CN209529007U - It is a kind of can be to the soft robot that skyscraper glass is cleared up - Google Patents
It is a kind of can be to the soft robot that skyscraper glass is cleared up Download PDFInfo
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- CN209529007U CN209529007U CN201821893698.4U CN201821893698U CN209529007U CN 209529007 U CN209529007 U CN 209529007U CN 201821893698 U CN201821893698 U CN 201821893698U CN 209529007 U CN209529007 U CN 209529007U
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- cleared
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Abstract
The utility model relates to one kind can be to the soft robot that skyscraper glass is cleared up, including body and rotary shaft, the upper end two sides of the body are connected with hanging ring, and the outer wall setting of body is equipped with Air Filter, the rotary shaft is embedded in the outer wall surrounding of body, running through in the middle part of the outer wall of the body has air inlet, the lower end two sides of the body are inlaid with runing rest, and the lower end inside of runing rest is fixed with shaft, hairbrush is provided in the middle part of the outer wall of the shaft, the utility model passes through the setting of body and Air Filter, the arc-shaped shape distribution of the outer wall surrounding of body, the outer wall of body is designed using cambered surface, it can effectively prevent the case where scratching user in use, dust-proof net surface is distributed a large amount of said minuscule holes simultaneously, play good heat dissipation effect, when the intracorporal each drive mechanism of machine is worked, it will distribute A large amount of thermal energy out, Air Filter can effectively accelerate the intracorporal air velocity of machine, play certain cooling effect.
Description
Technical field
The present invention relates to soft robot technical field, specially one kind can be cleared up skyscraper glass soft
Body robot.
Background technique
Soft robot is a kind of Flexiable robot, can only be driven with air, scientist's current research it is soft
Body robot is made of can be bent, reverse and pick up more than 100 times of own wt of object, software using papery and silicon rubber
The design inspiration of robot is to imitate internal structure or shape framework of insect of the mankind etc., and soft robot is applied in high-altitude glass
Glass cleaning equipment mostly uses greatly artificial cleaning using less, and cleaning difficulty is big, and danger coefficient is high, makes troubles to user.
A kind of binary channels software finger and soft disclosed in Chinese invention patent application prospectus CN106003131A
Body robot although the invention uses air-flow conducting valve and the connection with twin-channel software finger, and is equipped with bracket, realizes
String row, circumference pick up object, refer to soft robot crawl " various " workpiece, suitable for " various " environment to reach more, double
The software finger in channel is made of silicon rubber, not disfiguring workpiece, simultaneously to people also safety, but in use can not be effectively right
High-altitude glass is cleared up, and is needed to clean personnel and is cleaned to glass, while suction of the soft robot to glass in use
Attached ability is lower, can not effectively bear the weight of cleaning equipment.
Summary of the invention
The purpose of the present invention is to provide one kind can be to the soft robot that skyscraper glass is cleared up, to solve
It is mentioned above in the background art it is existing effectively high-altitude glass can not be cleared up in use, need to clean personnel to glass
Glass is cleaned, while soft robot is lower to the adsorption capacity of glass in use, can not effectively bear cleaning equipment
The problem of weight.
To achieve the above object, the invention provides the following technical scheme: one kind can clear up skyscraper glass
Soft robot, including body and rotary shaft, the upper end two sides of the body are connected with hanging ring, and peace is arranged in the outer wall of body
Equipped with Air Filter, the rotary shaft is embedded in the outer wall surrounding of body, and running through in the middle part of the outer wall of the body has air inlet, described
The lower end two sides of body are inlaid with runing rest, and the lower end inside of runing rest is fixed with shaft, in the outer wall of the shaft
Portion is provided with hairbrush, and the left side outer wall of shaft is connected with the first belt pulley, and the middle inside of first belt pulley is equipped with
Connect belt.
Preferably, the arc-shaped shape distribution of the outer wall surrounding of the body, and be bonded to each other between body and Air Filter.
Preferably, motor is installed on the left of the inner wall of the body, and the top of motor is inlaid with transmission gear, institute
It states and is fixed with connection gear on the right side of transmission gear, and the lower end of connection gear is provided with transmission shaft, the two sides of the transmission shaft
Be connected with the second belt pulley, the hairbrush is bonded to each other along the outer wall of shaft, and shaft by the first belt pulley, connection belt,
Second belt pulley, transmission shaft, connection gear, transmission gear and motor drive mechanism are at drive mechanism.
Preferably, the middle inside of the body is equipped with double end air pump, and the outer wall surrounding of double end air pump inlay it is limited
Position block, the outer wall two sides of the double end air pump are fixed with connecting tube, and the outer wall of connecting tube is through having electromagnetic valve, the connection
The right end of pipe is provided with platform, and spring hose is connected on the right side of platform, outer wall of the limited block along double end air pump
Surrounding is uniformly distributed, and is distributed between limited block and limited block in coplanar shape.
Preferably, the hanging ring is symmetrical along the vertical central axes of body, and is welded between hanging ring and body
Change structure.
Preferably, it is rotational structure between the runing rest and body, and is in I-shaped shape between runing rest and shaft
Distribution.
Preferably, the left distal end of the rotary shaft is fixed with emulation haptic element, setting in the middle part of the lower end of the emulation haptic element
There is electric pushrod, and the lower end of electric pushrod is connected with rotating arm, the emulation haptic element is by rotary shaft along the outer wall four of body
Week is uniformly distributed, and emulates haptic element and be rotated up and down by electric pushrod along the outer wall two sides of body.
Preferably, the inner wall bottom of the emulation haptic element is equipped with sucker, and the middle inside of sucker is inlaid with air inlet,
The equidistant inner wall bottom for being evenly distributed on emulation haptic element of the sucker, and sucker is bonded to each other with emulation haptic element.
Preferably, it is distributed between the electric pushrod, emulation haptic element and body three in triangular shape, and electric pushrod passes through
Rotating arm and body constitute rotational structure.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the present invention passes through the setting of body and Air Filter, the arc-shaped shape distribution of the outer wall surrounding of body, and body and prevents
It being bonded to each other between dirt net, the outer wall of body is designed using cambered surface, it can be effectively prevent the case where scratching user in use,
Dust-proof net surface is distributed a large amount of said minuscule holes simultaneously, plays good heat dissipation effect, when the intracorporal each drive mechanism of machine carries out work
When making, it will give out a large amount of thermal energy, Air Filter can effectively accelerate the intracorporal air velocity of machine, play certain cooling and make
With.
2, the present invention passes through the setting of hanging ring and Air Filter, and hanging ring is symmetrical along the vertical central axes of body, and hanging ring
It is weldedization structure between body, guarantor can be fixed to body by penetrating nylon rope in hanging ring in user
Shield, prevents sucker in use not to be fixed with glass securely, is pullled by nylon rope body, protected, prevented
Occur sucker in use to fall off, causes body to fall from above, body is caused to damage.
3, the present invention passes through the setting of body and runing rest, is rotational structure between runing rest and body, and rotate
It is distributed between bracket and shaft in I-shaped shape, when user needs to be fixed between hairbrush and glass, user can lead to
Overwinding turns runing rest, and runing rest drives shaft to carry out circle rotation along the outer wall surrounding of body, due to connection belt rotation
Radius has not been changed, therefore without being adjusted to connection belt in, it is user-friendly.
4, the present invention passes through body, rotary shaft, the setting for emulating haptic element, rotating arm and electric pushrod, the left side of rotary shaft
End is fixed with emulation haptic element, and electric pushrod, and the lower end connection of electric pushrod are provided in the middle part of the lower end of the emulation haptic element
There is rotating arm, outer wall surrounding of the emulation haptic element by rotary shaft along body is uniformly distributed, and is emulated haptic element and pushed away by electronic
Bar is rotated up and down along the outer wall two sides of body, when user, which needs to emulate haptic element, to be moved forward, controls electric pushrod in use
It to external extension, drives emulation haptic element to rotate upwards, is used in combination by more electric pushrods, to reach emulation haptic element as gecko one
Sample crawls on glass, more safe and reliable using the soft robot relative to human body cleaning glass window, while the emulation
Haptic element is made of silica gel material, and surface has good elasticity, is not easy to scratch glass.
5, the present invention setting by body, double end air pump, limited block, connecting tube, spring hose, platform and electromagnetic valve
It sets, the middle inside of body is equipped with double end air pump, and the outer wall surrounding of double end air pump is inlaid with limited block, the double end air pump
Outer wall two sides be fixed with connecting tube, and the outer wall of connecting tube is through having electromagnetic valve, the right end setting of the connecting tube
There is platform, and be connected with spring hose on the right side of platform, the limited block is uniformly distributed along the outer wall surrounding of double end air pump, and is limited
It is distributed between position block and limited block in coplanar shape, limited block plays good fixed position-limiting action, can effectively ensure that double end
Air pump at work, with the horizontal distribution of body, guarantees that whole device is in run under normal condition, while four electromagnetism are arranged
Valve, to control sucker air inlet and the outlet in emulation haptic element, arrived emulation haptic element and glass by controlling each electromagnetic valve
Glass is bonded to each other, and body is fixed.
Detailed description of the invention
Fig. 1 is that one kind of the present invention can illustrate the external structure for the soft robot that skyscraper glass is cleared up
Figure；
Fig. 2 is that one kind of the present invention can illustrate the internal structure for the soft robot that skyscraper glass is cleared up
Figure；
Fig. 3 be one kind of the present invention can to the soft robot that skyscraper glass is cleared up emulation haptic element rotation tie
Structure schematic diagram；
Fig. 4 be one kind of the present invention can emulation haptic element bottom to the soft robot that skyscraper glass is cleared up tie
Structure schematic diagram；
Fig. 5 is that one kind of the present invention can electric-motor drive structure to the soft robot that skyscraper glass is cleared up
Schematic diagram.
In figure: 1, body；2, hanging ring；3, Air Filter；4, air inlet；5, runing rest；6, shaft；7, hairbrush；8, first
Belt pulley；9, belt is connected；10, rotary shaft；11, haptic element is emulated；12, rotating arm；13, electric pushrod；14, motor；15, it passes
Moving gear；16, connection gear；17, transmission shaft；18, the second belt pulley；19, double end air pump；20, limited block；21, connecting tube；
22, spring hose；23, platform；24, electromagnetic valve；25, sucker；26, air inlet.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-5 is please referred to, the present invention provides a kind of technical solution: one kind can clear up skyscraper glass soft
Body robot, including body 1, hanging ring 2, Air Filter 3, air inlet 4, runing rest 5, shaft 6, hairbrush 7, the first belt pulley 8, company
Lace 9, rotary shaft 10, emulation haptic element 11, rotating arm 12, electric pushrod 13, motor 14, transmission gear 15, connection gear
16, transmission shaft 17, the second belt pulley 18, double end air pump 19, limited block 20, connecting tube 21, spring hose 22, platform 23, electromagnetism
Valve 24, sucker 25 and air inlet 26, the upper end two sides of body 1 are connected with hanging ring 2, and the outer wall setting of body 1 be equipped with it is anti-
Dirt net 3, the arc-shaped shape distribution of the outer wall surrounding of body 1, and be bonded to each other between body 1 and Air Filter 3, the outer wall of body 1 is adopted
It is designed with cambered surface, the case where scratching user in use can be effectively prevent, while 3 surface of Air Filter is distributed a large amount of Small Holes
Good heat dissipation effect is played in hole, when each drive mechanism in body 1 is worked, it will gives out a large amount of thermal energy, prevents
Dirt net 3 can effectively accelerate the air velocity in body 1, play certain cooling effect, vertical axis of the hanging ring 2 along body 1
Line is symmetrical, and is weldedization structure between hanging ring 2 and body 1, and user can be by penetrating nylon in hanging ring 2
Protection is fixed to body 1 in rope, prevents sucker 25 in use not to be fixed with glass securely, by nylon rope to body
1 is pullled, is protected, and prevents from occurring sucker 25 in use falling off, and causes body 1 to fall from above, body 1 is caused to damage,
Rotary shaft 10 is embedded in the outer wall surrounding of body 1, and running through in the middle part of the outer wall of body 1 has air inlet 4, the lower end two sides edge of body 1
Lower end inside embedded with runing rest 5, and runing rest 5 is fixed with shaft 6, is rotation knot between runing rest 5 and body 1
Structure, and be distributed between runing rest 5 and shaft 6 in I-shaped shape, when user needs to be fixed between hairbrush 7 and glass,
User can be by rotating runing rest 5, and runing rest 5 drives shaft 6 to carry out circle rotation along the outer wall surrounding of body 1,
It is user-friendly since connection 9 radius of turn of belt has not been changed, therefore without being adjusted to connection belt 9 in, turn
It is provided with hairbrush 7 in the middle part of the outer wall of axis 6, and the left side outer wall of shaft 6 is connected with the first belt pulley 8, the inside of the first belt pulley 8
Middle part is equipped with connection belt 9；
The left distal end of rotary shaft 10 is fixed with emulation haptic element 11, emulates and is provided with electric pushrod in the middle part of the lower end of haptic element 11
13, and the lower end of electric pushrod 13 is connected with rotating arm 12, emulation haptic element 11 is equal along the outer wall surrounding of body 1 by rotary shaft 10
Even distribution, and emulate haptic element 11 and be rotated up and down by electric pushrod 13 along the outer wall two sides of body 1, when user needs to emulate touching
When foot 11 moves forward, control electric pushrod 13 drives emulation haptic element 11 to rotate upwards, passes through more electricity to external extension in use
Dynamic push rod 13 is used in combination, and is crawled on glass as gecko with reaching emulation haptic element 11, wipes glass relative to human body
Glass, it is more safe and reliable using the soft robot, while the emulation haptic element 11 is made of silica gel material, surface has good
Elasticity, be not easy to scratch glass；
The inner wall bottom of emulation haptic element 11 is equipped with sucker 25, and the middle inside of sucker 25 is inlaid with air inlet 26, inhales
The equidistant inner wall bottom for being evenly distributed on emulation haptic element 11 of disk 25, and sucker 25 is bonded to each other with emulation haptic element 11, works as double end
The inside air-breathing of air pump 19, electromagnetic valve 24 control the inside air-breathing of spring hose 22, and sucker 25 and the glass of surface spray water are mutual
Fitting, is fixed body 1 by the suction of sucker 25, prevents body 1 from falling, and be respectively provided in every emulation haptic element 11
Emulation haptic element 11 can be firmly fixed in glass, electric pushrod 13, emulation haptic element 11 and body 1 three by multiple suckers 25
It is in that triangular shape is distributed, and electric pushrod 13 constitutes rotational structure by rotating arm 12 and body 1 between person, electric pushrod 13 is imitated
True haptic element 11 and body 1 are distributed in triangular shape, can guarantee the structure when fixed, the stability of structure is not susceptible to structure
Confusion causes emulation haptic element 11 effectively body 1 not to be fixed, while when electric pushrod 13 stretches, electricity will not occur
The case where moving angular force of the push rod 13 with 1 junction of body due to electric pushrod 13, electric pushrod 13 caused to be broken；
Motor 14 is installed on the left of the inner wall of body 1, and the top of motor 14 is inlaid with transmission gear 15, driving cog
The right side of wheel 15 is fixed with connection gear 16, and the lower end of connection gear 16 is provided with transmission shaft 17, and the two sides of transmission shaft 17 connect
Be connected to the second belt pulley 18, hairbrush 7 is bonded to each other along the outer wall of shaft 6, and shaft 6 by the first belt pulley 8, connection belt 9,
Second belt pulley 18, transmission shaft 17, connection gear 16, transmission gear 15 and motor 14 constitute drive mechanism, when user needs
When hairbrush 7 being wanted to clean glass, user can be by opening motor 14, and motor 14 is with 15 turns of nutating gear
Dynamic, connection gear 16 drives transmission shaft 17 to rotate, and second belt pulley 18 at both ends drives connection belt 9 to rotate, the first belt pulley 8
With 7 high-speed rotation of electric brush, the hairbrush 7 in high-speed rotation clears up glass surface, while the second belt pulley 18 is along transmission
The central axes of axis 17 are symmetrical, can effectively ensure that when transmission shaft 17 drives the rotation of the second belt pulley 18,6 both ends of shaft
Torsion is identical, reduces unnecessary abrasion；
The middle inside of body 1 is equipped with double end air pump 19, and the outer wall surrounding of double end air pump 19 is inlaid with limited block 20,
The outer wall two sides of double end air pump 19 are fixed with connecting tube 21, and the outer wall of connecting tube 21 is through having electromagnetic valve 24, connecting tube 21
Right end be provided with platform 23, and the right side of platform 23 is connected with spring hose 22, and limited block 20 is along double end air pump 19
Outer wall surrounding is uniformly distributed, and is distributed between limited block 20 and limited block 20 in coplanar shape, and limited block 20 plays good solid
Fixing limit effect, can effectively ensure that double end air pump 19 at work, with the horizontal distribution of body 1, guarantees that whole device is in
It is run under normal condition, while four electromagnetic valves 24 is set, by controlling each electromagnetic valve 24, to control emulation haptic element 11
Interior 25 air inlet of sucker and outlet arrived emulation haptic element 11 and are bonded to each other with glass, body 1 is fixed.
The working principle of the present embodiment: this can be to the soft robot that skyscraper glass is cleared up, when in use
Glass surface for clearance is first filled with water (can also install sprinkler on the soft robot surface, fixed convenient for sucker 25),
Body 1 is placed in glass by user at this time, while user is by opening motor 14,14 model YE2- of motor
132S-4, motor 14 are rotated with nutating gear 15, and connection gear 16 drives transmission shaft 17 to rotate, second belt pulley at both ends
18 drive connection belts 9 to rotate, and the first belt pulley 8 is with 7 high-speed rotation of electric brush, and the hairbrush 7 in high-speed rotation is to glass surface
It is cleared up, while the second belt pulley 18 is symmetrical along the central axes of transmission shaft 17, can effectively ensure that when 17 band of transmission shaft
When dynamic second belt pulley 18 rotation, the torsion at 6 both ends of shaft is identical, reduces unnecessary abrasion, and subsequent user needs to emulate
When haptic element 11 moves forward, control electric pushrod 13 is to external extension in use, the model YS-NZ100-12A of electric pushrod 13,
It drives emulation haptic element 11 to rotate upwards, while opening double end air pump 19, the model DA40DC-TH of double end air pump 19 works as use
When person needs upper end right side emulation haptic element 11 and glass to be bonded to each other, corresponding electromagnetic valve 24 is controlled, to control emulation haptic element
25 air inlet of sucker and outlet in 11, when emulating the 25 inside air-breathing of sucker in haptic element 11, sucker 25 is closely mutual with glass
Fitting emulates haptic element 11 as gecko in glass to reach by being used in combination for more electric pushrods 13 and electromagnetic valve 24
Crawled on glass, hairbrush 7 glass surface is cleared up, finally when user needs to take out body 1 out of glass,
User is sling body 1, user takes to body 1 upwards by pulling nylon rope.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (9)
1. one kind can be special to the soft robot that skyscraper glass is cleared up, including body (1) and rotary shaft (10)
Sign is: the upper end two sides of the body (1) are connected with hanging ring (2), and the outer wall setting of body (1) is equipped with Air Filter (3),
The rotary shaft (10) is embedded in the outer wall surrounding of body (1), and running through in the middle part of the outer wall of the body (1) has air inlet (4), institute
The lower end two sides for stating body (1) are inlaid with runing rest (5), and the lower end inside of runing rest (5) is fixed with shaft (6), institute
It states and is provided with hairbrush (7) in the middle part of the outer wall of shaft (6), and the left side outer wall of shaft (6) is connected with the first belt pulley (8), it is described
The middle inside of first belt pulley (8) is equipped with connection belt (9).
2. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature
In: the arc-shaped shape distribution of the outer wall surrounding of the body (1), and be bonded to each other between body (1) and Air Filter (3).
3. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature
In: it is equipped with motor (14) on the left of the inner wall of the body (1), and the top of motor (14) is inlaid with transmission gear
(15), it is fixed with connection gear (16) on the right side of the transmission gear (15), and the lower end of connection gear (16) is provided with transmission
The two sides of axis (17), the transmission shaft (17) are connected with the second belt pulley (18), outer wall phase of the hairbrush (7) along shaft (6)
Mutually fitting, and shaft (6) passes through the first belt pulley (8), connection belt (9), the second belt pulley (18), transmission shaft (17), connection
Gear (16), transmission gear (15) and motor (14) constitute drive mechanism.
4. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature
In: the middle inside of the body (1) is equipped with double end air pump (19), and the outer wall surrounding of double end air pump (19) is inlaid with limit
The outer wall two sides of block (20), the double end air pump (19) are fixed with connecting tube (21), and the outer wall of connecting tube (21) is through there is electricity
The right end of magnet valve door (24), the connecting tube (21) is provided with platform (23), and is connected with spring on the right side of platform (23)
Hose (22), the limited block (20) is uniformly distributed along the outer wall surrounding of double end air pump (19), and limited block (20) and limited block
(20) it is distributed between in coplanar shape.
5. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature
In: the hanging ring (2) is symmetrical along the vertical central axes of body (1), and is welded between hanging ring (2) and body (1)
Change structure.
6. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature
In: it is rotational structure between the runing rest (5) and body (1), and is in I-shaped shape between runing rest (5) and shaft (6)
Distribution.
7. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature
In: the left distal end of the rotary shaft (10) is fixed with emulation haptic element (11), setting in the middle part of the lower end of emulation haptic element (11)
Have electric pushrod (13), and the lower end of electric pushrod (13) is connected with rotating arm (12), the emulation haptic element (11) passes through rotation
Axis (10) is uniformly distributed along the outer wall surrounding of body (1), and emulates haptic element (11) by electric pushrod (13) along the outer of body (1)
Wall two sides are rotated up and down.
8. one kind according to claim 7 can exist to the soft robot that skyscraper glass is cleared up, feature
In: the inner wall bottom of emulation haptic element (11) is equipped with sucker (25), and the middle inside of sucker (25) is inlaid with air inlet
(26), the equidistant inner wall bottom for being evenly distributed on emulation haptic element (11) of the sucker (25), and sucker (25) and emulation haptic element
(11) it is bonded to each other.
9. one kind according to claim 7 can exist to the soft robot that skyscraper glass is cleared up, feature
In: it is distributed between the electric pushrod (13), emulation haptic element (11) and body (1) three in triangular shape, and electric pushrod (13)
Rotational structure is constituted by rotating arm (12) and body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821893698.4U CN209529007U (en) | 2018-11-17 | 2018-11-17 | It is a kind of can be to the soft robot that skyscraper glass is cleared up |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821893698.4U CN209529007U (en) | 2018-11-17 | 2018-11-17 | It is a kind of can be to the soft robot that skyscraper glass is cleared up |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209529007U true CN209529007U (en) | 2019-10-25 |
Family
ID=68261949
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821893698.4U Expired - Fee Related CN209529007U (en) | 2018-11-17 | 2018-11-17 | It is a kind of can be to the soft robot that skyscraper glass is cleared up |
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| Country | Link |
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| CN (1) | CN209529007U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116098500A (en) * | 2023-02-10 | 2023-05-12 | 青岛理工大学 | A face wall cleaning robot for building |
-
2018
- 2018-11-17 CN CN201821893698.4U patent/CN209529007U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116098500A (en) * | 2023-02-10 | 2023-05-12 | 青岛理工大学 | A face wall cleaning robot for building |
| CN116098500B (en) * | 2023-02-10 | 2024-04-26 | 青岛理工大学 | A face wall cleaning robot for building |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191025 Termination date: 20201117 |
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| CF01 | Termination of patent right due to non-payment of annual fee |