CN209574563U - Clean robot - Google Patents
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- CN209574563U CN209574563U CN201822088931.8U CN201822088931U CN209574563U CN 209574563 U CN209574563 U CN 209574563U CN 201822088931 U CN201822088931 U CN 201822088931U CN 209574563 U CN209574563 U CN 209574563U
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Abstract
The utility model is suitable for Smart Home technical field, providing a kind of clean robot includes ontology, the dust suction mechanical arm of intrinsic control module and connection on the body is set, dust suction mechanical arm includes the supporting arm assembly that cleaning head and energy multiple degrees of freedom are adjusted, cleaning head is movably connected on one end of supporting arm assembly, the other end connection of supporting arm assembly is on the body, clean robot further includes setting camera on the body and is arranged in the identification piece on cleaning head for identifying for camera, camera identification marking part and the position for obtaining cleaning head, supporting arm assembly is communicated with control module.Clean robot is capable of the cleaning path of navigation programming dust suction mechanical arm, realizes in cleaning function premised on not collision obstacle, and cleaning head can remain flat contact with ground and can accurately reach target position and be cleaned, and it is good to clean effect.
Description
Technical field
The utility model belongs to Smart Home technical field more particularly to a kind of clean robot.
Background technique
, there are more and more smart homes, such as clean robot in the market in the development for relying on intellectualized technology.It is various
Types of cleanings robot continues to bring out, and brings great convenience to the work of people's floor cleaning, largely solves
Cleaning demand of the present office worker to domestic hygiene.
Clean robot mainly passes through side brush handle rubbish and sweeps to waist, and is worked by round brush with blower and dust is received
Collect in dirt box.And present clean robot, corner and the region passed through less than fuselage are cleaned in order to realize, one
As using on robot body setting auxiliary dust absorption arm come cleaning to corner and narrow regions.But it is existing clear
Clean robot cannot accurately detect the operating position of auxiliary dust absorption arm, and collision is easy to happen in cleaning process.
Utility model content
In view of this, the present invention provides a kind of clean robot, with solution must not cleaning position to dust absorption arm into
Row accurately controls and leads to the problem of colliding.
In order to achieve the above objectives, the technical solution of the utility model is achieved in that a kind of clean robot, including this
The dust suction mechanical arm of the intrinsic control module and connection on the body, the dust suction mechanical arm packet is arranged in body
The supporting arm assembly that cleaning head and energy multiple degrees of freedom are adjusted is included, the cleaning head is movably connected in one end of the supporting arm assembly
On, on the body, the clean robot further includes being arranged in the ontology for the other end connection of the supporting arm assembly
On camera and be arranged on the cleaning head for the identification piece for camera identification, described in camera identification
Identification piece and the position for obtaining the cleaning head, the supporting arm assembly are communicated with the control module.
Preferably, the identification piece is arranged on the cleaning head one side opposite with the ontology and/or is arranged
The top surface of the cleaning head.
Preferably, the dust suction mechanical arm further includes sweep-up pipe, and one end of the sweep-up pipe is connect with the cleaning head, institute
The other end for stating sweep-up pipe is connect with the ontology.
Preferably, the dust suction mechanical arm further includes flexible connecting member, and one end of the flexible connecting member is connected to described
On supporting arm assembly, the other end of the flexible connecting member is connected on the cleaning head.
Preferably, the supporting arm assembly include the first support arm, the second support arm and the first positioning components, described first
It is flexibly connected between support arm and second support arm by first positioning components；The other end of first support arm
It being connect with the ontology, the other end of second support arm is flexibly connected with the cleaning head, or
The other end of second support arm is connect with the ontology, the other end of first support arm and the cleaning
Head is flexibly connected.
Preferably, the dust suction mechanical arm further includes the detection sensor for detecting dedusting position, on the cleaning head
It is provided with the detection sensor；Or
On the cleaning head and the detection sensor is provided on supporting arm assembly.
Preferably, the cleaning head includes shell, round brush and the round brush motor for driving the round brush rotation, further includes
It is formed in vacuum chamber, the installation gap and air suction opening of setting on the housing of the enclosure interior, the round brush is mounted on
In the installation gap, the round brush motor is arranged in the shell and connect with the round brush, the air suction opening with it is described
Vacuum chamber is connected, and the sweep-up pipe is connected with the vacuum chamber, and the identification piece and the detection sensor are respectively provided with
On the housing, one end of the supporting arm assembly is connect with the shell.
Preferably, first positioning components include the first mounting base and the first positioning part, and first mounting base is fixed
On first support arm, the first positioning part is fixed in first mounting base and is electrically connected with the control module
It connects, second support arm is connected with the first positioning part.
Preferably, the supporting arm assembly further includes the second positioning components, and second positioning components include the second installation
Seat and the second positioning part, second mounting base is fixed on the body, and the second positioning part is fixed on second peace
It is electrically connected on dress seat and with the control module, the other end of the other end of first support arm or second support arm
It is connected with the second positioning part.
Preferably, the clean robot further includes traveling wheel group, and the bottom of the ontology is arranged in the traveling wheel group.
A kind of clean robot provided by the utility model carries out clean operation by supporting arm assembly support cleaning head,
It realizes and is cleaned in corner and the region passed through less than ontology.By using being provided with camera on the body, while clear
The identification piece for identifying and obtaining cleaning head cleaning position for camera is provided on clean head.In this way, camera can be by this
Location information of the cleaning head relative to ontology is accurately positioned in the position of identification piece, thus the control module of clean robot
To control the specific cleaning position of ontology and its cleaning head according to the location information obtained in real time, reaches and clean path navigation
Purpose.It is such to determine that target cleans path, and the position regulating function of cooperative mechanical arm component by navigating, it realizes with not
Cleaning function premised on collision obstacle, cleaning head can remain flat contact with ground during cleaning and energy is accurate
Reach target position to be cleaned, it is good to clean effect.
Detailed description of the invention
In order to illustrate more clearly of the technical scheme in the embodiment of the utility model, will make below to required in embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
Fig. 1 is the schematic perspective view of clean robot provided by the embodiment of the utility model；
Fig. 2 is the main view of clean robot provided by the embodiment of the utility model.
Description of symbols:
1: ontology；2: dust suction mechanical arm；21: cleaning head；211: shell；212: round brush；213: installation gap；22: support
Arm component；221: the first support arms；222: the second support arms；223: the first positioning components；2232: the first positioning parts；224: the
Two positioning components；2241: the second mounting bases；2242: the second positioning parts；23: camera；24: identification piece；25: sweep-up pipe；26:
Flexible connecting member；27: detection sensor；28: traveling wheel group；29: brush cleaning component.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Described each particular technique feature and each embodiment in a specific embodiment, in the case of no contradiction,
It can be combined in any appropriate way, such as can be with shape by different particular technique feature/embodiment combinations
At different embodiments, in order to avoid unnecessary repetition, each particular technique feature/embodiment is each in the utility model
No further explanation will be given for the possible combination of kind.
As depicted in figs. 1 and 2, a kind of clean robot provided by the embodiment of the utility model, including ontology 1, setting exist
Control module in ontology 1 and the dust suction mechanical arm 2 being connected on ontology 1, ontology 1 have can automatically walk and convert cleaning
The function of position realizes the clean function of automatic dust absorption with 2 collective effect of dust suction mechanical arm.The dust suction mechanical arm 2 includes clear
The supporting arm assembly 22 that clean head 21 and multiple degrees of freedom are adjusted, cleaning head 21 are movably connected on one end of supporting arm assembly 22, are propped up
The other end of brace component 22 is connected on ontology 1.In this way, cleaning head 21 is supported by supporting arm assembly 22, due to branch
Brace component 22 has the function of multiple degrees of freedom adjusting, just can be real by the adjustment function of 22 self-position of supporting arm assembly
The position angle of the cleaning of cleaning head 21 is now adjusted according to actual cleaning situation.And between cleaning head 21 and supporting arm assembly 22
To be flexibly connected, cleaning head 21 is during ground proximity dust suction, and under the effect of gravity, cleaning head 21 can be always
Keep horizontal with ground, it is ensured that vacuum degree when dust suction and realize reliable dust suction.And during actually cleaning, by cleaning place
The restriction of ambient enviroment, cleaning head 21 are easy to appear the problem of colliding with barrier during converting cleaning position,
Clean efficiency is not only influenced, there is also break equipment.In order to overcome use present in existing clean robot
Defect, clean robot provided in the utility model embodiment further include the camera 23 being arranged on ontology 1 and setting
For the identification piece 24 that is identified for camera 23 on cleaning head 21,23 identification marking part 24 of camera and obtain cleaning head 21
Position, supporting arm assembly 22 are communicated with control module.In this way, during cleaning, the variation feelings of 21 position of cleaning head
Condition can be obtained by camera 23 in real time, while camera 23 can also obtain the ambient enviroment at the current cleaning position of cleaning head 21
Situation, then control module analyzes the more specific location information between cleaning head 21 and ontology 1 according to default judgement algorithm
And cleaning head 21 is at a distance from peripheral obstacle.To which control module controls support arm according to location information obtained
The position of component 22 adjusts situation, carries out planning navigation to the cleaning position of cleaning head 21, prevents from colliding with barrier.This
Kind setting, has reached under the premise of avoiding colliding with barrier and has farthest improved clean range, solved well
The auxiliary dust absorption arm determined on existing clean robot is easy to appear the problem of colliding with barrier, is effectively promoted clear
Clean efficiency.
Specifically, as depicted in figs. 1 and 2, due between cleaning head 21 and the opposite one side and ontology 1 of ontology 1 and
There is no other objects to block between the top surface and ontology 1 of cleaning head 21, identification of the camera 23 to identification piece 24 will not be interfered.Cause
And using the top for identification piece 24 being arranged on the one side opposite with ontology 1 of cleaning head 21 and/or being arranged in cleaning head 21
Face.Thus it is ensured that camera 23 can accurately, quickly recognize identification piece 24, it is accurately obtained the location information of cleaning head 21,
And then reach the cleaning path of accurate planning navigation cleaning head 21.Moreover, setting identification piece 24 can be one or two or
More quantity, to ensure accurate, the reliability that identify.
Specifically, as depicted in figs. 1 and 2, by cleaning head 21 carry out dust suction it is clean during, need cleaning head 21
The dust of suction, which is transported in time in ontology 1, is collected separation.Thus, in the utility model embodiment, the dust suction is mechanical
Arm 2 further includes sweep-up pipe 25, transmits dust by sweep-up pipe 25.One end of the sweep-up pipe 25 is connect with cleaning head 21, dust suction
The other end of pipe 25 is connect with ontology 1.Sweep-up pipe 25 is the good hose of deformation nature, and deformation is easy, the adjustment in dust suction position
In the process, it can occur bending and deformation on demand and realize the timely adjustment of position.It is such that dust is transmitted by sweep-up pipe 25, both
It is able to satisfy the reliable transmission of dust, and does not influence the adjustment of dust suction position, practicability is good.And in other embodiments, it can also
To pass through the transmission of supporting arm assembly 22 itself (supporting arm assembly 22 is such as arranged to hollow structure) Lai Shixian dust.
In practical cleaning process, the work of ontology 1 generates suction force, and by the transmission of sweep-up pipe 25 and on cleaning head 21
Negative pressure is formed, is collected by filtration so as to which dust impurity to be drawn into ontology 1, achievees the purpose that cleaning.Ontology 1 has automatic
The function of walking, and the ambient conditions that there is scanning to need to clean, and can be planned automatically according to corresponding situation and clean path
Function, in this way, according to the cleaning strategy of planning, the position that ontology 1 drives the continuous running transform of dust suction mechanical arm 2 to clean is real
The function of existing automatic cleaning dust suction.
Specifically, realizing to be flexibly connected between cleaning head 21 and supporting arm assembly 22 can be cleaning head 21 and support arm
It is configured similarly to the structure type of ball-joint between component 22, just realizes direct flexible connection between the two.And in this reality
With in new embodiment, as depicted in figs. 1 and 2, which further includes flexible connecting member 26, flexible connecting member 26
One end is connected on supporting arm assembly 22, and the other end of flexible connecting member 26 is connected on cleaning head 21, passes through flexible connecting member
26 realize that the indirect activity between cleaning head 21 and supporting arm assembly 22 is connected.Flexible connecting member 26 is made of soft material, bullet
Property deformability is good, can be hose, and when connection, one end of hose is set on the corresponding one end of supporting arm assembly 22, and
The other end of hose is just connected on cleaning head 21, realizes that cleaning head 21 cleans the tune of position by the elastic deformation of hose
Section.Or flexible connecting member 26 can be flexible shaft, equally, flexible shaft is made of soft material, and elastic deformation ability is good, even
When connecing, one end of flexible shaft is connected on the corresponding one end of supporting arm assembly 22, and the other end of flexible shaft is just connected to clearly
On clean head 21, realize that cleaning head 21 cleans the adjusting of position under the action of flexible shaft elastic deformation.Also, sweep-up pipe 25 is same
Sample can bending deformation, elastic deformation performance is good, can follow clean position adjusting and correspond to generation flexible deformation.Passing through
Flexible connecting member 26 is come when realizing that the indirect activity between cleaning head 21 and supporting arm assembly 22 is connected, sweep-up pipe 25 can be fixation
In the outer surface of flexible connection, it is also possible to be threaded through the inside of flexible connecting member 26.In the utility model embodiment, this is soft
Property connector 26 be hose, sweep-up pipe 25 is threaded through the inside of flexible connecting member 26.
Specifically, as depicted in figs. 1 and 2, which includes the first support arm 221,222 and of the second support arm
First positioning components 223 are flexibly connected between first support arm 221 and the second support arm 222 by the first positioning components 223.
In this way, realizing the first support arm 221 and the second support under the corrective action of the rotatory force provided by the first positioning components 223
The adjustment of link position between arm 222, and then can realize the position that adjustment support cleaning head 21 cleans.And when using by first
When the other end of brace 221 is connect with ontology 1, the other end of the second support arm 222 is then flexibly connected with cleaning head 21.Either
It is connect when by the other end of the second support arm 222 with ontology 1, then the other end of the first support arm 221 then corresponds to and cleaning head
21 are flexibly connected.Under such set-up mode, by the common support of the first support arm 221 and the second support arm 222, and combine each
The adjustment of junction position, with the covering surface that can be cleaned.Also, the length of the first support arm 221 and the second support arm 222 itself
Degree determine the depth that can extend into small space (such as sofa bottom or bed bottom), thus, can according to actual use the case where
The length of first support arm 221 and the second support arm 222 is set, or by the length of the first support arm 221 and the second support arm 222
Degree is arranged to the form of reduction, can automatically adjust the length of stretching on demand.
As another implementation of supporting arm assembly 22, supporting arm assembly 22 can be also arranged to by multiple support arms
Joint activity is connected to form, and is movably connected between each support arm, and positioning components can be respectively set in each junction and be come from
Dynamic to adjust the angle position being connected, so as to form the wider array of structure of adjustable extent, the freedom degree that can be adjusted is higher, full
Use demand under foot different situations.Thus, the number of support arm is not defined herein.Meanwhile more support arm knots
Structure length is big, is able to enter deeper small space and is cleaned, and it is wider to clean the scope of application.
Specifically, as depicted in figs. 1 and 2, supporting arm assembly 22 further includes the detection sensor for detecting dedusting position
27, detection sensor 27 is provided on cleaning head 21；Or detection sensing is provided on cleaning head 21 and on supporting arm assembly 22
Device 27.Detection sensor 27 can issue detection signal at work, and judge surrounding according to the reflection signal received
The azimuth-range of barrier, to come the path of planning and adjusting cleaning according to detection signal.In this way, the inspection for passing through position
It surveys sensor 27 and carrys out real-time detection and clean barrier situation around at position, and plan support arm according to the case where detecting
The rotation angle of component 22 realizes that farthest raising being capable of clean range in the case where not knocking down.Preferably,
The detection sensor 27 can be infrared distance sensor or laser range sensor or ultrasonic distance-measuring sensor etc..
Specifically, as depicted in figs. 1 and 2, in the utility model embodiment, cleaning head 21 includes shell 211, round brush
212 and the round brush motor for driving round brush 212 to rotate, it further include being formed in vacuum chamber shell 211 inside, setting in shell
Installation gap 213 and air suction opening on 211, round brush 212 are mounted in installation gap 213, and round brush motor is arranged in shell 211
And connect with round brush 212, air suction opening is connected with vacuum chamber, and sweep-up pipe 25 is connected with vacuum chamber, identification piece 24 and detection
Sensor 27 is arranged on shell 211, be can be on the one side opposite with ontology 1 of shell 211, is also possible in shell
One end of 211 top surface, supporting arm assembly 22 is connect with shell 211.In this way, round brush motor drives round brush 212 when dust suction
Dirt is swept in rotation, and ontology 1 works and can aspirate the air in vacuum chamber, and negative pressure is formed in vacuum chamber.In this way, passing through round brush
212 dusts swept will be sucked into vacuum chamber, and entered in ontology 1 and be collected by filtration by sweep-up pipe 25.It is such
Set-up mode sweeps dust by round brush 212, and dust suction cleaning performance is good.Certainly, in other embodiments, can also be not provided with
There are round brush 212 and round brush motor to be equally reached the purpose of dust suction cleaning directly by air suction opening suctioning dirt.
Specifically, in practical cleaning process, cleaning head 21 is in contact with barrier at first, thus, such as Fig. 1 and
Shown in Fig. 2, it will test sensor 27 and be arranged on shell 211, also, multiple inspections can be distributed with along the appearance profile of shell 211
Survey sensor 27.To avoid and obstacle by each detection sensor 27 come the ambient conditions in comprehensive detection cleaning process
Object collides, and reaches in the case where not colliding, to greatest extent the purpose of clear clean surface.
Specifically, which includes the first mounting base (not indicating in figure) and the first positioning part 2231, and
First mounting base is fixed on the first support arm 221, and the first positioning part 2231 is fixed in the first mounting base and and control module
Electrical connection, the second support arm 222 are connected with the first positioning part 2231.First positioning part 2231 is motor, the second support arm 222
It is connect with the shaft of motor, thus, the first positioning part 2231 rotates, and is just able to drive the rotation of the second support arm 222 and realizes branch
Support the adjustment of position.
Specifically, as depicted in figs. 1 and 2, the freedom degree of dust suction position, the suction can be adjusted to improve dust suction mechanical arm 2
Dirt mechanical arm 2 further includes the second positioning components 224, and the second positioning components 224 include the second mounting base 2241 and the second positioning part
2242, the second mounting base 2241 is fixed on ontology 1, second positioning part 2242 be fixed in the second mounting base 2241 and with control
The other end of the electrical connection of molding block, the other end of the first support arm 221 or the second support arm 222 and the second positioning 2242 phase of part
Even.Equally, the second positioning part 2242 is motor, the other end connection of the other end of the first support arm 221 or the second support arm 222
In the shaft of motor.In this way, second positioning part 2242 flexible connection effect under, just realize the first support arm 221 or
Being flexibly connected between the second support arm 222 and ontology 1 adjusts in conjunction with the position of the first positioning components 223, realizes and clean position
The multi-angle adjustment set.
In the utility model embodiment, it is connected using by the other end of the first support arm 221 with the second positioning part 2242,
And the other end of the second support arm 222 will pass through flexible connecting member 26 and connect with cleaning head 21.And each junction is activity
Connection has achieved the purpose that more freely to adjust 21 dust suction angle of cleaning head.
Specifically, as shown in Fig. 2, clean robot further includes traveling wheel group 28, the bottom of ontology 1 is arranged in traveling wheel group 28
Portion.In this way, being adjusted in conjunction with the dust suction position of supporting arm assembly 22 under the swabbing action of cleaning head 21, can be realized automatic suction
The function that dirt cleans, and driven by traveling wheel group 28 and realize the adjustment for cleaning position, achieve the purpose that automatic cleaning, cleaning side
Just property is good.It is to be appreciated that clean robot is due to being provided with dust suction mechanical arm 2, and the dust suction mechanical arm 2 being capable of adjust automatically
The orientation that dust suction cleans.Thus, cleaning structure can be not provided on the ontology 1 of the clean robot carrys out dust suction cleaning, such as may be used
Clear clean surface is synchronized not to be provided with bottom brush on the bottom of ontology 1, side brush can not also be set on ontology 1 to clean,
The entire clean function of dust suction is completed by cleaning head 21.It will of course be understood that ground, which is also possible to be provided with
Bottom brush and side brush, herein and with no restrictions.
Specifically, as shown in Fig. 2, in actual setting, to ensure clean effect, institute in the utility model embodiment
The clean robot of offer further includes brush cleaning component 29, and the lower section of main body side is arranged in brush cleaning component 29.In this way,
The progress dust suction cleaning synchronous with cleaning head 21 of brush cleaning component 29, can further increase the effect of automatic cleaning.
Clean robot provided in the utility model embodiment, by using being provided with camera 23 on ontology 1,
The identification piece 24 for identifying and obtaining the cleaning of cleaning head 21 position for camera 23 is provided on cleaning head 21 simultaneously.In this way, taking the photograph
Location information of the cleaning head 21 relative to ontology 1 can be accurately positioned by the position of the identification piece 24 as first 23, thus
Control module can adjust the specific cleaning position of cleaning head 21 according to corresponding location information, reach and clean path navigation
Purpose, avoid colliding with barrier, realization accurately achieve the purpose that target position is cleaned, cleaning effect it is good, energy
The area enough cleaned is big, and practicability is good.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of clean robot including ontology, is arranged in the intrinsic control module and connects on the body
Dust suction mechanical arm, the dust suction mechanical arm include the supporting arm assembly that cleaning head and energy multiple degrees of freedom are adjusted, and the cleaning head is living
Dynamic to be connected on one end of the supporting arm assembly, the other end of the supporting arm assembly connects on the body, feature
It is, the clean robot further includes that the camera of setting on the body is used on the cleaning head for institute with setting
The identification piece of camera identification is stated, the camera identifies the identification piece and obtains the position of the cleaning head, the support
Arm component is communicated with the control module.
2. clean robot as described in claim 1, which is characterized in that identification piece setting the cleaning head with it is described
On the opposite one side of ontology and/or the top surface of the cleaning head is set.
3. clean robot as described in claim 1, which is characterized in that the dust suction mechanical arm further includes sweep-up pipe, described
One end of sweep-up pipe is connect with the cleaning head, and the other end of the sweep-up pipe is connect with the ontology.
4. clean robot as described in claim 1, which is characterized in that the dust suction mechanical arm further includes flexible connecting member,
One end of the flexible connecting member is connected on the supporting arm assembly, and the other end of the flexible connecting member is connected to described clear
On clean head.
5. clean robot according to any one of claims 1 to 4, which is characterized in that the supporting arm assembly includes the
One support arm, the second support arm and the first positioning components, by described between first support arm and second support arm
First positioning components are flexibly connected；The other end of first support arm is connect with the ontology, second support arm it is another
One end is flexibly connected with the cleaning head, or
The other end of second support arm is connect with the ontology, and the other end and the cleaning head of first support arm are living
Dynamic connection.
6. clean robot as claimed in claim 3, which is characterized in that the dust suction mechanical arm further includes for detecting dedusting
The detection sensor of position is provided with the detection sensor on the cleaning head；Or
On the cleaning head and the detection sensor is provided on supporting arm assembly.
7. clean robot as claimed in claim 6, which is characterized in that the cleaning head includes shell, round brush and for driving
The round brush motor for moving the round brush rotation, further includes the vacuum chamber for being formed in the enclosure interior, is arranged on the housing
Installation gap and air suction opening, the round brush are mounted in the installation gap, and the round brush motor is arranged in the shell simultaneously
It is connect with the round brush, the air suction opening is connected with the vacuum chamber, and the sweep-up pipe is connected with the vacuum chamber, institute
It states identification piece and the detection sensor is respectively provided on the housing, one end of the supporting arm assembly and the shell connect
It connects.
8. clean robot as claimed in claim 5, which is characterized in that first positioning components include the first mounting base and
First positioning part, first mounting base are fixed on first support arm, and the first positioning part is fixed on described first
It is electrically connected in mounting base and with the control module, second support arm is connected with the first positioning part.
9. clean robot as claimed in claim 5, which is characterized in that the supporting arm assembly further includes the second positioning group
Part, second positioning components include the second mounting base and the second positioning part, and second mounting base is fixed on the body,
The second positioning part is fixed in second mounting base and is electrically connected with the control module, first support arm
The other end of the other end or second support arm is connected with the second positioning part.
10. clean robot as claimed in claim 5, which is characterized in that the clean robot further includes traveling wheel group, institute
State the bottom that the ontology is arranged in traveling wheel group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822088931.8U CN209574563U (en) | 2018-12-12 | 2018-12-12 | Clean robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822088931.8U CN209574563U (en) | 2018-12-12 | 2018-12-12 | Clean robot |
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| CN209574563U true CN209574563U (en) | 2019-11-05 |
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| CN201822088931.8U Active CN209574563U (en) | 2018-12-12 | 2018-12-12 | Clean robot |
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| CN110916558A (en) * | 2019-11-26 | 2020-03-27 | 安徽凌坤智能科技有限公司 | Dust collection rake for composite operation cleaning robot in cotton spinning industry |
| CN112716359A (en) * | 2021-01-27 | 2021-04-30 | 王龙梅 | Preoperative cleaning equipment for surgical operation |
| CN113576329A (en) * | 2021-08-04 | 2021-11-02 | 上海高仙自动化科技发展有限公司 | Cleaning robot |
| CN113796787A (en) * | 2021-09-26 | 2021-12-17 | 复旦大学 | Wiping cleaning robot and control method thereof |
| CN113951761A (en) * | 2021-10-20 | 2022-01-21 | 上海景吾智能科技有限公司 | Mechanical arm motion planning method and system for cleaning rectangular area in space |
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| CN115153343A (en) * | 2022-07-04 | 2022-10-11 | 深圳市瑞驰文体科技发展有限公司 | Desktop dust absorption subassembly of intelligence desktop robot |
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| CN110916558A (en) * | 2019-11-26 | 2020-03-27 | 安徽凌坤智能科技有限公司 | Dust collection rake for composite operation cleaning robot in cotton spinning industry |
| WO2022096853A1 (en) * | 2020-11-06 | 2022-05-12 | Dyson Technology Limited | Robotic surface treating system |
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