CN216675634U - Obstacle crossing assembly and cleaning robot - Google Patents
Obstacle crossing assembly and cleaning robot Download PDFInfo
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- CN216675634U CN216675634U CN202122766083.3U CN202122766083U CN216675634U CN 216675634 U CN216675634 U CN 216675634U CN 202122766083 U CN202122766083 U CN 202122766083U CN 216675634 U CN216675634 U CN 216675634U
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Abstract
The utility model discloses an obstacle crossing assembly and a cleaning robot. The obstacle crossing assembly comprises a driving wheel and a guide wheel; the driving wheel is arranged at the bottom of the shell and used for driving the cleaning robot to move; the guide wheel is arranged at the bottom of the shell and positioned at the front side of the driving wheel in the traveling direction of the cleaning robot, and the guide wheel is in transmission connection with the driving wheel; wherein, the height plane that the minimum place of guide pulley is higher than the height plane that the minimum place of drive wheel was located. The obstacle crossing assembly achieves the purpose of facilitating the driving wheel to climb the obstacle, and improves the obstacle crossing capability of the whole machine.
Description
Technical Field
The utility model relates to the technical field of cleaning equipment, in particular to an obstacle crossing assembly and a cleaning robot.
Background
The cleaning robot can be used for automatically cleaning the ground, and the application scene can be household indoor cleaning, large-scale place cleaning and the like.
In the related art, due to the limitation of size and structure, when encountering obstacles such as raised wires, steps, doorsills or carpets, the cleaning robot cannot turn over and turn around in place or stop in place, so that the working range is limited, the cleaning robot needs to manually help to turn over, manpower waste is caused, and the user experience is poor.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide an obstacle crossing assembly, aiming at improving the obstacle crossing capability of a cleaning robot, enlarging the working range and improving the experience of a user.
In order to achieve the above object, the present invention provides an obstacle crossing assembly, comprising:
the driving wheel is arranged at the bottom of the shell and used for driving the cleaning robot to move; and
the guide wheel is arranged at the bottom of the shell and positioned on the front side of the driving wheel in the traveling direction of the cleaning robot, and the guide wheel is in transmission connection with the driving wheel; the height plane where the lowest point of the guide wheel is located is higher than the height plane where the lowest point of the driving wheel is located.
In an embodiment of the present invention, the obstacle crossing assembly further comprises a belt transmission mechanism, the belt transmission mechanism comprising:
a transmission belt;
the driving wheel is in driving connection with a rotating shaft of the driving wheel; and
the driven wheel is in driving connection with a rotating shaft of the guide wheel; the driving wheel and the driven wheel are connected through the transmission belt.
In an embodiment of the present invention, the obstacle crossing assembly further comprises a gear transmission mechanism, the gear transmission mechanism comprising:
the first gear is in driving connection with a rotating shaft of the driving wheel;
the second gear is in driving connection with the rotating shaft of the guide wheel; and
the transmission gear set is meshed with the first gear and the second gear respectively; the transmission gear set comprises odd transmission gears in transmission connection.
In an embodiment of the present invention, the guide wheel is a track wheel, and the obstacle crossing assembly further includes:
the gear set comprises a third gear and a fourth gear, the third gear is in driving connection with a rotating shaft of the driving wheel, and the fourth gear is meshed with the third gear;
the first crawler wheel is coaxially connected with the fourth gear in a driving manner; and the first crawler belt is arranged outside the first crawler wheel and the guide wheel.
In an embodiment of the present invention, the driving wheel is a track wheel, and the guide wheel is a track wheel; the obstacle crossing assembly further comprises a second track hooped outside the drive wheel and the guide wheel.
In an embodiment of the present invention, the guide wheel is configured to abut against the driving wheel.
In an embodiment of the present invention, a height plane of the lowest point of the guide wheel is lower than a horizontal plane of the central axis of the driving wheel.
In one embodiment of the utility model, the guide wheel is movably connected with the housing, and the guide wheel can move transversely relative to the housing to approach or depart from the driving wheel;
and/or the obstacle crossing assembly further comprises a lifting mechanism connected with the guide wheel, and the lifting mechanism is used for driving the guide wheel to move up and down to be close to or far away from the shell.
In an embodiment of the utility model, the height of the lowest point of the guide wheel is not lower than 1cm and not higher than 5 cm.
In order to achieve the above object, the present invention further provides a cleaning robot, including a housing and the above obstacle crossing assembly; the obstacle crossing assembly is located at the bottom of the shell. This subassembly of crossing barrier includes:
the driving wheel is arranged at the bottom of the shell and used for driving the cleaning robot to move; and
the guide wheel is arranged at the bottom of the shell and positioned on the front side of the driving wheel in the traveling direction of the cleaning robot, and the guide wheel is in transmission connection with the driving wheel; the height plane where the lowest point of the guide wheel is located is higher than the height plane where the lowest point of the driving wheel is located.
In the obstacle crossing assembly, the guide wheel is arranged at the bottom of the shell of the cleaning robot and is positioned at the front side of the driving wheel in the traveling direction of the cleaning robot, and the guide wheel is in transmission connection with the driving wheel; the height plane at the lowest point of the guide wheel is higher than the height plane at the lowest point of the driving wheel, so that when the cleaning robot encounters an obstacle, the guide wheel is in contact with the obstacle before the driving wheel, the guide wheel climbs to the surface of the obstacle, the surface friction between the guide wheel and the obstacle generates a traction force advancing to the driving wheel, and meanwhile, the guide wheel can also receive an upward reaction force of the obstacle, so that the cleaning robot and the driving wheel are lifted upwards, the purpose of facilitating the climbing of the driving wheel on the obstacle is achieved, and the obstacle crossing capability of the whole robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic view of a belt drive embodiment of the obstacle crossing assembly of the present invention;
FIG. 2 is a schematic structural view of an embodiment of the obstacle crossing assembly of the present invention using a gear transmission;
FIG. 3 is a schematic view of an embodiment of the obstacle crossing assembly of the present invention utilizing a combination gear and track drive;
FIG. 4 is a schematic structural view of an embodiment of the obstacle crossing assembly of the present invention employing a track drive;
FIG. 5 is a schematic view of an embodiment of the obstacle crossing assembly of the present invention employing direct drive.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides an obstacle crossing assembly, which is applied to a cleaning robot and aims to improve the obstacle crossing capability of the cleaning robot, enlarge the cleaning range, avoid manual obstacle crossing of a user and improve the experience of the user. It is understood that the cleaning robot in the present embodiment is not limited to a specific type of cleaning device, and may be a sweeping robot, a floor washing robot, a mopping robot, etc. In the following, a sweeping robot is taken as an example, and the sweeping robot comprises a housing 1.
In the embodiment of the present invention, as shown in fig. 1 to 5, the obstacle detouring assembly includes a driving wheel 2 and a guide wheel 3.
The driving wheel 2 is arranged at the bottom of the shell 1 and used for driving the cleaning robot to move;
the guide wheel 3 is arranged at the bottom of the shell 1 and is positioned at the front side of the driving wheel 2 in the traveling direction of the cleaning robot, and the guide wheel 3 is in transmission connection with the driving wheel 2; wherein, the height plane that the minimum of guide pulley 3 is located is higher than the height plane that the minimum of drive wheel 2 is located.
In this embodiment, the driving wheel 2 is disposed at the bottom of the housing 1, and plays a role in driving the whole cleaning robot to move forward, and it can be understood that the driving wheel 2 is an original traveling wheel of the cleaning robot. The guide wheel 3 is arranged on the front side of the traveling direction of the cleaning robot by the driving wheel 2, the height plane where the lowest point of the guide wheel 3 is located is higher than the height plane where the lowest point of the driving wheel 2 is located, namely the guide wheel 3 and the ground where the driving wheel 2 is located are arranged at intervals, when the cleaning robot encounters an obstacle during working, the guide wheel 3 can be in contact with the obstacle before the driving wheel 2, so that the guide wheel 3 climbs the upper surface of the obstacle firstly, the guide wheel 3 is in transmission connection with the driving wheel 2, the driving wheel 2 can generate forward movement acting force on the guide wheel 3, meanwhile, the guide wheel 3 and the surface of the obstacle generate friction, the guide wheel 3 can generate a certain traction effect on the driving wheel 2, and the guide wheel 3 can also receive upward reaction force of the obstacle, so that the cleaning robot and the driving wheel 2 are lifted upwards, and the purpose of facilitating the driving wheel 2 to climb the obstacle is achieved, the obstacle crossing capability of the whole machine is improved.
It is understood that the traveling direction of the cleaning robot may be forward movement, backward movement, lateral movement, or the like. The driving wheel 2 plays a role in driving the guide wheel 3 to move towards the advancing direction, and meanwhile, the guide wheel 3 and the obstacle have a friction effect, so that the driving wheel 2 is pulled towards the advancing direction and lifted upwards, and the driving wheel 2 and the obstacle crossing function interact with each other, so that the purpose of improving the obstacle crossing capability of the whole machine is achieved.
In the practical application process, the transmission connection mode of the driving wheel 2 and the guide wheel 3 can be determined according to the practical situation, for example, the transmission connection mode can be a direct connection mode or an indirect connection mode, when the transmission connection mode is used, the guide wheel 3 and the driving wheel 2 are arranged in an abutting mode, the guide wheel 3 is driven to rotate by utilizing the friction of the driving wheel 2 on the guide wheel 3, and then the guide wheel 3 is in friction fit with the surface of an obstacle; when indirectly connected, it may be a transmission mechanism, such as a belt transmission, a gear transmission, a track transmission or a chain transmission, etc., connected between the guide wheel 3 and the driving wheel 2. The specific transmission manner between the two is not limited herein.
Optionally, the height dimension C of the lowest point of the guide wheel 3 is not lower than 1cm and not higher than 5 cm. In practical application, most of obstacles encountered by the cleaning robot in the working process are raised wires, steps, doorsills or carpets, and the height of the obstacles is usually between 2cm and 4cm, in this embodiment, in order to ensure that the guide wheel 3 can smoothly climb the obstacles and generate enough friction with the surface of the obstacles, the height dimension C of the lowest point of the guide wheel 3 can be limited to be not less than 1cm and not more than 5 cm.
In the obstacle crossing assembly, the guide wheel 3 is arranged at the bottom of the shell 1 of the cleaning robot, the guide wheel 3 is positioned at the front side of the driving wheel 2 in the traveling direction of the cleaning robot, and the guide wheel 3 is in transmission connection with the driving wheel 2; the height plane at the lowest point of guide wheel 3 is higher than the height plane at the lowest point of drive wheel 2, when cleaning robot meets the barrier, guide wheel 3 contacts with the barrier before drive wheel 2, make guide wheel 3 climb to the surface of barrier, the surface friction of guide wheel 3 and barrier, produce the traction force that advances to drive wheel 2, guide wheel 3 also can receive the ascending reaction force of barrier simultaneously, thereby play the effect of upwards lifting cleaning robot and drive wheel 2, and then reach the purpose that the drive wheel 2 of being convenient for climbs the barrier, promote the obstacle crossing ability of complete machine.
In an embodiment of the present invention, referring to fig. 1, the obstacle crossing assembly further includes a belt transmission mechanism 4, the belt transmission mechanism 4 includes a transmission belt 41, a driving pulley 42 and a driven pulley 43; the driving wheel 42 is in driving connection with the rotating shaft of the driving wheel 2, and the driven wheel 43 is in driving connection with the rotating shaft of the guide wheel 3; the transmission belt 41 connects the driving pulley 42 and the driven pulley 43.
In this embodiment, the driving wheel 2 and the guide wheel 3 are in transmission connection by a belt transmission mechanism 4. The rotating shaft of the driving wheel 2 is in driving connection with the driving wheel 42, the rotating shaft of the guide wheel 3 is in driving connection with the driven wheel 43, and the driving wheel 42 is connected with the driven wheel 43 through the transmission belt 41, so that the function that the driving wheel 2 rotates to drive the guide wheel 3 to rotate is achieved.
In an embodiment of the present invention, referring to fig. 2, the obstacle crossing assembly further includes a gear transmission mechanism 5, the gear transmission mechanism 5 includes a first gear 51, a second gear 52 and a transmission gear set 53; the first gear 51 is in driving connection with the rotating shaft of the driving wheel 2, and the second gear 52 is in driving connection with the rotating shaft of the guide wheel 3; the transmission gear set 53 is meshed with the first gear 51 and the second gear 52 respectively; wherein the transmission gear set 53 comprises an odd number of transmission gears in transmission connection.
In this embodiment, the driving wheel 2 and the guide wheel 3 are in transmission connection by a gear transmission mechanism 5. The rotating shaft of the driving wheel 2 is in driving connection with the first gear 51, and the rotating shaft of the guide wheel 3 is in driving connection with the second gear 52, so that in order to realize the transmission of the two, a transmission gear set 53 needs to be arranged between the first gear 51 and the second gear 52 to realize the transmission of the motion. It can be understood that the odd number of transmission gears in transmission connection between the first gear 51 and the second gear 52 can realize the rotation direction of the driving wheel 2 and the guide wheel 3 to be consistent, so that the guide wheel 3 generates enough traction force for the driving wheel 2 after climbing to the surface of the obstacle, and the obstacle crossing capability is further improved.
Alternatively, the transmission gear set 53 may include 1 transmission gear, 3 transmission gears, 5 transmission gears, and the like.
In an embodiment of the present invention, referring to fig. 3, the idler 3 is a crawler wheel, and the obstacle crossing assembly further includes a gear set 61, a first crawler wheel 62, and a first crawler belt 63; the gear set 61 comprises a third gear 611 and a fourth gear 612, the third gear 611 is in driving connection with the rotating shaft of the driving wheel 2, and the fourth gear 612 is meshed with the third gear 611; the first crawler wheel 62 is coaxially and drivingly connected with the fourth gear 612; the first track 63 is hooped outside the first track wheel 62 and the idler 3.
In this embodiment, the driving wheel 2 and the guide wheel 3 are in transmission connection through a combination of the gear set 61 and the track transmission. The rotating shaft of the driving wheel 2 is in driving connection with the third gear 611, meanwhile, the third gear 611 is meshed with the fourth gear 612, and the fourth gear 612 is in coaxial driving connection with the first track wheel 62, so that the rotating motion of the driving wheel 2 is transmitted to the rotation of the first track wheel 62, and the purpose of driving the idler wheel 3 to rotate is achieved by hooping the first crawler 63 outside the first track wheel 62 and the idler wheel 3.
As can be appreciated, the first track 63 is hooped outside the guide wheel 3 and the first track wheel 62, when the cleaning robot encounters an obstacle, the first track 63 can directly contact with the obstacle and complete crossing, and after the guide wheel 3 climbs the obstacle, the driving wheel 2 can be lifted and crossed to the obstacle by using the climbing action of the first track 63, so as to realize the obstacle crossing function of the cleaning robot.
In an embodiment of the present invention, referring to fig. 4, the driving wheel 2 is a track wheel, and the guide wheel 3 is a track wheel; the obstacle crossing assembly further comprises a second track 71, the second track 71 being hooped outside the drive wheel 2 and the idler 3.
In this embodiment, the driving wheel 2 and the guide wheel 3 are in transmission connection through a track transmission mechanism. The second crawler belt 71 is hooped outside the driving wheel 2 and the guide wheel 3, when an obstacle is encountered, the guide wheel 3 firstly climbs onto the obstacle, and the second crawler belt 71 can directly contact with the obstacle and complete crossing so as to drive the driving wheel 2 to climb onto the obstacle, thereby realizing the obstacle crossing function of the cleaning robot.
In an embodiment of the present invention, referring to fig. 5, the tread of the guide pulley 3 abuts the tread of the drive pulley 2.
In this embodiment, the wheel surface of the guide wheel 3 is in direct contact with the wheel surface of the driving wheel 2, and the transmission of the movement is realized by using the friction between the two. When meeting the barrier, guide pulley 3 at first with the surperficial butt of barrier, drive wheel 2 continues to advance, produces the friction with guide pulley 3, and guide pulley 3 relies on the moment of torsion power of drive wheel 2 to produce and rolls, and the supplementary robot stridees across the barrier, simultaneously, because guide pulley 3 atress butt barrier can produce ascending reaction force, lifting robot, the better obstacle of strideing across of being convenient for.
It will be appreciated that in practice, the guide wheel 3 may be arranged to be raised and lowered, such that when an obstacle is encountered, the guide wheel 3 is lowered and brought into abutment with the drive wheel 2, and when no obstacle is encountered, the guide wheel 3 is raised away from the drive wheel 2 to ensure better travel of the drive wheel 2.
In order to further improve the obstacle crossing capability of the cleaning robot, referring to fig. 1 to 5, in an embodiment of the present invention, a height plane B where the lowest point of the guide wheel 3 is located is lower than a horizontal plane a where the central axis of the driving wheel 2 is located.
It can be understood that, in the obstacle crossing process, the lowest point of the guide wheel 3 is directly contacted with the surface of the obstacle, and the height plane B where the lowest point of the guide wheel 3 is located cannot be too high, if the lowest point is too high, the friction force between the lowest point of the guide wheel and the surface of the obstacle is not enough, even the lowest point is separated from the obstacle, so that the traction effect cannot be achieved, and a better obstacle crossing effect cannot be achieved. At the same time, the height of the lowest point of the runner 3 differs considerably from the height of the lowest point of the drive wheel 2, which may result in the drive wheel 2 climbing poorly, even if the runner 3 has traction on the drive wheel 2. Therefore, in the embodiment, the height plane B where the lowest point of the guide wheel 3 is located is set to be lower than the horizontal plane a where the central axis of the driving wheel 2 is located, so that the guide wheel 3 is convenient to contact with an obstacle on one hand, and the driving wheel 2 can climb on the other hand, and a better obstacle crossing capability is achieved.
In order to further improve the obstacle crossing capability of the cleaning robot, in an embodiment of the utility model, the guide wheel 3 is movably connected with the housing 1, and the guide wheel 3 can transversely move relative to the housing 1 to be close to or far away from the driving wheel 2.
It can be understood that, the cleaning robot may move forward, backward or sideward during the working process, the specific moving direction is determined according to the actual cleaning situation, and by movably connecting the guide wheel 3 with the housing 1, when the moving direction of the cleaning robot is changed, the guide wheel 3 can move transversely relative to the housing 1 to the front position of the driving wheel 2 in the traveling direction, so as to improve the multi-directional obstacle crossing effect and improve the obstacle crossing capability.
In order to further improve the obstacle crossing capability of the cleaning robot, in an embodiment of the present invention, the obstacle crossing assembly further includes a lifting mechanism (not shown) connected to the guide wheel 3, and the lifting mechanism is configured to drive the guide wheel 3 to move up and down to approach or separate from the housing 1.
It can be understood that the guide wheel 3 is lifted by arranging the lifting mechanism, so that when obstacles with different heights are met, the cleaning robot can lift the guide wheel 3 according to actual conditions, so that the guide wheel 3 can be in better contact with the surface of the obstacle and generate enough friction force.
Alternatively, when the obstacle is high, the lifting mechanism drives the guide wheel 3 to ascend, so that the guide wheel 3 climbs to the surface of the obstacle; when the obstacle is short, the lifting mechanism drives the guide wheel 3 to descend, so that the guide wheel 3 is abutted against the surface of the obstacle to generate enough friction.
The utility model further provides a cleaning robot, which comprises a shell 1 and an obstacle crossing assembly, the specific structure of the obstacle crossing assembly refers to the above embodiments, and the cleaning robot adopts all technical schemes of all the above embodiments, so that the cleaning robot at least has all the beneficial effects brought by the technical schemes of the above embodiments, and details are not repeated herein. Wherein the obstacle crossing assembly is positioned at the bottom of the shell 1. Alternatively, the cleaning robot may be a sweeping robot, a floor washing robot, a mopping robot, or the like.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An obstacle crossing assembly for use with a cleaning robot including a housing, the obstacle crossing assembly comprising:
the driving wheel is arranged at the bottom of the shell and used for driving the cleaning robot to move; and
the guide wheel is arranged at the bottom of the shell, is positioned on the front side of the driving wheel in the traveling direction of the cleaning robot and is in transmission connection with the driving wheel; the height plane where the lowest point of the guide wheel is located is higher than the height plane where the lowest point of the driving wheel is located.
2. The obstacle crossing assembly of claim 1 further comprising a belt drive mechanism, said belt drive mechanism comprising:
a transmission belt;
the driving wheel is in driving connection with a rotating shaft of the driving wheel; and
the driven wheel is in driving connection with a rotating shaft of the guide wheel; the driving wheel and the driven wheel are connected through the transmission belt.
3. The obstacle crossing assembly of claim 1 further comprising a gear assembly, said gear assembly comprising:
the first gear is in driving connection with a rotating shaft of the driving wheel;
the second gear is in driving connection with the rotating shaft of the guide wheel; and
the transmission gear set is meshed with the first gear and the second gear respectively; the transmission gear set comprises odd transmission gears in transmission connection.
4. The obstacle crossing assembly of claim 1 wherein said idler is a track wheel, said obstacle crossing assembly further comprising:
the gear set comprises a third gear and a fourth gear, the third gear is in driving connection with a rotating shaft of the driving wheel, and the fourth gear is meshed with the third gear;
the first crawler wheel is coaxially connected with the fourth gear in a driving manner; and
the first crawler belt is arranged outside the first crawler wheel and the guide wheel.
5. The obstacle crossing assembly of claim 1 wherein said drive wheel is a track wheel and said idler is a track wheel; the obstacle crossing assembly further comprises a second track hooped outside the drive wheel and the guide wheel.
6. The obstacle crossing assembly of claim 1 wherein a tread of the guide wheel abuts a tread of the drive wheel.
7. A barrier crossing assembly as claimed in any one of claims 1 to 6 wherein the lowermost point of the guide wheel is located in a height plane which is below the horizontal plane of the central axis of the drive wheel.
8. An obstacle crossing assembly as claimed in any one of claims 1 to 6, wherein the guide wheel is movably connected to the housing, the guide wheel being movable laterally relative to the housing to move towards and away from the drive wheel;
and/or the obstacle crossing assembly further comprises a lifting mechanism connected with the guide wheel, and the lifting mechanism is used for driving the guide wheel to move up and down to be close to or far away from the shell.
9. A barrier crossing assembly as claimed in any one of claims 1 to 6 wherein the lowermost point of the guide wheel is of a height dimension of not less than 1cm and not more than 5 cm.
10. A cleaning robot comprising a housing and a barrier crossing assembly as claimed in any one of claims 1 to 9; the obstacle crossing assembly is located at the bottom of the shell.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122766083.3U CN216675634U (en) | 2021-11-11 | 2021-11-11 | Obstacle crossing assembly and cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122766083.3U CN216675634U (en) | 2021-11-11 | 2021-11-11 | Obstacle crossing assembly and cleaning robot |
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| CN216675634U true CN216675634U (en) | 2022-06-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115120139A (en) * | 2022-06-17 | 2022-09-30 | 安克创新科技股份有限公司 | Cleaning equipment |
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2021
- 2021-11-11 CN CN202122766083.3U patent/CN216675634U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115120139A (en) * | 2022-06-17 | 2022-09-30 | 安克创新科技股份有限公司 | Cleaning equipment |
| CN115120139B (en) * | 2022-06-17 | 2024-03-22 | 安克创新科技股份有限公司 | Cleaning equipment |
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Address after: 518000, Building 1, Yunzhongcheng A2901, Wanke Yuncheng Phase 6, Dashi Er Road, Xili Community, Xishan District, Shenzhen City, Guangdong Province Patentee after: Yunjing Intelligent Innovation (Shenzhen) Co.,Ltd. Patentee after: Yunjing intelligent (Shenzhen) Co.,Ltd. Address before: 523808 building 7, No. 4, Xingye Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee before: YUNJING INTELLIGENCE TECHNOLOGY (DONGGUAN) Co.,Ltd. Patentee before: Yunjing intelligent (Shenzhen) Co.,Ltd. |