CN206063079U - A kind of sweeping robot self adaptation walking mechanism - Google Patents
A kind of sweeping robot self adaptation walking mechanism Download PDFInfo
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- CN206063079U CN206063079U CN201620080928.XU CN201620080928U CN206063079U CN 206063079 U CN206063079 U CN 206063079U CN 201620080928 U CN201620080928 U CN 201620080928U CN 206063079 U CN206063079 U CN 206063079U
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- sweeping robot
- electric machine
- position bar
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Abstract
This utility model is related to a kind of sweeping robot self adaptation walking mechanism, including travelling control module (6) and it is arranged at the walking mechanism of sweeping robot body (1) lower surface, walking mechanism includes at least four sub- walking mechanisms, and each sub- walking mechanism is respectively including the poor position bar (2) of preset length, rotary electric machine (4), velocity sensor (5), and two Electric Motor Wheel (3)；Based on the technical scheme that this utility model is designed, it is attached for above-mentioned each device, constitute the sweeping robot self adaptation walking mechanism of this utility model design, substantially increase in sweeping robot walking process by property, larger range of cleaning can be realized, the cleaning works efficiency of sweeping robot has been effectively ensured.
Description
Technical field
This utility model is related to a kind of sweeping robot self adaptation walking mechanism, belongs to smart home
Technical field.
Background technology
It is with the continuous development and the continuous improvement of people's living standard of technical level of science and technology, more next
More household electrical appliance just develop towards intelligentized direction, such as in the last few years, more and more
Family in occur in that sweeping robot, it can be without the need in the case of any control, automatically
Cleaned for ground, and with the continuous improvement of sweeping robot utilization rate, factory
Improvement is constantly done with innovation, the such as patent No. also for existing sweeping robot by family：
201320537462.8；A kind of sweeping robot, including main frame and dirt box are disclosed, on main frame
Cavity is provided with, dirt box is embedded in the cavity, the dust channel of the ash inlet and main frame of dirt box
Ash hole is correspondingly arranged, on the side wall of cavity, at the two ends of dust channel ash hole,
Be respectively provided with an optical signal transmitter and for dust concentration signal being exported to the one of control unit
First optical signal receiver；And dirt box is transparent material.The sweeper of above-mentioned technical proposal design
Device people, dust concentration sensor is arranged in cavity side walls, can be same during user's cleaning dirt box
When cleaning of dust sensor photocell and light receiving element light-passing board, solve existing
Have technology cannot effective cleaning dust sensor light-passing board problem.
Also number of patent application：201410752789.6, a kind of Intelligent robot for sweeping floor is disclosed,
Including：With multiple obstacle sensors that preset pitch is arranged, and each described obstacle sensor pair
One steering angle should be set, when obstacle sensor is triggered, the angle turned to by robot
Steering angle association corresponding with the obstacle sensor that this is triggered.Above-mentioned technical proposal design
Sweeping robot, angle and the obstacle sensor being triggered that when detecting barrier, which turns to
Default steering angle association, such that it is able to optimize robot motion path, improves cleaning efficiency.
Moreover, the patent No.：201520042353.8, a kind of sweeping robot is disclosed,
The sweeping robot includes：Sweeping robot body, the sweeping robot body include shell,
Side brush assemblies, motor and elastic construction, the side brush assemblies are located at the bottom of the shell,
The motor is with the brush assemblies when brush assemblies are connected and are used to drive described around described
The rotation axiss of side brush assemblies are rotated, and the elastic construction is arranged to flexibly to compress downwards described
Side brush assemblies.The sweeping robot of above-mentioned technical proposal design, its robot body can extend
Side brush service life, effectively ground-to-ground face is cleaned, so as to improve cleaning effect.
From above-mentioned prior art, the development of existing sweeping robot be it is with rapid changepl. never-ending changes and improvements,
Function also update with it is perfect, operate it is also more intelligent, but existing sweeping robot
In actual application process, a little weak point is still there is, such as existing machine of sweeping the floor
The volume of product itself is constantly done little on exquisite compact direction is constantly pursued by people, so as to
More narrow spaces are adapted to, ground property is espespecially pasted among these, is needed to adopt less road wheel
Realize the movement of product, but this kind of design direction, have a strong impact on existing sweeping robot
By property, i.e., cannot just pass through on the object for running into some relative high points, such as carpet etc.,
Existing sweeping robot is difficult to pass through, and then cannot be cleaned for carpet surface.
Utility model content
For above-mentioned technical problem, technical problem to be solved in the utility model is to provide one kind
Sweeping robot self adaptation walking mechanism, employs the structure design of brand-new walking mechanism, and draws
Enter Intelligent Measurement, Based Intelligent Control structure, can greatly improve sweeping robot by property, protect
The work efficiency of card sweeping robot.
This utility model is employed the following technical solutions to solve above-mentioned technical problem：This practicality is new
Type devises a kind of sweeping robot self adaptation walking mechanism, including being arranged at sweeping robot sheet
The walking mechanism of body lower surface；Also include travelling control module；The walking mechanism is included at least
Four sub- walking mechanisms, each sub- walking mechanism array distribution are arranged on sweeping robot body
Lower surface, wherein, each sub- walking mechanism includes the poor position bar of preset length respectively, rotates electricity
Machine, velocity sensor and two Electric Motor Wheel；Rotary electric machine and speed in each sub- walking mechanism
Degree sensor is connected with travelling control module respectively；Travelling control module and sweeping robot sheet
Power end in body is connected, and power end Jing travelling control modules are respectively each sub- walking mechanism
In rotary electric machine and velocity sensor be powered；Each in each sub- walking mechanism is electronic
Wheel is connected with the control end in sweeping robot body；Rotary electric machine in each sub- walking mechanism
The end of drive rod is mutually fixedly connected with the middle part of corresponding poor position bar, and rotary electric machine drive rod institute
It is perpendicular with difference position bar place straight line in straight line；In each sub- walking mechanism, rotary electric machine is fixed and is set
Put the position being located in the sub- walking mechanism of sweeping robot body lower surface correspondence, and each height
In walking mechanism, difference position bar place straight line is common with sweeping robot body direction of travel place straight line
Face, in each sub- walking mechanism, difference position bar is put under the control of the connected rotary electric machine of correspondence
It is dynamic；Two Electric Motor Wheel in each sub- walking mechanism are connected to the two ends of the poor position bar of correspondence,
And positioned at the lower section at the poor position bar two ends of correspondence, and the place face of two Electric Motor Wheel is coplanar, and this is altogether
Face is parallel with sweeping robot body direction of travel place straight line；Along sweeping robot body row
Direction is walked, the velocity sensor in each sub- walking mechanism is arranged in the Electric Motor Wheel at rear.
As a kind of optimal technical scheme of the present utility model：In described each sub- walking mechanism
Rotary electric machine is brushless rotary motor.
As a kind of optimal technical scheme of the present utility model：It is each in described each sub- walking mechanism
Individual Electric Motor Wheel is brushless electric machine driving wheel.
As a kind of optimal technical scheme of the present utility model：The travelling control module is monolithic
Machine.
As a kind of optimal technical scheme of the present utility model：It is poor in described each sub- walking mechanism
The length of position bar is 3 times to 4 times of electronic wheel diameter.
As a kind of optimal technical scheme of the present utility model：In described each sub- walking mechanism
Difference position bar is made using aluminum alloy materials.
A kind of sweeping robot self adaptation walking mechanism described in the utility model adopts above technology
Scheme compared with prior art, with following technique effect：
(1) the sweeping robot self adaptation walking mechanism of this utility model design, for existing
Each sub- walking mechanism of sweeping robot body lower surface, devises brand-new electric control structure,
By designed Intelligent Measurement structure, for the obstacle on sweeping robot direction of travel ground
Thing realizes Intelligent Measurement, and with reference to designed Based Intelligent Control structure, each sub-line of Based Intelligent Control is walked
The swing of difference position bar in mechanism, using in each sub- walking mechanism, Electric Motor Wheel is swung with difference position bar in front and back
The design of the lower high and low position difference of control, can effectively improve imitating with grabbing for height walking surface
Really, substantially increase in sweeping robot walking process by property, can realize wider
Cleaning, the cleaning works efficiency of sweeping robot has been effectively ensured；
(2) in the sweeping robot self adaptation walking mechanism of this utility model design, for each
Rotary electric machine in individual sub- walking mechanism, is further designed with brushless rotary motor, Yi Jizhen
To each Electric Motor Wheel in each sub- walking mechanism, brushless electric machine driving is further designed with
Wheel so that the sweeping robot self adaptation walking mechanism of this utility model design is in real work
Cheng Zhong, can realize quiet work, both ensure that designed sweeping robot self adaptation vehicle with walking machine
Structure has cross-country traveling ability, can guarantee that its course of work is not impacted to surrounding again, embodies
Human oriented design in design process；
(3) in the sweeping robot self adaptation walking mechanism of this utility model design, for institute
The travelling control module of design, is further designed with single-chip microcomputer, after on the one hand being applied to
Extension demand of the phase for sweeping robot self adaptation walking mechanism, on the other hand, succinct control
Architecture mode processed can be easy to the maintenance in later stage；
(4) in the sweeping robot self adaptation walking mechanism of this utility model design, for each
Poor position bar in individual sub- walking mechanism, is further designed with aluminum alloy materials and makes, and is ensureing
While difference position bar high intensity, the effective control weight of poor position bar, it is ensured that sweeping robot
Portability.
Description of the drawings
Fig. 1 is the structural representation that this utility model designs sweeping robot self adaptation walking mechanism；
Fig. 2 is this utility model design sweeping robot self adaptation walking mechanism neutron walking mechanism
Side structure schematic view.
Wherein, 1. sweeping robot body, 2. differs from position bar, 3. Electric Motor Wheel, 4. rotary electric machine,
5. velocity sensor, 6. travelling control module.
Specific embodiment
Make further for specific embodiment of the present utility model with reference to Figure of description
Detailed description.
As shown in figure 1, a kind of sweeping robot self adaptation vehicle with walking machine of this utility model design
Structure, including the walking mechanism for being arranged at 1 lower surface of sweeping robot body；Also include walking control
Molding block 6；The walking mechanism includes at least four sub- walking mechanisms, each sub- walking mechanism
Array distribution is arranged on the lower surface of sweeping robot body 1, wherein, as shown in Fig. 2 respectively
Individual sub- walking mechanism includes poor position bar 2, the rotary electric machine 4, velocity pick-up of preset length respectively
Device 5, and two Electric Motor Wheel 3；Rotary electric machine 4 and velocity pick-up in each sub- walking mechanism
Device 5 is connected with travelling control module 6 respectively；Travelling control module 6 and sweeping robot sheet
Power end in body 1 is connected, and power end Jing travelling controls module 6 is respectively each sub-line and walks
Rotary electric machine 4 and velocity sensor 5 in mechanism is powered；In each sub- walking mechanism
Each Electric Motor Wheel 3 is connected with the control end in sweeping robot body 1；Each sub- vehicle with walking machine
In structure, the end of 4 drive rod of rotary electric machine is mutually fixedly connected with the middle part of corresponding poor position bar 2, and
4 drive rod place straight line of rotary electric machine is perpendicular with difference 2 place straight line of position bar；Each sub-line is walked
In mechanism, rotary electric machine 4 is fixedly installed on the sub- vehicle with walking machine of 1 lower surface of sweeping robot body correspondence
The position that structure is located, and difference 2 place straight line of position bar and machine of sweeping the floor in each sub- walking mechanism
1 direction of travel place straight line of human body is coplanar, and in each sub- walking mechanism, difference position bar 2 is in correspondence
Swung under the control of connected rotary electric machine 4；Two Electric Motor Wheel in each sub- walking mechanism
3 two ends for being connected to corresponding poor position bar 2, and positioned at the lower section at poor 2 two ends of position bar of correspondence,
And the place face of two Electric Motor Wheel 3 is coplanar, coplanar and 1 side of walking of sweeping robot body
It is parallel to place straight line；Along 1 direction of travel of sweeping robot body, each sub- walking mechanism
In velocity sensor 5 be arranged in the Electric Motor Wheel 3 at rear.What above-mentioned technical proposal was designed sweeps
Floor-washing robot self adaptation walking mechanism, each for existing 1 lower surface of sweeping robot body
Sub- walking mechanism, devises brand-new electric control structure, by designed Intelligent Measurement structure,
Intelligent Measurement is realized for the barrier on sweeping robot direction of travel ground, and is combined set
The Based Intelligent Control structure of meter, in each sub- walking mechanism of Based Intelligent Control, the swing of difference position bar 3, utilizes
Before and after in each sub- walking mechanism, Electric Motor Wheel 3 is set with difference 2 weave control of position bar, high and low position is poor
Meter, can effectively improve for height walking surface grab ground effect, substantially increase machine of sweeping the floor
In people's walking process by property, larger range of cleaning can be realized, be effectively ensured and swept the floor
The cleaning works efficiency of robot.
On basis based on above-mentioned design sweeping robot self adaptation walking mechanism technical scheme,
This utility model also further devises following optimal technical scheme：For each sub- walking mechanism
In rotary electric machine 4, be further designed with brushless rotary motor, and be directed to each sub-line
Each Electric Motor Wheel 3 in mechanism is walked, brushless electric machine driving wheel is further designed with so that this
The sweeping robot self adaptation walking mechanism of utility model design, can in practical work process
Quiet work is realized, both ensure that designed sweeping robot self adaptation walking mechanism has high pass
The property crossed, can guarantee that its course of work is not impacted to surrounding again, embodies design process
In human oriented design；And for designed travelling control module 6, further design is adopted
With single-chip microcomputer, the later stage on the one hand can be applied to for sweeping robot self adaptation walking mechanism
Extension demand, on the other hand, succinct control architecture mode can be easy to the maintenance in later stage；Remove
Outside this, for each sub- walking mechanism in poor position bar 2, be further designed with aluminium alloy
Material is made, while difference position 2 high intensity of bar is ensured, the effective control weight of poor position bar 2
Amount, it is ensured that the portability of sweeping robot.
The sweeping robot self adaptation walking mechanism of this utility model design is in actual application
It is central, including the walking mechanism for being arranged at 1 lower surface of sweeping robot body；Also include monolithic
Machine；The walking mechanism includes at least four sub- walking mechanisms, each sub- walking mechanism array point
Cloth is arranged on the lower surface of sweeping robot body 1, wherein, each sub- walking mechanism is wrapped respectively
Include the poor position bar 2, brushless rotary motor of preset length, velocity sensor 5, and two it is brushless
Motor driving wheel；In each sub- walking mechanism, the length of difference position bar 2 is that brushless electric machine driving wheel is straight
3 times of footpath are to 4 times, and difference position bar 2 is made using aluminum alloy materials；Each sub- walking mechanism
In brushless rotary motor and velocity sensor 5 be connected with single-chip microcomputer respectively；Single-chip microcomputer with sweep
Power end in floor-washing robot body 1 is connected, and power end Jing single-chip microcomputers are respectively each sub-line
Walk the brushless rotary motor in mechanism and velocity sensor 5 is powered；Each sub- walking mechanism
In each brushless electric machine driving wheel be connected with the control end in sweeping robot body 1；Respectively
The middle part of the end of brushless rotary motor drive rod and corresponding poor position bar 2 in individual sub- walking mechanism
Mutually it is fixedly connected, and brushless rotary motor drive rod place straight line and difference 2 place straight line phase of position bar
Vertically；In each sub- walking mechanism, brushless rotary motor is fixedly installed on sweeping robot body 1
The position that the sub- walking mechanism of lower surface correspondence is located, and difference position bar 2 in each sub- walking mechanism
Place straight line is coplanar with 1 direction of travel place straight line of sweeping robot body, each sub- vehicle with walking machine
In structure, difference position bar 2 is swung under the control of the connected brushless rotary motor of correspondence；Each sub-line
The two ends that in mechanism two brushless electric machine driving wheels are connected to corresponding poor position bar 2 are walked, and
Positioned at the lower section at poor 2 two ends of position bar of correspondence, and the place face of two brushless electric machine driving wheels is altogether
Face, this is coplanar parallel with 1 direction of travel place straight line of sweeping robot body；Along sweeper
1 direction of travel of device human body, the velocity sensor 5 in each sub- walking mechanism are arranged on rear
Brushless electric machine driving wheel on.In the middle of actual application, first against being arranged at machine of sweeping the floor
1 lower surface of human body each sub- walking mechanism is initialized, and Single-chip Controlling each sub-line is walked
Brushless rotary motor work in mechanism so that the poor position bar 2 in each sub- walking mechanism is right
Answer under the control of brushless rotary motor, 1 side of walking of correspondence sweeping robot body on difference position bar 2
To one end position be higher than its other end position so that in each sub- walking mechanism point
It is brushless electricity that the difference in height between two brushless electric machine driving wheels at 2 two ends of position bar Wei Yu not be differed from
Two that front and back is located in machine driving wheel diameter 1/2, i.e. each sub- walking mechanism are brushless
Difference in height between motor driving wheel is that brushless electric machine drives wheel diameter 1/2, thus constitutes each
The initial angle of difference position bar 2 in sub- walking mechanism；Using in, sweeping robot body is arranged at
Two brushless electric machine driving wheels in each sub- walking mechanism of 1 lower surface are in sweeping robot sheet
Rotated under the control of control end in body 1, meanwhile, the speed in each sub- walking mechanism is passed
The velocity of rotation of correspondence brushless electric machine driving wheel in the sub- walking mechanism of 5 real-time detection of sensor, and in fact
When be uploaded in the middle of single-chip microcomputer；When by sweeping robot place on the ground when, now, each
In sub- walking mechanism, brushless electric machine driving wheel in rear is touched with ground, sweeping robot body 1
Carry out along direction of travel under the rotation of rear brushless electric machine driving wheel in each sub- walking mechanism
Mobile, when there is barrier on the ground of sweeping robot direction of advance, and barrier is relatively
The difference in height in face be brushless electric machine drive wheel diameter 1/3 to 1/2, now, sweeping robot after
It is continuous to move along its direction of travel, due to being located at difference position bar 2 in each sub- walking mechanism respectively
Difference in height between two brushless electric machine driving wheels at two ends is that brushless electric machine drives wheel diameter
1/2, therefore, its each son of lower surface forefront is located at along 1 direction of travel of sweeping robot body
In walking mechanism, front brushless electric machine driving wheel can first be moved to barrier with the movement of sweeping robot
Hinder the upper surface of thing, when rear brushless electric machine driving wheel and barrier phase in each sub- walking mechanism
During contact, in the presence of barrier frictional force, rear brushless electric machine in each sub- walking mechanism
The rotating speed of driving wheel can decrease, and the reduction of the rotating speed can be driven by corresponding rear brushless electric machine
The velocity sensor 5 arranged on driving wheel is detected, and is uploaded in the middle of single-chip microcomputer, monolithic eedle
It is controlled to reducing the brushless rotary motor in sub- walking mechanism corresponding to rotating speed so that the son
In walking mechanism, difference position bar 2 is rotated, 2 corresponding sweeping robot direction of travel of lower pressure reduction position bar
One end, that is, descend the front end of pressure reduction position bar 2 so that the brushless electric machine driving wheel on the end and barrier
The upper surface of thing is hindered to contact, so, two brushless electric machines in each sub- walking mechanism drive
Driving wheel is moved on blocking surfaces and floor surface respectively, drive this each of having an effect jointly
Rear brushless electric machine driving wheel in sub- walking mechanism is moved on blocking surfaces, is continued edge and is swept
Floor-washing robot direction of travel is moved, the rear brushless electric machine in each sub- walking mechanism
After driving wheel is moved on blocking surfaces, in each sub- walking mechanism, rear brushless electric machine drives
The rotating speed of driving wheel recovers immediately to initial speed, and the speed that be correspondingly arranged is understood in the rising of the rotating speed
Detected by sensor 5, and it is uploaded in the middle of single-chip microcomputer, now single-chip microcomputer is on rotating speed
Brushless rotary motor in sub- walking mechanism corresponding to rising is controlled so that each sub-line is walked
Poor position bar 2 in mechanism recovers to initial angle；It is similarly provided at 1 lower surface of sweeping robot
Remaining each sub- walking mechanism surface for being moved to barrier by above-mentioned moving process carry out
It is mobile, until whole sweeping robot clears the jumps and continues to move to, substantially increase sweeper
Device people by property, larger range of cleaning can be realized, sweeping robot has been effectively ensured
Cleaning works efficiency.
It is explained in detail for embodiment of the present utility model above in conjunction with Figure of description,
But this utility model is not limited to above-mentioned embodiment, is had in those of ordinary skill in the art
In the standby ken, can be making various on the premise of without departing from this utility model objective
Change.
Claims (6)
1. a kind of sweeping robot self adaptation walking mechanism, including being arranged at sweeping robot body
(1) walking mechanism of lower surface；It is characterized in that：Also include travelling control module (6)；
The walking mechanism includes at least four sub- walking mechanisms, and each sub- walking mechanism array distribution sets
The lower surface in sweeping robot body (1) is put, wherein, each sub- walking mechanism is wrapped respectively
Include the poor position bar (2) of preset length, rotary electric machine (4), velocity sensor (5), and two
Electric Motor Wheel (3)；Rotary electric machine (4) and velocity sensor (5) in each sub- walking mechanism
It is connected with travelling control module (6) respectively；Travelling control module (6) and sweeping robot
Power end in body (1) is connected, and power end Jing travelling control modules (6) is respectively each
Rotary electric machine (4) and velocity sensor (5) in individual sub- walking mechanism is powered；Each
The control end in each Electric Motor Wheel (3) and sweeping robot body (1) in sub- walking mechanism
It is connected；The end of rotary electric machine (4) drive rod and corresponding poor position in each sub- walking mechanism
The middle part of bar (2) is mutually fixedly connected, and rotary electric machine (4) drive rod place straight line and difference position
Bar (2) place straight line is perpendicular；In each sub- walking mechanism, rotary electric machine (4) is fixedly installed
In the position that the sub- walking mechanism of sweeping robot body (1) lower surface correspondence is located, and respectively
Difference position bar (2) place straight line and sweeping robot body (1) walking side in individual sub- walking mechanism
Coplanar to place straight line, in each sub- walking mechanism, difference position bar (2) even rotates electricity in correspondence
Swung under the control of machine (4)；Two Electric Motor Wheel (3) in each sub- walking mechanism point
The two ends of the poor position bar (2) of correspondence are not connected to, and are located under poor position bar (2) two ends of correspondence
Side, and the place face of two Electric Motor Wheel (3) is coplanar, the coplanar and sweeping robot body
(1) direction of travel place straight line is parallel；Along sweeping robot body (1) direction of travel,
Velocity sensor (5) in each sub- walking mechanism is arranged in the Electric Motor Wheel (3) at rear.
2. a kind of sweeping robot self adaptation walking mechanism according to claim 1, its feature
It is：Rotary electric machine (4) in described each sub- walking mechanism is brushless rotary motor.
3. a kind of sweeping robot self adaptation walking mechanism according to claim 1, its feature
It is：In described each sub- walking mechanism, each Electric Motor Wheel (3) is brushless electric machine driving wheel.
4. a kind of sweeping robot self adaptation walking mechanism according to claim 1, its feature
It is：The travelling control module (6) is single-chip microcomputer.
5. a kind of sweeping robot self adaptation walking mechanism according to claim 1, its feature
It is：In described each sub- walking mechanism, the length of difference position bar (2) is Electric Motor Wheel (3) diameter
3 times to 4 times.
6. a kind of sweeping robot self adaptation walking mechanism according to claim 1, its feature
It is：Poor position bar (2) in described each sub- walking mechanism is made using aluminum alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620080928.XU CN206063079U (en) | 2016-01-27 | 2016-01-27 | A kind of sweeping robot self adaptation walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620080928.XU CN206063079U (en) | 2016-01-27 | 2016-01-27 | A kind of sweeping robot self adaptation walking mechanism |
Publications (1)
| Publication Number | Publication Date |
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| CN206063079U true CN206063079U (en) | 2017-04-05 |
Family
ID=58420521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620080928.XU Withdrawn - After Issue CN206063079U (en) | 2016-01-27 | 2016-01-27 | A kind of sweeping robot self adaptation walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206063079U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105534416A (en) * | 2016-01-27 | 2016-05-04 | 苏州宏奇锐自动化有限公司 | Self-adaption traveling mechanism for floor sweeping robot |
| CN108199676A (en) * | 2018-01-16 | 2018-06-22 | 深圳市晟鑫能源科技有限公司 | A kind of intelligent photovoltaic cleaning O＆M equipment of more wheel hub motors |
-
2016
- 2016-01-27 CN CN201620080928.XU patent/CN206063079U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105534416A (en) * | 2016-01-27 | 2016-05-04 | 苏州宏奇锐自动化有限公司 | Self-adaption traveling mechanism for floor sweeping robot |
| CN105534416B (en) * | 2016-01-27 | 2017-12-05 | 苏州宏奇锐自动化有限公司 | A kind of adaptive walking mechanism of sweeping robot |
| CN108199676A (en) * | 2018-01-16 | 2018-06-22 | 深圳市晟鑫能源科技有限公司 | A kind of intelligent photovoltaic cleaning O＆M equipment of more wheel hub motors |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170405 Effective date of abandoning: 20171205 |