush can be good at keeping the contact with curtain wall when rotating.The dismounting that brush is passable, for later replacing, safeguards and provides convenience.

The beneficial effects of the utility model: its reasonable in design, the actual demand of society can be met, reduce the labour intensity of manual work, increase work efficiency, the security of operation can be ensured, can climb and be adsorbed in the wall-climbing cleaning of curtain wall (or the wall at larger inclination angle), being used for replacing manually carrying out cleaning work to building outer surface.Adopt the structure of similar machine people and mechanical arm, make wall-climbing cleaning can realize the automation of high building exterior wall cleaning, improve cleaning efficiency, and improve the high-risk working environment that manual cleaning faces.

Accompanying drawing illustrates:

For ease of illustrating, the utility model is described in detail by following concrete enforcement and accompanying drawing.

Fig. 1 is structural representation of the present utility model;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is A portion enlarged drawing in Fig. 2;

Fig. 4 is the left view of Fig. 1;

Fig. 5 is schematic perspective view of the present utility model;

In figure:

Hairbrush 1, brush 2, hinge 3, brush head motor 4, cleaning arm 5, linking arm 6, cleaning arm rotates steering wheel 7, linking arm rotates steering wheel 8, turning arm 9, turntable steering wheel 10, turntable 11, display screen 12, upper body 13, lower body 14, gas-permeable nets 15, crawler belt 16, zone of aeration 17, bolt 18, Athey wheel 19, motor 20, driven wheel 21, built-up gear 22, minor axis 23, major axis 24, deep groove ball bearing 25, check valve body 26, unidirectional valve rod 27, sucker 28, sealing ring 29, gear-box 30, passage 31.

Detailed description of the invention:

As shown in Figures 1 to 5, this detailed description of the invention by the following technical solutions: it comprises hairbrush 1, brush 2, hinge 3, brush head motor 4, cleaning arm 5, linking arm 6, cleaning arm rotates steering wheel 7, linking arm rotates steering wheel 8, turning arm 9, turntable steering wheel 10, turntable 11, display screen 12, upper body 13, lower body 14, gas-permeable nets 15, crawler belt 16, zone of aeration 17, bolt 18, Athey wheel 19, motor 20, driven wheel 21, built-up gear 22, minor axis 23, major axis 24, sucker 28, gear-box 30, passage 31, described hairbrush 1 is connected with brush 2, brush 2 is connected with the front end of cleaning arm 5 by hinge 3, and brush 2 is connected with the brush head motor 4 in cleaning arm 5, the tail end of cleaning arm 5 rotates steering wheel 7 by cleaning arm and is connected with one end of linking arm 6, the other end of linking arm 6 rotates steering wheel 8 by linking arm and is connected with turning arm 9, turning arm 9 is connected with turntable 11 by turntable steering wheel 10, turntable 11 is arranged on the top of upper body 13, the front side of upper body 13 is provided with display screen 12, lower body 14 is connected by bolt 18 with upper body 13, the front side of lower body 14 is provided with gas-permeable nets 15, upper body 13, the both sides of lower body 14 are equipped with crawler belt 16, the outer wall of crawler belt 16 is evenly provided with several sucker 28, sucker 28 is provided with zone of aeration 17 with the junction of crawler belt 16, zone of aeration 17 is connected with the passage 31 bottom sucker, crawler belt 16 is socketed on Athey wheel 19, Athey wheel 19 is connected with the gear-box 30 in lower body 14, driven wheel 21 is provided with in gear-box 30, built-up gear 22, each gear of built-up gear 22 is connected with gear-box 30 by minor axis 23, built-up gear 22 is connected with Athey wheel 19 by major axis 24, built-up gear 22 engages with driven wheel 21, driven wheel 21 is connected with motor 20.

As preferably, described major axis 24 is provided with deep groove ball bearing 25 with the junction of gear-box 30.

As preferably, the bottom of described sucker 28 is provided with check valve body 26, and unidirectional valve rod 27 is connected with the bottom of check valve body 26, and the side of unidirectional valve rod 27 is connected with passage 31, and the end of unidirectional valve rod 27 is provided with sealing ring 29.

As preferably, described Athey wheel 19 is made up of large Athey wheel and little Athey wheel, is connected between large Athey wheel and little Athey wheel by crawler belt 16.

Described brush head materials adopts polypropylene, and hairbrush end diameter is more tiny than common hairbrush, more gos deep into the gap that wall is tiny; softness is high resilience more, and hairbrush, while cleaning operation, can protect wall not to be scratched; not only improve cleaning efficiency, also make clean area reach maximization.Brushhead portion can be dismantled, and receives after wearing and tearing can not work, can change at brush, easy to use.Being provided with a hinge in the junction of brush and cleaning arm, being connected with brush by linkage, making brush can be good at when rotating keeping, with the contact of curtain wall, to rotate in the scope of 0 ~ 360 degree, not staying the cleaning wall at dead angle.

During the operation of this detailed description of the invention, the whole gear-box internal gear of driven by motor carries out transmission, transmission outputs to driving wheel, driving wheel by the engaged transmission of crawler belt and belt wheel to driven pulley, drive the sucker on crawler belt, sucker links inner vacuum pump by gas dish, realizes the vacuum suction avoided, and completes the process of whole transmission absorption walking.

In this detailed description of the invention, vehicle body upper portion divides installation rotating seat, is connected by bolt, and steering wheel is installed in rotating seat inside, and driven rotary arm rotates, and realizes cleaning mechanism 360 degree of functions rotated freely.Turning arm inside has little steering wheel to carry out the rotation of control connection arm, and in order to wall mechanical arm and robot itself interfere, inside is provided with spacing.Linking arm freely swings in the scope of 0 ~ 60 degree, to meet the clean needs of diverse location.Linking arm is connected with cleaning arm, also controls the rotation of cleaning arm simultaneously.And the part interior that cleaning arm is connected with brush has little motor, be used for controlling the rotation of brush.The effect of connecting rod is also very important, its effect be allow brush to moment of torsion, and to rotate.One section at brush is provided with a hinge, is connected with brush by coach mechanism, makes brush can be good at keeping the contact with curtain wall when rotating.The dismounting that brush is passable, for later replacing, safeguards and provides convenience.

This detailed description of the invention reasonable in design, the actual demand of society can be met, reduce the labour intensity of manual work, increase work efficiency, the security of operation can be ensured, can climb and be adsorbed in the wall-climbing cleaning of curtain wall (or the wall at larger inclination angle), being used for replacing manually carrying out cleaning work to building outer surface.Adopt the structure of similar machine people and mechanical arm, make wall-climbing cleaning can realize the automation of high building exterior wall cleaning, improve cleaning efficiency, and improve the high-risk working environment that manual cleaning faces.

More than show and describe general principle of the present utility model and principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present utility model; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.

Claims (4)

1. vacuum adsorption type crawler belt wall-climbing cleaning robot, is characterized in that it comprises hairbrush, brush, hinge, brush head motor, cleaning arm, linking arm, cleaning arm rotates steering wheel, linking arm rotates steering wheel, turning arm, turntable steering wheel, turntable, display screen, upper body, lower body, gas-permeable nets, crawler belt, zone of aeration, bolt, Athey wheel, motor, driven wheel, built-up gear, minor axis, major axis, sucker, gearbox breather, described hairbrush is connected with brush, brush is connected with the front end of cleaning arm by hinge, and brush is connected with the brush head motor in cleaning arm, the tail end of cleaning arm rotates steering wheel by cleaning arm and is connected with one end of linking arm, the other end of linking arm rotates steering wheel by linking arm and is connected with turning arm, turning arm is connected with turntable by turntable steering wheel, turntable is arranged on the top of upper body, the front side of upper body is provided with display screen, lower body and upper body are bolted, the front side of lower body is provided with gas-permeable nets, upper body, the both sides of lower body are equipped with crawler belt, the outer wall of crawler belt is evenly provided with several sucker, the junction of sucker and crawler belt is provided with zone of aeration, zone of aeration is connected with the passage bottom sucker, crawler belt is socketed on Athey wheel, Athey wheel is connected with the gear-box in lower body, driven wheel is provided with in gear-box, built-up gear, each gear of built-up gear is connected with gear-box by minor axis, built-up gear is connected with Athey wheel by major axis, built-up gear engages with driven wheel, driven wheel is connected with motor.
2. vacuum adsorption type crawler belt wall-climbing cleaning robot according to claim 1, is characterized in that the junction of described major axis and gear-box is provided with deep groove ball bearing.
3. vacuum adsorption type crawler belt wall-climbing cleaning robot according to claim 1, it is characterized in that the bottom of described sucker is provided with check valve body, unidirectional valve rod is connected with the bottom of check valve body, and the side of unidirectional valve rod is connected with passage, and the end of unidirectional valve rod is provided with sealing ring.
4. vacuum adsorption type crawler belt wall-climbing cleaning robot according to claim 1, be is characterized in that described Athey wheel is made up of large Athey wheel and little Athey wheel, is connected between large Athey wheel and little Athey wheel by crawler belt.
CN201520887636.2U 2015-11-10 2015-11-10 Wall clean robot is climbed to vacuum adsorption formula track CN205094341U (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105212845A (en) * 2015-11-10 2016-01-06 南京理工大学泰州科技学院 Vacuum adsorption type crawler belt wall-climbing cleaning robot
CN106235951A (en) * 2016-09-19 2016-12-21 上海黑翼科技有限公司 Endless track type cleaning robot
CN106264309A (en) * 2016-09-08 2017-01-04 肇庆市小凡人科技有限公司 A kind of multifunctional glass glass-wall cleaning robot
CN106564058A (en) * 2016-08-29 2017-04-19 慕国良 Multifunctional high-altitude outer wall operation robot with mechanical arm
CN108245093A (en) * 2018-04-02 2018-07-06 内蒙古科技大学 Dedusting car
CN108420368A (en) * 2018-05-10 2018-08-21 西京学院 A kind of full landform clean robot
CN108685527A (en) * 2018-04-03 2018-10-23 黄永怀 A kind of intelligent robot for dedusting
CN108729683A (en) * 2018-05-31 2018-11-02 陕西科技大学 A kind of spider-shaped cleaning glass machine people
CN108729683B (en) * 2018-05-31 2021-01-26 陕西科技大学 Spider-shaped glass cleaning robot

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105212845A (en) * 2015-11-10 2016-01-06 南京理工大学泰州科技学院 Vacuum adsorption type crawler belt wall-climbing cleaning robot
CN106564058A (en) * 2016-08-29 2017-04-19 慕国良 Multifunctional high-altitude outer wall operation robot with mechanical arm
CN106264309A (en) * 2016-09-08 2017-01-04 肇庆市小凡人科技有限公司 A kind of multifunctional glass glass-wall cleaning robot
CN106235951A (en) * 2016-09-19 2016-12-21 上海黑翼科技有限公司 Endless track type cleaning robot
CN108245093A (en) * 2018-04-02 2018-07-06 内蒙古科技大学 Dedusting car
CN108685527A (en) * 2018-04-03 2018-10-23 黄永怀 A kind of intelligent robot for dedusting
CN108420368A (en) * 2018-05-10 2018-08-21 西京学院 A kind of full landform clean robot
CN108729683A (en) * 2018-05-31 2018-11-02 陕西科技大学 A kind of spider-shaped cleaning glass machine people
CN108729683B (en) * 2018-05-31 2021-01-26 陕西科技大学 Spider-shaped glass cleaning robot

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GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20160323

Termination date: 20161110