CN107788900A - Clean robot - Google Patents
Clean robot Download PDFInfo
- Publication number
- CN107788900A CN107788900A CN201610766875.1A CN201610766875A CN107788900A CN 107788900 A CN107788900 A CN 107788900A CN 201610766875 A CN201610766875 A CN 201610766875A CN 107788900 A CN107788900 A CN 107788900A
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- Prior art keywords
- cleaning unit
- robot
- robot body
- cleaning
- clean
- 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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- 238000004140 cleaning Methods 0.000 claims abstract description 122
- 238000007789 sealing Methods 0.000 claims description 8
- 230000004308 accommodation Effects 0.000 claims description 7
- 230000010355 oscillation Effects 0.000 claims description 3
- 239000011521 glass Substances 0.000 description 11
- 238000010521 absorption reaction Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 239000003795 chemical substances by application Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000011538 cleaning material Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000013517 stratification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
A kind of clean robot, cleaning unit (200,600) including robot body (100,500) and positioned at robot body bottom, the robot body is provided with the driver element that driving cleaning unit rotates, the cleaning unit is located at the edge or corner of robot body, the cleaning unit outer rim is shaped as strangling Lip river triangle, and edge track is substantially square when cleaning unit rotates.Cleaning unit circular or square is changed to strangle Lip river triangle by the present invention by traditional, when clean robot runs to the corner of rectangular area, cleaning unit uniqueness is shaped such that clean robot under the stop of region frame, remain able to touch the corner of rectangular area, so as to play a part of cleaning corner.
Description
Technical field
A kind of a kind of cleaning machine the present invention relates to clean robot, more particularly to cleaning unit for Le Lip river triangle
People, belong to intelligent appliance manufacturing technology field.
Background technology
Window wiping robot can rely on the vavuum pump or blower fan apparatus of themselves bottom, firmly adsorb on glass, and profit
Dirty on glass to drive the rag of fuselage bottom to wipe with itself dynamics of the absorption on glass, it is high that it helps people to solve
Layer wipes the problem of window, outdoor wiping window difficulty.However, the cleaning mechanism of existing window wiping robot is generally circular in cross section or square on the market
Shape, it can not effectively clean dirty at rectangular glass corner.
A kind of swing type automatic window wiping robot, the machine are disclosed in Application No. 201510336618.X Chinese patent
Device people realizes that swing type moves using blower fan absorption glass by way of two pieces of circular brushs are coordinated to rotate；Application No.
Glass-cleaning robot disclosed in 201010562574.X Chinese patent (commonly referred to as " glass girl ") has two cleaning wheels, realizes
Swing type walking cleaning.Because most window-glass is rectangle, above-mentioned circular brush or cleaning wheel can not reach glass
Corner, the corner of glass also can not be just cleaned, so the window wiping robot of type can be formed at " cleaning dead angle " on glass surface.Shen
Another glass-cleaning robot please be disclosed in number Chinese patent for being 201210097472.4, its body front end is provided with rag,
Body realizes walking by 2 Athey wheel mechanisms.Although the robot can clean the corner of glass, it is only " to pass by
The wiping (only wiping once) of formula ", can not be dry by frame or corner effectively cleaning because frame or edge dust stratification are more
Only.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of clean robot, lead to
Cross by cleaning unit by it is traditional it is circular or square be changed to strangle Lip river triangle, clean robot runs to the corner of rectangular area
When, cleaning unit uniqueness is shaped such that clean robot under the stop of region frame, remains able to touch rectangle
The corner in region, so as to play a part of cleaning corner.
The technical problems to be solved by the invention are achieved by the following technical solution：
A kind of clean robot, including robot body and the cleaning unit positioned at robot body bottom, the machine
Human agent is provided with the driver element that driving cleaning unit rotates, and the cleaning unit is located at the edge or side of robot body
Angle, the cleaning unit outer rim are shaped as strangling Lip river triangle, and edge track is substantially square when cleaning unit rotates.
Preferably, the cleaning machine artificially swings walking clean robot, including robot body and positioned at robot
The cleaning unit at main body both ends, the cleaning unit are alternatively formed oscillation center.
Further, vacuum chamber is provided with inside the cleaning unit, the vacuum chamber forms negative pressure chamber by vacuum suction,
The clean robot is adsorbed in working surface by the negative pressure chamber.
Or the artificial running on wheels clean robot of cleaning machine, including robot body, robot body bottom
Provided with road wheel, robot body bottom is additionally provided with least one cleaning unit.
Further, the robot body is square, using clean robot operative orientation as front, before robot body
The cleaning unit is respectively equipped with two drift angles of side.
In order to drive cleaning unit to rotate, the driver element is provided with output end, the rotating shaft center of the cleaning unit
Line is parallel with the center line of the output end.Specifically, the rotary shaft of the cleaning unit is connected to the drive by bent axle
The output end of moving cell.Certain bent axle can also be replaced by other mechanisms, such as eccentric wheel or crank mechanism.
Further, the driver element includes motor, and motor is arranged on the air channel in robot body
Cover, the position that corresponding motor output end is covered on air channel offers through hole, and the output end connects position through air channel top cap
In one end of the bent axle of lid lower section on air channel, the other end of bent axle is connected by bearing and screw with planetary gear, and planetary gear is located at
In one ring gear, the outer circumferential of planetary gear and the circumferential inner side of ring gear are provided with pitch wheel, cleaning unit and row
The bottom of star-wheel is fixedly connected, and multiple passages are correspondingly opened up on the planetary gear and cleaning unit.
Parts depreciation caused by order to prevent impurity, the robot body also include a base, the base and air channel
Upper lid is mutually clamped to form an accommodation space, and the bent axle, bearing, planetary gear and ring gear are arranged on accommodation space
It is interior.
In order to improve sealing effectiveness, a sealing ring is set between the cleaning unit and base.
In summary, cleaning unit circular or square is changed to strangle Lip river triangle, clean robot by the present invention by traditional
When running to the corner of rectangular area, cleaning unit uniqueness is shaped such that stop of the clean robot even in region frame
Under, remain able to touch the corner of rectangular area, so as to play a part of cleaning corner.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is described in detail.
Brief description of the drawings
Fig. 1 is the schematic diagram for strangling Lip river triangle；
Fig. 2 is track schematic diagram when strangling Lip river triangle rotating；
Fig. 3 is the structural representation of the embodiment of the present invention one；
Fig. 4 is the structure sectional view of the embodiment of the present invention one；
Fig. 5 is the exploded perspective view of the embodiment of the present invention one；
Fig. 6 is the partial schematic diagram after the installation of the cleaning unit of the embodiment of the present invention one；
Fig. 7 is the structural representation of planetary gear in the embodiment of the present invention one；
Fig. 8 is the structural representation of cleaning unit in the embodiment of the present invention one；
Fig. 9 is the structural representation of the embodiment of the present invention two.
Embodiment
A kind of clean robot, including robot body and the cleaning list positioned at robot body bottom are provided in the present invention
Member, the robot body are provided with the driver element that driving cleaning unit rotates, and the cleaning unit is located at robot body
Edge or corner, and the cleaning unit outer rim be shaped as strangle Lip river triangle (reuleaux triangle), cleaning unit
Edge track is substantially square during rotation.
Also include the component such as vacuum source, control unit in the robot body, because clean robot has been existing skill
Art, as disclosed in Application No. 201510336618.X, 201010562574.X and 201210097472.4 Chinese patent
The clean robot of various structures, for the structure of cleaning machine human agent, it will not be repeated here.
The cleaning unit is provided with cleaning material, and such as sponge, cloth, cotton material, woollen or stationery, cleaning unit is in machine
Rotated under the driving of human agent, so as to drive cleaning material to wipe surface to be cleaned.
Fig. 1 is the schematic diagram for strangling Lip river triangle；Fig. 2 is track schematic diagram when strangling Lip river triangle rotating.Such as Fig. 1 and Fig. 2
It is shown, the present invention in cleaning unit be shaped as strangle Lip river triangle, i.e., using each summit of equilateral triangle 20 as the center of circle, with side
A length of radius, make one section of arc, the curved line trangle 21 that three sections of arcs surround between another two summit.It is well known that strangle Lip river triangle
Typical curve of constant breadth, have fixed width (circle is placed among two parallel lines, is allowed to tangent with this two parallel lines,
It can then accomplish：No matter how this circle moves, it still in this two parallel lines, and all the time with this two parallel lines phases
Cut), i.e., when strangling Lip river triangle when the length of side is the square internal rotation of its width, the track that each angle is passed by is basically
One square.The center 11 of Lip river triangle 10 is wherein strangled along during the rotation of circle 12, its edge track substantially square 13 is described
The substantially square corner for referring to square and on-right angle, but right angle is replaced with parabola.
Due to strangling the above-mentioned characteristic of Lip river triangle, when clean robot runs to the corner of rectangular area working surface, its
Uniqueness is shaped such that under the stop of region frame cleaning unit remains able to touch the corner of rectangular area, from
And play a part of cleaning corner.
With reference to embodiment and accompanying drawing, the invention will be further described.
Embodiment one
Fig. 3 is the structural representation of the embodiment of the present invention one；Fig. 4 is the structure sectional view of the embodiment of the present invention one.Such as Fig. 3
Shown in Fig. 4, in the present embodiment, cleaning machine artificially swings walking clean robot, including robot body 100 and is located at
The cleaning unit 200 at robot body both ends, the outer rim of cleaning unit 200 are shaped as Le Lip river triangle.Further, institute
State the inside of cleaning unit 200 and be provided with vacuum chamber, the vacuum chamber forms negative pressure chamber by vacuum suction, and the clean robot leads to
Cross the negative pressure chamber and be adsorbed in working surface.From the foregoing, when cleaning corner, the cleaning unit 200 of clean robot with
Substantially square 14 track operation, when being run in working surface middle part, its motion mode and effect are equal to background
" glass girl class " cleans automatic robot in technology, and the rotating speed of two cleaning units 200 is different, their rubbing between working surface
Difference can be had because of rotating speed speed by wiping power：When speed is slower, cleaning unit 200 and working surface geo-stationary, the two
Between be stiction；When speed, cleaning unit 200 relatively moves with working surface, is therebetween sliding friction
Power, and maximum static friction force is more than force of sliding friction, i.e., described cleaning unit 200 is alternatively formed oscillation center, drives cleaner
Device people is moved by way of swing.When clean robot is in the operation of the corner of rectangular area working surface, cleaning unit 200
Because its special shape can still touch the corner in region to be cleaned.
Fig. 5 is the exploded perspective view of the embodiment of the present invention one；Fig. 6 is the office after the installation of the cleaning unit of the embodiment of the present invention one
Portion's schematic diagram.As shown in Figure 5 and Figure 6, absorption blower fan 101 is provided with robot body 100, absorption blower fan 101 is used as vacuum source
For producing suction, negative pressure chamber is formed after the vacuum chamber set in cleaning unit is aspirated；Drive is additionally provided with robot body 100
Moving cell, such as motor 102, for driving cleaning unit 200 to rotate, driver element is provided with output end, and the cleaning is single
Rotating shaft center's line of member 200 is parallel with the center line of the output end, and the rotary shaft of cleaning unit 200 passes through bent axle 104
The output end of the driver element is connected to, certain bent axle can also be replaced by other mechanisms, such as eccentric wheel or crank mechanism.
Specifically, adsorb blower fan 101 and motor 102 is arranged on the air channel in robot body 100 on lid 103, specifically,
Absorption blower fan 101 is located at the centre of lid 103 on air channel, and equably to produce suction, motor 102 is located at lid 103 on air channel
Both ends, the position of the corresponding output end of motor 102 of lid 103 offers through hole on air channel so that the output end can be worn
One end of bent axle 104 of the connection of lid 103 below lid on air channel 103 on air channel is crossed, between motor 102 and bent axle 104
It can also be driven by reduction box 110.The other end of bent axle 104 is connected by bearing 105 and screw 111 with a planetary gear 106,
I.e. bearing 105 is fixed on bent axle 104 by screw 111, and planetary gear 106 is located in a ring gear 107, the internal diameter of ring gear 107
More than the external diameter of planetary gear 106, and the outer circumferential of planetary gear 106 and the circumferential inner side of ring gear 107 are provided with intermeshing
Gear.Robot body 100 also includes a base 108, and the base 108 is mutually clamped to form an appearance with lid 103 on air channel
Between being empty, the bent axle 104, bearing 105, planetary gear 106 and ring gear 107 are arranged in accommodation space, so as to anti-
Only impurity enters accommodation space in the course of work, reduces unnecessary parts depreciation.The lower section of base 108 is provided with cleaning unit 200,
Cleaning unit 200 is fixedly connected with the bottom of planetary gear 106, and the mode that is fixedly connected of cleaning unit 200 and planetary gear 106 can be with
Using clamping or riveting etc., in the present embodiment, cleaning unit 200 on planetary gear 106 with being correspondingly arranged multiple screw holes, with side
Just the two profit is screwed.Bearing 104 is held on centre by cleaning unit 200 with both planetary gears 106.In addition, base 108
Also it is clipped among cleaning unit 200 and planetary gear 106, then coordinates the effect of ring gear, robot can be firmly adsorbed in wall
On face.It can be seen that, bent axle and bearing 105 will not be by any axial active force, Stability Analysis of Structures in figure.
When motor 102 works, planetary gear 106 is driven to be rotated in ring gear 107 by bent axle, it is clear so as to drive
Clean unit 200 moves, and because cleaning unit 200 is in Lip river triangle is strangled, edge track is generally square when cleaning unit 200 rotates
Shape.
The type of drive of above-mentioned cleaning unit 200 so that they have large range of relative position between base 108
Move, so in order to improve the absorption negative pressure between robot body 100 and working surface, can be in cleaning unit 200 and base
One sealing ring 109 is set between 108.A silica gel sealing ring is set for example, can be blocked with embedded mode on cleaning unit 200,
Be interference fitted between the sealing ring 109 and base, sealing ring 109 can suitably deformation to improve sealing effectiveness.
Fig. 7 is the structural representation of planetary gear in the embodiment of the present invention one；Fig. 8 is cleaning unit in the embodiment of the present invention one
Structural representation.As shown in Figure 7 and Figure 8, in order to be further ensured that the absorption between robot body 100 and working surface is born
Press, multiple passages are opened up on planetary gear 106 and cleaning unit 200, so that air-flow passes through, it should be noted that designing
, it is necessary to consider during the passage of planetary gear 106 and cleaning unit 200, to ensure that part strength and ventilation hole area all reach
To maximization.
Cleaning machine man-hour of the present invention, absorption blower fan 101 operate, the cleaned unit 200 of air-flow and planetary gear 106
Multiple passages are flowed into, and after the accommodation space, adsorbed blower fan 101 is extracted out, so that clean robot is attracted to work
Make surface；On the other hand, motor 102 works, and drives cleaning unit 200 to rotate, the movement locus at the edge of cleaning unit 200
It is substantially square, so as to be cleaned to working surface, particularly, the corner of working surface is effectively cleaned.
Embodiment two
Fig. 9 is the structural representation of the embodiment of the present invention two.As shown in figure 9, in the present embodiment, cleaning machine is artificially taken turns
Formula walking clean robot, including robot body 500, the bottom of robot body 500 are provided with road wheel 800, for example, OK
Driving wheel, Caterpillar walking wheel, synchronous pulley etc. can be used by walking wheel, and for driving clean robot to move, robot body 500
Bottom is additionally provided with least one cleaning unit 600, and the cleaning unit 600 is shaped as Le Lip river triangle.It is of the invention and unlimited
The quantity of cleaning unit 600 processed, those skilled in the art can set cleaning unit 600 at the bottom of main body 500 according to being actually needed
The position in portion, for example, when robot body 500 is circular, the quantity of cleaning unit 600 can be 4, circumferentially uniformly set
Put on robot body 500.In the present embodiment, robot body 500 is square, using clean robot operative orientation before
It is square, it is respectively equipped with the cleaning unit 600 on two drift angles in the front of robot body 500.The structure of cleaning unit 600 with it is upper
It is similar to state embodiment one, will not be repeated here.
It should be noted that for running on wheels clean robot, absorbing unit 700 can be separately provided, can also be joined
The structure of cleaning unit in above-described embodiment is examined, cleaning unit 600 itself is there is adsorption function.
In summary, cleaning unit circular or square is changed to strangle Lip river triangle, clean robot by the present invention by traditional
When running to the corner of rectangular area, cleaning unit uniqueness is shaped such that stop of the clean robot even in region frame
Under, remain able to touch the corner of rectangular area, so as to play a part of cleaning corner, and turned repeatedly by cleaning unit
It is dynamic, improve the efficiency of cleaning corner.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (10)
1. a kind of clean robot, including robot body (100,500) and the cleaning unit positioned at robot body bottom
(200,600), the robot body are provided with the driver element that driving cleaning unit rotates, it is characterised in that the cleaning
Unit is located at the edge or corner of robot body, and the cleaning unit outer rim is shaped as strangling Lip river triangle, and cleaning unit turns
Edge track is substantially square when dynamic.
2. clean robot as claimed in claim 1, it is characterised in that the cleaning machine artificially swings walking cleaning machine
People, including robot body (100) and the cleaning unit (200) positioned at robot body both ends, the cleaning unit are handed over
For forming oscillation center.
3. clean robot as claimed in claim 2, it is characterised in that vacuum chamber is provided with inside the cleaning unit (200),
The vacuum chamber forms negative pressure chamber by vacuum suction, and the clean robot is adsorbed in working surface by the negative pressure chamber.
4. clean robot as claimed in claim 1, it is characterised in that the artificial running on wheels cleaning machine of cleaning machine
People, including robot body (500), robot body bottom are provided with road wheel (800), and robot body bottom is additionally provided with least
One cleaning unit (600).
5. clean robot as claimed in claim 4, it is characterised in that the robot body (500) is square, with cleaning
Robot operative orientation is front, and the cleaning unit is respectively equipped with two drift angles in front of robot body.
6. the clean robot as described in claim 1-5, it is characterised in that the driver element is provided with output end, described clear
Rotating shaft center's line of clean unit is parallel with the center line of the output end.
7. clean robot as claimed in claim 6, it is characterised in that the rotary shaft of the cleaning unit is connected by bent axle
To the output end of the driver element.
8. clean robot as claimed in claim 7, it is characterised in that the driver element includes motor (102), drives
Dynamic motor is arranged on the air channel in robot body and covered on (103), and the position that corresponding motor output end is covered on air channel is opened
Provided with through hole, the output end connects on air channel one end of the bent axle (104) of lid lower section through air channel top cap, bent axle it is another
One end is connected by bearing (105) and screw (111) with planetary gear (106), and planetary gear is located in a ring gear (107), planet
The outer circumferential of wheel and the circumferential inner side of ring gear are provided with pitch wheel, and the bottom fixation of cleaning unit and planetary gear connects
Connect, multiple passages are correspondingly opened up on the planetary gear and cleaning unit.
9. the clean robot as described in right wants 8, it is characterised in that the robot body also includes a base (108), institute
State base to be mutually clamped to form an accommodation space with lid (103) on air channel, the bent axle (104), bearing (105), planetary gear
(106) and ring gear (107) is arranged in accommodation space.
10. clean robot as claimed in claim 9, it is characterised in that set between the cleaning unit and base (108)
One sealing ring (109).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610766875.1A CN107788900A (en) | 2016-08-30 | 2016-08-30 | Clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610766875.1A CN107788900A (en) | 2016-08-30 | 2016-08-30 | Clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107788900A true CN107788900A (en) | 2018-03-13 |
Family
ID=61527993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610766875.1A Pending CN107788900A (en) | 2016-08-30 | 2016-08-30 | Clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107788900A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742322A (en) * | 2018-07-27 | 2018-11-06 | 四川大学 | A kind of corner cleaning mechanism |
| CN109106268A (en) * | 2018-09-05 | 2019-01-01 | 北京赫特智慧科技有限公司 | Window wiping robot |
| CN109288442A (en) * | 2018-12-04 | 2019-02-01 | 安徽信息工程学院 | A kind of cleaning part for glass-cleaning robot |
| CN109497883A (en) * | 2018-11-21 | 2019-03-22 | 河北工业大学 | One kind carrying out the clean window wiping robot of non-blind area to band frame glass |
| TWI684428B (en) * | 2018-05-31 | 2020-02-11 | 燕成祥 | Automatic cleaning robot |
| CN111894608A (en) * | 2020-08-06 | 2020-11-06 | 中国矿业大学 | Rectangular shield machine with Leluo triangular auxiliary cutter head |
| CN112230658A (en) * | 2020-10-15 | 2021-01-15 | 珠海格力电器股份有限公司 | Motion control method and device of sweeping robot and sweeping robot |
| DE102020113656A1 (en) | 2020-05-20 | 2021-11-25 | Carl Freudenberg Kg | Cleaning device |
| WO2022129851A1 (en) * | 2020-12-17 | 2022-06-23 | Dyson Technology Limited | Floor treatment apparatus |
| CN116810807A (en) * | 2022-10-19 | 2023-09-29 | 温州市日康机械科技厂 | Mechanical arm |
| WO2024108337A1 (en) * | 2022-11-21 | 2024-05-30 | 苏州苏相机器人智能装备有限公司 | Water-washing cleaning device |
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| EP2578125A1 (en) * | 2011-10-06 | 2013-04-10 | Samsung Electronics Co., Ltd. | Robot cleaner |
| CN103505142A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass-cleaning robot |
| DE202014003375U1 (en) * | 2013-11-02 | 2014-05-22 | Andreas Ostwald | Window cleaning robot |
| KR20140074149A (en) * | 2012-12-07 | 2014-06-17 | 주식회사 유진로봇 | Omnidirectional Movable Cleaning Robot |
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| EP2578125A1 (en) * | 2011-10-06 | 2013-04-10 | Samsung Electronics Co., Ltd. | Robot cleaner |
| CN103505142A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass-cleaning robot |
| KR20140074149A (en) * | 2012-12-07 | 2014-06-17 | 주식회사 유진로봇 | Omnidirectional Movable Cleaning Robot |
| DE202014003375U1 (en) * | 2013-11-02 | 2014-05-22 | Andreas Ostwald | Window cleaning robot |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI684428B (en) * | 2018-05-31 | 2020-02-11 | 燕成祥 | Automatic cleaning robot |
| CN108742322A (en) * | 2018-07-27 | 2018-11-06 | 四川大学 | A kind of corner cleaning mechanism |
| CN109106268A (en) * | 2018-09-05 | 2019-01-01 | 北京赫特智慧科技有限公司 | Window wiping robot |
| CN109497883A (en) * | 2018-11-21 | 2019-03-22 | 河北工业大学 | One kind carrying out the clean window wiping robot of non-blind area to band frame glass |
| CN109497883B (en) * | 2018-11-21 | 2020-08-04 | 河北工业大学 | Window cleaning robot for cleaning glass with frame without blind area |
| CN109288442A (en) * | 2018-12-04 | 2019-02-01 | 安徽信息工程学院 | A kind of cleaning part for glass-cleaning robot |
| DE102020113656A1 (en) | 2020-05-20 | 2021-11-25 | Carl Freudenberg Kg | Cleaning device |
| CN111894608B (en) * | 2020-08-06 | 2021-08-13 | 中国矿业大学 | Rectangular shield machine with Leluo triangular auxiliary cutter head |
| CN111894608A (en) * | 2020-08-06 | 2020-11-06 | 中国矿业大学 | Rectangular shield machine with Leluo triangular auxiliary cutter head |
| CN112230658A (en) * | 2020-10-15 | 2021-01-15 | 珠海格力电器股份有限公司 | Motion control method and device of sweeping robot and sweeping robot |
| WO2022129851A1 (en) * | 2020-12-17 | 2022-06-23 | Dyson Technology Limited | Floor treatment apparatus |
| CN116810807A (en) * | 2022-10-19 | 2023-09-29 | 温州市日康机械科技厂 | Mechanical arm |
| CN116810807B (en) * | 2022-10-19 | 2024-03-15 | 温州市日康机械科技厂 | Mechanical arm |
| WO2024108337A1 (en) * | 2022-11-21 | 2024-05-30 | 苏州苏相机器人智能装备有限公司 | Water-washing cleaning device |
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