CN206850525U - A kind of combined type super-pressure variable flow valve monitoring and dedusting robot - Google Patents
A kind of combined type super-pressure variable flow valve monitoring and dedusting robot Download PDFInfo
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- CN206850525U CN206850525U CN201720141157.5U CN201720141157U CN206850525U CN 206850525 U CN206850525 U CN 206850525U CN 201720141157 U CN201720141157 U CN 201720141157U CN 206850525 U CN206850525 U CN 206850525U
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 58
- 239000000428 dust Substances 0.000 claims abstract description 40
- 230000009194 climbing Effects 0.000 claims abstract description 31
- 238000004140 cleaning Methods 0.000 claims abstract description 28
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 17
- 238000001179 sorption measurement Methods 0.000 claims description 17
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 230000003287 optical effect Effects 0.000 claims description 11
- 230000002146 bilateral effect Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 9
- 229910052742 iron Inorganic materials 0.000 claims description 8
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000000565 sealant Substances 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241001455273 Tetrapoda Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/69—Coordinated control of the position or course of two or more vehicles
- G05D1/698—Control allocation
- G05D1/6985—Control allocation using a lead vehicle, e.g. primary-secondary arrangements
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
- G05D2109/15—Climbing vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
- G05D2109/18—Holonomic vehicles, e.g. with omni wheels
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cleaning In General (AREA)
Abstract
A kind of combined type super-pressure variable flow valve monitoring and dedusting robot, belong to control and adjusting means technical field, including machine tool all-around mobile carrying platform module, handset climbing monitoring module and cleaning module；The machine tool all-around mobile carrying platform module is connected with industrial computer signal；The machine tool all-around mobile carrying platform module top is provided with rotatable supporting plate；The handset climbing monitoring module is set up in supporting plate；The cleaning module is arranged in handset climbing monitoring module, and cleaning module includes outer framework, linear electric motors push rod plays dirt device and negative pressure dust collect plant.The present apparatus can adapt to more complicated working environment, complete goal task as desired, so as to greatly reduce the loss that whole transformer station hinders and brought for some reason, safeguard economic interests.
Description
Technical field
The utility model belongs to control and adjusting means technical field, and in particular to is a kind of combined type super-pressure variable flow valve
Monitoring and dedusting robot.
Background technology
Converter valve is the nucleus equipment of DC transmission engineering, is obtained by the way that three-phase alternating voltage is connected into DC terminal successively
The control of desired DC voltage and realization to power, its value account for the 22%~25% of current conversion station complete set of equipments total price.
Important node of the variable flow valve Room as west-to-east power transmission in national 2025 strategies, after safety failure occurs, is directly passed through
Ji loss up to 400,000,000, indirect loss crosses 10,000,000,000.Wherein, variable flow valve is variable cross-section profile in the variable flow valve Room, it is difficult to is realized comprehensive
Monitoring in real time, in addition, superelevation pressure magnetic environment can cause huge injury, interference communications signal to human body, therefore will be established
Ultraprecise instrument is detected under unmanned operating mode it is extremely difficult with safe early warning network, and for equipment working condition with it is real-time
Control just seems particularly significant.
For the densely covered environment of super-pressure, Qiang Ci, vertical macrofold fluctuating variable flow valve Room interior wall, ultraprecise instrument, design
A kind of combined type super-pressure variable flow valve monitoring is designed as comprehensive carrying platform, realized in super-pressure with dedusting robot, machine tool
Automatic obstacle avoiding tracking navigation in the strong magnet valve Room, handset are carried and continuation of the journey function；Handset is designed as climbing, monitored, cleaning robot
People, mainly there is control system, detection and information acquisition system, adsorption system and a drive system, realizes monitoring, early warning, maintenance, clearly
The clean handset robot in one；Wherein, handset robot is equipped with cleaning module, and the module is directed to high fold under strong magnetic environment
Wall carries out high efficiency cleaning, and causes it to realize full automatic working method.Meanwhile detection can with information acquisition system
By real time information data and transmission of video to mobile terminal, human-computer interaction mechanism is established, realizes synchronous manipulation.Handset information and date
Acquisition module, automatic collecting device temperature database can be established with equipment operation condition information at work, so as to as failure
The reference data of early warning and maintenance.By high frequency wireless communication mode between composite aircraft, data exchange is carried out, establishes a set of stabilization
Matching coordinative system.For high-intensity magnetic field particular surroundings, composite aircraft face coat can reduce extraneous strong magnetic well for this
The influence of the body stability of a system so that whole system is more solid and reliable.
For above work condition environment problem with difficult, a kind of combined type variable flow valve of proposition monitors and dedusting machine this programme
People, can solve above difficulty well, ensure the security and operation stability of whole equipment.
Utility model content
In order to realize in strong magnetic, high pressure, the nearly vertically dedusting of high fold wall, the function of monitoring, wall dust heap is avoided
The problems such as product causes ionization, variable flow valve temperature is too high and causes the variable flow valve Room to be broken down, the utility model devises a kind of group
Box-like super-pressure variable flow valve monitoring and dedusting robot.
A kind of combined type super-pressure variable flow valve monitoring and dedusting robot, including machine tool all-around mobile carrying platform mould
Block, handset climbing monitoring module and cleaning module；The machine tool all-around mobile carrying platform module is connected with industrial computer signal；
The machine tool all-around mobile carrying platform module bottom installs omni-directional wheel, and top is provided with rotatable supporting plate；The son
Machine climbing monitoring module is set up in supporting plate, and handset climbing monitoring module bottom mounting industrial absorption chain, and top is provided with
Top carrying platform；The cleaning module is arranged in handset climbing monitoring module, and cleaning module includes outer framework, linear electric motors push away
Bar plays dirt device and negative pressure dust collect plant；Described linear electric motors push rod one end connects outer framework, other end connection handset climbing prison
Control module.
The machine tool all-around mobile carrying platform module includes upper whole plate, the first motor, supporting plate, support bar, fixation
Bar, top bottom-disc, low bottom-disc and omni-directional wheel；First motor is installed on whole plate, and the output end of the first motor is provided with screw mandrel；
The screw mandrel is arranged in nut；The nut is connected with supporting plate lower rotation, and the support bar top is rotatablely installed in support
Backboard portion top, lower rotation are installed on whole plate；The upper whole plate connects top bottom-disc by fix bar；The top bottom-disc is with
Spring damper is installed between chassis；The omni-directional wheel is installed on the side of low bottom-disc four.
The upper whole plate is provided with slide rail；Supporting plate both sides lower rotation is installed on sliding block；The slide rail is symmetrically set
Screw mandrel both sides are placed in, and sliding block is slidably connected with slide rail；The support bar and the first motor are divided into supporting plate both sides；It is described solid
Fixed pole, which is erect, to be set, and top is fixedly installed in whole plate corner, and bottom is fixedly installed in top bottom-disc corner；The spring damper
Erect and set, and be divided into omni-directional wheel both sides, be fixedly installed in top bottom-disc at the top of spring damper, spring damper bottom is fixed
It is installed on low bottom-disc.
The omni-directional wheel connects planet wheel decelerator；The planet wheel decelerator is installed on the output end of the second motor；Institute
State bottom tray bottom installation optical sensor, height≤10mm of optical sensor.
The handset climbs monitoring module, including top carrying platform and body side；The body side is arranged at
Portion carrying platform both sides, and body side is provided with driving wheel, the first driven pulley, the second driven pulley, the 3rd driven pulley, contact roller
With industrial adsorption chain；The industrial adsorption chain with driving wheel, the first driven pulley, the second driven pulley, the 3rd driven pulley, pressure
Bearing up pulley touches；The driving wheel and the first driven pulley are rotatablely installed in body side top both sides respectively；Second driven pulley,
3rd driven pulley is rotatablely installed in body side bottom both sides respectively；The contact roller is located at the second driven pulley, the 3rd driven pulley
It is middle；The contact roller is rotatablely installed in bottom guide plate；The bottom guide plate slides vertically with body side to be connected；The bottom
Guide plate is fixedly installed in compression spring bottom；Upper gib is fixedly installed at the top of compression spring；Upper gib is fixedly installed in
Body side.
The anterior installation ultrasonic listening module of the top carrying platform and tube video detecting device, rear portion installation infrared acquisition
Device；The top carrying platform bottom is provided with control system and module carries storehouse；The upper gib bottom is provided with one
To compression spring, and compression spring is arranged in alignment pin；The driving wheel is installed on the output end of drive system；The drivetrain
Stepper motor and decelerator are set in system；Decelerator is installed on the output end of stepper motor；Driving wheel connection reducer.
The industrial adsorption chain is made up of single bilateral monaural chain link plate；The single bilateral monaural chain link plate,
Including square band counter sink permanent magnet, the adsorbable wall of magnet and magnet Hubei Province iron；Described magnet Hubei Province iron is located at the adsorbable wall of magnet
Face upper center；The square band counter sink permanent magnet is located at both sides above the adsorbable wall of magnet；Square band counter sink permanent magnetism
The adsorbable wall of body, magnet and magnet Hubei Province iron form magnetic loop.
The cleaning module, including baffle plate, outer framework and the drilled base plate being coaxially disposed；The outer framework is hollow to be set
Put；The baffle plate is installed at the top of outer framework；The drilled base plate is installed on outer framework bottom；The drilled base plate is provided with logical
Hole；The drilled base plate is provided with cylindrical sides brush, plane formula disk brush；The cylindrical sides brush, plane formula
Disk brush both passes through the through hole connection motor on drilled base plate；The cylindrical sides brush side is provided with level and set
The conical bristle put；The plane formula disk brush bottom is provided with the compartment plane bristle erect and set.
The drilled base plate bottom margin is provided with infrared distance sensor；The infrared distance sensor and drilled base plate
It is vertically arranged；Horizontally disposed dust board is installed inside the outer framework；The dust board is coaxially disposed with outer framework, and is kept off
The center of dirt plate offers circular hole；Top surface is provided with the cylinder type filter net being coaxially disposed on the dust board；The cylinder filter
Guard is located at the circular hole of dust board；Horizontally disposed disc filter screen is installed inside the outer framework；The disc filter screen
It is coaxially disposed with outer framework；The disc filter screen is located above dust board and cylinder type filter net；Installed inside the outer framework
There is horizontally disposed motor mounting plate；The motor mounting plate is coaxially disposed with outer framework；The motor mounting plate is located at disk
Above shape filter screen；Through hole is offered at motor mounting plate axis；Installation tandem brushless electric machine below the motor mounting plate；Institute
State tandem brushless electric machine to be coaxially disposed with motor mounting plate, and tandem brushless electric machine is installed on the through hole of motor mounting plate
Place；Horizontally disposed disk screen is installed inside the outer framework；The disk screen is located at motor mounting plate and string
Above connection formula brushless electric machine, and disk screen is coaxially disposed with outer framework.
The outer framework outer wall is circumferentially evenly equipped with least two line slideways；The line slideway is vertically arranged, and straight line is led
Fitted at the top of rail with baffle plate bottom surface；The line slideway is arranged in linear slider；The outer framework outer wall is provided with straight line
Motor push rod；The top of the linear electric motors push rod fits with baffle plate bottom surface；The hollow setting of plane formula disk brush,
Plane formula disk brush bottom is provided with shaft flow blade.
For in the unmanned work condition environment of superelevation pressure magnetic, a kind of combined type super-pressure variable flow valve of proposition monitors and dust removal machine
Device people.Machine tool all-around mobile carrying platform module can provide an extremely strong carrying platform of mobility so that handset is climbed
Monitoring module carrying is more steady, and the working time is longer.Handset climbing monitoring module, cleaning module can solve the problem that under limiting condition
Equipment detection and information gathering task, while real time data information bank is established for equipment work characteristics, so as to from now on
Among maintenance and repair, data, as reference data, promptly and accurately find fault observer, and prevention apparatus failure ahead of time with information
Generation.The cooperation of handset and machine tool so that the design has good adaptability and reliability so that robot can
Adapt to more complicated working environment, complete goal task as desired, so as to greatly reduce whole transformer station hinder for some reason and
The loss brought, safeguards economic interests.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the schematic diagram of machine tool all-around mobile carrying platform module；
Fig. 3 is the low bottom-disc structural representation of machine tool all-around mobile carrying platform module；
Fig. 4 is a width schematic diagram of handset climbing monitoring module；
Fig. 5 is another width schematic diagram of handset climbing monitoring module；
Fig. 6 is the single bilateral monaural chain link plate structural representation of handset climbing monitoring module；
Fig. 7 is cleaning module structural representation；
Fig. 8 is the half sectional view of cleaning module knot；
Fig. 9 is the negative pressure dust collect plant of cleaning module knot and the explosive view for playing dirt device；
Figure 10 is the polycrystalline substance schematic diagram of the plane formula disk brush of cleaning module knot；
Figure 11 is the workflow diagram of machine tool all-around mobile carrying platform module；
Figure 12 is the workflow diagram of handset climbing monitoring module；
In figure：Machine tool all-around mobile carrying platform module 100, upper whole plate 101, the first motor 102, screw mandrel 103, nut
104th, supporting plate 105, support bar 106, sliding block 107, slide rail 108, fix bar 109, top bottom-disc 111, spring damper 112, OK
Planetary-gear speed reducer 113, the second motor 114, low bottom-disc 115, omni-directional wheel 116, optical sensor 117,
Handset climbing monitoring module 200, top carrying platform 201, ultrasonic listening module 202, tube video detecting device
203rd, infrared detection device 204, control system 205, module carry storehouse 206, body side 207, driving wheel 208, drive system
209th, the first driven pulley 210, the second driven pulley 211, the 3rd driven pulley 212, contact roller 213, bottom guide plate 214, compression spring
215th, upper gib 216, industrial adsorption chain 217, single bilateral monaural chain link plate 218, square band counter sink permanent magnet
219th, the adsorbable wall 220 of magnet, magnet Hubei Province iron 221,
Cleaning module 300, baffle plate 301, outer framework 302, line slideway 303, linear slider 304, linear electric motors push rod
305th, disk screen 306, motor mounting plate 307, tandem brushless electric machine 308, disc filter screen 309, cylinder type filter net
310th, dust board 311, motor 312,
Drilled base plate 313, cylindrical sides brush 314, conical bristle 315, plane formula disk brush 316, compartment
Plane bristle 317, infrared distance sensor 318, shaft flow blade 319,
Industrial computer 400.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings.
A kind of combined type super-pressure variable flow valve monitoring and dedusting robot, including machine tool all-around mobile carrying platform module
100th, handset climbing monitoring module 200 and cleaning module 300；The machine tool all-around mobile carrying platform module 100 and industry control
The signal of machine 400 connects；The handset climbing monitoring module 200 is connected with the signal of machine tool all-around mobile carrying platform module 100；
The cleaning module 300 is installed on handset climbing monitoring module 200.
The machine tool all-around mobile carrying platform module 100 include upper whole plate 101, the first motor 102, supporting plate 105,
Support bar 106, fix bar 109, top bottom-disc 111, low bottom-disc 115 and omni-directional wheel 116.
The upper whole plate 101 is provided with the first motor 102 and slide rail 108；The output end of first motor 102 is provided with screw mandrel
103；The screw mandrel 103 is arranged in nut 104；The nut 104 is connected with the lower rotation of supporting plate 105, such as be hinged.It is described
The both sides lower rotation of supporting plate 105 is installed on sliding block 107；The slide rail 108 is divided into the both sides of screw mandrel 103, and sliding block 107 is with sliding
Rail 108 is slidably connected.The motor 102 of support bar 106 and first is divided into the both sides of supporting plate 105；The top of support bar 106 rotates
The back top of supporting plate 105 is installed on, lower rotation is installed on whole plate 101.
Supporting plate 105 climbs monitoring module 200 to carry handset.Under the control of industrial computer 400, the first motor is adjusted
102, drive screw mandrel 103 to rotate by the first motor 102, so that supporting plate 105 moves with movable slider 107 on slide rail 108.By
The active force of bar 106 is supported in the top of supporting plate 105, therefore, the bottom of supporting plate 105 is while movement, supporting plate 105
In rotation, so as to adjust the gradient of supporting plate 105, lift platform is provided for dedusting supervisory-controlled robot.
Fix bar 109 is fixedly mounted in the tetrapod of the upper whole plate 101；The fix bar 109, which is erect, to be set, fix bar
109 bottoms are fixedly installed in the corner of top bottom-disc 111.Fix bar 109 by upper whole plate 101 and top bottom-disc 111 being fixed as one
Body.Spring damper 112 is installed between the top bottom-disc 111 and low bottom-disc 115；Spring damper 112, which is erect, to be set, and point
Located at the both sides of omni-directional wheel 116, the top of spring damper 112 is fixedly installed in top bottom-disc 111, and the bottom of spring damper 112 is fixed
It is installed on low bottom-disc 115.The omni-directional wheel 116 is installed on four sides of low bottom-disc 115.The omni-directional wheel 116 connects planetary gear and subtracted
Fast device 113；The planet wheel decelerator 113 is installed on the output end of the second motor 114.The bottom of low bottom-disc 115 is installed by light
Learn sensor 117.The optical sensor 117 and ground distance≤10mm.
Second motor 114 slowed down by planet wheel decelerator 113, increase torque after pass to 10 omni-directional wheels 116.Low bottom-disc
During 115 rotation, omni-directional wheel 116 is driven by the second motor 114, and low bottom-disc 115 can be using center as the center of circle, no-radius rotation, therefore,
The present apparatus can meet the angle rotation demand of optional position.
Optical sensor 117 passes to industrial computer 400, the electricity of the control of industrial computer 400 second by detecting ground light band signal
Machine 114, to keep the correct of travel route.
Under strong magnetic field circumstance, machine tool all-around mobile carrying platform module 100, its signal input part is divided into infrared sensing letter
Number, light source arrangement is formed into light belt on the ground, when optical sensor 117 detects light source, the information received is transmitted to work
Control machine 400, industrial computer 400 controls Transistor-Transistor Logic level output, by controlling the second motor 114 to control the rotation of omni-directional wheel 116, from
And the track change amendment advanced.
The course of work is：Optical sensor 117 is arranged on low bottom-disc 115, ensures that it is corresponding with ground light band parallel.
Industrial computer 400 is then turned on, runtime, ensures that chassis travels along ground light band.When optical sensor 117 detects traveling road
When line has error with ground light band paving track, signal passes to industrial computer 400, and industrial computer 400 controls the pulse of the second motor 114
Number, adjustment complete machine position, returns to script route.
When machine tool all-around mobile carrying platform module 100 receives docking signal, industrial computer 400 controls the second motor
114 pulses, are moved to relevant position, then control the first motor 102, and output torque rotates to screw mandrel 103, drive supporting plate
105 rotate, and form the lifting linking platform of handset climbing monitoring module 200.
The handset climbs monitoring module 200, including top carrying platform 201 and body side 207.The body side
207 are arranged at the both sides of top carrying platform 201, and body side 207 is provided with driving wheel 208, the first driven pulley 210, second
Driven pulley 211, the 3rd driven pulley 212, contact roller 213 and industrial adsorption chain 217.The industrial adsorption chain 217 with master
Driving wheel 208, the first driven pulley 210, the second driven pulley 211, the 3rd driven pulley 212, contact roller 213 touch.
Top carrying platform 201 and body side 207 are to be detachably connected.The anterior installation ultrasound of top carrying platform 201
Ripple detecting module 202 and tube video detecting device 203, rear portion installation infrared detection device 204.Ultrasonic listening module 202, video
Detection device 203, infrared detection device 204 constitute detection platform.Ultrasonic listening module 202, for the obstacle detouring of barrier
Judge with returning.Infrared detection device 204, equipment operating ambient temperature can be detected in real time, realize that safe early warning judges.Depending on
The Real-time Feedback of frequency detection device 203 is based on realtime video transmission, can realize man-machine information interaction function, real time control machine device people
Operation.
The bottom of top carrying platform 201 is provided with control system 205 and module carries storehouse 206.Module carries storehouse 206
To lay Measuring error equipment.Control system 205 is placed in vehicle body, can slow down and prevent external interference.
The driven pulley 210 of driving wheel 208 and first is rotatablely installed in the top both sides of body side 207 respectively；Described
Two driven pulleys 211, the 3rd driven pulley 212 are rotatablely installed in the bottom both sides of body side 207 respectively；The contact roller 213 is located at
Among second driven pulley 211, the 3rd driven pulley 212.The contact roller 213 is rotatablely installed in bottom guide plate 214；The lower guide
Plate 214 slides vertically with body side 207 and is connected；The bottom guide plate 214 is fixedly installed in the bottom of compression spring 215；Pressure
The top of spring 215 is fixedly installed in upper gib 216；Upper gib 216 is fixedly installed in body side 207.Preferably, institute
State the bottom of upper gib 216 and a pair of compression springs 215 are installed, and compression spring 215 is arranged in alignment pin.Compression spring 215
For undertaking pressure, upper gib 216, compression spring 215 and bottom guide plate 214 constitute wheel clamping so that contact roller
213 have certain fluctuating adaptability.
The driving wheel 208 is installed on the output end of drive system 209.Further, stepping electricity is set in drive system 209
Machine and decelerator；Decelerator is installed on the output end of stepper motor；The connection reducer of driving wheel 208.
Industrial adsorption chain 217, arrangement permanent magnet simultaneously provide absorption affinity of creeping.Industrial adsorption chain 217, using industrial chain
Bar and permanent magnet absorption mode, industrial adsorption chain 217 are made up of single bilateral monaural chain link plate 218, single bilateral monaural
Chain link plate 218 is the component units of industrial adsorption chain 217.Single bilateral monaural chain link plate 218, including square band countersunk head
The adsorbable wall 220 of hole permanent magnet 219, magnet and magnet Hubei Province iron 221；Described magnet Hubei Province iron 221 is located at the adsorbable wall of magnet
220 upper centers；The square band counter sink permanent magnet 219 is located at the adsorbable top both sides of wall 220 of magnet.Square band countersunk head
The adsorbable wall 220 of hole permanent magnet 219, magnet and magnet Hubei Province iron 221 form magnetic loop, can increase the magnetic of magnet, increase
The stability of industrial adsorption chain 217, while magnet suction size can be adjusted as desired, there is certain adaptability.Work
Industry absorption chain 217 is arranged on outside car body, to reduce interior of body system by external magnetic field influence degree.
Handset climbs the course of work of monitoring module 200：After industrial adsorption chain 217 adsorbs wall, drive system 209 is driven
Dynamic driving wheel 208 rotates, and drives three groups of driven pulleys to move, the obstacle detouring of contact roller 213, detection platform automatic detection, information gathering, depending on
Frequency real time information feedback establishes information database；Emergency is run into, automatic early-warning is simultaneously stopped.
There is handset climbing monitoring module 200 fold to cross ability, and three groups of driven pulleys can be protected with one group of contact roller
Steady reliability when card is crossed, has bigger adaptability and mobility in more complicated work wall.Detection platform can be built
Vertical information database, very big reference role is served for fault pre-alarming and law study.Tube video detecting device 203 is realized in real time
Manipulation function.
The cleaning module 300, is installed on top carrying platform 201, including baffle plate 301, the outer framework being coaxially disposed
302 and drilled base plate 313；The 302 hollow setting of outer framework；The baffle plate 301 is installed on the top of outer framework 302；The band
Bottom hole plate 313 is installed on the bottom of outer framework 302；The drilled base plate 313 is provided with through hole；The drilled base plate 313 is provided with
Cylindrical sides brush 314, plane formula disk brush 316；The side of cylindrical sides brush 314 is provided with horizontally disposed
Conical bristle 315；The bottom of plane formula disk brush 316 is provided with the compartment plane bristle 317 erect and set.It is described
Cylindrical sides brush 314, plane formula disk brush 316 both pass through the through hole connection motor 312 on drilled base plate 313.
The motor 312 can be stepper motor, brushed DC motor, brshless DC motor etc..Motor 312 drives cylinder
Shape side brush 314, plane formula disk brush 316 rotate, so as to play a part of cleaning.
The bottom margin of drilled base plate 313 is provided with infrared distance sensor 318；The infrared distance sensor 318
It is vertically arranged with drilled base plate 313.The infrared distance sensor 318 is to detecting obstacles thing.
Plane formula disk brush 316 is used as negative pressure fan, produces negative-pressure sucking.The plane formula disk brush 316 is hollow
Set, the bottom of plane formula disk brush 316 is provided with shaft flow blade 319, it is ensured that whole device for dust collecting effect,
So that very big suction can also be produced at brush.
Disk screen 306, motor mounting plate 307, disc filter screen 309, dust-break are installed inside the outer framework 302
Plate 311.Preferably, to ensure the high-efficiency vacuum environment of device, drilled base plate 313, dust board 311, disc filter screen 309,
The joint of motor mounting plate 307 and disk screen 306 and outer framework 302 uses sealant sealing.
The lower section of dust board 311 has been dirt device, and top is negative pressure dust collect plant.
Rise dirt device include motor 312, drilled base plate 313, cylindrical sides brush 314, conical bristle 315,
Plane formula disk brush 316, compartment plane bristle 317.Drilled base plate 313 is mainly used in having installed dirt equipment.
Negative pressure dust collect plant, including disk screen 306, tandem brushless electric machine 308, motor mounting plate 307, disc
Filter screen 309, cylinder type filter net 310.
The disk screen 306 is horizontally disposed；The disk screen 306 is located at motor mounting plate 307 and tandem
The top of brushless electric machine 308, and disk screen 306 is coaxially disposed with outer framework 302.
The motor mounting plate 307 is horizontally disposed；The motor mounting plate 307 is coaxially disposed with outer framework 302；The electricity
Machine installing plate 307 is located at the top of disc filter screen 309；Through hole is offered at the axis of motor mounting plate 307；The motor mounting plate
307 lower section installation tandem brushless electric machines 308；The tandem brushless electric machine 308 is coaxially disposed with motor mounting plate 307, and
Tandem brushless electric machine 308 is installed on the through hole of motor mounting plate 307.
The disc filter screen 309 is horizontally disposed；The disc filter screen 309 is coaxially disposed with outer framework 302；The circle
Dish type filter screen 309 is located at dust board 311 and the top of cylinder type filter net 310.
The dust board 311 is horizontally disposed, and dust board 311 is coaxially disposed with outer framework 302, and in dust board 311
The heart offers circular hole；Top surface is provided with the cylinder type filter net 310 being coaxially disposed on the dust board 311；The cylinder type filter net
310 cover at the circular hole of dust board 311.
Disc filter screen 309 is located at the entrance of tandem brushless electric machine 308.Tandem brushless electric machine 308 works, and produces negative
Pressure.Disc filter screen 309 and dust board 311 form a dust cavity.
The outer wall of outer framework 302 is circumferentially evenly equipped with least two line slideways 303；The line slideway 303 is vertically set
Put, the top of line slideway 303 fits with the bottom surface of baffle plate 301；The line slideway 303 is arranged in linear slider 304；It is described
The outer wall of outer framework 302 is provided with linear electric motors push rod 305；The top of the linear electric motors push rod 305 and the bottom surface phase of baffle plate 301
Fitting.The linear slider 304 and linear electric motors push rod 305 are equipped on external vehicle equipment, and external vehicle equipment is driving
The transverse movement of this dedusting mechanism, and according to the concavo-convex situation on ground, drive this dedusting mechanism to hang down by linear electric motors push rod 305
Direct acting.Line slideway 303 and linear electric motors push rod 305 constitute lifting apparatus.Linear electric motors push rod 305 acts, and lifting removes
Dirt mechanism, so that it is guaranteed that cleaning device is effectively to contact with wall.
Plane formula disk brush 316 covers the sweep-out pattern of whole concave surface, cylindrical sides brush 314 and wall convex side
Face is contacted, and its side dust is cleared away by rotation.Entirely play dirt device to rotate at a high speed due to needing, so using straight line
Motor drives.Dust is played after dirt by first order suction caused by brush and toward bristle upper direction.Dust departs from wall
Behind face, the dust board 311 that filtering is set above dirt device is played, center is cylinder type filter net 310, and dust easily enters to be not easy out, dust-break
The top of plate 311 sets tandem brushless electric machine 308 to produce subnormal ambient and produces second level suction.To ensure that the filtering of dust is imitated
Fruit, cylinder type filter net 310 is set in the air inlet of tandem brushless electric machine 308, secondary filter is carried out to dust.Dust board ()
With brushless electric machine () intermediate region as dust-storage chamber.It is per part body and outside to ensure the dust adsorption effect of single unit system
Sealant sealing is all used between framework.
The course of work of the present utility model is：The monitoring of combined type super-pressure variable flow valve is positioned over dedusting robot and waits to locate
Working environment is managed, in advance in work ground laying light belt.Machine tool all-around mobile carrying platform module 100, passes through optical sensing
Device 117 detects and the deviation of ground light band, and control bottom omni-directional wheel 116 is rotated, moved along light belt, ensures that movement locus is accurate
Really.
The logging machine all-around mobile carrying platform module real time position of industrial computer 400, by distinguishing that optical-electric module passes letter back
Number in real time adjustment all-around mobile carrying platform position and turning, the robot control terminal when its single motion reaches preset value
Stop sending linking module enabled instruction and handset release signal while its motion.
Coordinate information is passed to machine tool all-around mobile carrying platform module 100, industry control by handset climbing monitoring module 200
Machine 400 controls machine tool all-around mobile carrying platform module 100 to move, while supporting plate 105 rotates, and ensures carrying platform angle
Degree, position are reliable, it is ensured that both are connected smooth.Handset climbing monitoring module 200 fuselage mounting industrial absorption chain 217, with pressure
Bearing up pulley 213 compresses, guarantee chain tension, and stable movement is reliable.
Handset climbing monitoring module 200 leaves machine tool all-around mobile carrying platform module 100 and climbs up work wall.When super
Acoustic detection module 202, which detects, sends detection signal to robot control terminal after barrier, after terminal is by judgement
If small obstacle, then it is to cleaning module 300, control linear electric motors push rod 305 that cleaning module lifting is laggard to send avoidance signal
Row barrier-jump.Motor reversal signal control handset climbing monitoring module 200 is then sent if big obstacle to return.Handset climbing monitoring mould
In the running of block 200, infrared detection device 204 and the detectable signal of tube video detecting device 203 are proved to be true after interrogation by wifi channel radios
When be transferred to the external world.When machine tool all-around mobile carrying platform module 100 detects the return letter of handset climbing monitoring module 200
Judge whether its return succeeds after number, if success, industrial computer 400 sends to machine tool all-around mobile carrying platform module 100 and opened
Move signal, send silence signal to cleaning module 300.If failure sends to handset climbing monitoring module 200 and retracts signal,
Again docked.
Machine shell scribbles external surface coating material, the electromagnetic interference in attenuated signal transmission.
Content described in this specification embodiment is only to conceive institute's way of realization to utility model to enumerate, the utility model
Protection domain should not be limited only to the concrete form that embodiment is stated, the scope of protection of the utility model and in this area
Technical staff is according to the thinkable equivalent technologies mean of technical concept of the present utility model institute.
Claims (10)
1. a kind of combined type super-pressure variable flow valve monitoring and dedusting robot, it is characterised in that held including machine tool all-around mobile
Carrying platform module（100）, handset climbing monitoring module（200）And cleaning module（300）；The machine tool all-around mobile carrying is flat
Platform module（100）With industrial computer（400）Signal connects；The machine tool all-around mobile carrying platform module（100）Install bottom
Omni-directional wheel（116）, top is provided with rotatable supporting plate（105）；The handset climbs monitoring module（200）It is set up in support
Plate（105）, and handset climbing monitoring module（200）Bottom mounting industrial absorption chain（217）, it is flat that top is provided with top carrying
Platform（201）；The cleaning module（300）It is arranged in handset climbing monitoring module（200）, cleaning module（300）Including outer framework
（302）, linear electric motors push rod（305）, rise dirt device and negative pressure dust collect plant；The linear electric motors push rod（305）One end connects
Outer framework（302）, other end connection handset climbing monitoring module（200）.
2. a kind of combined type super-pressure variable flow valve monitoring as claimed in claim 1 and dedusting robot, it is characterised in that described
Machine tool all-around mobile carrying platform module（100）Including upper whole plate（101）, the first motor（102）, supporting plate（105）, support
Bar（106）, fix bar（109）, top bottom-disc（111）, low bottom-disc（115）And omni-directional wheel（116）；First motor（102）Peace
Loaded on upper whole plate（101）, the first motor（102）Output end screw mandrel is installed（103）；The screw mandrel（103）It is arranged in nut
（104）；The nut（104）With supporting plate（105）Lower rotation connects, the support bar（106）Top is rotatablely installed in branch
Fagging（105）Back top, lower rotation are installed on whole plate（101）；The upper whole plate（101）Pass through fix bar（109）Even
Connect chassis（111）；The top bottom-disc（111）And low bottom-disc（115）Between spring damper is installed（112）；The omni-directional wheel
（116）It is installed on low bottom-disc（115）Four sides.
3. a kind of combined type super-pressure variable flow valve monitoring as claimed in claim 2 and dedusting robot, it is characterised in that described
Upper whole plate（101）Slide rail is installed（108）；The supporting plate（105）Both sides lower rotation is installed on sliding block（107）；The cunning
Rail（108）It is symmetricly set in screw mandrel（103）Both sides, and sliding block（107）With slide rail（108）It is slidably connected；The support bar（106）
With the first motor（102）It is divided into supporting plate（105）Both sides；The fix bar（109）Erect and set, top is fixedly installed in
Whole plate（101）Corner, bottom are fixedly installed in top bottom-disc（111）Corner；The spring damper（112）Erect and set, and point
Located at omni-directional wheel（116）Both sides, spring damper（112）Top is fixedly installed in top bottom-disc（111）, spring damper（112）
Bottom is fixedly installed in low bottom-disc（115）.
4. a kind of combined type super-pressure variable flow valve monitoring as claimed in claim 2 and dedusting robot, it is characterised in that described
Omni-directional wheel（116）Connect planet wheel decelerator（113）；The planet wheel decelerator（113）It is installed on the second motor（114）It is defeated
Go out end；The low bottom-disc（115）Bottom is installed by optical sensor（117）, optical sensor（117）Height≤10mm.
5. a kind of combined type super-pressure variable flow valve monitoring as claimed in claim 1 and dedusting robot, it is characterised in that described
Handset climbs monitoring module（200）, including top carrying platform（201）And body side（207）；The body side（207）
It is arranged at top carrying platform（201）Both sides, and body side（207）Driving wheel is installed（208）, the first driven pulley（210）、
Second driven pulley（211）, the 3rd driven pulley（212）, contact roller（213）With industrial adsorption chain（217）；The industrial adsorption chain
Bar（217）And driving wheel（208）, the first driven pulley（210）, the second driven pulley（211）, the 3rd driven pulley（212）, contact roller
（213）Touch；The driving wheel（208）With the first driven pulley（210）It is rotatablely installed respectively in body side（207）Top two
Side；Second driven pulley（211）, the 3rd driven pulley（212）It is rotatablely installed respectively in body side（207）Bottom both sides；Institute
State contact roller（213）Positioned at the second driven pulley（211）, the 3rd driven pulley（212）It is middle；The contact roller（213）Rotational installation
In bottom guide plate（214）；The bottom guide plate（214）With body side（207）Slide vertically connection；The bottom guide plate
（214）It is fixedly installed in compression spring（215）Bottom；Compression spring（215）Top is fixedly installed in upper gib（216）；On
Portion's guide plate（216）It is fixedly installed in body side（207）.
6. a kind of combined type super-pressure variable flow valve monitoring as claimed in claim 5 and dedusting robot, it is characterised in that described
Top carrying platform（201）Front portion installation ultrasonic listening module（202）And tube video detecting device（203）, rear portion is installed infrared
Detection device（204）；The top carrying platform（201）Bottom is provided with control system（205）Storehouse is carried with module（206）；
The upper gib（216）Bottom is provided with a pair of compression springs（215）, and compression spring（215）It is arranged in alignment pin；It is described
Driving wheel（208）It is installed on drive system（209）Output end；The drive system（209）Inside set stepper motor and decelerator；
Decelerator is installed on the output end of stepper motor；Driving wheel（208）Connection reducer.
7. a kind of combined type super-pressure variable flow valve monitoring as claimed in claim 5 and dedusting robot, it is characterised in that described
Industrial adsorption chain（217）By single bilateral monaural chain link plate（218）Composition；The single bilateral monaural chain link plate
（218）, including square band counter sink permanent magnet（219）, the adsorbable wall of magnet（220）With magnet Hubei Province iron（221）；The magnet
E Tie（221）Positioned at the adsorbable wall of magnet（220）Upper center；The square band counter sink permanent magnet（219）Positioned at magnet
Adsorbable wall（220）Top both sides；Square band counter sink permanent magnet（219）, the adsorbable wall of magnet（220）With magnet Hubei Province iron
（221）Form magnetic loop.
8. a kind of combined type super-pressure variable flow valve monitoring as claimed in claim 1 and dedusting robot, it is characterised in that described
Cleaning module（300）, including the baffle plate being coaxially disposed（301）, outer framework（302）And drilled base plate（313）；The outer framework
（302）Hollow setting；The baffle plate（301）It is installed on outer framework（302）Top；The drilled base plate（313）It is installed on housing
Frame（302）Bottom；The drilled base plate（313）It is provided with through hole；The drilled base plate（313）Cylindrical sides brush is installed
（314）, plane formula disk brush（316）；The cylindrical sides brush（314）, plane formula disk brush（316）Both pass through band
Bottom hole plate（313）On through hole connection motor（312）；The cylindrical sides brush（314）Side is provided with level and set
The conical bristle put（315）；The plane formula disk brush（316）Bottom is provided with the compartment plane bristle erect and set
（317）.
9. a kind of combined type super-pressure variable flow valve monitoring as claimed in claim 8 and dedusting robot, it is characterised in that described
Drilled base plate（313）Bottom margin is provided with infrared distance sensor（318）；The infrared distance sensor（318）With it is with holes
Bottom plate（313）It is vertically arranged；The outer framework（302）Inside is provided with horizontally disposed dust board（311）；The dust board
（311）With outer framework（302）It is coaxially disposed, and dust board（311）Center offer circular hole；The dust board（311）Upper top
Face is provided with the cylinder type filter net being coaxially disposed（310）；The cylinder type filter net（310）Cover at dust board（311）Circular hole；
The outer framework（302）Inside is provided with horizontally disposed disc filter screen（309）；The disc filter screen（309）With housing
Frame（302）It is coaxially disposed；The disc filter screen（309）Positioned at dust board（311）And cylinder type filter net（310）Top；It is described
Outer framework（302）Inside is provided with horizontally disposed motor mounting plate（307）；The motor mounting plate（307）With outer framework
（302）It is coaxially disposed；The motor mounting plate（307）Positioned at disc filter screen（309）Top；Motor mounting plate（307）Axis
Place offers through hole；The motor mounting plate（307）Lower section is installed by tandem brushless electric machine（308）；The brushless electricity of tandem
Machine（308）With motor mounting plate（307）It is coaxially disposed, and tandem brushless electric machine（308）It is installed on motor mounting plate（307）'s
Through hole；The outer framework（302）Inside is provided with horizontally disposed disk screen（306）；The disk screen（306）
Positioned at motor mounting plate（307）With tandem brushless electric machine（308）Top, and disk screen（306）With outer framework（302）Together
Axle is set.
10. a kind of combined type super-pressure variable flow valve monitoring as claimed in claim 8 and dedusting robot, it is characterised in that institute
State outer framework（302）Outer wall is circumferentially evenly equipped with least two line slideways（303）；The line slideway（303）It is vertically arranged, directly
Line guide rail（303）Top and baffle plate（301）Bottom surface fits；The line slideway（303）It is arranged in linear slider（304）；
The outer framework（302）Outer wall is provided with linear electric motors push rod（305）；The linear electric motors push rod（305）Top and baffle plate
（301）Bottom surface fits；The plane formula disk brush（316）Hollow setting, plane formula disk brush（316）Install bottom
There is shaft flow blade（319）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720141157.5U CN206850525U (en) | 2017-02-16 | 2017-02-16 | A kind of combined type super-pressure variable flow valve monitoring and dedusting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720141157.5U CN206850525U (en) | 2017-02-16 | 2017-02-16 | A kind of combined type super-pressure variable flow valve monitoring and dedusting robot |
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| Publication Number | Publication Date |
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| CN206850525U true CN206850525U (en) | 2018-01-05 |
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| CN201720141157.5U Expired - Fee Related CN206850525U (en) | 2017-02-16 | 2017-02-16 | A kind of combined type super-pressure variable flow valve monitoring and dedusting robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106816959A (en) * | 2017-02-16 | 2017-06-09 | 浙江工业大学 | A kind of combined type super-pressure variable flow valve monitoring and dedusting robot |
| TWI723527B (en) * | 2019-02-20 | 2021-04-01 | 南韓商Ｌｇ電子股份有限公司 | Plurality of autonomous mobile robots and controlling method for the same |
| TWI723526B (en) * | 2018-09-06 | 2021-04-01 | 南韓商Ｌｇ電子股份有限公司 | Plurality of autonomous mobile robots and controlling method for the same |
| US11409308B2 (en) | 2018-09-06 | 2022-08-09 | Lg Electronics Inc. | Robot cleaner and a controlling method for the same |
| US11432697B2 (en) | 2018-09-06 | 2022-09-06 | Lg Electronics Inc. | Robot cleaner and a controlling method for the same |
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2017
- 2017-02-16 CN CN201720141157.5U patent/CN206850525U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106816959A (en) * | 2017-02-16 | 2017-06-09 | 浙江工业大学 | A kind of combined type super-pressure variable flow valve monitoring and dedusting robot |
| CN106816959B (en) * | 2017-02-16 | 2023-09-05 | 浙江工业大学 | Combined type ultrahigh-pressure variable flow valve monitoring and dust removing robot |
| TWI723526B (en) * | 2018-09-06 | 2021-04-01 | 南韓商Ｌｇ電子股份有限公司 | Plurality of autonomous mobile robots and controlling method for the same |
| US11269355B2 (en) | 2018-09-06 | 2022-03-08 | Lg Electronics Inc. | Plurality of autonomous mobile robots and controlling method for the same |
| US11409308B2 (en) | 2018-09-06 | 2022-08-09 | Lg Electronics Inc. | Robot cleaner and a controlling method for the same |
| US11432697B2 (en) | 2018-09-06 | 2022-09-06 | Lg Electronics Inc. | Robot cleaner and a controlling method for the same |
| US11906979B2 (en) | 2018-09-06 | 2024-02-20 | Lg Electronics Inc. | Plurality of autonomous mobile robots and controlling method for the same |
| TWI723527B (en) * | 2019-02-20 | 2021-04-01 | 南韓商Ｌｇ電子股份有限公司 | Plurality of autonomous mobile robots and controlling method for the same |
| US11256250B2 (en) | 2019-02-20 | 2022-02-22 | Lg Electronics Inc. | Plurality of autonomous mobile robots and controlling method for the same |
| US11740625B2 (en) | 2019-02-20 | 2023-08-29 | Lg Electronics Inc. | Plurality of autonomous mobile robots and controlling method for the same |
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Granted publication date: 20180105 Termination date: 20210216 |