CN206141655U - High -rise building clearance maintenance robot - Google Patents

High -rise building clearance maintenance robot Download PDF

Info

Publication number
CN206141655U
CN206141655U CN201621075153.3U CN201621075153U CN206141655U CN 206141655 U CN206141655 U CN 206141655U CN 201621075153 U CN201621075153 U CN 201621075153U CN 206141655 U CN206141655 U CN 206141655U
Authority
CN
China
Prior art keywords
robot
hydraulic cylinder
skyscraper
sucker
people
Prior art date
Application number
CN201621075153.3U
Other languages
Chinese (zh)
Inventor
靳奉熹
Original Assignee
靳奉熹
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 靳奉熹 filed Critical 靳奉熹
Priority to CN201621075153.3U priority Critical patent/CN206141655U/en
Application granted granted Critical
Publication of CN206141655U publication Critical patent/CN206141655U/en

Links

Abstract

The utility model provides a high -rise building clearance maintenance robot, includes the robot body, the robot body comprises an upper fixed plate and bottom plate, the somatic front end installation robot head of robot, and top installation bin, rechargeable battery and dust catcher box, the electronic cleaning brush of bottom installation, robot somatic rear portion bottom surface installation dust catcher head, the dust catcher head passes through pipe connection dust catcher box, the somatic bottom installation several mechanical legs of robot, the utility model discloses can replace the manual work of outer curtain cleaning of high -rise building and maintenance, can reduce artifical intensity of labour and guarantee workman's life safety to large -scale safety protection device is not needed, work load can be reduced, in addition, we can also arrange the cooperation in coordination of a plurality of robots, through the operation interval of every robot of wireless communication module distribution, and improvement work efficiency.

Description

A kind of skyscraper clears up the people that maintains machinery
Technical field
This utility model is related to robot field, and especially a kind of skyscraper clears up the people that maintains machinery.
Background technology
With the continuous development of economic society, city space becomes relatively crowded, and skyscraper is increasingly appearing in In city.After the development of the production and consumption in each city in the world reaches to a certain degree, there's no one who doesn't or isn't it is actively working to improve urban architecture The number of plies.It was verified that skyscraper can bring obvious economic results in society:First, population concentration is made, using building Internal vertical and between cross traffic shortening department contact distance, so as to improve efficiency;Secondly can make what large area was built Land used significantly reduces, it is possible in downtown urban land addressing;It is again, it is possible to reduce building work is invested and shortened in urban construction Phase.Skyscraper can be substantially improved the utilization rate of city space.But at the same time, the cleaning maintenance difficulty of skyscraper is more next It is bigger, and labor cleaning's maintenance not only labor intensive material resources are adopted, but also have certain danger.Additionally, for high level is built For building, ventilation shaft be easy to pile up dust, and be not easy to cleaning.
Utility model content
This utility model aims to provide the high level of a kind of outer layer curtain cleaning for replacing being accomplished manually skyscraper and maintenance Building cleaning maintains machinery people.
For achieving the above object, this utility model provides following technical scheme:A kind of skyscraper clears up the people that maintains machinery, Including robot body, the robot body is made up of upper mounted plate and bottom plate, the front end fitting machine of robot body Storage bin, rechargeable battery and vacuum cleaner casing are installed in device head part, top, and electric cleaning brush is installed in bottom, robot body Cleaner head is installed in rear portion bottom surface, and cleaner head connects vacuum cleaner casing by pipeline;Install the bottom of robot body Several pedipulators.
As further scheme of the present utility model:The front end of the robot head is installed by the first photographic head, bottom peace Dress shower nozzle and second camera, shower nozzle connection storage bin, the rear end of robot head connects robot body by steering wheel fixed disk Body.
As further scheme of the present utility model:The pedipulator by first hydraulic cylinder, leg joint, thigh, second Hydraulic cylinder, shank, the 3rd hydraulic cylinder, foot stand and foot's sucker composition, pedipulator is by leg arthrodesis in lower fixation On plate, fixed seat passes through one end that rotating shaft connects thigh, one end that the other end of thigh passes through rotating shaft connection shank, shank it is another One end connects one end of foot stand by rotating shaft, and the other end connection foot sucker of foot stand passes through liquid on the joint of leg Cylinder pressure seat installs first hydraulic cylinder, and the piston rod connection thigh of first hydraulic cylinder installs the second liquid on thigh by hydraulic cylinder seat Cylinder pressure, the piston rod connection shank of second hydraulic cylinder, second hydraulic cylinder is installed on shank by hydraulic cylinder seat, second hydraulic cylinder Piston rod connects foot stand.
As further scheme of the present utility model:Sucker motor, the output of sucker motor are provided with the foot stand , by sucker afterbody bolt connection foot sucker, the output shaft of sucker motor is by gear drive attaching nut, nut for axle It is connected with sucker afterbody bolt thread.
As further scheme of the present utility model:The hydraulic pressure being connected with pedipulator is installed in the robot body Stand.
As further scheme of the present utility model:Stress sensing system is housed on the pedipulator.
As further scheme of the present utility model:The top installation process device of the robot body, the processor sets In the top of rechargeable battery, processor connection display screen.
As further scheme of the present utility model:Liquid level monitoring system, liquid level monitoring system are installed in the storage bin System connection processor.
As further scheme of the present utility model:The rechargeable battery is directly connected with compact battery electric quantity monitoring device, little Type monitoring cell electricity quantity device connects processor.
Compared with prior art, the beneficial effects of the utility model are:The skyscraper is cleared up the people that maintains machinery and is used very Suction disk technology and Visual identification technology, are capable of identify that curtain wall outer wall spot and profile, effect of the every mechanical arm in controller Under, moved by hydraulic stem, in the presence of a plurality of lower limb, robot can be cleared up autonomous on curtain wall with automatic, After the particular form of visual system identification curtain wall(For example there is one piece of spot on curtain wall), Automatic Program reaction, control robot Leg exercise and sucker suction and disengaged position, move the robot into suitable position work.Photographic head is located at robot head Portion, is possessed broader visual angle and can be rotated by steering wheel.When having where barrier on curtain wall, visual system Cognitive disorders thing shape size, by the automatic reaction controlling robot motion mode of processor across barrier.Because this device Movable flexible, it might even be possible to be cleaned work into skyscraper ventilation shaft class, when dust etc., some easy diffusions is miscellaneous When thing is more, it is possible to use the vacuum cleaner at robot abdominal part rear siphons away dust etc., it is to avoid affect with fresh air, and Can configure wireless transmitting system on robot processor the information that robot is recognized is real-time transmitted in staff's computer, such as Fruit has any special circumstances(For example find the defects such as body of wall peeling or crackle)Or robot is not appropriate enough for stain treatment When the information independence that staff can pass through to receive judges that appropriate process behavior is made by remote control robot.
Skyscraper clears up the people that maintains machinery can replace the manual work of skyscraper outer layer curtain cleaning and maintenance, energy Enough reduce hand labor intensity and ensure workman's life safety, and do not need large-scale safety features, work can be reduced Amount.Additionally, we can also arrange multiple robot cooperative cooperatings, by wireless communication module the work of each robot is distributed Interval, improves work efficiency.
Description of the drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is top view of the present utility model;
Fig. 3 is elevation of the present utility model;
Fig. 4 is the schematic diagram of liquid level monitoring system;
Fig. 5 is the structural representation of electric cleaning brush of the present utility model;
Fig. 6 is the structural representation in leg joint of the present utility model;
Fig. 7 is the structural representation of thigh of the present utility model;
Fig. 8 is the structural representation of shank of the present utility model;
Fig. 9 is the structural representation of foot's sucker of the present utility model;
Figure 10 is outer wall cleaning effect figure of the present utility model;
Figure 11 is ventilation shaft cleaning effect figure of the present utility model;
Figure 12 is the schematic diagram that control is coordinated in the linkage of multirobot of the present utility model.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model, rather than whole Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment for being obtained, belongs to the scope of this utility model protection.
Fig. 1-12 are referred to, in this utility model embodiment, a kind of skyscraper clears up maintain machinery people, including robot Body, the robot body is made up of upper mounted plate 9 and bottom plate 8, the front end mounting robot head of robot body 1, storage bin 2, rechargeable battery 3 and vacuum cleaner casing 5 are installed in top, and electric cleaning brush 7, the rear portion of robot body are installed in bottom Cleaner head 6 is installed in bottom surface, and cleaner head 6 connects vacuum cleaner casing 5 by pipeline;The bottom of robot body is installed by number Individual pedipulator 10.
It is above-mentioned, welded by pillar between upper mounted plate 9 and bottom plate 8, and between upper mounted plate 9 and bottom plate 8 It is provided with gap.
Above-mentioned, the first photographic head 20, bottom mounting spray head 23 and second camera 22 are installed in the front end of robot head 1, Shower nozzle 23 connects storage bin 2, and the rear end of robot head 1 connects robot body by steering wheel fixed disk 21(Connection robot Steering wheel in body).
It is above-mentioned, pedipulator 10 by first hydraulic cylinder 12, leg joint 13, thigh 14, second hydraulic cylinder 15, shank 16, Three hydraulic cylinders 17, foot stand 18 and foot's sucker 19 are constituted, and pedipulator 10 is fixed on bottom plate 8 by leg joint 13 On, fixed seat connects one end of thigh 14 by rotating shaft, and the other end of thigh 14 connects one end of shank 16, shank by rotating shaft 16 other end connects one end of foot stand 18, the other end connection foot sucker 19 of foot stand 18, leg by rotating shaft First hydraulic cylinder 12, the piston rod connection thigh 14 of first hydraulic cylinder 12, on thigh 14 are installed by hydraulic cylinder seat on joint 13 Second hydraulic cylinder 15 is installed by hydraulic cylinder seat, the piston rod connection shank 16 of second hydraulic cylinder 15 passes through hydraulic pressure on shank 16 Cylinder seat installs second hydraulic cylinder 15, and the piston rod connection foot stand 18 of second hydraulic cylinder 15 is provided with sucker in foot stand 18 Motor, the output shaft of sucker motor passes through sucker afterbody bolt connection foot sucker 19(The output shaft of sucker motor passes through gear Drive mechanism attaching nut, nut is connected with sucker afterbody bolt thread).
Robot is carried out in moving process by the synergy movement of leg.When mobile, on controller control sucker Motor is rotated and drives sucker afterbody bolt to move down so that the space in the middle of sucker and metope reduces, air pressure increase, so that lower limb Portion can lift, when lower limb passes through under the control of the controller Hydraulic Elements(Including three hydraulic cylinders)Move to the driving of steering wheel During setting position, leg falls so that sucker is contacted with curtain wall wall, and now, motor is rotated and driven on controller control sucker Increase sucker and space between the walls are moved on bolt, reduce wherein atmospheric pressure so that producing pressure differential inside and outside sucker, So as to reach the purpose of fixed leg.
It is above-mentioned, the Hydraulic Station being connected with pedipulator 10, Hydraulic Station connection processor 4 are installed in robot body.
It is above-mentioned, stress sensing system, stress sensing system connection processor 4 are housed on pedipulator 10.
It is above-mentioned, the top installation process device 4 of robot body, the processor 4 is located at the top of rechargeable battery 3, processor 4 Connection display screen.
It is above-mentioned, liquid level monitoring system is installed in storage bin 2, liquid level monitoring system loop is housed in storage bin 2, work as cleaning Liquid or paint serosity position it is relatively low when early warning and processor 4 can be sent a signal to, be easy to staff's addition cleanout fluid or paint slurry.
Above-mentioned, the electronic original part of whole robot provides energy by battery, rechargeable battery 3 be located at processor 4 times and Battery is directly connected with compact battery electric quantity monitoring device, and when battery electric quantity is less than 1 15 [battery electric quantity can be sent Early warning] signal transmission to processor 4, red flare in the control display screen of processor 4, and by radio communication mold block transmission signals To staff, staff is reminded to be charged robot.
Further, wireless communication module is installed in above-mentioned processor 4.
This utility model is capable of identify that curtain wall outer wall spot and profile using vacuum cup technology and Visual identification technology, Every mechanical arm is moved in the presence of controller by hydraulic stem, and in the presence of a plurality of lower limb, robot can be in curtain Autonomous and cleaning automatically on wall, after the particular form of visual system identification curtain wall(For example there is one piece of spot on curtain wall), Automatic Program is reacted, and controls robot leg exercise and sucker suction and disengaged position, moves the robot into suitable position (For example shower nozzle 23 and cleaning head are moved to into spot top)Work.Photographic head is located at robot head 1, possesses broader regarding Angle and can be rotated by steering wheel.When having where barrier on curtain wall, visual system cognitive disorders thing shape is big It is little, by the automatic reaction controlling robot motion mode of processor 4 across barrier.Because the activity of this device is flexibly, or even can To be cleaned work into skyscraper ventilation shaft class, when when dust etc., the debris of some easy diffusions are more, can Dust etc. is siphoned away with the vacuum cleaner using robot abdominal part rear, it is to avoid affect with fresh air, and on robot processor 4 Configurable wireless transmitting system is real-time transmitted to the information that robot is recognized in staff's computer, if what special feelings Condition(For example find the defects such as body of wall peeling or crackle)Or robot is not appropriate enough for stain treatment, staff can be with Judge that appropriate process behavior is made by remote control robot by the information independence for receiving.
Technical characterstic of the present utility model:1st, the automatic cleaning to skyscraper glass can be realized.Can be by calculating The control realization of machine autonomous on skyscraper glass, and with other machines person cooperative work, improve glass cleaning efficiency.
2nd, high-rise outer wall real time imaging can be passed back to skyscraper management personnel, once find body of wall peeling or crack etc. Can independently be repaired in time during defect.
3rd, by the control of computer, the autonomous cleaning work to high-rise ventilation shaft can be realized.Ensure that high level is built Build with fresh air.
Principle of the present utility model:Skyscraper cleaning maintain machinery people can replace skyscraper outer layer curtain cleaning and The manual work of maintenance, can reduce hand labor intensity and ensure workman's life safety, and not need large-scale safeguard protection Equipment, can reduce workload.Additionally, we can also arrange multiple robot cooperative cooperatings, by wireless communication module point Operation interval with each robot, improves work efficiency.
After robot starts working, in its working range, photographic head detects outer certain region of curtain wall the dirt of attachment, Processor 4 can be then transmitted a signal to, the control machinery lower limb 10 of processor 4 moves to dirt region, and visual system identification is dirty Species type, if the more close dirt of attachment(Such as oil stain), the form of 4 control machinery lower limb of processor 10 so that robot abdomen Portion's electric cleaning brush 7 contacts curtain wall, and electric cleaning brush 7 is cleaned, photographic head monitor in real time dirt region during cleaning, if Dirt region is not cleaned totally more than half a minute, signal transmission to processor 4, and processor 4 sends signal control cleanout fluid shower nozzle 23 sprinkling cleanout fluid, the continuous firing of electric cleaning brush 7, until dirt disappears;If adhering to untight dirt(Such as dust), The control tail vacuum cleaner head of processor 4 declines, and contacts curtain wall, directly cleans curtain wall.After dirt disappears, controller receives signal, Stop cleaning;And proceed by other regions dirt monitoring.
The process of the dust of vacuum cleaner casing 5:Simultaneously stress sensing system is housed on eight pedipulators 10 of robot, works as robot After work a period of time, the dust of vacuum cleaner casing 5 is more, and robot weight increases, when can affect robot travelling performance, should Power sensor-based system can send signal, and processor 4 receives after signal, and by wireless communication module staff is passed to, and work people The dust that member's Autonomous Control robot returns to clear up in vacuum cleaner casing 5.
Body of wall is simply repaired:Simultaneously robot during monitoring dirt if it find that curtain wall body of wall is defective(If any splitting Stricture of vagina or body of wall peeling etc.)When, first defective locations can be cleaned, then defective locations spray coating powder swabbing is simply repaiied Multiple, while can also send record position and transmit a signal at staff, staff can be fed back by robot Information independence judge whether robot repair qualified, if need other reclamation activitiess.
Coordinate control principle drawing for multirobot linkage as shown in figure 12, the linkage of multirobot is coordinated control and then passed through Wireless communication module inside processor 4 is completed with the computer coordinated in staff's handss.
Application notice:
First, cleaning brush needs to make regular check on, to ensure cleaning effect.
2nd, sucker is made regular check on, is changed in time if any abnormal, it is to avoid affect the locomotivity of robot.
3rd, periodic charge, it is to avoid electricity is too low to cause the exception of robot.
It is obvious to a person skilled in the art that this utility model is not limited to the details of above-mentioned one exemplary embodiment, and And in the case of without departing substantially from spirit or essential attributes of the present utility model, can in other specific forms realize that this practicality is new Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new The scope of type is by claims rather than described above is limited, it is intended that the equivalency fallen in claim is contained All changes in justice and scope are included in this utility model.Any reference in claim should not be considered as restriction Involved claim.
Moreover, it will be appreciated that although this specification is been described by according to embodiment, not each embodiment is only wrapped Containing an independent technical scheme, this narrating mode of description is only that for clarity those skilled in the art should Using description as an entirety, the technical scheme in each embodiment can also Jing it is appropriately combined, form those skilled in the art Understandable other embodiment.

Claims (9)

1. a kind of skyscraper clears up maintain machinery people, including robot body, it is characterised in that the robot body is by upper Fixed plate and bottom plate are constituted, the front end mounting robot head of robot body, top install storage bin, rechargeable battery and Electric cleaning brush is installed in vacuum cleaner casing, bottom, and cleaner head is installed in the rear portion bottom surface of robot body, and cleaner head is led to Piping connects vacuum cleaner casing;The bottom of robot body is installed by several pedipulators.
2. skyscraper according to claim 1 clears up the people that maintains machinery, it is characterised in that before the robot head The first photographic head, bottom mounting spray head and second camera are installed in end, and shower nozzle connects storage bin, and the rear end of robot head passes through Steering wheel fixed disk connection robot body.
3. skyscraper according to claim 1 clears up the people that maintains machinery, it is characterised in that the pedipulator is by the first liquid Cylinder pressure, leg joint, thigh, second hydraulic cylinder, shank, the 3rd hydraulic cylinder, foot stand and foot's sucker composition, pedipulator leads to Leg arthrodesis is crossed on bottom plate, fixed seat connects one end of thigh by rotating shaft, the other end of thigh passes through rotating shaft One end of connection shank, the other end of shank connects one end of foot stand, the other end connecting pin of foot stand by rotating shaft Portion's sucker, first hydraulic cylinder, the piston rod connection thigh of first hydraulic cylinder, on thigh are installed on the joint of leg by hydraulic cylinder seat Second hydraulic cylinder is installed by hydraulic cylinder seat, the piston rod connection shank of second hydraulic cylinder is installed on shank by hydraulic cylinder seat Second hydraulic cylinder, the piston rod connection foot stand of second hydraulic cylinder.
4. skyscraper according to claim 3 clears up the people that maintains machinery, it is characterised in that be provided with the foot stand Sucker motor, by sucker afterbody bolt connection foot sucker, the output shaft of sucker motor passes through tooth to the output shaft of sucker motor Wheel drive mechanism attaching nut, nut is connected with sucker afterbody bolt thread.
5. skyscraper according to claim 1 clears up the people that maintains machinery, it is characterised in that peace in the robot body Equipped with the Hydraulic Station being connected with pedipulator.
6. skyscraper according to claim 1 clears up the people that maintains machinery, it is characterised in that being equipped with the pedipulator should Power sensor-based system.
7. skyscraper according to claim 1 clears up the people that maintains machinery, it is characterised in that the top of the robot body Portion's installation process device, the processor is located at the top of rechargeable battery, processor connection display screen.
8. skyscraper according to claim 1 clears up the people that maintains machinery, it is characterised in that be provided with the storage bin Liquid level monitoring system, liquid level monitoring system connection processor.
9. skyscraper according to claim 1 clears up the people that maintains machinery, it is characterised in that the rechargeable battery directly connects There are compact battery electric quantity monitoring device, compact battery electric quantity monitoring device connection processor.
CN201621075153.3U 2016-09-23 2016-09-23 High -rise building clearance maintenance robot CN206141655U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621075153.3U CN206141655U (en) 2016-09-23 2016-09-23 High -rise building clearance maintenance robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621075153.3U CN206141655U (en) 2016-09-23 2016-09-23 High -rise building clearance maintenance robot

Publications (1)

Publication Number Publication Date
CN206141655U true CN206141655U (en) 2017-05-03

Family

ID=58620165

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621075153.3U CN206141655U (en) 2016-09-23 2016-09-23 High -rise building clearance maintenance robot

Country Status (1)

Country Link
CN (1) CN206141655U (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106314584A (en) * 2016-09-23 2017-01-11 靳奉熹 Cleaning and maintenance robot for high-rise buildings
CN107323559A (en) * 2017-09-02 2017-11-07 佛山市龙远科技有限公司 A kind of Climbing Robot of solar power generation
CN107491049A (en) * 2017-08-29 2017-12-19 湖南格兰博智能科技有限责任公司 A kind of more equipment collaboration operational methods and work compound device
CN107938563A (en) * 2017-10-30 2018-04-20 苏州工艺美术职业技术学院 A kind of electric sanitation truck
CN108569353A (en) * 2018-05-21 2018-09-25 河北艺海机器人科技有限公司 A kind of underground pipeline man well investigation multi-functional eight pawl robot and its investigation method
CN109898811A (en) * 2019-02-15 2019-06-18 沈库 A kind of external wall of high-rise building spray robot
CN110328089A (en) * 2019-06-20 2019-10-15 成都飞机工业(集团)有限责任公司 Robot, control system and the control method sprayed automatically for airplane intake

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106314584A (en) * 2016-09-23 2017-01-11 靳奉熹 Cleaning and maintenance robot for high-rise buildings
CN107491049A (en) * 2017-08-29 2017-12-19 湖南格兰博智能科技有限责任公司 A kind of more equipment collaboration operational methods and work compound device
CN107323559A (en) * 2017-09-02 2017-11-07 佛山市龙远科技有限公司 A kind of Climbing Robot of solar power generation
CN107938563A (en) * 2017-10-30 2018-04-20 苏州工艺美术职业技术学院 A kind of electric sanitation truck
CN107938563B (en) * 2017-10-30 2020-04-21 苏州工艺美术职业技术学院 Electric sanitation truck
CN108569353A (en) * 2018-05-21 2018-09-25 河北艺海机器人科技有限公司 A kind of underground pipeline man well investigation multi-functional eight pawl robot and its investigation method
CN109898811A (en) * 2019-02-15 2019-06-18 沈库 A kind of external wall of high-rise building spray robot
CN110328089A (en) * 2019-06-20 2019-10-15 成都飞机工业(集团)有限责任公司 Robot, control system and the control method sprayed automatically for airplane intake

Similar Documents

Publication Publication Date Title
CN105021225B (en) A kind of greenhouse intelligent movable detecting platform
CN105107772B (en) Intelligent photovoltaic array washing car
CN105291112B (en) A kind of patrol robot
CN207342414U (en) A kind of architectural engineering dust-extraction unit
CN1265756C (en) High building glass curtain wall cleaner system
CN107460842A (en) A kind of town road cleaning device
CN104983369B (en) A kind of facade cleaning robot system and its application method
CN105149253A (en) Solar cell panel cleaning device and system
CN105414069B (en) Cleaning device
CN203323435U (en) Cleaning device for tubular solar water heater
CN101974971B (en) Full automatic wall facing concrete injection system
CN205094341U (en) Wall clean robot is climbed to vacuum adsorption formula track
CN103286787B (en) Full-automatic road and tunnel device for cleaning lamp
CN104799756B (en) Exterior wall cleaning and maintaining robot
CN106491052A (en) A kind of intelligent robot with cleaning function
CN102941204B (en) Intelligent six feet crawling robot applied to clean central air conditioning pipelines
CN201283254Y (en) Mobile blowing three-state pulse deashing bag-type dust remover
CN204597874U (en) Solar cell panel dust degree on-Line Monitor Device
CN202090937U (en) Wet type pulp sprayer
CN204170997U (en) Transformer station's living water washing robot system
CN108033816A (en) A kind of recycling fertilizer production apparatus of fallen leaves
CN104047248B (en) Composite track road surface automated cleaning truck system
CN105455748B (en) Multi-modal robot for cleaning wall surface control method
CN206564920U (en) A kind of energy-saving planting groove with spraying function
CN205697569U (en) A kind of glass curtain wall clean robot

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170503

Termination date: 20170923

CF01 Termination of patent right due to non-payment of annual fee