CN107713918A - Adapt to the wiping window robot in various buildings - Google Patents

Adapt to the wiping window robot in various buildings Download PDF

Info

Publication number
CN107713918A
CN107713918A CN201711125338.XA CN201711125338A CN107713918A CN 107713918 A CN107713918 A CN 107713918A CN 201711125338 A CN201711125338 A CN 201711125338A CN 107713918 A CN107713918 A CN 107713918A
Authority
CN
China
Prior art keywords
frame
window
water
brush
sucker
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.)
Withdrawn
Application number
CN201711125338.XA
Other languages
Chinese (zh)
Inventor
葛耿育
欧阳艾嘉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zunyi Normal University
Original Assignee
Zunyi Normal University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zunyi Normal University filed Critical Zunyi Normal University
Priority to CN201711125338.XA priority Critical patent/CN107713918A/en
Publication of CN107713918A publication Critical patent/CN107713918A/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/028—Micro-sized aircraft

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

The invention discloses a kind of wiping window robot for adapting to various buildings, it is related to exterior window cleaning device field, including：Four-axle aircraft, four-axle aircraft include controller and frame, and drive device is provided with frame, and drive device includes front-seat motor and heel row motor, and controller is connected with drive device signal, and controller is used to control front-seat motor and heel row motor to rotate respectively；The front end of frame is provided with water brush, water brush side is provided with accessory sucker, and accessory sucker is hinged on water and painted, and delivery port is arranged below in water brush；The rear end of frame is provided with water tank, and water tank connects Water passage brush；Cleaning brush is provided among the bottom of frame, cleaning brush is fixedly connected among bottom of the frame；The bottom of frame is provided with main sucker, and main sucker is fixedly connected on the bottom of frame.The present invention solves the technical problem that wiping window robot of the prior art does not adapt to clean the window on various metopes, is used in window scouring.

Description

Adapt to the wiping window robot in various buildings
Technical field
The present invention relates to exterior window cleaning device field, more particularly to a kind of wiping window robot for adapting to various buildings.
Background technology
With the high speed development of the modern life, people have moved into high building from one-storey house, and high building is in order to ensure that daylighting is usual Windowpane can be largely used, and the design in every kind of building is different, the flooring in building is also different, there is the building using glass curtain wall, Also each window is provided with the building of jesting beam every obtaining between distant building and window, windowpane in use can Accumulate gradually dust, dust accumulation to a certain extent when, not only influence attractive in appearance, can also influence daylighting, just be needed when this Window is wiped clean.
Different with the windowpane of flat bed, the windowpane of flat bed will be wiped only needs station outside window outside window, and cleans and be placed in height During aerial window, if also wiping window personnel by face of the risk from falling from high altitude in method outside window using station；To understand The problem of window is dangerous high is certainly manually wiped, people start to wipe window using machine, and existing wiping window machine is according to building mostly Shape design, window machine of wiping is installed while high building is built, but such window machine wiped installs special slide rail, but Be such mode exist slide rail handling it is cumbersome the problem of.
In order to solve this problem, Chinese patent CN103690100B discloses a kind of Pneumatic high-altitude glass-cleaning robot, Including for providing power and producing the Pneumatic vacuum module of Incision Machine's, being similar to what quadruped creeped for realizing Crawler module, for the wiping module of cleaning glass window, and to control module that module described above is controlled.
Need to do work at any time by Pneumatic vacuum module using above-mentioned Pneumatic high-altitude glass-cleaning robot and reach absorption in window The purpose moved on family or on window, coordinated after a fan window is wiped by vacuum module and crawler module and carried out in window Movement between family, metope can be passed through when being moved to another fan window from a fan window, but existing metope is not necessarily It can be adsorbed by vacuum module, the metope of some easy dry lintings even out-of-flatness itself such as be present, use vacuum module Dropped after being damaged to the metope of easy dry linting from metope, and dust also can make vacuum module very too much on the metope having On metope, the metope by out-of-flatness itself, which also results in vacuum module and can not reach vacuum module, makes vacuum module for hardly possible absorption Meaning is lost, this easily drops when causing above-mentioned robot to be moved between two fan windows and pass through metope.
The content of the invention
The invention is intended to provide a kind of wiping window robot for adapting to various buildings, to solve wiping window of the prior art Robot does not adapt to the technical problem cleaned to the window on various metopes.
The wiping window robot in the various buildings of adaptation in this programme, including：Four-axle aircraft, four-axle aircraft include control Device processed and frame, drive device is provided with frame, drive device includes front-seat motor and heel row motor, and controller fills with driving Confidence number connects, and controller is used to control front-seat motor and heel row motor to rotate respectively；
The front end of frame is provided with water brush, water brush side is provided with accessory sucker, and accessory sucker is hinged on water and painted, below water brush Provided with delivery port；The rear end of frame is provided with water tank, and water tank connects Water passage brush；Cleaning brush is provided among the bottom of frame, is cleaned Brush is fixedly connected among bottom of the frame；The bottom of frame is provided with main sucker, and main sucker is fixedly connected on the bottom of frame；It is main Vavuum pump is provided with sucker, vavuum pump connects main sucker, and vavuum pump is connected with controller signals；
The accessory sucker is provided with the No.1 sensor for being used for detecting accessory sucker adsorbed state, and No.1 sensor is fixedly connected On accessory sucker, No.1 sensor is connected with controller signals, and the water tank, which is provided with, to be used to detect whether water tank encounters window No. two sensors, No. two sensors are fixedly connected on water tank, and No. two sensors are connected with controller signals.
Using this programme wiping window robot when, glass cleaning solution is filled in water tank first, is controlled using controller Drive device makes four-axle aircraft take off, and makes water brush close to the window that needs cleaning, when the accessory sucker patch for being connected to water and painting When on window, No.1 sensor sends information to controller, and controller starts vavuum pump and closes drive device so that wipes window Family robot loses the power that drive device is brought, and now frame rotates along the hinged place of accessory sucker and water brush, is arranged on machine The main sucker of frame bottom is attached on window with the rotation of frame, and now water brush opens the glass cleaning sprayed in water tank Liquid, glass cleaning solution flows away downwards under gravity along window, by main sucker, profit of the main sucker in glass cleaning solution Slide close to window slide downward, drive the frame being connected on main sucker also slide downward, be arranged on frame lower section it is clear Clean brush also begins to mix the glass cleaning solution cleaned window from the outflow of water brush.
Wipe window robot along window be slipped to window bottom when, be arranged on No. two of side of the water tank away from frame biographies Sensor issues a signal to controller, and controller control water brush is closed, starts heel row motor and close vavuum pump, make wiping window machine People enters in the air, then the remaining electric motor starting of drive device, Shi Ca windows robot held stationary are flown, then close to another place Window is cleaned the windows work next time.The wiping window robot of this programme reaches next fan window by flying, without wall The situation of face therefore metope does not interfere with the work for wiping window robot.
This programme completes the scavenger to window using the cooperation of the water brush, cleaning brush and the drive device that are arranged in frame Make, control the drive device above window wiping robot to cause window wiping robot to fly to specified location first, then connect accessory sucker Contact glass window, No.1 sensor sends a signal to controller, controller control water brush, cleaning brush after accessory sucker touches windowpane Coordinate the cleaning completed to window with main sucker, then No. two sensors encounter window bottom, and window wiping robot plays fly weight It is new to determine to wipe window position.Solve wiping window robot of the prior art using the window wiping robot in this programme not adapt to The technical problem cleaned to the window on various metopes, while utilize the meeting under the lubrication of glass cleaning solution of main sucker This window wiping robot is caused to wipe window and more save by the phenomenon of gravity traction slide downward.Due to the wiping window machine of this programme People need not pass through when being moved to next fan window from metope, the window for needing to clean from aerial mobile to next fan, therefore Solving wiping window robot of the prior art needs to climb the shortcomings that wall is moved to next fan window, so as to solve to various The technical problem that window on metope is cleaned.
Further, the accessory sucker is provided with two.Compared to only setting, the scheme of an accessory sucker is more stable to be not easy from window Drop at family.
Further, the main sucker is provided with four.It may be loosened along window to main sucker when gliding in frame Come off, also have remaining main sucker to inhale on window compared to only setting the main sucker of scheme one of a main sucker to loosen, therefore Set four main suckers more stable.
Further, the water brushes vertical range of the vertical range more than front-seat motor to frame of frame.Compared to water brush To frame vertical range be less than front-seat motor to the vertical range of frame scheme manipulation window wiping robot close to window when It is easier to make accessory sucker be attached on window, avoids No.1 pedestal or No. two pedestals touch window.
Further, it is provided with sponge above the delivery port.Compared to the scheme that sponge is set not above delivery port, do not have The sponge that the glass cleaning solution used by cleaning brush is arranged on above delivery port wipes so that on window will not residual glass it is clear Washing lotion, cleaning it is cleaner.
Further, resilient material is provided with behind the water tank.Window is being bumped against compared to the water tank for being not provided with resilient material Mechanical oscillation are smaller to caused by window wiping robot during bottom so that window wiping robot reduces damage in normal work.
Further, miniature parachute is installed additional in frame.After setting miniature parachute, when window wiping robot midway powers off Not as good as returning or there can be buffering during the falling bodies out of hand from freedom of the air, window wiping robot is avoided to damage.
Further, No. two water tanks are provided with the frame.The water tank at frame rear is arranged in order that frame whole machine balancing Size can not be freely set, and compared to the scheme that water tank is only set at frame rear, being arranged on No. two water tanks in frame can be Lift carriage carrying of liquids capacity on the premise of the overall balance of frame is not influenceed.
Brief description of the drawings
Fig. 1 is the schematic perspective view for the embodiment for wiping window robot that the present invention adapts to various buildings；
Fig. 2 is the schematic top plan view for the embodiment for wiping window robot that the present invention adapts to various buildings.
Embodiment
Below by the further details of explanation of embodiment：
Reference in Figure of description includes：3, No. four motors 4, one of motor of motor 2, three of No.1 motor 1, two Number 7, No. four pedestals 8 of the pedestal of pedestal 6, three of pedestal 5, two, frame 9, the sucker 11, three of No.1 sucker 10, two sucker 12, No. four suckers 13, accessory sucker 14,15, No. two water tanks 16 of water brush, cleaning brush 17 and delivery port 18.
The drive device of existing four-axle aircraft is the mechanism of motor direct-connected, and criss-cross layout allows aircraft to pass through Change the power that motor speed obtains main body turning, so as to adjust itself posture.
Embodiment is substantially as shown in Figures 1 and 2：
The wiping window robot in various buildings, including four-axle aircraft, cleaning device and vacuum holding are adapted in the present embodiment Put, the four-axle aircraft includes controller, drive device and frame, and the motor used in the present embodiment is brushless electric machine, drives Dynamic device is respectively 3, No. four motors 4 of motor of motor 2, three of No.1 motor 1, two, wherein No.1 motor 1 and No. three motors 3 Rotate counterclockwise, No. two motors 2 and No. four rotate counterclockwises of motor 4, frame include frame 9 and four pedestals, four pedestals point Not Wei 7, No. four pedestals 8 of pedestal of pedestal 6, three of No.1 pedestal 5, two, four pedestals are in the same plane with frame 9 and phase It is mutually vertical, controller signals connection drive device；
The one end of No.1 pedestal 5 away from frame 9 is provided with No.1 motor 1, and No. two one end of pedestal 6 away from frame 9 are provided with two Number motor 2, No. three one end of pedestal 7 away from frame 9 are provided with No. three motors 3, and No. four one end of pedestal 8 away from frame 9 are provided with four Number motor 4, controller are set in class frame 9, and controller is applicable " X " offline mode, the four-axle aircraft under " X " offline mode Heading among two motors；
Cleaning device includes cleaning brush 17, water brush 15, water tank, and cleaning brush 17 is arranged on the lower section of frame 9, water brush 15 is arranged on Between No.1 pedestal 5 and No. two pedestals 6, the vertical range of water brush 15 to frame 9 is more than motor to the vertical range of frame 9, water The one side for brushing 15 water outlets is provided with sponge, and the one side of the horizontal plane of water brush 15 close to ground is provided with delivery port 18, delivery port 18 Top is additionally provided with sponge strip includes water tank 16 and No. two to heat absorbing glass cleaning fluid, water tank built with glass cleaning solution, water tank Water tank, No. two water tanks are arranged in frame 9, and water tank 16 is arranged between No. three pedestals 7 and No. four pedestals 8, water tank 16 it is vertical Face is provided with resilient material, and the resilient material in the present embodiment is silica gel, and water tank 16 is symmetrical along frame 9 and cleaning brush 17, No. two Water tank and No. two water brushes 15 are connected with water brush 15, miniature parachute are additionally provided with frame 9, the present embodiment uses SafeAir injecting type parachutes；
Vacuum plant includes main sucker, vavuum pump and two accessory suckers 14, and the material of main sucker is the polymer of vinyl, Main sucker is respectively the sucker 12 of sucker 11, three of No.1 sucker 10, two and No. four suckers 13, and vavuum pump includes No.1 vacuum Pump, No. two vavuum pumps, No. three vavuum pumps and No. four vavuum pumps, No.1 vavuum pump connection No.1 sucker 10, No. two vavuum pump connections No. two suckers 11, No. three vavuum pumps connect No. three suckers 12, and No. four vavuum pumps connect No. four suckers 13, and No.1 vavuum pump is arranged on The one end of No.1 pedestal 5 away from frame 9, No. two vavuum pumps are arranged on No. two one end of pedestal 6 away from frame 9, No. three vavuum pumps No. three one end of pedestal 7 away from frame 9 are arranged on, No. four vavuum pumps are arranged on No. four one end of pedestal 8 away from frame 9；Pair is inhaled Disk 14 is provided with and two and is all hinged on the vertical plane of water brush 15, and the hinged place of accessory sucker 14 and water brush 15 is provided with torsion spring, two Accessory sucker 14 is each provided with No.1 sensor, and side of the water tank 16 away from frame 9 is provided with No. two sensors；
Controller controls the rotating speed of drive device, and controller starts vacuum after the signal that No.1 sensor transmits is received Pump, the delivery port 18 for opening water brush 15 simultaneously close drive device, and controller closes after the signal that No. two sensors transmit is received The delivery port 18 closed on water brush 15, start drive device and close vavuum pump.
Using the present embodiment wiping window robot when, remotely by controller control drive device rotating speed, make wiping window The water brush 15 of family robot is close to the window to need cleaning, when the accessory sucker 14 being connected on water brush 15 is attached on window, one Number sensor sends information to controller, and controller starts vavuum pump and simultaneously closes drive device so that wipes window robot and loses The power that drive device is brought, now wipe window robot and wiped along the rotation of the hinged place of accessory sucker 14 and water brush 15 and then setting The main sucker paster of window robot bottom is on window, and now water brush 15 opens the glass cleaning solution sprayed in water tank, clearing glass Washing lotion flows away downwards under gravity along window, by main sucker, main sucker under the lubrication of glass cleaning solution close to Window slide downward, the frame being connected on main sucker also slide downward is driven, be arranged on the cleaning brush of the lower section of frame 9 of frame 17 also begin to mix the glass cleaning solution cleaned window flowed out from water brush 15.
Wipe window robot along window be slipped to window bottom when, be arranged on the two of side of the water tank 16 away from frame 9 Number sensor issues a signal to controller, and controller control water brush 15 is closed, starts No. three motors 3 and No. four motors 4 and close Vavuum pump, Shi Ca windows robot enters in the air, then No.1 motor 1 and No. two motors 2 are started, and window wiping robot is kept flat Steady flight, then cleaned the windows next time work close to another place's window.
Four-axle aircraft makes simply, and cost is lower compared to the cost of other minute vehicles, and water brush 15 is arranged on two Compare to be arranged on a pedestal more to stablize between pedestal and be unlikely to deform, the premise between two pedestals is arranged in water brush 15 The offline mode of lower setting surrounding aircraft is " X " offline mode, compared to "+" offline mode, the direction of motion of " X " offline mode The contact area of water brush 15 and plane in front can be made to reach maximum；Water tank 16 is arranged on water brush 15 along 9 symmetrical position of frame So that the weight balancing when keeping flat of window wiping robot, is more favorable for controlling precision during window wiping robot flight；No. two water Case is arranged in frame 9 so that No. two water tanks do not interfere with the center of window wiping robot, while expand holding for window wiping robot Continuous ability to work.
Using the combine adsorption of vavuum pump and main sucker on window, the glass cleaning solution flowed out from water brush 15 is then utilized Lubricant effect sucker is glided with frame, be arranged on the cleaning brush 17 below frame and also complete scrub work.
Embodiment 2：
The present embodiment is substantially the same manner as Example 1, and difference is to be folded with expansion link among the water brush, described to stretch Contracting bar is connected with controller signals, when the window breadth to need cleaning is narrower, by controller control expansion link shrink so as to Shorten head length.
Above-described is only embodiments of the invention, and the general knowledge such as known concrete structure and characteristic is not made herein in scheme Excessive description, technical field that the present invention belongs to is all before one skilled in the art know the applying date or priority date Ordinary technical knowledge, prior art all in the field can be known, and with using normal experiment hand before the date The ability of section, one skilled in the art can improve and implement under the enlightenment that the application provides with reference to self-ability This programme, some typical known features or known method should not implement the application as one skilled in the art Obstacle.It should be pointed out that for those skilled in the art, without departing from the structure of the invention, it can also make Go out several modifications and improvements, these should also be considered as protection scope of the present invention, these effects implemented all without the influence present invention Fruit and practical applicability.The scope of protection required by this application should be based on the content of the claims, the tool in specification The records such as body embodiment can be used for the content for explaining claim.

Claims (8)

1. the wiping window robot in the various buildings of adaptation in this programme, including：Four-axle aircraft, four-axle aircraft include control Device and frame, drive device are provided with frame, drive device includes front-seat motor and heel row motor, controller and drive device Signal connects, and controller is used to control front-seat motor and heel row motor to rotate respectively；
It is characterized in that：The front end of frame is provided with water brush, water brush side is provided with accessory sucker, and accessory sucker is hinged on water and painted, Delivery port is arranged below in water brush；The rear end of frame is provided with water tank, and water tank connects Water passage brush；Cleaning is provided among the bottom of frame Brush, cleaning brush are fixedly connected among bottom of the frame；The bottom of frame is provided with main sucker, and main sucker is fixedly connected on frame Bottom；Main sucker is connected with vavuum pump, and vavuum pump is connected with controller signals；
The accessory sucker is provided with the No.1 sensor for being used for detecting accessory sucker adsorbed state, and No.1 sensor is fixedly connected on pair On sucker, No.1 sensor is connected with controller signals, and the water tank, which is provided with, to be used to detect whether water tank encounters window two Number sensor, No. two sensors are fixedly connected on water tank, and No. two sensors are connected with controller signals.
2. the wiping window robot according to claim 1 for adapting to various buildings, it is characterised in that：The accessory sucker is provided with Two.
3. the wiping window robot according to claim 1 for adapting to various buildings, it is characterised in that：The main sucker is provided with Four.
4. the wiping window robot according to claim 1 for adapting to various buildings, it is characterised in that：The water brushes frame Vertical range be more than front-seat motor to frame vertical range.
5. the wiping window robot according to claim 1 for adapting to various buildings, it is characterised in that：Above the delivery port Provided with sponge.
6. the wiping window robot according to claim 1 for adapting to various buildings, it is characterised in that：Behind the water tank Provided with resilient material.
7. the wiping window robot according to claim 1 for adapting to various buildings, it is characterised in that：Installed additional in frame micro- Type parachute.
8. the wiping window robot according to claim 1 for adapting to various buildings, it is characterised in that：It is provided with the frame No. two water tanks.
CN201711125338.XA 2017-11-14 2017-11-14 Adapt to the wiping window robot in various buildings Withdrawn CN107713918A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711125338.XA CN107713918A (en) 2017-11-14 2017-11-14 Adapt to the wiping window robot in various buildings

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711125338.XA CN107713918A (en) 2017-11-14 2017-11-14 Adapt to the wiping window robot in various buildings

Publications (1)

Publication Number Publication Date
CN107713918A true CN107713918A (en) 2018-02-23

Family

ID=61215628

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711125338.XA Withdrawn CN107713918A (en) 2017-11-14 2017-11-14 Adapt to the wiping window robot in various buildings

Country Status (1)

Country Link
CN (1) CN107713918A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110584527A (en) * 2019-11-03 2019-12-20 河北工程大学 Be used for clear unmanned aerial vehicle of high building outer wall body

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110584527A (en) * 2019-11-03 2019-12-20 河北工程大学 Be used for clear unmanned aerial vehicle of high building outer wall body
CN110584527B (en) * 2019-11-03 2021-07-06 河北工程大学 Be used for clear unmanned aerial vehicle of high building outer wall body

Similar Documents

Publication Publication Date Title
JP6728548B2 (en) Cleaning device and method for cleaning surface
CN205031188U (en) Clean robot can fly
US11529036B2 (en) Robotic cleaning apparatus and system
CA2991541C (en) Cleaning apparatus and method for cleaning a surface
CN108888167B (en) High-altitude cleaning unmanned aerial vehicle and method for cleaning building high altitude by using same
CN110876578B (en) Automatic-turning and obstacle-crossing glass cleaning robot and working method thereof
ES2741330T3 (en) Stationary flight device for drawing on walls
CN205338822U (en) Robot is used in window clearance
JP2019535403A (en) Window cleaning robot
CN106388724B (en) Glass curtain wall cleaning robot
CN108463153A (en) Aerial unmanned plane cleaning device and the method for cleaning target surface with it
KR101449399B1 (en) Hgh-rise wall cleaning apparatus for combining driving wheel into brush, and driving method for the same
CN106073618A (en) Intelligence climbing automated cleaning machine people
WO2020114195A1 (en) Special service robot for high-altitude operation
CN107616758A (en) A kind of glass wall cleaning robot with walking mechanism
CN111959779A (en) Unmanned aerial vehicle based on simulation is dressed to VR glasses
CN107713918A (en) Adapt to the wiping window robot in various buildings
CN210902845U (en) High-altitude operation robot
CN210727636U (en) Floor window
CN104856616B (en) A kind of caterpillar type robot for cleaning high-altitude curtain wall
CN203749323U (en) Glass curtain wall intelligent cleaning vehicle
AU2020100047A4 (en) The quadcopter for cleaning the glass of buildings
CN112842128A (en) High-altitude glass curtain wall climbing cleaning robot
CN208610766U (en) A kind of glass wall cleaning robot with walking mechanism
WO2017219256A1 (en) Flying cleaning device capable of wall-climbing

Legal Events

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
WW01 Invention patent application withdrawn after publication

Application publication date: 20180223