CN207821768U - Glass-wall cleaning robot control system - Google Patents
Glass-wall cleaning robot control system Download PDFInfo
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- CN207821768U CN207821768U CN201720688557.8U CN201720688557U CN207821768U CN 207821768 U CN207821768 U CN 207821768U CN 201720688557 U CN201720688557 U CN 201720688557U CN 207821768 U CN207821768 U CN 207821768U
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Abstract
The utility model discloses a kind of glass-wall cleaning robot control systems, including hoist engine and clean robot in curtain wall top is arranged, and clean robot is hung by lifting rope and is located on hoist engine, and is moved under the traction of lifting rope；Clean robot includes cleaning device, more than two adsorbent equipments, tank body and the telescopic rod being installed on tank body；Cleaning device, which is equipped with, to be connected with tank body and to the cleaning passage of the metope jet cleaning water of curtain wall and the soil pick-up channel for recycling the sewage after cleaning；Adsorbent equipment and cleaning device are secured to the end of telescopic rod respectively, when clean robot leaping over obstacles, telescopic rod is controlled to move so that corresponding adsorbent equipment or cleaning device are stretched out or shunk, and are controlled more than one adsorbent equipment and kept absorption connection with curtain wall metope；Can either reliably adsorb, but can quick leaping over obstacles, control it is more flexible, so as to improve the creep speed and cleaning efficiency of robot.
Description
Technical field
The utility model is related to a kind of glass-wall cleaning robot control systems.
Background technology
Traditional common curtain cleaning mode is " artificial+platform sling " or " artificial+hanging basket " nothing but.The former is simple and crude using one
The manned wiping (i.e. our usually said " spider-mans ") of rope suspensions plank, not only efficiency is low, but also accident-proneness.Mesh
Before, some countries and regions limit the artificial high-altitude climbing including wiping window operation by making laws.The latter
It is comparatively safe using the manned wiping of hoisting machine hanging basket, but early period, equipment investment was larger, and cleaning is of high cost.Based on this
Kind situation, the glass-wall cleaning robot of skyscraper come into being.
The glass-wall cleaning robot of the prior art is generally divided into rail mounted and absorption type, and rail mounted robot is due to the buildings Xu
Track is arranged in external wall, and engineering is complicated, and hardware cost is high, and suitability is poor；Absorption type robot relies primarily on adsorbent equipment offer
Negative pressure be adsorbed on vertical walls or inclined wall, the quality of adsorbent equipment directly influences the cleaning effect of robot
Rate.
Utility model content
The utility model, can either be reliable to solve the above problems, provide a kind of glass-wall cleaning robot control system
Absorption, but can quick leaping over obstacles, control it is more flexible, so as to improve the creep speed and cleaning efficiency of robot.
To achieve the above object, the technical solution adopted in the utility model is：
A kind of glass-wall cleaning robot control system includes hoist engine (40) and cleaner of the setting at the top of curtain wall (60)
Device people, the clean robot are hung by lifting rope (41) and are located on the hoist engine (40), and in the traction of the lifting rope (41)
Under moved；The clean robot includes cleaning device (20), more than two adsorbent equipments (10), tank body (30)
And it is installed in the telescopic rod (31) on the tank body (30)；The cleaning device (20) is equipped with and the tank body
(30) it is connected and is recycled to the cleaning passage of the metope jet cleaning water of the curtain wall (60) and by the sewage after cleaning
Soil pick-up channel；The adsorbent equipment (10) and the cleaning device (20) are secured to the end of the telescopic rod (31) respectively,
When the clean robot leaping over obstacles, controls the telescopic rod (31) and move so that corresponding adsorbent equipment (10) or cleaning dress
It sets (20) to stretch out or shrink, and controls more than one adsorbent equipment and keep absorption connection with curtain wall (60) metope.
Preferably, adsorbent equipment (10) the time interval setting, and at least in the direction of motion set on clean robot
The adsorbent equipment (10) of front be equipped with bottom test section (15) for detecting metope distance and for detecting obstacle distance
Preceding test section (16).
Preferably, the top of the adsorbent equipment (10) is equipped with the first exhaust fan (11), and is equipped with sealing in bottom end face
Adhesive tape (12), the sealing joint strip (12) merge with the metope sealing paste of the curtain wall (60) in the adsorbent equipment (10) bottom
Negative pressure cavity (13) is formed, first exhaust fan (11) is connected by suction opening with the negative pressure cavity (13) and to the negative pressure
Chamber (13) carries out suction and forms negative pressure.
Preferably, the adsorbent equipment (10) is additionally provided with idler wheel (14), and the lifting rope (41) draws the clean robot
When being moved, the metope of the idler wheel (14) and the curtain wall (60), which rolls, to be coordinated, and the sealing joint strip (12) with it is described
The metope sliding fitting of curtain wall (60).
Preferably, the cleaning device (20) is arranged between two neighboring adsorbent equipment (10), and the cleaning device
(20) end with the telescopic rod (31) is rotatably assorted.
Preferably, the cleaning device (20) includes mounting plate (25), and the bottom of the mounting plate (25) is equipped with cleaning glue
The back of item (24), hole for water spraying (26), sewage recovery holes (27), the mounting plate (25) is equipped with sewage aspirator, the water spray
Hole (26) is connected with the tank body (30) by the cleaning passage and to the metope jet cleaning of the curtain wall (60)
Water, the sewage after cleaning are drawn into soil pick-up channel by the sewage recovery holes (27) by the sewage aspirator.
Preferably, the sewage aspirator includes the second exhaust fan (21) and water storage cavity (22), second exhaust fan
(21) pumping is carried out to the water storage cavity (22) and forms it into negative pressure, the water storage cavity (22) passes through the suction under the action of negative pressure
Dirty channel forms negative-pressure ward power in the sewage recovery holes (27).
Preferably, the water storage cavity (22) is equipped with sewage flow-guiding mouth (23), is arranged sewage by the sewage flow-guiding mouth (23)
It removes, or sewage is drained to by filter device by the sewage flow-guiding mouth (23), and the sewage through filter device is recycled to institute
It states and is recycled in tank body (30).
Preferably, the clean robot is additionally provided with flight instruments (50), which includes more than two right
Claim the lift fan being arranged on the tank body (30).
The utility model has the beneficial effects that：
(1), the sucker of the prior art is usually all to form negative pressure cavity using rubber material, and absorption dynamics can not when too small
Lean on, absorption dynamics it is too big when be difficult to control separation, the negative pressure cavity of the utility model is formed by shell, housing bottom end face it is close
Seal strip mainly seals, but not deforms, and mainly controls the suction of negative pressure cavity by controlling the suction force of exhaust fan
Attached power can either ensure reliably to adsorb, and make control more flexible；
(2), the cleaning device of the utility model carries out side by the hole for water spraying and cleaning adhesive tape of mounting plate bottom to metope
The cleaning of water spray side, and the sewage time that the sewage generated after cleaning is passed through to mounting plate bottom is acted on by the negative-pressure ward of exhaust fan
Batter is pumped to intake antrum and water storage cavity, can carry out quickly aspirating and dividing to the atomization sewage above the sewage and metope of metope
From recycling, cleaning efficiency is greatly improved；
(3), the idler wheel of the utility model and sealing joint strip are used cooperatively, and can ensure to keep in rolling moving process
The sealing effect of negative pressure cavity so that adsorbent equipment keeps suction-operated, using more convenient；
(4), test section and bottom test section before the utility model is also further provided with thus allow for wall locations detection
With preceding object analyte detection so that adsorbent equipment is more intelligent, so as to intelligent recognition and crosses over various types of obstacles
Object.
Description of the drawings
Attached drawing described herein is used to provide a further understanding of the present invention, and constitutes one of the utility model
Point, the exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the utility model
Improper restriction.In the accompanying drawings：
Fig. 1 is the overall structure diagram of the glass-wall cleaning robot control system of the utility model；
Fig. 2 is robot architecture's schematic diagram of the glass-wall cleaning robot control system of the utility model；
Fig. 3 is one of the structural schematic diagram of adsorbent equipment of the glass-wall cleaning robot control system of the utility model；
Fig. 4 is the second structural representation of the adsorbent equipment of the glass-wall cleaning robot control system of the utility model；
Fig. 5 is one of the structural schematic diagram of cleaning device of the glass-wall cleaning robot control system of the utility model；
Fig. 6 is the second structural representation of the cleaning device of the glass-wall cleaning robot control system of the utility model；
Fig. 7 is that the original state schematic diagram of the glass-wall cleaning robot control system of the utility model (crosses over separate unit stepwise
Obstacle)；
Fig. 8 is that the cleaning side wall status diagram of the glass-wall cleaning robot control system of the utility model (crosses over separate unit
Stepwise obstacle)；
Fig. 9 is that the leap process status diagram of the glass-wall cleaning robot control system of the utility model (crosses over separate unit
Stepwise obstacle)；
Figure 10 is that the completion of the glass-wall cleaning robot control system of the utility model (crosses over separate unit across status diagram
Stepwise obstacle)；
Figure 11 is that the original state schematic diagram of the glass-wall cleaning robot control system of the utility model (hinders across small boss
Hinder)；
Figure 12 is that the leap process status diagram of the glass-wall cleaning robot control system of the utility model (is crossed over small convex
Platform obstacle)；
Figure 13 is that the cleaning boss status diagram of the glass-wall cleaning robot control system of the utility model (is crossed over small convex
Platform obstacle)；
Figure 14 is that the completion of the glass-wall cleaning robot control system of the utility model (is crossed over small convex across status diagram
Platform obstacle)；
Figure 15 is that the cleaning side wall status diagram of the glass-wall cleaning robot control system of the utility model (is crossed over big convex
Platform obstacle)；
Figure 16 is that one of cleaning boss status diagram of glass-wall cleaning robot control system of the utility model (is crossed over
Big boss obstacle)；
Figure 17 is two (leaps of the cleaning boss status diagram of the glass-wall cleaning robot control system of the utility model
Big boss obstacle)；
Figure 18 is that the boss cleaning of the glass-wall cleaning robot control system of the utility model terminates status diagram (leap
Big boss obstacle)；
Figure 19 is the status diagram of the cleaning first order side wall of the glass-wall cleaning robot control system of the utility model
(crossing over dual stage stepwise obstacle)；
Figure 20 is the status diagram of the cleaning first order step of the glass-wall cleaning robot control system of the utility model
(crossing over dual stage stepwise obstacle)；
Figure 21 is the status diagram of the cleaning second level side wall of the glass-wall cleaning robot control system of the utility model
(crossing over dual stage stepwise obstacle)；
Figure 22 is the status diagram of the cleaning second level step of the glass-wall cleaning robot control system of the utility model
(crossing over dual stage stepwise obstacle)；
In figure：
10- adsorbent equipments；The first exhaust fans of 11-；12- sealing joint strips；13- negative pressure cavities；14- idler wheels；The bottoms 15- test section；
Test section before 16-；
20- cleaning devices；The second exhaust fans of 21-；22- water storage cavities；23- sewage flow-guiding mouths；24- cleans adhesive tape；25- is installed
Plate；26- hole for water sprayings；27- sewage recovery holes；
30- tank bodies；31- telescopic rods；
40- hoist engines；41- lifting ropes；
50- flight instruments (lift fan)；
60- curtain walls.
Specific implementation mode
In order to keep technical problem to be solved in the utility model, technical solution and advantageous effect clearer, clear, with
Under in conjunction with the accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific reality described herein
Example is applied only to explain the utility model, is not used to limit the utility model.
As shown in Figures 1 to 6, a kind of glass-wall cleaning robot control system of the utility model, including be arranged in curtain wall
The hoist engine 40 and clean robot at 60 tops, the clean robot are hung by lifting rope 41 and are located on the hoist engine 40, and
It is moved under the traction of the lifting rope 41；The clean robot includes cleaning device 20, more than two adsorbent equipments
10, tank body 30 and the telescopic rod 31 being installed on the tank body 30；The cleaning device 20 is equipped with and the water
Case ontology 30 is connected and is returned to the cleaning passage of the metope jet cleaning water of the curtain wall 60 and by the sewage after cleaning
The soil pick-up channel of receipts；The adsorbent equipment 10 and the cleaning device 20 are secured to the end of the telescopic rod 31 respectively, described
When clean robot leaping over obstacles, controls the telescopic rod 31 and move so that corresponding adsorbent equipment 10 or cleaning device 20 stretch out
Or shrink, and control more than one adsorbent equipment and keep absorption connection with 60 metope of curtain wall.
Adsorbent equipment：
As shown in Figure 3 to Figure 4, in the present embodiment, the setting of 10 time interval of the adsorbent equipment, and at least set on cleaning
The adsorbent equipment 10 of the front of the direction of motion of robot is equipped with bottom test section 15 for detecting metope distance and for detecting
The preceding test section 16 of obstacle distance.The top of the adsorbent equipment 10 is equipped with the first exhaust fan 11, and is equipped in bottom end face
Sealing joint strip 12, the sealing joint strip 12 merges with the metope sealing paste of the curtain wall 60 to be formed in 10 bottom of the adsorbent equipment
Negative pressure cavity 13, first exhaust fan 11 are connected with the negative pressure cavity 13 by suction opening and are taken out to the negative pressure cavity 13
Suction forms negative pressure.The adsorbent equipment 10 is additionally provided with idler wheel 14, when the lifting rope 41 draws the clean robot and is moved,
The metope of the idler wheel 14 and the curtain wall 60, which rolls, to be coordinated, and the sealing joint strip 12 and the metope sliding of the curtain wall 60 are pasted
It closes.
The quantity of first exhaust fan 11 can be configured according to the size and weight of shown clean robot, this implementation
In example, the quantity of the first exhaust fan 11 of each adsorbent equipment 10 is one, it is, of course, also possible to be arranged as required to two with
On.The quantity of idler wheel 14 can be configured according to the size of adsorbent equipment 10, for example, can be respectively in the left and right of adsorbent equipment 10 two
An idler wheel is respectively set in side.In the present embodiment, the adsorbent equipment 10 is respectively arranged on the left side and the right side two idler wheels 14.It is described
The rotation of idler wheel 14 is secured on the idler wheel pin joint seat of the adsorbent equipment 10, and 14 unpowered driving of the idler wheel, but is being hung
Rolling movement under the tractive force of rope 41.
Cleaning device：
As shown in Figure 5 to Figure 6, the cleaning device 20 is arranged between two neighboring adsorbent equipment 10, and the cleaning
Device 20 and the end of the telescopic rod 31 are rotatably assorted.The cleaning device 20 includes mounting plate 25, the mounting plate 25
Bottom is equipped with cleaning adhesive tape 24, hole for water spraying 26, sewage recovery holes 27, and the back of the mounting plate 25 is equipped with sewage aspirator, institute
Hole for water spraying 26 is stated by the cleaning passage to be connected with the tank body 30 and to the metope jet cleaning of the curtain wall 60
Water, the sewage after cleaning are drawn into soil pick-up channel by the sewage recovery holes 27 by the sewage aspirator.Wherein, described
Sewage aspirator includes the second exhaust fan 21 and water storage cavity 22, and second exhaust fan 21 carries out pumping to the water storage cavity 22 to be made
It forms negative pressure, and the water storage cavity 22 forms negative pressure by the soil pick-up channel in the sewage recovery holes 27 under the action of negative pressure
Suction force.Also, the water storage cavity 22 is equipped with sewage flow-guiding mouth 23, is excluded sewage by the sewage flow-guiding mouth 23, Huo Zhetong
It crosses the sewage flow-guiding mouth 23 and sewage is drained to filter device, and the sewage through filter device is recycled to the tank body 30
Inside it is recycled.
Flight instruments：
As shown in Fig. 2, in the present embodiment, the clean robot is additionally provided with flight instruments 50, which includes
Two or more is symmetricly set on the lift fan on the tank body 30.Shown clean robot is equipped with the first communication antenna,
The servo controller of shown hoist engine is equipped with the second communication antenna, when needing to clean the metope of curtain wall 60, passes through described first
Wireless communication between communication antenna and second communication antenna, which carries out manipulation, makes the clean robot flight to curtain wall 60
Designated position.Alternatively, the movement of the clean robot by mobile terminals such as mobile phone or remote controlers can also control.
The operation principle of the control system of the glass-wall cleaning robot of the utility model is summarized as follows：
1. cleaning：
When starting cleaning, metope is sprayed by hole for water spraying 26, meanwhile, cleaning adhesive tape 24 is swung, or mobile clear
Cleaning device drives cleaning adhesive tape 24, is cleaned to metope.The sewage generated in cleaning process by sewage recovery holes 27 along
Soil pick-up channel is pumped to water storage cavity 22.
Then, sewage excludes sewage along the sewage flow-guiding mouth 23 of 22 lower part of water storage cavity, or by sewage flow-guiding mouth 23
Recycling to tank body 30 carries out secondary use after being guided to filter device by diversion pipe.
2. the course of work of walking movement：
When glass-wall cleaning robot carries out cleaning, robot is under the draw of lifting rope 41 with the rolling of idler wheel 14
It moves and moves forward, and the sealing of the metope of the sealing joint strip 12 of 10 bottom end face of the adsorbent equipment and curtain wall 60 is slidably matched,
To keep the suction-operated with metope.
Fig. 7 to Figure 10, when the clean robot encounters separate unit stepwise obstacle, the absorption by control positioned at front fills
It sets 10 the first exhaust fan 11 to shut down, and the negative pressure cavity 13 is made to lose suction function, the adsorbent equipment 10 loses suction
Attached power is to separable with curtain wall metope；At this point, at least also having another adsorbent equipment to keep and curtain wall wall-attached so that machine
People will not fall；Then, make the adsorbent equipment 10 to the direction far from curtain wall metope by controlling the contraction of telescopic rod 31
It is further continued for moving forward after moving to obstacle height position；According to the detection data of the adsorbent equipment 10 in front calculate clear
The position relationship of cleaning device 20 and the adsorbent equipment at rear 10 and current obstacle, as shown in figure 8, the adsorbent equipment 10 when front moves
When moving certain position, shown cleaning device 20 is moved to the sidewall locations of current obstacle and is rotated by 90 ° and carried out to the side wall
Side edge is cleaned as the contraction of telescopic rod 31 transported to the direction far from curtain wall metope in cleaning, 20 side of the cleaning device
It is dynamic；As shown in figure 9, reversely rotating 90 degree again after the cleaning device 20 moves to obstacle height position and continuing to Forward
Dynamic, when the cleaning device 20 moves forward to certain position, the adsorbent equipment 10 at the rear executes and the front
The identical action process of adsorbent equipment, as shown in Figure 10, until the adsorbent equipment 10 and the cleaning device 20 are fully completed
The step crosses over action.
Figure 11 to Figure 14, it is main with aforementioned separate unit stepwise obstacle when the clean robot encounters small boss obstacle
Difference lies in：On the one hand, since the footprint of small boss is less than the adsorption area of the adsorbent equipment 10 so that the absorption
Device 10 can not be adsorbed on the small boss, and therefore, the adsorbent equipment at the adsorbent equipment in the front and the rear is in institute
State the action without absorption on small boss, but continue directly to be advanced until cross the small boss after be adsorbed to curtain again again
On the metope of wall；On the other hand, the cleaning device 20 first rotates in the forward direction 90 degree to leading flank before crossing over the small boss
Cleaned, after ajust and the table top of small boss cleaned, then further reversely rotate 90 degree to trailing flank progress
Cleaning.
Figure 15 to Figure 18, when the clean robot encounters big boss obstacle, the main region with aforementioned small boss obstacle
It is not：The adsorbent equipment 10 is moved forward after being contracted to obstacle height with the telescopic rod 31 and is adsorbed in described big
On the table top of boss, again as the telescopic rod 31 is extend out to and curtain wall wall-attached after crossing the table top of the big boss
Connection.
Figure 19 to Figure 22, when the clean robot encounters dual stage stepwise obstacle, the master with aforementioned separate unit stepwise obstacle
It will be difference lies in：When the adsorbent equipment 10 in front is adsorbed in first order step, the cleaning device 20 to first order side wall into
Row cleaning；When the adsorbent equipment 10 in front is adsorbed in second level step, table top of the cleaning device 20 to first order step
It is cleaned；When the adsorbent equipment 10 that the adsorbent equipment 10 in front is adsorbed in second step and rear is adsorbed in first step,
The cleaning device 20 cleans second level side wall.And so on, it is applicable to the cleaning of multi-step obstacle.
The preferred embodiment of the utility model has shown and described in above description, as previously described, it should be understood that this practicality is new
Type is not limited to form disclosed herein, is not to be taken as excluding other embodiments, and can be used for various other groups
Conjunction, modification and environment, and above-mentioned introduction or the technology of related field can be passed through within the scope of the inventive concept described herein
Or knowledge is modified.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the utility model, then
It all should be in the protection domain of the appended claims for the utility model.
Claims (9)
1. a kind of glass-wall cleaning robot control system includes hoist engine (40) and cleaning machine of the setting at the top of curtain wall (60)
People, the clean robot are hung by lifting rope (41) and are located on the hoist engine (40), and under the traction of the lifting rope (41)
It is moved；It is characterized in that, the clean robot includes cleaning device (20), more than two adsorbent equipments (10), water
Case ontology (30) and the telescopic rod (31) being installed on the tank body (30)；The cleaning device (20) be equipped with it is described
Tank body (30) is connected and to the cleaning passage of the metope jet cleaning water of the curtain wall (60) and by the sewage after cleaning
The soil pick-up channel recycled；The adsorbent equipment (10) and the cleaning device (20) are secured to the telescopic rod (31) respectively
End, when the clean robot leaping over obstacles, control the telescopic rod (31) movement so that corresponding adsorbent equipment (10)
Or cleaning device (20) is stretched out or is shunk, and control more than one adsorbent equipment and keep absorption connection with curtain wall (60) metope.
2. a kind of glass-wall cleaning robot control system according to claim 1, it is characterised in that：The adsorbent equipment
(10) time interval is arranged, and is at least equipped with and is used in the adsorbent equipment (10) of the front of the direction of motion set on clean robot
Detect the bottom test section (15) of metope distance and the preceding test section (16) for detecting obstacle distance.
3. a kind of glass-wall cleaning robot control system according to claim 1 or 2, it is characterised in that：The absorption dress
The top for setting (10) is equipped with the first exhaust fan (11), and is equipped with sealing joint strip (12), the sealing joint strip (12) in bottom end face
Merge with the metope sealing paste of the curtain wall (60) and form negative pressure cavity (13) in the adsorbent equipment (10) bottom, described first takes out
Wind turbine (11), which is connected with the negative pressure cavity (13) by suction opening and carries out suction to the negative pressure cavity (13), forms negative pressure.
4. a kind of glass-wall cleaning robot control system according to claim 3, it is characterised in that：The adsorbent equipment
(10) it is additionally provided with idler wheel (14), when lifting rope (41) traction clean robot is moved, the idler wheel (14) and institute
The metope for stating curtain wall (60) rolls cooperation, and the sealing joint strip (12) is bonded with the sliding of the metope of the curtain wall (60).
5. a kind of glass-wall cleaning robot control system according to claim 1, it is characterised in that：The cleaning device
(20) it is arranged between two neighboring adsorbent equipment (10), and the cleaning device (20) and the end of the telescopic rod (31) turn
Dynamic cooperation.
6. a kind of glass-wall cleaning robot control system according to claim 1 or 5, it is characterised in that：The cleaning dress
It includes mounting plate (25) to set (20), and the bottom of the mounting plate (25) is equipped with cleaning adhesive tape (24), hole for water spraying (26), sewage recycling
The back in hole (27), the mounting plate (25) is equipped with sewage aspirator, and the hole for water spraying (26) passes through the cleaning passage and institute
State that tank body (30) is connected and to the metope jet cleaning water of the curtain wall (60), the sewage after cleaning passes through the sewage
Recovery holes (27) are drawn into soil pick-up channel by the sewage aspirator.
7. a kind of glass-wall cleaning robot control system according to claim 6, it is characterised in that：The sewage aspirator
Including the second exhaust fan (21) and water storage cavity (22), second exhaust fan (21) carries out pumping to the water storage cavity (22) makes it
Negative pressure is formed, the water storage cavity (22) forms by the soil pick-up channel in the sewage recovery holes (27) negative under the action of negative pressure
Press suction force.
8. a kind of glass-wall cleaning robot control system according to claim 7, it is characterised in that：The water storage cavity (22)
Equipped with sewage flow-guiding mouth (23), sewage is excluded by the sewage flow-guiding mouth (23), or will by the sewage flow-guiding mouth (23)
Sewage is drained to filter device, and the sewage through filter device is recycled in the tank body (30) and is recycled.
9. a kind of glass-wall cleaning robot control system according to claim 1, it is characterised in that：The clean robot
Flight instruments (50) are additionally provided with, which includes the liter that two or more is symmetricly set on the tank body (30)
Power fan.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720688557.8U CN207821768U (en) | 2017-06-14 | 2017-06-14 | Glass-wall cleaning robot control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720688557.8U CN207821768U (en) | 2017-06-14 | 2017-06-14 | Glass-wall cleaning robot control system |
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| CN207821768U true CN207821768U (en) | 2018-09-07 |
Family
ID=63383751
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| CN201720688557.8U Active CN207821768U (en) | 2017-06-14 | 2017-06-14 | Glass-wall cleaning robot control system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171580A (en) * | 2018-09-29 | 2019-01-11 | 刘志仁 | A kind of multifunctional wall-weather exterior wall robot |
| CN109457924A (en) * | 2018-12-04 | 2019-03-12 | 筑梦高科建筑有限公司 | Automatic gluing machine |
| CN109577670A (en) * | 2019-01-17 | 2019-04-05 | 南京思创机器人有限公司 | A kind of high building exterior wall cleaning equipment |
| CN110393468A (en) * | 2019-07-31 | 2019-11-01 | 淮北市腾威机械设备有限公司 | A kind of high building glass curtain wall walking cleaning device |
| CN111270843A (en) * | 2020-03-03 | 2020-06-12 | 温州大学瓯江学院 | Intelligent tripod for exterior decoration |
| CN112932361A (en) * | 2021-02-02 | 2021-06-11 | 广州市升辉清洁服务有限公司 | Automatic cleaning robot and cleaning method for stubborn stains of building curtain wall |
| CN114234018A (en) * | 2021-12-20 | 2022-03-25 | 河北大唐国际王滩发电有限责任公司 | Disconnect-type pipeline inspection robot |
| CN114271745A (en) * | 2021-12-27 | 2022-04-05 | 单天军 | High-rise building glass curtain wall cleaning device |
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- 2017-06-14 CN CN201720688557.8U patent/CN207821768U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171580A (en) * | 2018-09-29 | 2019-01-11 | 刘志仁 | A kind of multifunctional wall-weather exterior wall robot |
| CN109457924A (en) * | 2018-12-04 | 2019-03-12 | 筑梦高科建筑有限公司 | Automatic gluing machine |
| CN109577670A (en) * | 2019-01-17 | 2019-04-05 | 南京思创机器人有限公司 | A kind of high building exterior wall cleaning equipment |
| CN110393468A (en) * | 2019-07-31 | 2019-11-01 | 淮北市腾威机械设备有限公司 | A kind of high building glass curtain wall walking cleaning device |
| CN111270843A (en) * | 2020-03-03 | 2020-06-12 | 温州大学瓯江学院 | Intelligent tripod for exterior decoration |
| CN112932361A (en) * | 2021-02-02 | 2021-06-11 | 广州市升辉清洁服务有限公司 | Automatic cleaning robot and cleaning method for stubborn stains of building curtain wall |
| CN114234018A (en) * | 2021-12-20 | 2022-03-25 | 河北大唐国际王滩发电有限责任公司 | Disconnect-type pipeline inspection robot |
| CN114234018B (en) * | 2021-12-20 | 2022-10-21 | 河北大唐国际王滩发电有限责任公司 | Disconnect-type pipeline inspection robot |
| CN114271745A (en) * | 2021-12-27 | 2022-04-05 | 单天军 | High-rise building glass curtain wall cleaning device |
| CN114271745B (en) * | 2021-12-27 | 2023-08-22 | 江苏绸缪建设工程有限公司 | High-rise building glass curtain wall cleaning equipment |
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