CN205849398U - For the sweep brush assembly of robot and the robot with it - Google Patents
For the sweep brush assembly of robot and the robot with it Download PDFInfo
- Publication number
- CN205849398U CN205849398U CN201620162758.XU CN201620162758U CN205849398U CN 205849398 U CN205849398 U CN 205849398U CN 201620162758 U CN201620162758 U CN 201620162758U CN 205849398 U CN205849398 U CN 205849398U
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- Prior art keywords
- brush
- limit
- motor
- round
- robot
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Abstract
The utility model discloses a kind of sweep brush assembly for robot and have its robot, sweep brush assembly includes: the first round brush and the second round brush, the first round brush and the second round brush are spaced apart from each other；First drives arm and second to drive arm, the first driving arm is provided with the first limit brush, the second driving arm is provided with the second limit brush；First round brush motor and the second round brush motor, the first round brush motor is arranged for driving the first round brush and the second round brush motor to be arranged for driving the second round brush；First limit brush motor and the second limit brush motor, the first limit brush motor is arranged for driving the first limit brush and the second limit brush motor to be arranged for driving the second limit brush；First limit brush revoluting motor and the second limit brush revoluting motor, the first limit brush revoluting motor is arranged for driving the first driving arm straps to move the first limit brush revolution, and the second limit brush revoluting motor is arranged for driving the second driving arm revolution.Cleaning efficiency according to sweep brush assembly of the present utility model is high.
Description
Technical field
This utility model relates to an electro-technical field, particularly to a kind of sweep brush assembly for robot and have it
Robot.
Background technology
When sweeping robot in correlation technique ground to unlike material at the same time cleans, round brush can not be expired simultaneously
The optimum speed that unlike material floor is cleaned by foot, causes cleaning effect poor；Additionally, the limit of the sweeping robot of routine
Brush weak effect when the difficult positions cleaned such as corner are cleaned.
Utility model content
This utility model is intended to solve one of above-mentioned technical problem of the prior art the most to a certain extent.To this end,
A purpose of the present utility model is to propose a kind of sweep brush assembly for robot, the cleaning efficiency of this sweep brush assembly
High.
Another one purpose of the present utility model is to propose a kind of robot with above-mentioned sweep brush assembly.
According to the sweep brush assembly for robot of the present utility model, including: the first round brush and the second round brush, described
One round brush is spaced apart from each other with described second round brush；First drives arm and second to drive arm, and described first driving arm is provided with
First limit brush, described second driving arm is provided with the second limit brush；First round brush motor and the second round brush motor, described first rolling
Brush motor is arranged for driving described first round brush and described second round brush motor to be arranged for driving described second round brush；
First limit brush motor and the second limit brush motor, described first limit brush motor is arranged for driving described first limit brush and described the
Two limit brush motor are arranged for driving described second limit brush；First limit brush revoluting motor and the second limit brush revoluting motor, described
First limit brush revoluting motor is arranged for driving described first to drive arm straps to move described first limit brush in the first limit brush revolution
The heart revolves round the sun, and described second limit brush revoluting motor is arranged for driving described second to drive arm straps to move described second limit brush around the
Two limit brush revolution center revolution.
According to the sweep brush assembly for robot of the present utility model, there is the first round brush independent of each other and the second rolling
Brush, therefore, the velocity of rotation of the first round brush and the second round brush can be different, in the sweep brush assembly ground (example to unlike material
As, carpet and timber floor) when cleaning, can respectively the rotating speed of the first round brush and the second round brush be adjusted, to reach
The optimum speed cleaning the ground of unlike material, improves the cleaning efficiency to ground.
Additionally, sweep brush assembly of the present utility model is brushed by arranging the first limit brush and the second limit, and the first limit brush and the
Two limit brushes can revolve round the sun rotating around the first limit brush revolution center revolution and the second limit brush revolution center, and then can be the most right
The difficult position cleaned such as corner is cleaned, and improves cleaning efficiency and the cleaning effect of sweep brush assembly.
It addition, it is special to have following additional technology according to the sweep brush assembly for robot of the present utility model
Levy:
According to an embodiment of the present utility model, described first limit brush revoluting motor and described second limit brush revoluting motor
For same motor.
According to an embodiment of the present utility model, described first round brush motor and described first limit brush motor are same electricity
Machine；Described second round brush motor and described second limit brush motor are same motor.
According to an embodiment of the present utility model, first drives arm and described second to drive arm to be symmetrically arranged, institute
State the first limit brush revolution center and described second limit brush revolution center is symmetrically arranged.
According to an embodiment of the present utility model, described first limit brush is apart from the distance of described first limit brush revolution center
More than described robot shells apart from the minimum range of described first limit brush revolution center；Described second limit is brushed apart from described second
The distance of limit brush revolution center is more than the described robot shells minimum range apart from described second limit brush revolution center.
According to an embodiment of the present utility model, described first limit brush revolution center is positioned at described robot shells
Portion, described first limit brush revolution center and described first limit brush lay respectively at the described first two ends driving arm；Described second limit
Brush revolution center is positioned at the inside of described robot shells, described second limit brush revolution center and described second limit brush and lays respectively at
Described second two ends driving arm.
Rotation axis according to an embodiment of the present utility model, the rotation axis of the first round brush and described second round brush
Overlap.
According to an embodiment of the present utility model, the diameter phase of the diameter of described first round brush and described second round brush
With, and the axial length of described first round brush is equal with the axial length of described second round brush.
According to an embodiment of the present utility model, described first round brush and described second round brush are the most adjacent
Connect.
Above-mentioned sweep brush assembly can be included, due to according to machine of the present utility model according to robot of the present utility model
Device people is provided with above-mentioned sweep brush assembly, and therefore the ground of unlike material can be cleaned by this robot simultaneously, and often
Individual round brush can have optimum speed relative to its floor cleaned, and improves the sweeping efficiency of robot.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the sweep brush assembly according to one embodiment of this utility model；
Fig. 2 is the schematic diagram of the robot according to one embodiment of this utility model；
Fig. 3 is the schematic diagram of the robot according to another embodiment of this utility model；
Reference:
Sweep brush assembly 100, the first round brush 111, the second round brush 112, first drives arm 121, and second drives arm 122, the
One round brush motor 131, the second round brush motor 132, the first limit brush motor 141, the second limit brush motor 142, the first limit brush revolution electricity
Machine 151, the second limit brush revoluting motor 152, the first limit brush 161, the second limit brush 162, the 3rd limit brush 163, the 4th limit brush 164, the
Brush revolution center 101 on one side, the second limit brush revolution center 102.
Detailed description of the invention
Of the present utility model embodiment is described below in detail, and the example of described embodiment is shown in the drawings, the most ad initio
Represent same or similar element to same or similar label eventually or there is the element of same or like function.Below by ginseng
It is exemplary for examining the embodiment that accompanying drawing describes, it is intended to be used for explaining this utility model, and it is not intended that to this utility model
Restriction.
In description of the present utility model, it is to be understood that term " " center ", " longitudinally ", " laterally ", " length ", " width
Degree ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end " " interior ", " outward ", " suitable
Hour hands ", the orientation of the instruction such as " counterclockwise " or position relationship be based on orientation shown in the drawings or position relationship, merely to just
Describe in description this utility model and simplification rather than indicate or imply that the device of indication or element must have specific side
Position, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that at least two, example
Such as two, three etc., unless otherwise expressly limited specifically.
In this utility model, unless otherwise clearly defined and limited, term " install ", " being connected ", " connection ", " Gu
Fixed " etc. term should be interpreted broadly, connect for example, it may be fixing, it is also possible to be to removably connect, or integral；Can be
It is mechanically connected, it is also possible to be to electrically connect maybe can communicate with one another；Can be to be joined directly together, it is also possible to by the indirect phase of intermediary
Even, can be connecting or the interaction relationship of two elements of two element internals.For those of ordinary skill in the art
For, above-mentioned term concrete meaning in this utility model can be understood as the case may be.
In this utility model, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it
D score can include that the first and second features directly contact, it is also possible to includes that the first and second features are not directly contact but logical
Cross the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " include
One feature is directly over second feature and oblique upper, or is merely representative of fisrt feature level height higher than second feature.First is special
Levy second feature " under ", " lower section " and " below " include fisrt feature immediately below second feature and obliquely downward, or only
Represent that fisrt feature level height is less than second feature.
Below in conjunction with Fig. 1 to Fig. 3, the sweep brush assembly for robot of this utility model embodiment is retouched in detail
State.
As it is shown in figure 1, the sweep brush assembly 100 for robot includes the first round brush 111 and the second round brush 112, first
Arm 121 and second is driven to drive arm the 122, first round brush motor 131 and second round brush motor the 132, first limit brush motor 141 and
Second limit brush motor the 142, first limit brush revoluting motor 151 and the second limit brush revoluting motor 152.
Wherein, the first round brush 111 and the second round brush 112 are two round brush independent of each other, the first round brush 111 and the second rolling
Brush 112 is spaced apart from each other；Therefore, the velocity of rotation of the first round brush 111 and the second round brush 112 can be different, at sweep brush assembly
When the ground (such as, carpet and timber floor) of 100 pairs of unlike materials cleans, can be respectively to the first round brush 111 and second
The rotating speed of round brush 112 is adjusted, and to reach the optimum speed cleaning the ground of unlike material, improves clear to ground
Clean efficiency.
It is provided with the first limit brush 161 on first driving arm 121, the second driving arm 122 is provided with the second limit brush 162, the
The dust in corner can be cleaned by brush 161 and the second limit brush 162 on one side.
First round brush motor 131 is arranged for driving the first round brush 111 and the second round brush motor 132 to be arranged for driving
Dynamic second round brush 112.Alternatively, the first round brush motor 131 and the second round brush motor 132 are same motor.It is to say, first
Round brush 111 and the second round brush 112 are driven by same motor.
The first intermediate gearing (not shown) can be provided with between first round brush motor 131 and the first round brush 111, the
The second intermediate gearing (not shown) can be provided with between two round brush motors 132 and the second round brush 112.First round brush motor
131 drive the first round brush 111, the second round brush motor 132 to be driven by the second intermediate gearing by the first intermediate gearing
Dynamic second round brush 112.
The structure of the first intermediate gearing and the second intermediate gearing can be identical, thus the first intermediate gearing
With the second intermediate gearing, there is higher replaceability, reduce the first intermediate gearing and the second intermediate gearing
Manufacturing cost, and improve the most to a certain extent the first intermediate gearing and the second intermediate gearing production effect
Rate.
Specifically, each of which in the first intermediate gearing and the second intermediate gearing includes slowing-down structure.Subtract
Speed structure can reduce the first round brush 111 and rotating speed of the second round brush 112, in order to regulates the first round brush 111 and the second round brush 112
Velocity of rotation on the floor of unlike material.
Each in first intermediate gearing and the second intermediate gearing also includes drive mechanism (not shown), passes
Motivation structure is connected between driving motor and the input of slowing-down structure of correspondence.
Drive mechanism can be gear drive or belt transmission etc., and concrete restriction do not made by drive mechanism by this utility model.
The selection major consideration of drive mechanism is that space is arranged, designer can take this as the standard and select different types of driver
Structure.
Alternatively, the first intermediate gearing can include the first variator and first clutch, the second intermediate transmission dress
Put and can include that the second variator and second clutch, the first variator are arranged between first clutch and the first round brush 111,
Second variator is arranged between second clutch and the second round brush 112.
First round brush 111 and the second round brush 112 can be adjusted by the first variator and the second variator the most respectively
Speed.Such as, the first variator and the second variator can be respectively arranged with multiple gear ratio, can be mainly based on speed reducing ratio.
Thus, it is possible to realize the first round brush 111 and the second round brush 112 can have different rotating speeds.
First variator and the second variator can use infinitely variable speeds, gear shift etc., preferably of course: first becomes
Speed device and the structure of the second variator are identical, and the generalization of such parts is high, reduce the first variator and the second variator
Production cost, improves the first variator and the production efficiency of the second variator.
Preferably, the rotation axis of the first round brush 111 and the rotation axis coincident of the second round brush 112, the first round brush 111
The diameter of diameter and the second round brush 112 is identical, and the axial length of the first round brush 111 and the axial length of the second round brush 112 are equal.
First limit brush motor 141 is arranged for driving the first limit brush 161 and the second limit brush motor 142 to be arranged for driving
Dynamic second limit brush 162.First limit brush motor 141 is for driving the first limit brush 161 around its central rotation, the second limit brush motor 142
For driving the second limit brush 162 around its central rotation.It is to say, the first limit brush motor 141 is for driving the first limit brush 161 certainly
Turning, the second limit brush 162 is for driving the second limit brush 162 rotation.
First limit brush revoluting motor 151 is arranged for driving the first driving arm 121 to drive the first limit brush 161 around the first limit
Brush revolution center 101 revolves round the sun, and the second limit brush revoluting motor 152 is arranged for driving the second driving arm 122 to drive the second limit brush
162 revolve round the sun around the second limit brush revolution center 102.And then can adjust the first limit brush 161 and the second limit brush 162 stretch out robot this
The size of the part of body, is preferably cleaned difficult positions cleaned such as corners.
Alternatively, the first limit brush revoluting motor 151 and the second limit brush revoluting motor 152 are same motor.It is to say, the
Brush 161 only needs around the second limit brush revolution center 102 revolution around the first limit brush revolution center 101 revolution and the second limit brush 162 on one side
Driven by a motor.
According to the sweep brush assembly 100 for robot of the present utility model, there is the first round brush 111 He independent of each other
Second round brush 112, therefore, the velocity of rotation of the first round brush 111 and the second round brush 112 can be different, right at sweep brush assembly 100
When the ground (such as, carpet and timber floor) of unlike material cleans, can be respectively to the first round brush 111 and the second round brush
The rotating speed of 112 is adjusted, and to reach the optimum speed cleaning the ground of unlike material, improves the cleaning to ground and imitates
Rate.
Additionally, the sweep brush assembly 100 of this utility model embodiment is by arranging the first limit brush 161 and the second limit brush 162,
And first limit brush 161 and the second limit brush 162 can be rotating around the first limit brush revolution center 101 revolution and the second limit brush revolution center
102 revolution, and then can effectively the difficult positions cleaned such as corner be cleaned, improve the cleaning of sweep brush assembly 100
Efficiency and cleaning effect.
It is, of course, understood that the first round brush motor 131 and the first limit brush motor 141 can be same motor, second
Round brush motor 132 and the second limit brush motor 142 can be same motor.It is to say, the rolling of the first round brush 111 and the first limit
The rotation of brush 161 can be driven by same motor；The rotation with the second limit brush 162 that rolls of the second round brush 112 can be by same
One motor drives.
First drives arm 121 and second to drive arm 122 to be symmetrically arranged, the first limit brush revolution center 101 and the
Two limit brush revolution center 102 are symmetrically arranged.It is to say, first drives the length and second of arm 121 to drive the length of arm 122
Spending identical, the revolution scope of the first limit brush 161 is roughly the same with the revolution scope of the second limit brush 162.Thus, first arm is driven
121 and second drive arm 122 to have higher replaceability, reduce the first driving arm 121 and making of the second driving arm 122
Cost, improves the first driving arm 121 and production efficiency of the second driving arm 122.
Further, the distance of first brush dip distance the first limit, limit brush revolution center 101 is more than robot shells distance the
The minimum range of brush revolution center 101 on one side；The distance of second limit brush 162 distance the second limit brush revolution center 102 is more than machine
The distance of people's shell distance the second limit brush revolution center 102.
It is to say, the first limit brush 161 revolution during, the second limit brush 162 revolution during can be from machine
Device people's shell stretches out, to facilitate the first limit brush 161 and the second limit brush 162 to clean the place of the difficult cleanings such as corner.
The meaning that first limit brush 161 and the second limit brush 162 stretch out from robot shells is: from robot down over
Time, the first limit brush 161 and the second limit brush 162 can exceed robot shells, the first limit brush 161 and the second limit brush 162 can be by
See.
Specifically, the first limit brush revolution center 101 is positioned at the inside of robot shells, the first limit brush revolution center 101 He
First limit brush 161 lays respectively at the two ends of the first driving arm 121；Second limit brush revolution center 102 is positioned at robot shells
Portion, the second limit brush revolution center 102 and the second limit brush 162 lay respectively at the two ends of the second driving arm 122.
It is to say, the revolution-radius of the first limit brush 161 is the brachium of the first driving arm 121, the public affairs of the second limit brush 162
Turn radius and be the brachium of the second driving arm 122.
It should be noted that the first limit brush 161 and the second limit brush 162 are possible not only to be placed in the inside of robot shells, also
The bottom position of robot shells can be arranged on.
As in figure 2 it is shown, sweep brush assembly 100 is arranged in robot, the first limit brush 161 and the second limit brush 162 are near machine
The edge of device human body is arranged.When usually using, the first limit brush 161 and the second limit brush 162 can be accommodated in robot body
In, only rely on the first round brush 111 and ground is cleaned by the second round brush 112；When carrying out beating to difficult positions cleaned such as corners
When sweeping, the first limit brush 161 and the second limit brush 162 can stretch out from robot body, clean with the position cleaning difficulty.
As it is shown on figure 3, sweep brush assembly can also include the 3rd limit brush 163 and the 4th limit brush 164, four limit brushes can be more
Well the difficult positions cleaned such as corner are cleaned, improve cleaning efficiency and the cleaning effect of robot.
The robot of this utility model embodiment is briefly described below.
Robot according to this utility model embodiment can include the sweep brush assembly 100 of above-described embodiment, due to root
The robot of this utility model embodiment is provided with above-mentioned sweep brush assembly 100, and therefore this robot can be simultaneously to not
Clean with the ground of material, and each round brush can have optimum speed relative to its floor cleaned, and improves machine
The sweeping efficiency of people.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
Example " or the description of " some examples " etc. means to combine this embodiment or example describes specific features, structure, material or spy
Point is contained at least one embodiment of the present utility model or example.In this manual, the schematic table to above-mentioned term
State and be necessarily directed to identical embodiment or example.And, the specific features of description, structure, material or feature are permissible
Any one or more embodiments or example combine in an appropriate manner.Additionally, those skilled in the art can be by
Different embodiments or example described in this specification engage and combine.
Although above it has been shown and described that embodiment of the present utility model, it is to be understood that above-described embodiment is
Exemplary, it is impossible to it is interpreted as that those of ordinary skill in the art is in scope of the present utility model to restriction of the present utility model
In above-described embodiment can be changed, revise, replace and modification.
Claims (10)
1. the sweep brush assembly for robot, it is characterised in that including:
First round brush and the second round brush, described first round brush is spaced apart from each other with described second round brush；
First drives arm and second to drive arm, described first driving arm is provided with the first limit brush, described second driving arm sets
It is equipped with the second limit brush；
First round brush motor and the second round brush motor, described first round brush motor is arranged for driving described first round brush and institute
State the second round brush motor to be arranged for driving described second round brush；
First limit brush motor and the second limit brush motor, described first limit brush motor is arranged for driving described first limit brush and institute
State the second limit brush motor to be arranged for driving described second limit brush；
First limit brush revoluting motor and the second limit brush revoluting motor, it is described that described first limit brush revoluting motor is arranged for driving
First drives arm straps to move described first limit brush revolves round the sun around the first limit brush revolution center, and described second limit brush revoluting motor is arranged to
For driving described second to drive arm straps to move described second limit brush around the second limit brush revolution center revolution.
Sweep brush assembly for robot the most according to claim 1, it is characterised in that described first limit brush revolution electricity
Machine and described second limit brush revoluting motor are same motor.
Sweep brush assembly for robot the most according to claim 1, it is characterised in that described first round brush motor with
Described first limit brush motor is same motor；Described second round brush motor and described second limit brush motor are same motor.
Sweep brush assembly for robot the most according to claim 1, it is characterised in that first drives arm and described the
Two drive arm to be symmetrically arranged, and described first limit brush revolution center and described second limit brush revolution center are symmetrically arranged.
Sweep brush assembly for robot the most according to claim 1, it is characterised in that described first limit brush distance institute
The distance stating the first limit brush revolution center is more than the described robot shells minimum range apart from described first limit brush revolution center；
Described second limit brush is brushed apart from described second limit more than described robot shells apart from the distance of described second limit brush revolution center
The minimum range of revolution center.
Sweep brush assembly for robot the most according to claim 5, it is characterised in that in described first limit brush revolution
The heart is positioned at the inside of described robot shells, described first limit brush revolution center and described first limit brush and lays respectively at described first
Drive the two ends of arm；Described second limit brush revolution center is positioned at the inside of described robot shells, in described second limit brush revolution
The heart and described second limit brush lay respectively at the described second two ends driving arm.
Sweep brush assembly for robot the most according to claim 1, it is characterised in that the rotation axis of the first round brush
Rotation axis coincident with described second round brush.
Sweep brush assembly for robot the most according to claim 1, it is characterised in that the diameter of described first round brush
Identical with the diameter of described second round brush, and the axial length phase of the axial length of described first round brush and described second round brush
Deng.
Sweep brush assembly for robot the most according to claim 1, it is characterised in that described first round brush is with described
Second round brush is the most adjacent to each other.
10. a robot, it is characterised in that include according to the sweeping for robot according to any one of claim 1-9
Ground brush assemblies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620162758.XU CN205849398U (en) | 2016-03-03 | 2016-03-03 | For the sweep brush assembly of robot and the robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620162758.XU CN205849398U (en) | 2016-03-03 | 2016-03-03 | For the sweep brush assembly of robot and the robot with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205849398U true CN205849398U (en) | 2017-01-04 |
Family
ID=57642975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620162758.XU Expired - Fee Related CN205849398U (en) | 2016-03-03 | 2016-03-03 | For the sweep brush assembly of robot and the robot with it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205849398U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107440623A (en) * | 2017-09-21 | 2017-12-08 | 仲杏英 | Hair removal sweeper |
| CN107468165A (en) * | 2017-09-21 | 2017-12-15 | 仲杏英 | Suction brush sweeping robot |
| CN107943039A (en) * | 2017-11-29 | 2018-04-20 | 深圳市沃特沃德股份有限公司 | Sweeping robot cleaning method and sweeping robot |
| CN112401758A (en) * | 2020-11-16 | 2021-02-26 | 上海交通大学 | Deformable sweeping robot with corner cleaning mode and control method thereof |
| CN113812894A (en) * | 2021-09-28 | 2021-12-21 | 深圳市杉川机器人有限公司 | Ground cleaning equipment |
| CN114468860A (en) * | 2022-03-01 | 2022-05-13 | 深圳市倍思科技有限公司 | Cleaning robot control method, cleaning robot control device, cleaning robot and storage medium |
-
2016
- 2016-03-03 CN CN201620162758.XU patent/CN205849398U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107440623A (en) * | 2017-09-21 | 2017-12-08 | 仲杏英 | Hair removal sweeper |
| CN107468165A (en) * | 2017-09-21 | 2017-12-15 | 仲杏英 | Suction brush sweeping robot |
| CN107440623B (en) * | 2017-09-21 | 2020-09-15 | 芜湖乐佳自动化机械有限公司 | Hair removing sweeper |
| CN107943039A (en) * | 2017-11-29 | 2018-04-20 | 深圳市沃特沃德股份有限公司 | Sweeping robot cleaning method and sweeping robot |
| CN112401758A (en) * | 2020-11-16 | 2021-02-26 | 上海交通大学 | Deformable sweeping robot with corner cleaning mode and control method thereof |
| CN112401758B (en) * | 2020-11-16 | 2021-10-01 | 上海交通大学 | Deformable sweeping robot with corner cleaning mode and control method thereof |
| CN113812894A (en) * | 2021-09-28 | 2021-12-21 | 深圳市杉川机器人有限公司 | Ground cleaning equipment |
| CN114468860A (en) * | 2022-03-01 | 2022-05-13 | 深圳市倍思科技有限公司 | Cleaning robot control method, cleaning robot control device, cleaning robot and storage medium |
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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 |
Granted publication date: 20170104 Termination date: 20210303 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |