CN106562725A - Window-cleaning robot used for municipal buildings - Google Patents
Window-cleaning robot used for municipal buildings Download PDFInfo
- Publication number
- CN106562725A CN106562725A CN201610963228.XA CN201610963228A CN106562725A CN 106562725 A CN106562725 A CN 106562725A CN 201610963228 A CN201610963228 A CN 201610963228A CN 106562725 A CN106562725 A CN 106562725A
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- CN
- China
- Prior art keywords
- guide rod
- rotating shaft
- hole
- slide bar
- pin bushing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- Manipulator (AREA)
Abstract
The invention discloses a window-cleaning robot used for municipal buildings. The window-cleaning robot comprises a rack, wherein the rack is square, the rack comprises four stand columns positioned at four corners of the square, as well as a first guide rod, a second guide rod, a third guide rod and a fourth guide rod which are connected between the adjacent stand columns respectively, the first guide rod and the third guide rod are arranged in parallel, the second guide rod and the fourth guide rod are arranged in parallel, the first guide rod is sleeved by a first guide sleeve in a sliding manner, wiping rag and a first vacuum sucker are arranged on the bottom end surface of the first guide sleeve, a first slide bar is arranged on the side edge of the first guide sleeve, the first slide bar faces the third guide rod and is vertical to the first guide rod, a cross beam parallel to the first guide rod is arranged at the position, above the first guide rod, of the rack, a vertical beam is arranged, towards the central direction of the rack, in the middle of the cross beam, and a first rotation shaft is arranged on the vertical beam. For the window-cleaning robot used for municipal buildings, the vacuum suckers are adopted for carrying out alternative adsorption, a rotation wheel drives the rack to move, then the robot moves on the rack, the operation is simple and efficient, and the stability is good.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of civic building window wiping robot.
Background technology
Architectural windowpane has inside and outside two faces, and windowpane outwardly is not easy to scrub very much, and exists
The risk of work high above the ground, is badly in need of a kind of robot of research and development and replaces manual work.
The content of the invention
The technical problem to be solved is to provide a kind of civic building window wiping robot, to solve prior art
The big technical problem of middle clean glass window difficulty.
To solve above-mentioned technical problem, embodiments of the invention provide a kind of civic building window wiping robot, including machine
Frame, the frame is square, and the frame includes four columns being located on square four angles and is connected to adjacent vertical
The first guide rod, the second guide rod between post, the 3rd guide rod, the 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, institute
State the second guide rod and the 4th guide rod be arranged in parallel, sliding on first guide rod is arranged with the first guide pin bushing, first guide pin bushing
Bottom face is provided with wiper and the first vacuum cup, and the side of first guide pin bushing is provided with the first slide bar, the first slide bar direction
3rd guide rod is arranged and perpendicular to the first guide rod, and the frame at the first guide rod top is provided with parallel with the first guide rod
Crossbeam, crossbeam middle part is provided with vertical beam towards frame central direction, and the vertical beam is provided with first rotating shaft, the first rotating shaft
Overlap with frame central, be sequentially provided with the first follower lever and the second follower lever in the first rotating shaft, first follower lever and
The angle of the second follower lever is 90 °, and first slide bar is provided with the first sliding sleeve, and at the top of first sliding sleeve second turn is provided with
Axle, one end of first follower lever is provided with first set hole, and the first set hole is connected in the second rotating shaft, on the vertical beam
Runner is additionally provided with, the runner is provided with the 3rd rotating shaft, the middle part of the crossbeam by Motor drive, the runner near edge
Driving lever is provided with, the first bar-shaped trough is provided with the middle part of the driving lever, the 3rd rotating shaft is installed in the first bar-shaped trough, described
First follower lever is provided with the second bar-shaped trough, second bar-shaped trough be located at the first follower lever medium position and first set hole it
Between, the outer end of the driving lever is provided with the 4th rotating shaft, and the 4th rotating shaft is installed in the second bar-shaped trough, and described first is driven
The other end of bar is provided with the 3rd set of hole, and sliding on the 3rd guide rod is arranged with the 3rd guide pin bushing, the bottom face of the 3rd guide pin bushing
Wiper and the second vacuum cup are provided with, the side of the 3rd guide pin bushing is provided with the 3rd slide bar, and the 3rd slide bar is led towards first
Bar is arranged and perpendicular to the 3rd guide rod, and the 3rd slide bar is provided with the 3rd sliding sleeve, and the 3rd sliding sleeve is provided with the 5th rotating shaft,
The 3rd set of hole is installed in the 5th rotating shaft；Slide on second guide rod and be arranged with the second guide pin bushing, second guide pin bushing
Bottom face is provided with wiper, and the side of second guide pin bushing is provided with the second slide bar, second slide bar arrange towards the 4th guide rod and
Perpendicular to the second guide rod, second slide bar is provided with the second sliding sleeve, and second sliding sleeve is provided with the 6th rotating shaft, and described second
Follower lever is respectively arranged at two ends with second set of hole and the 4th set of hole, and second set of hole be installed in the 6th rotating shaft；Described 4th
Slide on guide rod and be arranged with the 4th guide pin bushing, the bottom face of the 4th guide pin bushing is provided with wiper, and the side of the 4th guide pin bushing is provided with
4th slide bar, the 4th slide bar is arranged and perpendicular to the 4th guide rod towards the second guide rod, and the 4th slide bar is provided with the 4th
Sliding sleeve, the 4th sliding sleeve is provided with the 7th rotating shaft, and the 4th set of hole is installed in the 7th rotating shaft；
The runner includes upper wheel and lower whorl, and the lower whorl is connected with motor driving shaft, the lower whorl near upper wheel one
Side is provided with screwed hole in center, and the upper wheel center is provided with through hole, and the through hole is coaxially disposed with the screwed hole, a spiral shell
Nail is screwed together in the screwed hole through after the through hole, has gap between the head of the screw and upper wheel so that upper wheel can phase
Lower whorl is rotated, the upper wheel is provided with blind hole near the side of lower whorl at eccentric position, the lower whorl near upper wheel one
Side is provided with shallow slot, and the shallow slot is corresponding with blind hole and is coaxially disposed, and stage clip, the bottom of the stage clip are provided with the blind hole
Contact has spheroid, and the spherical part is placed in shallow slot.
Wherein, first vacuum cup and the second vacuum cup alternate run are driving frame to move on windowpane.
Wherein, the driving lever is made up of stainless steel material.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, the present invention is connected and in 90 ° of designs due to the first follower lever and the second follower lever, therefore when first
When follower lever drives the first guide pin bushing and the 3rd guide pin bushing to move back and forth on the first guide rod and the 3rd guide rod respectively, the second follower lever
The second guide pin bushing and the 4th guide pin bushing can be driven to move back and forth on the second guide rod and the 4th guide rod respectively；Therefore four wipers are only by one
Individual runner drives, and simultaneously work, efficiency high can be cleaned to glass surface；By vacuum cup alternating sorbent, driven by runner
Gantry motion, so that it may realize motion of the robot in frame, simple efficient, good stability.
Description of the drawings
Fig. 1 is the top view of the present invention.
Fig. 2 is the stereogram one of the present invention.
Fig. 3 is the stereogram two of the present invention.
Fig. 4 is the structure chart of the runner of the present invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
As shown in Figures 1 to 4, the embodiment of the present invention provides a kind of civic building window wiping robot, including frame, described
Frame is square, and the frame includes four columns 1 being located on square four angles and is connected between adjacent upright posts 1
The first guide rod 2, the second guide rod 3, the 3rd guide rod 4, the 4th guide rod 5, four guide rods are isometric, are respectively foursquare one side, described
First guide rod 2 and the 3rd guide rod 4 be arranged in parallel, and the guide rod 5 of second guide rod 3 and the 4th be arranged in parallel, the first guide rod 2 perpendicular to
Second guide rod 3.Slide on first guide rod 2 and be arranged with the first guide pin bushing 21, the bottom face of first guide pin bushing 21 is provided with wiper 7
With the first vacuum cup 61, the side of first guide pin bushing 21 is provided with the first slide bar 22, and first slide bar 22 towards the 3rd is led
Bar 4 is arranged and perpendicular to the first guide rod 2, and being provided with the top of the first guide rod 2 for the frame is parallel with the first guide rod 2
Crossbeam 8, crossbeam 8 is built on stilts to be arranged, therefore will not be interferenceed with the motion of the first guide pin bushing 21, and the middle part of the crossbeam 8 is towards frame central
Direction is provided with vertical beam 9, and the vertical beam 9 is provided with first rotating shaft 10, first rotating shaft 10 and the perpendicular setting of vertical beam 9, first rotating shaft
10 can rotate on vertical beam 9, can be connected using bearing, and the first rotating shaft 10 overlaps with frame central point；The first rotating shaft
The first follower lever 11 and the second follower lever 12 are sequentially provided with 10, the first follower lever 11 and the second follower lever 12 are isometric, and first
The respective axis of 11 and second follower lever of follower lever 12 coincides with the axis of first rotating shaft 10, the first follower lever 11 and
Two follower levers 12 keep at a certain distance away and are fixed in first rotating shaft 10, the angle of the follower lever 12 of first follower lever 11 and second
For 90 °.
First slide bar 22 is provided with the first sliding sleeve 23, and the first sliding sleeve 23 can be on the first slide bar 22 after being driven by external force
Slide, the top of first sliding sleeve 23 is provided with the second rotating shaft 24, and the second rotating shaft 24 can be in the rotary-top of the first sliding sleeve 23, example
Such as adopt bearing connected mode；One end of first follower lever 11 is provided with first set hole 111, and the first set hole 111 connects
It is connected in the second rotating shaft 24, first set hole 111 can mutually be fixedly connected with the second rotating shaft 24 in the present embodiment；On the vertical beam 9 also
Runner 13 is provided with, the runner 13 drives by the way that motor is (not shown), and the runner 13 is provided with the 3rd rotating shaft 14 near edge,
3rd rotating shaft 14 is located on the eccentric position of runner 13, and the 3rd rotating shaft 14 can be rotated on runner 13, for example with bearing connection
Mode；The middle part of the crossbeam 8 is provided with driving lever 15, and one end of driving lever 15 is articulated with the medium position of crossbeam 8；The master
The middle part of lever 15 is provided with the first bar-shaped trough 151, and the 3rd rotating shaft 14 is installed in the first bar-shaped trough 151, the 3rd rotating shaft 14
The way of contact with the first bar-shaped trough 151 is rolling friction.
First follower lever 11 is provided with the second bar-shaped trough 113, and second bar-shaped trough 113 is located at the first follower lever 11
Medium position and first set hole 111 between, the outer end of the driving lever 15 is provided with the 4th rotating shaft 152, and the 4th rotating shaft 152 can
Rotate on the outer end of driving lever 15, for example with bearing connected mode；4th rotating shaft 152 is installed on the second bar-shaped trough
In 113, the 4th rotating shaft 152 and the way of contact of the second bar-shaped trough 113 are rolling friction, the other end of first follower lever 11
The 3rd set of hole 112 is provided with, sliding on the 3rd guide rod 4 is arranged with the 3rd guide pin bushing 41, and the bottom face of the 3rd guide pin bushing 41 sets
The side for having the vacuum cup 62 of wiper 7 and second, the 3rd guide pin bushing 41 is provided with the 3rd slide bar 42, the direction of the 3rd slide bar 42
First guide rod 2 is arranged and perpendicular to the 3rd guide rod 4, and the 3rd slide bar 42 is provided with the 3rd sliding sleeve 43, the 3rd sliding sleeve 43
The 5th rotating shaft 44 is provided with, the 5th rotating shaft 44 can be in the rotary-top of the 3rd sliding sleeve 43, for example with bearing connected mode；It is described
3rd set of hole 112 is installed in the 5th rotating shaft 44, and the 3rd set of hole 112 can mutually be fixedly connected with the 5th rotating shaft 44 in the present embodiment.
Symmetrical centered on first guide pin bushing 21, the first slide bar 22 and the 3rd guide pin bushing 41, the 3rd slide bar 42, symmetrical centre point is located at first rotating shaft
On 10 place axis.
Slide on second guide rod 3 and be arranged with the second guide pin bushing 31, the bottom face of second guide pin bushing 31 is provided with wiper 7,
The side of second guide pin bushing 31 is provided with the second slide bar 32, and second slide bar 32 is arranged and perpendicular to towards the 4th guide rod 5
Two guide rods 3, second slide bar 32 is provided with the second sliding sleeve 33, and second sliding sleeve 33 is provided with the 6th rotating shaft 34, the 6th turn
Axle 34 can be in the rotary-top of the second sliding sleeve 33, for example with bearing connected mode；The two ends difference of second follower lever 12
Second set of hole 121 and the 4th set of hole 122 are provided with, second set of hole 121 is installed in the 6th rotating shaft 34, second in the present embodiment
Set hole 121 can mutually be fixedly connected with the 6th rotating shaft 34；Slide on 4th guide rod 5 and be arranged with the 4th guide pin bushing 51, the described 4th
The bottom face of guide pin bushing 51 is provided with wiper 7, and the side of the 4th guide pin bushing 51 is provided with the 4th slide bar 52, the direction of the 4th slide bar 52
Second guide rod 3 is arranged and perpendicular to the 4th guide rod 5, and the 4th slide bar 52 is provided with the 4th sliding sleeve 53, the 4th sliding sleeve 53
The 7th rotating shaft 54 is provided with, the 7th rotating shaft 54 can be in the rotary-top of the 4th sliding sleeve 53, for example with bearing connected mode；It is described
4th set of hole 122 is installed in the 7th rotating shaft 54, and the 4th set of hole 122 can mutually be fixedly connected with the 7th rotating shaft 54 in the present embodiment.
Symmetrical centered on second guide pin bushing 31, the second slide bar 32 and the 4th guide pin bushing 51, the 4th slide bar 52, symmetrical centre point is located at first rotating shaft
On 10 place axis.
The runner 13 includes upper wheel 131 and lower whorl 132, and the lower whorl 132 is connected with motor driving shaft, the lower whorl
132 are provided with screwed hole 133 near the side of upper wheel 131 in center, and 131 centers of the upper wheel are provided with through hole 134, described logical
Hole 134 is coaxially disposed with the screwed hole 133, and a screw 135 is screwed together in the screwed hole 133, institute through after the through hole 134
State between the head of screw 135 and upper wheel 131 have gap so that upper wheel 131 can relative lower whorl 132 rotate, the upper wheel
131 are provided with blind hole 136 near the side of lower whorl 132 at eccentric position, and the lower whorl 132 is provided near the side of upper wheel 131
Shallow slot 137, the shallow slot 137 is corresponding with blind hole 136 and is coaxially disposed, and in the blind hole 136 stage clip 138, the pressure are provided with
The bottom contact of spring 138 has spheroid 139, and the part of the spheroid 139 is placed in shallow slot 137.As the 3rd on upper wheel
Rotating shaft, if retard motion hinders, is installed on lower whorl when driving driving lever to move because upper wheel is coordinated by stage clip and spheroid,
Spheroid can be compressed in blind hole so that upper wheel and lower whorl occur relative motion, can be using spheroid and shallow slot phase in embodiment
Signal is produced during disengaging so that machine sends alarm function, realize safeguard function, when lower whorl is rotated further, lower whorl can be one
Continue to carry out normal work in combination with upper wheel after the individual cycle.
The operation principle and process of the present invention is as follows：During original state, frame is placed in parallel with glass planar, with wiping
The one of cloth is adsorbed on glass facing to glass by the first vacuum cup and the second vacuum cup, and after start-up operation, first is true
Suction disk does not adsorb, and the second vacuum cup continues to adsorb, and runner is rotated, and drives the 3rd rotating shaft on runner to move in a circle, the
Three rotating shafts drive driving lever to swing back and forth, fourth rotating shaft of the driving lever with crossbeam center as swing pivot, on driving lever movable end
Drive the first follower lever to move, make the first follower lever swing back and forth by swing pivot of frame central, the first follower lever is by setting
The second rotating shaft in end drives the first guide pin bushing that linear reciprocating motion is done on the first guide rod, and the wiper on the first guide pin bushing can be used to
Clean glass window, when the first guide pin bushing moves to the other end from the first guide rod, the absorption of the first vacuum cup, the second vacuum cup
Do not adsorb, the first vacuum cup and the second vacuum cup alternating sorbent can be such that frame moves on the glass surface；Due to first from
Lever is connected and in 90 ° of designs with the second follower lever, therefore when the first follower lever drives the first guide pin bushing and the 3rd guide pin bushing to exist respectively
When moving back and forth on the first guide rod and the 3rd guide rod, the second follower lever can also drive the second guide pin bushing and the 4th guide pin bushing respectively second
Move back and forth on guide rod and the 4th guide rod.Therefore four wipers are only driven by a runner, and glass surface can be carried out clearly simultaneously
Clean work, efficiency high；By vacuum cup alternating sorbent, gantry motion is driven by runner, so that it may realize robot on windowpane
Motion, it is simple efficiently, good stability.
Wherein, the driving lever 15 is made up of stainless steel material, and it is difficult to get rusty, long service life.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of civic building window wiping robot, it is characterised in that including frame, the frame is square, the frame
Including four columns on square four angles and the first guide rod being connected between adjacent upright posts, the second guide rod, the
Three guide rods, the 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, second guide rod and the 4th guide rod is parallel sets
Put, sliding on first guide rod is arranged with the first guide pin bushing, the bottom face of first guide pin bushing is provided with wiper and the suction of the first vacuum
Disk, the side of first guide pin bushing is provided with the first slide bar, and first slide bar is arranged towards the 3rd guide rod and led perpendicular to first
Bar, the frame is provided with the crossbeam parallel with the first guide rod at the first guide rod top, and the crossbeam middle part is towards frame
Center position is provided with vertical beam, and the vertical beam is provided with first rotating shaft, and the first rotating shaft overlaps with frame central, described first turn
The angle that the first follower lever and the second follower lever, first follower lever and the second follower lever are sequentially provided with axle is 90 °, described
First slide bar is provided with the first sliding sleeve, the second rotating shaft is provided with the top of first sliding sleeve, on one end of first follower lever
First set hole is provided with, the first set hole is connected in the second rotating shaft, runner is additionally provided with the vertical beam, the runner is by electricity
Machine drives, and the runner is provided with the 3rd rotating shaft, driving lever is provided with the middle part of the crossbeam, in the driving lever near edge
Portion is provided with the first bar-shaped trough, and the 3rd rotating shaft is installed in the first bar-shaped trough, and first follower lever is provided with the second bar shaped
Groove, second bar-shaped trough is located between the medium position of the first follower lever and first set hole, and the outer end of the driving lever sets
There is the 4th rotating shaft, the 4th rotating shaft is installed in the second bar-shaped trough, the other end of first follower lever is provided with the 3rd set of hole,
Slide on 3rd guide rod and be arranged with the 3rd guide pin bushing, the bottom face of the 3rd guide pin bushing is provided with wiper and the second vacuum cup,
The side of the 3rd guide pin bushing is provided with the 3rd slide bar, and the 3rd slide bar is arranged and perpendicular to the 3rd guide rod towards the first guide rod,
3rd slide bar is provided with the 3rd sliding sleeve, and the 3rd sliding sleeve is provided with the 5th rotating shaft, and the 3rd set of hole is installed on the 5th
In rotating shaft；Slide on second guide rod and be arranged with the second guide pin bushing, the bottom face of second guide pin bushing is provided with wiper, described second
The side of guide pin bushing is provided with the second slide bar, and second slide bar is arranged and perpendicular to the second guide rod towards the 4th guide rod, and described second
Slide bar is provided with the second sliding sleeve, second sliding sleeve is provided with the 6th rotating shaft, and second follower lever is respectively arranged at two ends with
Two sets of holes and the 4th set of hole, second set of hole is installed in the 6th rotating shaft；Slip on 4th guide rod is arranged with the 4th and leads
Set, the bottom face of the 4th guide pin bushing is provided with wiper, and the side of the 4th guide pin bushing is provided with the 4th slide bar, the 4th slide bar court
Arrange to the second guide rod and perpendicular to the 4th guide rod, the 4th slide bar is provided with the 4th sliding sleeve, and the 4th sliding sleeve is provided with
7th rotating shaft, the 4th set of hole is installed in the 7th rotating shaft；
The runner includes upper wheel and lower whorl, and the lower whorl is connected with motor driving shaft, and the lower whorl exists near the side of upper wheel
Center is provided with screwed hole, and the upper wheel center is provided with through hole, and the through hole is coaxially disposed with the screwed hole, and a screw is worn
Cross and the screwed hole be screwed together in after the through hole, between the head of the screw and upper wheel have gap so that upper wheel can it is relative under
Wheel rotates, and the upper wheel is provided with blind hole near the side of lower whorl at eccentric position, and the lower whorl sets near the side of upper wheel
There is shallow slot, the shallow slot is corresponding with blind hole and is coaxially disposed, stage clip, the bottom contact of the stage clip are provided with the blind hole
There is spheroid, the spherical part is placed in shallow slot.
2. civic building window wiping robot according to claim 1, it is characterised in that first vacuum cup and
Two vacuum cup alternate runs are moved with driving frame on windowpane.
3. driving lever according to claim 2, it is characterised in that the driving lever is made up of stainless steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610963228.XA CN106562725A (en) | 2016-11-04 | 2016-11-04 | Window-cleaning robot used for municipal buildings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610963228.XA CN106562725A (en) | 2016-11-04 | 2016-11-04 | Window-cleaning robot used for municipal buildings |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106562725A true CN106562725A (en) | 2017-04-19 |
Family
ID=58535956
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610963228.XA Withdrawn CN106562725A (en) | 2016-11-04 | 2016-11-04 | Window-cleaning robot used for municipal buildings |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106562725A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100878880B1 (en) * | 2007-09-27 | 2009-01-15 | 한국산업기술대학교산학협력단 | Cleaning robot of building outside wall |
| CN201814216U (en) * | 2010-10-14 | 2011-05-04 | 李永福 | Underpan of baby electric cradle |
| CN102987981A (en) * | 2012-10-31 | 2013-03-27 | 博宇(无锡)科技有限公司 | Hydraulic lifting platform for window cleaning machine |
| CN103101049A (en) * | 2013-03-05 | 2013-05-15 | 清华大学 | Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain |
| CN105522570A (en) * | 2016-02-25 | 2016-04-27 | 北京交通大学 | Rapid grabbing robot capable of performing whole circle movement |
| CN105943281A (en) * | 2016-05-27 | 2016-09-21 | 宁波康麦隆医疗器械有限公司 | An integral type lifting bed head frame |
-
2016
- 2016-11-04 CN CN201610963228.XA patent/CN106562725A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100878880B1 (en) * | 2007-09-27 | 2009-01-15 | 한국산업기술대학교산학협력단 | Cleaning robot of building outside wall |
| CN201814216U (en) * | 2010-10-14 | 2011-05-04 | 李永福 | Underpan of baby electric cradle |
| CN102987981A (en) * | 2012-10-31 | 2013-03-27 | 博宇(无锡)科技有限公司 | Hydraulic lifting platform for window cleaning machine |
| CN103101049A (en) * | 2013-03-05 | 2013-05-15 | 清华大学 | Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain |
| CN105522570A (en) * | 2016-02-25 | 2016-04-27 | 北京交通大学 | Rapid grabbing robot capable of performing whole circle movement |
| CN105943281A (en) * | 2016-05-27 | 2016-09-21 | 宁波康麦隆医疗器械有限公司 | An integral type lifting bed head frame |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170419 |
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| WW01 | Invention patent application withdrawn after publication |