CN206153189U - Cleaning device and clean machine people - Google Patents
Cleaning device and clean machine people Download PDFInfo
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- CN206153189U CN206153189U CN201621066828.8U CN201621066828U CN206153189U CN 206153189 U CN206153189 U CN 206153189U CN 201621066828 U CN201621066828 U CN 201621066828U CN 206153189 U CN206153189 U CN 206153189U
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- round brush
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The utility model provides a cleaning device and clean machine people, cleaning device include a sweeping motor, including a sweeping motor pivot, a round brush, its center are equipped with a round brush driven shaft, and a drive mechanism, be connected to simultaneously the sweeping motor pivot reaches the round brush driven shaft, the sweeping motor pivot is passed through drive mechanism drives the round brush driven shaft rotates, cleans the machine people and includes cleaning device. This cleaning device accomplishes solar panel's cleaning works in advancing cleaning machine people's bank of china.
Description
Technical field
The present invention relates to sweeping robot field, more particularly to a kind of clearing apparatus and sweeping robot.
Background technology
In the case where fossil fuel is reduced increasingly, as a kind of solar energy of emerging regenerative resource the mankind are become
Using the important component part of the energy, nearly ten years, Application of Solar Energy technology all obtains fast development in countries in the world.Solar energy
Panel refers to that the photovoltaic effect (photovoltaic) occurred under illumination condition using semi-conducting material is straight by solar energy
Switch through the device for being changed to electric energy.Having where sunshine just can generate electricity, thus solar panel suitable for from power large-scale electric generating station to
Various occasions such as small portable charger, are developed rapidly in recent years.
The working environment of solar panel can only be outdoor, and the greatest problem for affecting its work is not wind and rain thunder and lightning, and
It is the dust of long-term accumulation.Dust or other attachments are attached with solar panel, the light transmittance of panel plate can be affected, hindered
Photoelectric efficiency, so as to have a strong impact on the efficiency of panel direct access sunlight, reduces the energy absorption and conversion efficiency of panel, drop
Low generating efficiency.The solar panel of prior art in use can only be by manually cleaning work be periodically completed, due to the sun
Energy panel area is larger, large-scale power station panel used at the same time is more, and dust can be accumulated repeatedly, need to clean repeatedly；Therefore
Human cost is very high, cleaning efficiency is low, cleaning effect is poor.In many occasions, in order to improve space availability ratio, solar panel
All it is to be arranged aloft using support, this just brings bigger difficulty and risk to cleaning work.The use of many solar panels
Family can only select not clear up to reduce disposal costs, so can only be forced to undertake electric energy loss caused by dust.So, just need
There is a new automatic cleaning equipment, solar panel is cleared up automatically.
The sweeping robot of prior art typically all can be only applied on level ground, it is impossible to suitable for solar panel this
The slope plane of sample.If existing sweeping robot is used directly on solar panel, problems with can be caused.
（1）Sweeping robot is short of power, can not freely advance, it is poor to clean effect；Due to the inclination angle of solar panel
Typically between 10 degree ~ 40 degree, existing sweeping robot can not freely advance degree in the plane of slope, that is, enable and advance reluctantly,
Electricity will soon be exhausted.
（2）Sweeping robot can slide from solar panel；Due to solar panel smoother, existing sweeping machine
People's weight and wheel coefficient of friction are all smaller, and frictional force is also smaller, advance difficult, it is easy to slide.
（3）Sweeping robot can not route running according to the rules, area coverage is little in traveling, can be from solar panel edge
Place falls；Existing sweeping robot is typically arranged to run into barrier auto-steering, due to not any on solar panel
Barrier, the sweeping robot of automatic running can only advance on single-pathway, and the area coverage in its traveling process is little, inevitable
Can fall from solar panel edge.Even if having planned path in advance, existing sweeping robot is easily subject in traveling
The impact of gravity and panel attachment, can also be easy to deflection path, it is difficult to ensure that straight-line travelling；And sweeping robot itself
Cannot discover, it is impossible to go over whole panel, can stay it is a large amount of clean less than space.
（4）Sweeping robot charges difficult；Due to the solar panel higher, area of height it is larger, once by scavenging machine
After device people serves, being removed can be relatively difficult, and prior art needs manually sweeping robot to be moved away from into scene or artificial
Battery is taken out, it is charged then, so as to can not be long lasting for carrying out field operation, and due to many solar energy faces
Plate is arranged aloft with support, therefore its charging operations is bothered very much, wastes a large amount of manpowers.
（5）Sweeping robot Working Status Monitoring is difficult, because solar panel may be arranged aloft, on ground
Staff cannot accomplish complete monitoring to its course of work, even if sweeping robot breaks down, out of service or route
Wander off, staff also cannot learn in time.
The sweeping robot of prior art due to needing multi-direction walking, accordingly, it would be desirable to arrange multiple small-sized cleaning brushes；
And on solar panel, need robot to go over whole panel in shortest time, beeline, it is therefore desirable to regular list
Direction is walked, and small-sized cleaning brush sweeping efficiency is low.
In order to further lift cleaning effect, need to arrange liquid distributing container, to provide cleaning to the round brush for cleaning
Agent solution and water.Because sweeping robot is applied in slope plane as solar panel, if in clearing apparatus
Liquid distributing container can be using common cylindrical water tank or cuboid water tank, no matter how leakage fluid dram is arranged, and all can not
Ensure leakage fluid dram all the time in container minimum point.Under some angles, when liquid distributing liquid in container is less, liquid level may
Less than leakage fluid dram, such partially liq just cannot be discharged smoothly.Because photovoltaic panel is all many times to set up aloft, supplement
Solution or replacing liquid distributing container are all relatively difficult, it is necessary to rationally using each drop solution.
In sum, the present invention also needs to design a kind of liquid distributing container of special shape, it is ensured that no matter robot to
Which direction running（Go up a slope, descending or level are travelled）, the liquid in container can fully be extracted.
The content of the invention
It is an advantage of the invention to provide a kind of clearing apparatus, to solve what traditional labor cleaning's mode was present
Cleaning efficiency is low, the technical problem that cleaning effect is poor.
To solve the above problems, the present invention provides a kind of clearing apparatus, including one cleans motor, a round brush and a driver
Structure.The cleaning motor includes that one cleans machine shaft；The round brush center is provided with a round brush driven shaft；The transmission mechanism is same
When be connected to the cleaning machine shaft and round brush driven shaft, the cleaning machine shaft is driven by the transmission mechanism
The round brush driven shaft is rotated.
Further, the gear train of the gear composition that the transmission mechanism is engaged with each other for two or more.
Further, the transmission mechanism includes a driving gear, a driven gear and a duplicate gear；The active
Gear is arranged on the cleaning machine shaft；The driven gear is arranged on the round brush driven shaft；The duplicate gear
Including a bull gear and a little gear ring, the bull gear is engaged with the driving gear, the little gear ring and the driven gear
Engagement.
Further, the wheel face for cleaning machine shaft perpendicular to the driving gear；The round brush driven shaft is vertical
In the wheel face of the driven gear；The round brush driven shaft is parallel to the cleaning machine shaft.
Further, the round brush is spiral rolling brush.
Further, the clearing apparatus also includes a debris baffle plate, is fixedly installed to the side of the round brush, the rolling
The round brush driven shaft at brush center is parallel with the debris baffle plate.
Further, the clearing apparatus is located at a sweeping robot front end, and the sweeping robot rear end includes a car
Body, the debris baffle plate setting is between the clearing apparatus and the vehicle body.
Further, the clearing apparatus also includes a liquid distributing container, at least a shower nozzle and a bifurcated passage.Institute
Liquid distributing container is stated, is dismountable sealing container, its bottom is provided with a delivery port；The shower nozzle is arranged on the round brush
Side；Each shower nozzle includes a nozzle, just to the round brush direction；The bifurcated passage is including the supervisor for communicating with each other and at least
One arm；The supervisor is communicated to the delivery port；Each arm is communicated to a shower nozzle.
Further, the clearing apparatus also includes a suction pump, is arranged on the supervisor.
It is a further object of the invention to provide a kind of sweeping robot, is deposited in the labor cleaning's mode for solving traditional
The technical problem that cleaning efficiency is low, cleaning effect is poor.
To solve the above problems, the present invention provides a kind of sweeping robot, including clearing apparatus as above.
The invention has the advantages that, clearing apparatus of the present invention is set in sweeping robot, can be in sweeping machine
People completes the cleaning works of solar panel in advancing, if necessary can be with spray water or cleaning on pending panel
Agent, can preferably remove intractable spot.The cleaning speed of clearing apparatus is fast, effect is good, without the need for manual monitoring or auxiliary, can
Effectively to reduce human cost.
Description of the drawings
Fig. 1 is the overall appearance schematic diagram of sweeping robot in the embodiment of the present invention；
Fig. 2 is the structural representation in the embodiment of the present invention inside sweeping robot；
Fig. 3 is the decomposition texture schematic diagram of sweeping robot in the embodiment of the present invention；
Fig. 4 is a kind of structural representation of clearing apparatus in the embodiment of the present invention；
Fig. 5 is the structural representation of another kind of clearing apparatus of the embodiment of the present invention；
Fig. 6 is a kind of liquid distributing bottom structures schematic diagram in the embodiment of the present invention；
Fig. 7 be the embodiment of the present invention on the slope when, liquid distributing container work status architecture schematic diagram；
Fig. 8 is a kind of liquid distributing structure of container schematic diagram in the embodiment of the present invention；
Fig. 9 is another kind of liquid distributing structure of container schematic diagram in the embodiment of the present invention；
Figure 10 is a kind of liquid distributing reservoir profiles structural representation in the embodiment of the present invention；
Figure 11 is liquid level sensor structural representation in the embodiment of the present invention；
Figure 12 is the cross-sectional view of filler lid in the embodiment of the present invention；
Figure 13 is the cross-sectional view of double-direction relief valve in the embodiment of the present invention；
Figure 14 is the structured flowchart of control system in the embodiment of the present invention.
Figure Detail number is as follows：
100 solar panel sweeping robots/sweeping robot/robot, 200 solar panels, 300 slope planes,
400 servers；
1 car body, 2 clearing apparatus, 3 dynamical systems, 4 control systems, 5 power systems；11 vehicle bodies；
21 clean motor, 22 round brush, 23 transmission mechanisms, 24 debris baffle plates, 25 liquid distributing containers, 26 shower nozzles, 27 bifurcateds
Pipeline, 28 suction pumps；
41 data acquisition units, 42 processors, 43 memory cell, 44 alarm units, 45 wireless communication units；51 batteries
Box；
211 clean machine shaft, 221 round brush driven shafts, 231 driving gears, 232 driven gears, 233 duplicate gears；
251 leakage fluid drams, 252 cylindrical portions, 253 tapered portion, 254 container cover plates, 255 fillers, 256 filler lids, 257
Double-direction relief valve, 258 ring cover mouths, 259 liquid level sensors；
261 nozzles, 271 supervisors；
411 acceleration transducers, 412 Magnetic Sensors, 413 range sensors, 414 counters, 415 image sensors；
2331 bull gears, 2332 little gear rings；
2541 connection slotted eyes, the 2591 long bodies of rod, 2592 floating ball sensors, 2593 disc connectors, 2594 annular sprues,
2595 wires；
2571 valve bodies, 2572 valve pockets, 2573 sealing valve blocks, 2574 sealing blocks, 2,575 first passages, 2,576 second lead to
Pore, 2,577 first elastic components, 2,578 second elastic components, 2579 annular shoulders.
Specific embodiment
A preferred embodiment of the present invention is introduced below with reference to Figure of description, it was demonstrated that the present invention can be implemented, described
Embodiment can be to those of skill in the art's complete description present invention so as to which technology contents are more clear and readily appreciate.
The present invention can be emerged from by the embodiment of many multi-forms, and protection scope of the present invention is not limited only to be carried in text
The embodiment for arriving.
In the accompanying drawings, structure identical part represents with same numbers label, everywhere the similar component of structure or function with
Like numeral label is represented.The size and thickness of each part shown in the drawings arbitrarily illustrates that the present invention is not limited
The size and thickness of each component.In order that diagram is apparent, some places suitably exaggerate the thickness of part in accompanying drawing.
The direction term that the present invention is previously mentioned, for example " on ", D score, "front", "rear", "left", "right", " interior ", " outward ", "
Side " etc., is only the direction in accompanying drawing, is used only to explain and illustrate the present invention, rather than for limiting the protection of the present invention
Scope.
When some parts be described as " " another part " on " when, the part can be placed directly within another part
On；Can also there is an intermediate member, the part is placed on the intermediate member, and the intermediate member is placed in another part
On.When a part is described as " being attached to " or " being connected to " another part, the two can be understood as directly " installation " or
" connection ", or a part is by indirect " being attached to " or " being connected to " another part of an intermediate member.
As shown in Fig. 1 ~ Fig. 3, the present embodiment provides a kind of solar panel sweeping robot 100（Hereinafter referred to as scavenging machine
Device people or robot）, an including car body 1, car body 1 can travel on an at least solar panel；Car body 1 is internal or external to be set
There are a clearing apparatus 2, a dynamical system 3, a control system 4 and unified power system 5.
Clearing apparatus 2 in car body traveling process to clean solar panel；Dynamical system 3 exists to adjust car body 1
Direct of travel and travel speed on solar panel, control car body 1 is travelled, stops or turned to；Control system 4 is respectively connecting to
Dynamical system 3 and clearing apparatus 2, to send various control signals to dynamical system 3 and clearing apparatus 2.Power system 5 is distinguished
Dynamical system 3, clearing apparatus 2, control system 4 are connected to, to provide electricity for dynamical system 3, clearing apparatus 2, control system 4
Power.
The present embodiment solar panel sweeping robot 100 in normal work on solar panel, when power system 5 is opened
When dynamic, control system 4 sends an at least traveling control instruction and at least and cleans control instruction, and dynamical system 3 is according to the traveling
Control instruction, controls car body 1 along the route of an advance planning；Meanwhile, clearing apparatus 2 is opened according to the cleaning control instruction
Dynamic clearing apparatus 2, starts to clean solar panel.During car body 1 is travelled, control system 4 sends multiple to dynamical system 3
Traveling control instruction, such as school are instructed partially, turn command, u-turn instruction, etc., so as to order car body 1 straight line course send out
Return on former route in the case of raw deflection, namely carry out school and process partially；Or under certain condition or certain position turn or
Person carries out U-shaped revolution（U-turn）So that car body 1 can be travelled according to the path optimizing of advance planning.Specific air navigation aid, school
Folk prescription method, the turning of control car body carry out U-shaped revolution（U-turn）Method, describes in greater detail below.In whole driving process
In, no matter which kind of traveling mode car body 1 is, such as straight trip, deflection, inclined school, turning or revolution, clearing apparatus 2 remains work
State.When control system 4 is based on some running parameters（As advance planning path all cover or the electricity of power system 5 not
Foot）When sending the traveling control instruction for stopping advancing, car body 1 stops traveling；Simultaneously control system 4 sends cleaning control and refers to
Order, closes clearing apparatus 2, stops cleaning.
As shown in figure 4, the clearing apparatus 2 described in the present embodiment, including a cleaning motor 21, a round brush 22 and a driver
Structure 23.
As shown in Figure 4, Figure 5, in the present embodiment, cleaning motor 21 includes that one cleans machine shaft 211；The round brush center
It is provided with a round brush driven shaft 221；Transmission mechanism 23 is connected to cleaning machine shaft 211 and round brush driven shaft 221 simultaneously, cleans electricity
Machine rotating shaft 211 drives round brush driven shaft 221 to rotate by transmission mechanism 23.Round brush 22 is arranged at the lower section of the front end of car body 1, round brush
22 lower ends directly contact with solar panel, to clean solar panel.
The gear train of the size gear composition that transmission mechanism 23 is engaged with each other for two or more, machine shaft will be cleaned
211 power is sent to round brush driven shaft 221, while the output speed for making cleaning motor 21 slows down, and then with slower rotating speed
Round brush 22 is driven to rotate.In the present embodiment, transmission mechanism 23 includes a driving gear 231, a driven gear 232 and a duplex
Gear 233.Driving gear 231 is arranged on cleaning machine shaft 211, cleans machine shaft 211 perpendicular to driving gear 231
Wheel face；Driven gear 232 is arranged on round brush driven shaft 221, wheel face of the round brush driven shaft 221 perpendicular to driven gear 232；Rolling
Brush driven shaft 221 is parallel to cleaning machine shaft 211.Duplicate gear 233 includes the bull gear 2331 and being integrated into
Little gear ring 2332, bull gear 2331 is engaged with driving gear 231, and little gear ring 2332 is engaged with driven gear 232.When cleaning motor
21 start when, clean the high-speed rotation of machine shaft 211, via duplicate gear 233 deceleration process after, round brush driven shaft 221 with
Slower speed drives round brush 22 to rotate, so that round brush 22 can clean solar panel.Wherein, machine shaft 211 is cleaned
With the rotating ratio of round brush driven shaft 221, depending on the radius ratio of bull gear 2331 and little gear ring 2332.
Round brush 22 is spiral rolling brush, and spiral rolling brush includes an at least helical blade 222, and helical blade 222 can divide
Into multiple sheet flaps 223, it is placed equidistant between flap 223, round brush 22 and solar panel comprehensive engagement can be caused so that
The faceplate part that car body 1 runs over can be swept into.In traveling, round brush 22 is persistently cleaned too the car body 1 of the present embodiment
The attachments such as the dust on positive energy panel.
As shown in figure 5, clearing apparatus 2 also includes a debris baffle plate 24, the side of round brush 22 is fixedly installed to, in round brush 22
The round brush driven shaft 221 of the heart is parallel with debris baffle plate 24.As shown in Fig. 2 clearing apparatus 2（Clearing apparatus）It is arranged at sweeping machine
The front end of people 100（That is Vehicular body front）, the rear end of sweeping robot 100（That is rear vehicle）Including a vehicle body 11, debris baffle plate 24
It is arranged between clearing apparatus 2 and vehicle body 11.In cleaning process, debris baffle plate 24 can be effectively miscellaneous by dust, trifling, sewage etc.
Thing is concentrated in together, and is easy to remove it from face, while debris can be prevented to enter in clearing apparatus 2 or dynamical system 3, with
Prevent causing the damage of all parts in car body 1.
As shown in figure 5, clearing apparatus 2 also includes a liquid distributing container 25, at least a shower nozzle 26 and a bifurcated passage
27。
As shown in Fig. 5 ~ Figure 10, liquid distributing container 25（May be simply referred to as container 25）For dismountable sealing container, to
Be stored with water or detergent solution, and its bottom is provided with a leakage fluid dram 251；Shower nozzle 26 is arranged at the top of round brush 22 or side；It is each
Shower nozzle includes a nozzle 261, and nozzle 261 is just to the direction of round brush 22；Bifurcated passage 27 is including the supervisor 271 for communicating with each other and extremely
A few arm（It is not shown）；Supervisor 271 is communicated to leakage fluid dram；Each arm is communicated to a shower nozzle.In the present embodiment, preferably two
Shower nozzle, is respectively arranged at the two ends of round brush 22, and its nozzle is just to round brush 22；The preferred one-to-two formula bifurcated passage of bifurcated passage 27, bag
A supervisor 271 and two arms are included, the water or detergent solution in liquid distributing container 25 is sent to into two shower nozzles 26.
As shown in Figure 5, Figure 6, clearing apparatus 2 also includes a suction pump 28, is connected to control system 4, obtains from control system 4
Take an at least suction pump control signal；Suction pump 28 is arranged on supervisor 27, used as the discharging liquid of control liquid distributing container 25
Switch, according to the suction pump control signal adjust liquid mass rate of emission.
In the present embodiment, during round brush 22 cleans solar panel, control system 4 sends as needed at least one and takes out
Water pump control signal starts suction pump 28 and adjusts speed of drawing water to suction pump 28 so that water in liquid distributing container 25 or
Detergent solution flows out to shower nozzle 26 via bifurcated passage 27, forms droplet, sprays to round brush 22 in emitting shape so that sprinkling
Liquid feed afterwards uniformly falls on round brush 22, and the round brush 22 of rotation drives water or cleaning agent to fall on solar panel, while
Cleared up using the counter plate of round brush 22, can effectively be strengthened clean effect.When the liquid residue in liquid distributing container 25 not
When foot or the electric power of power system are not enough, or after the completion of cleaning works amount, control system 4 sends one and stops pumping control letter
Number give suction pump 28, to close suction pump 28.The determination methods of the liquid residue in liquid distributing container 25 and power system 5
The determination methods of electricity surplus, illustrate in greater detail below.
In the present embodiment, having technical effect that for clearing apparatus 2 can complete the sun in sweeping robot 100 is advanced
The cleaning works of energy panel, can preferably be removed if necessary with spray water or cleaning agent on pending panel
Intractable spot.The cleaning speed of clearing apparatus 2 is fast, effect is good, without the need for manual monitoring or auxiliary, can effectively reduce manpower into
This.
Because the sweeping robot that the present embodiment is provided is applied in slope plane as solar panel, if
Liquid distributing container in clearing apparatus can be using common cylindrical water tank or cuboid water tank, and no matter how leakage fluid dram sets
Put, all it cannot be guaranteed that leakage fluid dram is all the time in container minimum point.Under some angles, when liquid distributing liquid in container is less,
Liquid level may be less than leakage fluid dram, and such partially liq just cannot be discharged smoothly.Because some solar panels are arranged aloft,
For sweeping robot liquid make-up troublesome poeration, therefore, the liquid inside liquid distributing container has to whole row as much as possible
Go out, be allowed to be fully utilized, be so accomplished by designing a kind of liquid distributing container 25 of special shape, it is ensured that no matter car body to
Which direction running（Go up a slope, descending or level are travelled）, the liquid in container can fully be extracted.
As shown in Fig. 5 ~ Figure 10, the present embodiment provides a kind of liquid distributing container 25（Referred to as container）, for oblique one
Distribute liquid on slope plane.During solar panel sweeping robot is advanced on solar panel, the liquid of vehicle body
Distribution container 25 can distribute liquid.The main body of liquid distributing container 25 is the container of a good seal, main to include being connected to each other
A cylindrical portion 252 and a tapered portion 253, tapered portion 253 is bottom-up to be upside down in the lower section of cylindrical portion 252, the bottom of tapered portion 253
Face is connected to the bottom surface of cylindrical portion 252, on the summit of the bottom of tapered portion 253（The tip of cone）Place is provided with a leakage fluid dram
251。
As shown in fig. 7, in order that the liquid in liquid distributing container 25 can all be extracted, when liquid distributing container
25 in slope plane 300 either direction move when, it is necessary to assure leakage fluid dram 251 is always positioned at the minimum of liquid distributing container 25
Point, therefore, the side of tapered portion 253 is greater than or equal to slope plane 300 and horizontal plane with the angle of the bottom surface of tapered portion 253
Angle.In the present embodiment, solar panel 200 is slope plane 300, in order to ensure liquid distributing container 25 is in solar energy
When either direction is moved on panel 200, leakage fluid dram 251 is always positioned at the minimum point of liquid distributing container 25, the side of tapered portion 253
The angle of face and the bottom surface of tapered portion 253 is greater than or equal to solar panel 200 and the angle of horizontal plane, namely solar panel
200 inclination angle；Because the inclination angle of solar panel 200 is typically between 10 degree ~ 40 degree, side and the tapered portion bottom surface of tapered portion
The scope of angle typically should be between 15 ~ 45 degree；Due to the side of tapered portion it is bigger with tapered portion bottom surface angle, whole liquid
The volume of body distribution container 25 is less, thus can according to the suitable tapered portion of inclination angle selected shape of solar panel 200,
It is preferred that 25 degree ~ 35 degree.
As shown in fig. 7, liquid distributing container 25 is fixed in the car body of sweeping robot 100, liquid distributing container 25
Central axis upright is in the car body bottom surface of sweeping robot 100.Other parts of the tapered portion 253 in addition to the leakage fluid dram 251
It is above the horizontal plane at the center of leakage fluid dram 251 place, it is ensured that leakage fluid dram 251 is always positioned at the minimum of liquid distributing container 25
Point.
Two schemes are provided in the present embodiment, one is：As shown in figure 8, cylindrical portion 252 is prism, tapered portion 253 is
Pyramid, the pyramid bottom surface of pyramid is the bottom surface of prism.The preferred prism of the present embodiment is four prisms cylinder, then the rib
Cone is also rectangular pyramid；In the same manner, if the prism is tri-prismoid, the pyramid is also Rhizoma Sparganii cone.It two is：
As shown in figure 9, cylindrical portion 252 is cylinder, tapered portion 253 is cone, and the bottom surface of cone is the bottom surface of cylinder；
In the timing of spatial dimension one that liquid distributing container 25 takes, the capacity of container is increased as far as possible.
As shown in Figure 10, liquid distributing container 25 of the present invention, also including a container cover plate 254, a filler
255th, a filler lid 256 and a two-way relief valve 257.
Container cover plate 254 is fixedly installed at the upper bottom surface of cylindrical portion 252；Filler 255 is located on container cover plate 254,
And the container cover plate 254 is penetrated, filler lid 256 is detachable to be attached to filler 255, to seal filler 255.It is double
Filler lid 256 is attached to the penetration of relief valve 257, to the inside and outside that connect liquid distribution container 25 so that
The inside and outside air pressure balance of container 25, liquid can smoothly be discharged from container 25.
In the present embodiment, the horizontal cross-section of filler 255 is circle, and the periphery of filler 255 is provided with perpendicular to container
One circle ring cover mouth 258 of cover plate 254, the lateral surface of ring cover mouth 258 is provided with the first screw thread（It is not shown）.Filler lid
256 are cylinder, and its size caters to filler 255, and the madial wall of filler lid 256 is provided with the second screw thread（It is not shown）,
Second screw thread is rotatably connected on first screw thread, by the cooperation of first screw thread and second screw thread so that plus
Geat lid 256 and the detachable connection of filler 255.
The liquid of the memory storage of liquid distributing container 25（Water or cleaning agent）Running stores are all, needs are periodically mended to it
Fill.After the liquid in container all exhausts, it is only necessary to filler lid 256 of outwarding winding, it is possible to liquid distributing container 25
Interior filling liquid（Water or cleaning agent）.Filler lid 256 can be entered with the junction of filler 255 with sealing fluid or seal
One step is sealed, and container cover plate 254 can be integrally formed design with cylindrical portion 252, it is also possible to separately design, and only need to ensure container cover
The junction good seal of plate 254 and the junction of cylindrical portion 252, filler lid 256 and filler 255.
As shown in Figure 10, Figure 11, a liquid level sensor 259 is provided with liquid distributing container 25, for Real-time Collection liquid
Liquid level data in distribution container 25, liquid level sensor 259 is a part for control system 4.In the present embodiment, liquid level sensor
259 include a long body of rod 2591 and the floating ball sensor 2592 being enclosed within the long body of rod, and floating ball sensor 2592 swims in liquid
On liquid level in distribution container 25, rise or fall along the long body of rod 2591 with the lifting of liquid level.The long body of rod 2591 is located at
On the maximum axis of the internal height of liquid distributing container 25, namely on the central axis of liquid distributing container 25, ball float can be made
Sensor 2592 obtains as much as possible comprehensively accurately liquid level data.The center of container cover plate 254 is provided with a connection slotted eye 2541,
The long body of rod 2591 passes through connection slotted eye 2541, and perpendicular to container cover plate 254；The upper end of the long body of rod 2591 is provided with disc connection
Device 2593, is fixedly attached to connection slotted eye 2541, near the lower end of the long body of rod 2591 is arranged at the leakage fluid dram 251 of tapered portion 253.
The lower end of the long body of rod 2591 is provided with the annular sprue 2594 of a protrusion, to prevent floating ball sensor from sliding from the long body of rod 2591.
Floating ball sensor is connected to the miscellaneous part of control system 4 by passing through at least wire 2595 inside the long body of rod 2591.
In clearing apparatus work, control system 4 can send according to the real-time level data in liquid distributing container 25 to suction pump 28
At least control signal of a suction pump 28 is starting or stoping the operation of suction pump 28, or control liquid mass rate of emission.
In the present embodiment, liquid distributing container 25 has technical effect that, no matter car body 1（Or liquid distributing container 25）
Travel towards any direction in slope plane 300, its leakage fluid dram 251 is always positioned at the minimum point of whole container 25 so that container
The liquid of 25 memory storages can be discharged completely, and be fully used, and be not in liquid accidental release or leakage fluid dram 251
Cannot discharge opeing situation.
In the present embodiment, the leakage fluid dram 251 at the generally sealing container of liquid distributing container 25, only its minimum point can
To discharge liquid, if the hole that container can ventilate without other, is affected by atmospheric pressure, liquid will be difficult from leakage fluid dram
251 discharge.If the filler 255 of container is always maintained at open state, once suction pump 28 is opened, the liquid in container will
Acceleration is persistently flowed out, it is difficult to coutroi velocity, and liquid can be caused to volatilize from filler 255.For this purpose, the present embodiment is adopted adding
Geat lid 256 arranges the technical scheme of double-direction relief valve 257, can be according to the change of the ullage air pressure of liquid distributing container 25
Change opens or closes relief valve.
As shown in Figure 12 and Figure 13, the penetration of double-direction relief valve 257 is attached to filler lid 256, connects to selecting type
The inside of logical liquid distributing container 25 and outside.Double-direction relief valve 257 includes being provided with a hollow valve body 2571, valve body 2571
A sealing valve block 2573 and a sealing block 2574 are provided with one valve pocket 2572, valve pocket 2572.
Valve body 2571 is designed to integrative cylindrical body, and its valve pocket 2572 is also a cylinder sealing cavity, and valve body 2571 is pushed up
Portion is provided with one first passage 2575, by valve pocket 2572 and the ft connection of container 25；The bottom surface of valve body 2571 is provided with one second ventilation
Hole 2576, valve pocket 2572 is connected with the inside of container 25.The top of the valve body 2571 of double-direction relief valve 257 is sealingly connected to filling
Lid body 256, in the present embodiment, valve body 2571 can be integrally formed with filler lid 256, to reduce the manufacturing procedure of part,
Such as configure sealing fluid or seal.
The present embodiment may also include one first elastic component 2577 and one second elastic component 2578；On first elastic component 2577
End is fixed to the top of valve pocket 2572, and its lower end is connected to sealing valve block 2573；The upper end of second elastic component 2578 is connected to sealing valve
Block 2573, its lower end is fixed to the bottom of valve pocket 2572.Sealing valve block 2573 is movably mounted in valve pocket 2572, sealing block
2574 middle parts for protruding from the side wall of valve pocket 2572, the internal side wall of valve pocket 2572 is smooth side wall；Sealing valve block 2573 is in the first bullet
Under property part 2577, the collective effect of the second elastic component 2578, can slide up or down.In valve pocket, on sealing valve block 2573
Square air pressure is air pressure, and the lower section air pressure of sealing valve block 2573 is the air pressure of the ullage of container 25.
Specifically, sealing valve block 2573 can include epimere, stage casing, hypomere, be all cylindrical shape.Sealing valve block
2573 include an annular shoulder 2579, protrude from the middle part of sealing valve block side wall, and annular shoulder 2579 is stage casing, its epimere,
Hypomere is in the same size, annular shoulder 2579（Stage casing）Basal diameter be more than epimere, the basal diameter of hypomere；Annular shoulder 2579
Lateral wall it is tangent with the lateral wall of sealing block 2574, the madial wall of valve pocket 2572.The top of annular shoulder 2579（Epimere）It is connected to
First elastic component 2577, the lower section of annular shoulder 2579（Hypomere）It is connected to the second elastic component.First elastic component in the present embodiment
2577th, the second elastic component 2578 preferably spring, it is also possible to select other elastic components.
Under the run-stopping status of suction pump 28, the ullage air pressure of liquid distributing container 25 is identical with external atmosphere pressure,
First elastic component 2577, the second elastic component 2578 is not deformed upon or deformation is less, and sealing valve block 2573 is in stress balance, phase
To under inactive state, the widest part of sealing valve block 2573（Annular shoulder）Side wall and the side wall of sealing block 2574, in valve pocket 2572
Side wall is tangent, and sealing valve block 2573 and sealing block 2574 fill up at the middle part of valve pocket 2572, the top of valve pocket 2572 and valve pocket
2572 bottom is separated by sealed, it is impossible to connected.
If sweeping robot 100 is under running status, the normal work of clearing apparatus 2, suction pump 28 extracts liquid, liquid
The air pressure of ullage diminishes in body distribution container 25, and the air pressure in liquid distributing container 25 is less than extraneous atmospheric pressure, sealing
The upper and lower surface of valve block 2573 produces draught head, and atmospheric pressure overcomes the elastic force and sealing valve block of two elastic components 2577,2578
2573 gravity so that the slide downward of sealing valve block 2573, annular shoulder 2579 is separated with sealing block 2574, annular shoulder
Air duct is formed between 2579 and the madial wall of valve pocket 2572, in the presence of draught head, thus passage enters liquid to outside air
In body distribution container 25.When the air pressure of ullage in liquid distributing container 25 it is equal with external atmosphere pressure（Draught head is zero）Or
Tend to equal（Draught head is less）When, the air pressure inside and outside liquid distributing container 25 reaches new balance, in elastic component 2577,2578
Elastic force effect under, sealing valve block gradually upward sliding, and then realize resetting, the side wall of annular shoulder 2579 and sealing block
2574 side walls, the madial wall of valve pocket 2572 are tangent again, and air duct is closed.In clearing apparatus running, suction pump 28 is held
Continuous to extract liquid, said process also can occur repeatedly.When clearing apparatus quits work, or, when in liquid distributing container 25
When liquid level drops to certain threshold value, or, when the dump energy of power system 5 drops to certain threshold value, suction pump 28 is controlled
System 4 is closed, and stops extracting liquid.
If sweeping robot 100 remains static down, clearing apparatus 2 is out of service, because sweeping robot 100 is put
Put on solar panel, direct sunlight, the liquid and Air Temperature in liquid distributing container 25 are persistently subject in the long period
Degree may be raised, and due to the physical phenomenon expanded with heat and contract with cold, air pressure can be more than external pressure, sealing in liquid distributing container 25
The upper and lower surface of valve block 2572 produces draught head so that the upward sliding of sealing valve block 2573, annular shoulder 2579 and sealing block
2574 separate, and between annular shoulder 2579 and the madial wall of valve pocket 2572 air duct is formed, extraneous empty in the presence of draught head
Thus passage is entered in liquid distributing container 25 gas.When the air pressure of ullage in liquid distributing container 25 and external atmosphere pressure phase
Deng（Draught head is zero）Or tend to equal（Draught head is less）When, the air pressure inside and outside liquid distributing container 25 reaches new balance,
Under the elastic force effect of elastic component 2577,2578, sealing valve block 2573 slides gradually downward, and then realizes resetting, annular shoulder
2579 side wall is tangent again with the side wall of sealing block 2574, the madial wall of valve pocket 2572, and air duct is closed.In sweeping robot
Under inactive state, the long-time of liquid distributing container 25 is placed under sunlight, and said process may occur repeatedly, and container is discharged in time
25 internal gas pressures, it is to avoid security incident occurs.
In the present embodiment, having technical effect that for double-direction relief valve 257 guarantees the gas inside and outside liquid distributing container 25 as far as possible
Pressure maintains balance so that suction pump 28 can normally extract liquid from liquid distributing container 25, or in time inside release container
Gas pressure, it is to avoid security incident occurs.
As shown in figure 14, in the present embodiment, control system 4 includes a data acquisition unit 41, a processor 42 and at least
One memory cell 43.Data acquisition unit 41 include multiple sensors, to gather the traveling process of car body 1 in an at least job
Parameter；Processor 42 is connected to data acquisition unit 41, and at least one traveling control is sent to dynamical system 3 according to the running parameter
System instruction, according to the running parameter to clearing apparatus 2 send at least one cleaning control instruction, specifically, processor 42 to
Clean motor 23 and send at least one cleaning control instruction.Memory cell 43 is connected to processor 42, travels across to store car body 1
In running parameter and the other specification that precalculates or arrange.The real time acceleration data of the running parameter including car body 1,
In real time direct of travel data, liquid distributing container real-time level data, between each range sensor and solar panel away from
The parameters such as the image in front of, car body.The other specification for precalculating or arranging includes the default various work numbers of staff
According to the sweeping robot driving path for such as precalculating and having planned（Path optimizing）, the liquid level number in liquid distributing container 25
According to alarm threshold value（When reaching this threshold value, alarm unit is reported to the police）, liquid level data shut-down threshold（When reaching this threshold value, suction pump 28
It is out of service）, etc..
Staff by the path optimizing typing planned to control system 4, for sweeping robot car body road is provided in advance
Footpath is navigated, and control system 4 carries out computing and planning according to the path optimizing, and when will start, when stop, when straight line
Traveling, when to the left or to the right 90 degree turnings, when to the left or to the right 90 degree carry out the control information such as U-shaped revolution, with various controls
The mode of system instruction is sent to dynamical system, to control action of the car body in traveling.
In car body control technology, how to judge car body in the plane of slope whether straight-line travelling, how to control car body and exist
Straight-line travelling is most basic problem in the plane of slope, if car body lacks supervision during straight-line travelling, once car body because
For some factors（Such as road surface local is uneven, have barrier on road surface）Deflect, the phenomenon for walking more inclined and more inclined will occur,
In the present invention, robot can be caused to deviate existing guidance path, it is impossible to whole slope plane is gone within the shortest time.At this
In embodiment, after the completion of sweeping robot operation can be caused, there are many places not clean out in time on solar panel.
In order to solve how to judge the technical problem of the robot of the present embodiment whether on the slope straight-line travelling, this enforcement
Example provides following technical scheme.
In control system 4, data acquisition unit 41 includes an at least acceleration transducer 411, to Real-time Collection machine
Device people 100（Or car body 1）Acceleration information；Acceleration transducer 411 is connected to processor 42, by the acceleration number of degrees of car body 1
According to processor 42 is sent to, the analysis dynamic acceleration data of processor 42 can analyze the car body during car body traveling
Impact direction and direct of travel etc..The acceleration information of robot 100 is set up three-dimensional system of coordinate and decomposition computation by processor 42,
It is Y-axis positive direction to define the direct of travel of robot 100, and it is Z-direction to define perpendicular to the direction of the slope plane；The X
Axle is parallel with the slope plane with plane residing for the Y-axis.According to acceleration information in the vector of X-direction, car body 1 is judged
Whether have to the left or be deviated to the right, if deviateing, the processor to dynamical system 3 sends at least one party to adjust instruction,
So that car body 1 is returned on the direct route of its script；If without departing from processor 42 judges car body 1 as straight-line travelling.
Further, in order to ensure the accuracy that straight-line travelling judges, in addition to being judged with acceleration transducer, may be used also
With the situation for judging acceleration transducer to find to deviate route using magnetic sensor technologies, judged again, that is, magnetic
The secondary judgement of sensor.For this purpose, in control system 4, data acquisition unit 41 can also include a Magnetic Sensor 412, connection
To processor 42, Magnetic Sensor 412 measures the physical parameters such as electric current, position, direction with induced field intensity.The present embodiment
In, Magnetic Sensor 412 to Real-time Collection direct of travel data, and according to path optimizing data standard traveling side set in advance
Judged to after contrast, to confirm car body whether as straight-line travelling so that the judgement of car body whether straight-line travelling is more accurate.
In the present invention, the robot in the plane of slope the decision method of straight-line travelling with the robot on slope
The control method of straight-line travelling is used cooperatively in plane, it can be ensured that sweeping robot will not occur partially during straight-line travelling
From such that it is able to guarantee that sweeping robot can be gone over whole along optimization guidance path set in advance within the shortest time
Solar panel, faster and betterly cleans up whole solar panel.
According to the principle that the time is most short, driving path is most short, optimization guidance path of the robot in a rectangular slope is very
Easily can just plan and calculate how to allow robot along optimization guidance path traveling set in advance, this reality
Apply example and a series of control program and air navigation aid are provided, air navigation aid refers to the control that robot is travelled along guidance path
Method processed.
In the present embodiment, data acquisition unit 41 can also include an at least range sensor 413, including but not limited to
Ultrasonic sensor and light pulse sensor.Range sensor 413 is arranged at robot 100（Car body 1）At external margin, specifically
Ground say, car body 1 can be arranged on（Vehicle body 11）Four angles on, as shown in Fig. 2 when robot 100 it is up in a rectangular slope
When sailing, the front end of range sensor 413 is towards rectangular slope direction.Range sensor 413 is connected to processor 42；To adopt in real time
The range data of collection range sensor 413 and rectangular slope；Processor 42 is according to range sensor 413 and the rectangular slope
Range data, judges whether car body 1 is located at edge or the corner of the rectangular slope.
In the present embodiment, the number of range sensor 413 is four, is respectively arranged at robot（Car body）Four corners
Place；When only two range sensors 413 can collect the range data, processor 42 judges robot（Car body）It is located at
The edge of rectangular slope 300, to dynamical system 3 an at least steering order is sent（U-shaped is turned round）；When only one of which Distance-sensing
When device collects the range data, processor 42 judges robot（Car body）Positioned at a certain corner of rectangular slope 300, to
Dynamical system 3 sends an at least steering order（90 degree are turned or U-shaped revolution）.Four range sensors 413 can also set respectively
The middle part of each side of car body 1 is placed in, processor finds that the range sensor 413 on a certain side cannot collect range data
When, it is possible to judge that this side is located at the edge of rectangular slope；If two adjacent sides are all located at rectangular slope
Edge, it is possible to judge that car body 1 is located at a certain corner of solar panel.The number of range sensor 413 can also be eight
It is individual, it is respectively arranged at four corners of car body 1 or the middle part of the four direction side of car body 1.
Control system 4 can also include a counter 414, to calculate the angle that car body 1 is passed through in slope plane traveling
Fall, in the one action of robot, when processor 42 judges that car body reaches a certain corner, just add on counter
One.Processor 42 is apparent that the order in the corner that car body 1 is reached by the technical result that counter 414 feeds back（The
Several corners）.
Staff is in advance by the memory of the path optimizing typing planned to control system 4, the processor and root
According to the guidance path and robot（Car body）Real time position to dynamical system 3 send control instruction, including start, stop,
Straight trip, to the left or to the right 90 degree of turnings, U-shaped revolutions to the left or to the right（Go to turning through 180 degree on adjacent lane）, to control car
Body is travelled in traveling according to guidance path.
Data acquisition unit 41 also includes a liquid level sensor 259, is connected to processor 42, for Real-time Collection liquid point
The liquid level data in container 25 is sent out, in clearing apparatus work, control system 4 can be according to real-time in liquid distributing container 25
Liquid level data to suction pump 28 sends at least control signal of a suction pump 28 to start or stop the operation of suction pump 28, or controls
Liquid mass rate of emission processed.For example, when the real-time level data in liquid distributing container 25 are reduced to a predetermined threshold value, control system
System 4 can send the deceleration instruction of a suction pump 28, and control suction pump 28 slows down speed of drawing water；Reality in liquid distributing container 25
When liquid level data when bottoming out, or, when control system 4 sends a car body halt instruction, control system 4 can be sent out
Go out the halt instruction of a suction pump 28, control suction pump 28 is out of service.
Control system 4 also includes an at least alarm unit 44, is connected to processor 42, and alarm unit 44 can be to be arranged on
A red light or buzzer outside car body.When a certain running parameter exceedes given threshold, the alarm unit sends alarm signal
Number, for example, when the liquid level data in liquid distributing container 25 be less than a certain predetermined threshold value when, or when the electric power of power system 5 not
When sufficient, or when the sweeping robot sends failure, alarm unit 44 can send alarm signal to remind user.
Data acquisition unit 41 includes at least an image sensor 415 or camera, is connected to processor 42, is arranged at car
The front end of body 1（As shown in Figure 2 and Figure 3）, to gather the traveling process of car body 1 in the front of car body 1 image, these images can deposit
Store up to the memory cell and the working condition of robot is checked in order to staff.
In the present embodiment, control system 4 has technical effect that, there is provided various clean robots are up in solar panel
The control method that the path optimizing and robot for entering is advanced in slope plane and straight line, it is ensured that robot can not repeatedly pass by
Whole spaces of solar panel, area coverage is big, will not fall from solar panel edge, both can ensure that cleaning effect
Really, operating efficiency is can ensure that again.
Solar panel sweeping robot 100 also includes an at least wireless communication unit 45, is wirelessly connected to a server
400, communicate for setting up between solar panel sweeping robot 100 and server 400.The image in the front of car body 1 can be with
Send in real time to server 400, in order to staff sweeping robot effectively checking in the progress of work is realized, effectively solution
When certainly solar panel is located at eminence in prior art, sweeping robot difficult technology of Working Status Monitoring on panel is asked
Topic.
In the present embodiment, as shown in figure 3, power system 5 be one or one group be arranged in battery case 51 it is disposable
Battery or rechargeable battery（It is not shown）, need staff periodically to remove the sweeping robot from solar panel,
It is carried out to change Battery disposal or charging process so as to can work on.
Embodiment provides a kind of solar panel sweeping robot, can the free-running operation on solar panel, effectively go
Except the dust on panel and other attachments, clean effect is good；The sweeping robot of the present invention runs on solar panel
During, according to the path optimizing traveling of setting, can not repeatedly cover plate whole spaces, high working efficiency；This
Bright sweeping robot can be realized automatically controlling according to program automatic turning or u-turn, easy to operate.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise without departing from the principles of the invention, can also make some improvements and modifications, and these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (10)
1. a kind of clearing apparatus, it is characterised in that include
One cleans motor, including one cleans machine shaft；
One round brush, its center is provided with a round brush driven shaft；And
One transmission mechanism, while being connected to the cleaning machine shaft and the round brush driven shaft, the cleaning machine shaft leads to
Crossing the transmission mechanism drives the round brush driven shaft to rotate.
2. clearing apparatus as claimed in claim 1, it is characterised in that the tooth that the transmission mechanism is engaged with each other for two or more
The gear train of wheel composition.
3. clearing apparatus as claimed in claim 2, it is characterised in that the transmission mechanism includes
One driving gear, is arranged on the cleaning machine shaft；
One driven gear, is arranged on the round brush driven shaft；And
One duplicate gear, including
One bull gear, engages with the driving gear；And
One little gear ring, engages with the driven gear.
4. clearing apparatus as claimed in claim 3, it is characterised in that the cleaning machine shaft is perpendicular to the driving gear
Wheel face；Wheel face of the round brush driven shaft perpendicular to the driven gear；The round brush driven shaft cleans electricity parallel to described
Machine rotating shaft.
5. clearing apparatus as claimed in claim 1, it is characterised in that the round brush is spiral rolling brush.
6. clearing apparatus as claimed in claim 1, it is characterised in that the clearing apparatus also includes a debris baffle plate, fixed
The side of the round brush is attached to, the round brush driven shaft at the round brush center is parallel with the debris baffle plate.
7. clearing apparatus as claimed in claim 6, it is characterised in that the clearing apparatus is located at a sweeping robot front end,
The sweeping robot rear end includes a vehicle body, and the debris baffle plate setting is between the clearing apparatus and the vehicle body.
8. clearing apparatus as claimed in claim 1, it is characterised in that also include
One liquid distributing container, is dismountable sealing container, and its bottom is provided with a delivery port；
An at least shower nozzle, is arranged at the round brush top；Each shower nozzle includes a nozzle, just to the round brush direction；And
One bifurcated passage, including the supervisor and an at least arm that communicate with each other；The supervisor is communicated to the delivery port；
Each arm is communicated to a shower nozzle.
9. clearing apparatus as claimed in claim 8, it is characterised in that also including a suction pump, be arranged on the supervisor.
10. a kind of sweeping robot, including clearing apparatus as claimed in any one of claims 1-9 wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621066828.8U CN206153189U (en) | 2016-09-21 | 2016-09-21 | Cleaning device and clean machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621066828.8U CN206153189U (en) | 2016-09-21 | 2016-09-21 | Cleaning device and clean machine people |
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| Publication Number | Publication Date |
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| CN206153189U true CN206153189U (en) | 2017-05-10 |
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ID=58650754
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621066828.8U Active CN206153189U (en) | 2016-09-21 | 2016-09-21 | Cleaning device and clean machine people |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106180033A (en) * | 2016-09-21 | 2016-12-07 | 苏州瑞得恩自动化设备科技有限公司 | Clearing apparatus and sweeping robot |
| WO2018053986A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Solar panel cleaning robot |
| WO2018053981A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Liquid dispensing container and cleaning robot |
-
2016
- 2016-09-21 CN CN201621066828.8U patent/CN206153189U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106180033A (en) * | 2016-09-21 | 2016-12-07 | 苏州瑞得恩自动化设备科技有限公司 | Clearing apparatus and sweeping robot |
| WO2018053986A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Solar panel cleaning robot |
| WO2018053981A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Liquid dispensing container and cleaning robot |
| US10511256B2 (en) | 2016-09-21 | 2019-12-17 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Solar panel cleaning robot |
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