CN109127624A - A kind of shield door cleaning robot - Google Patents
A kind of shield door cleaning robot Download PDFInfo
- Publication number
- CN109127624A CN109127624A CN201810829944.8A CN201810829944A CN109127624A CN 109127624 A CN109127624 A CN 109127624A CN 201810829944 A CN201810829944 A CN 201810829944A CN 109127624 A CN109127624 A CN 109127624A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- disk
- motor
- sucker
- telescopic
- 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.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 177
- 238000010926 purge Methods 0.000 claims abstract description 21
- 210000000245 forearm Anatomy 0.000 claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 16
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 4
- 239000011521 glass Substances 0.000 abstract description 12
- 238000009434 installation Methods 0.000 abstract description 5
- 241000817702 Acetabula Species 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
- B08B11/02—Devices for holding articles during cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
Landscapes
- Cleaning In General (AREA)
Abstract
A kind of shield door cleaning robot, including water-supply-pipe, water tank, upper disk, rotating middle part disk, bottom disc, hydraulic giant part, suction cup portion, cleaning arm section, bottom-purge part；Hydraulic giant part includes: sprinkler head, catch bar, first rotating bar etc.；Suction cup portion includes: the first telescopic screw rod, the first telescopic block, sucker etc.；Cleaning arm section includes: cleaning brush, cleaning forearm, cleaning link block etc.；Bottom-purge part includes: bottom cleaning brush, bottom-purge wheel, disk rotary shaft etc..Its main body is made of upper disk, rotating middle part disk, bottom disc, one water tank and four hydraulic giant devices are installed on upper disk, there are four Acetabula devices for installation on rotating middle part disk, there are four cleaning arms for installation on bottom disc, Acetabula device is inhaled in shielding door glass, middle part disk can be rotated along bottom disc, hydraulic giant ejection cleaning solution, and cleaning wheel, the cleaning brush of cleaning arm and bottom disc bottom clean shielding door glass.
Description
Technical field
The present invention relates to shield door cleaning technique field, in particular to a kind of shield door cleaning robot.
Background technique
As subway is greatly developed in each city in the whole world and China, the quantity of subway shield door is significantly increased, nowadays shields
The cleaning for covering door mainly relies on manpower to carry out, and needs to consume a large amount of manpower,
In order to liberate manpower, urgent need designs a kind of shield door cleaning robot.Setting about shield door cleaning robot at present
Meter, such as number of patent application CN201610598284.8 disclose a kind of glass curtain wall glass cleaning machine people, which sets
A kind of device that glass curtain wall is cleaned has been counted, but can not achieve autonomous cleaning, and has not been to aim at shield door and design；Example
If patent No. CN201520486539.2 discloses a kind of high-altitude glass cleaning machine people, robot can be made to carry out glass clear
Movement is washed, but can not achieve autonomous cleaning, and be not designed for shield door.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of shield door cleaning robot, main body is by upper disk, rotating middle part circle
Disk, bottom disc form, and a water tank and four hydraulic giant devices are equipped on upper disk, on rotating middle part disk there are four installations
Acetabula device, there are four cleaning arm, Acetabula device is inhaled in shielding door glass for installation on bottom disc, and middle part disk can be along
Bottom disc rotation, hydraulic giant spray cleaning solution, the cleaning wheel of cleaning arm and bottom disc bottom, cleaning brush to shielding door glass into
Row cleaning.
Technical solution used in the present invention is: a kind of shield door cleaning robot, including water-supply-pipe, water tank, upper disk,
Rotating middle part disk, bottom disc, hydraulic giant part, suction cup portion, cleaning arm section, bottom-purge part；Hydraulic giant part includes:
Sprinkler head, catch bar, the second rotating bar, the first rotating bar, pushing motor, hydraulic giant shell；Suction cup portion includes: the first flexible electricity
Machine, the second telescope motor, shaft coupling, the first telescopic screw rod, the second telescopic screw rod, the first telescopic block, the second telescopic block, third are stretched
Contracting block, sucker motor, sucker bevel gear, sucker gear, upper and lower screw rod, electric cylinders disk, electric cylinders, sucker, air pump；Clean arm
Point include: cleaning brush, cleaning bevel gear, cleaning brush axis, cleaning motor, cleaning brush holder, cleaning rotating electric machine, rotation bevel gear,
Rotary shaft, cleaning forearm, buffer spring, cleaning hydraulic cylinder, cleaning link block；Bottom-purge part includes: bottom cleaning brush, bottom
Portion's cleaning wheel, disk rotary shaft, cleaning turbin generator, bottom gears, bottom bevel gear, cleaning axis, side brush gear, side brush motor；
It is characterized by: water tank is connected on disk, rotating middle part disk is fixedly connected on disk lower part, rotating middle part circle
Disk and bottom disc are rotatablely connected, and water tank is connect by water-supply-pipe with sprinkler head；
The hydraulic giant shell of the hydraulic giant part is connected in disk top, and pushing motor is connected on hydraulic giant shell, pushes electricity
The motor shaft of machine is fixedly connected by shaft coupling with the first rotating bar, and the first rotating bar is used with the second rotating bar and is hinged, the
With catch bar using being hinged, sprinkler head and hydraulic giant shell are connected two drive rods；
First telescopic block of the suction cup portion is connected on rotating middle part disk, the first telescope motor and the second telescope motor
It is connected in the first telescopic block, the first telescope motor passes through with the first telescopic screw rod, the second telescope motor and the second telescopic screw rod
Shaft coupling connection, the first telescopic block and the second telescopic block by the first telescopic screw rod using being threadedly coupled, the second telescopic block and the
By the second telescopic screw rod using being threadedly coupled, sucker motor is fixedly connected in third telescopic block three telescopic blocks, and sucker bores tooth
Wheel is connected on sucker motor, another is connected on gear shaft, and sucker gear is connected on gear shaft, another sucker gear
It is connected on screw rod up and down by thread bush, upper and lower screw lower end is connected on electric cylinders disk, and upper/lower guide upper end is stretched with third
Contracting block is threadedly coupled, and four electric cylinders bottoms are connected on electric cylinders disk, and the telescopic rod top end of four electric cylinders is connected on sucker, empty
Air pump is connected on sucker；
The cleaning link block of the cleaning arm section is connected on bottom disc, and four cleaning hydraulic cylinder bottoms are connected in cleaning
It on link block, is connected at the top of cleaning hydraulic cylinder on cleaning forearm, buffer spring one end is connected on cleaning link block, the other end
It is connected on cleaning forearm, cleaning forearm is connect with cleaning brush holder using shaft, and rotation bevel gear is connected in rotary shaft, another
A rotation bevel gear is mounted on cleaning rotating electric machine, and cleaning rotating electric machine is mounted on cleaning forearm, and cleaning motor is mounted on
It cleans on brush holder, cleaning bevel gear is mounted on cleaning motor, another cleaning bevel gear is mounted on cleaning brush axis, cleaning brush
Axis is mounted on cleaning brush holder by bearing, and cleaning brush is mounted on cleaning brush axis；
The bottom gears of the bottom-purge part are connected in disk rotary shaft, disk rotary shaft upper end by bearing with
Bottom disc connection, another bottom gears are connected on cleaning turbin generator, and bottom-purge wheel is connected in disk rotary shaft, side
Brush teeth wheel is connected on side brush motor, another side brush gear is connected on a cleaning axis, and bottom cleaning brush is connected to cleaning
On axis, the cleaning axis other end is connected with bottom bevel gear, is intermeshed between the bevel gear of bottom, cleans turbin generator and side brush motor
It is connected on bottom disc；
The pushing motor, cleaning turbin generator, side brush motor, cleaning motor, cleaning rotating electric machine, cleaning hydraulic cylinder, first
Telescope motor, the second telescope motor, sucker motor, electric cylinders, air pump are controlled by control cabinet.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that
1. rotating middle part disk can be rotated around bottom disc, after allowing robot to suck glass, complete multi-faceted clear
Wash work.
2. second, third telescopic arm of suction cup portion can stretch outward relative to the first telescopic arm, make robot
More convenient movement.
3. the air pump of suction cup portion can evacuate the air in sucker, so that sucker is stronger to be adsorbed on shield door
On, and the electric cylinders of suction cup portion can make sucker press tighter.
4. pushing water flow to spray using slider-crank mechanism in hydraulic giant part.
5. the buffer spring for cleaning arm section cooperates with hydraulic cylinder so that entire cleaning process is more steady.
Detailed description of the invention
Fig. 1 is integral installation distribution structure schematic diagram of the invention.
Fig. 2 is whole bottom substance schematic diagram of the invention.
Fig. 3 is bottom-purge partial cutaway schematic view of the invention.
Fig. 4 is the structural schematic diagram of cleaning arm section of the invention.
Fig. 5 is suction cup portion structural schematic diagram of the invention.
Fig. 6 is hydraulic giant partial structure diagram of the invention.
Drawing reference numeral: 1- water-supply-pipe；2- water tank；The upper disk of 3-；4- rotating middle part disk；5- bottom disc；The bottom 6- is clear
It scrubs；7- bottom-purge wheel；8- disk rotary shaft；9- cleans turbin generator；10- bottom gears；The bottom 11- bevel gear；12- cleaning
Axis；13- side brush gear；14- side brush motor；15- cleaning brush；16- cleans bevel gear；17- cleaning brush axis；18- cleans motor；
19- cleans brush holder；20- cleans rotating electric machine；21- rotates bevel gear；22- rotary shaft；23- cleans forearm；24- buffer spring；
25- cleans hydraulic cylinder；26- cleans link block；The first telescope motor of 27-；The second telescope motor of 28-；29- shaft coupling；30- first
Telescopic screw rod；The second telescopic screw rod of 31-；The first telescopic block of 32-；The second telescopic block of 33-；34- third telescopic block；35- sucker electricity
Machine；36- sucker bevel gear；37- sucker gear；39- or more screw rod；40- electric cylinders disk；41- electric cylinders；42- sucker；43- air
Pump；44- sprinkler head；45- catch bar；The second rotating bar of 46-；The first rotating bar of 47-；48- pushing motor；49- hydraulic giant shell.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of shield door cleaning robot, including water-supply-pipe 1, water tank 2,
Upper disk 3, rotating middle part disk 4, bottom disc 5, hydraulic giant part, suction cup portion, cleaning arm section, bottom-purge part；Water
Rifle part includes: sprinkler head 44, catch bar 45, the second rotating bar 46, the first rotating bar 47, pushing motor 48, hydraulic giant shell 49；
Suction cup portion includes: the first telescope motor 27, the second telescope motor 28, shaft coupling 29, the first telescopic screw rod 30, the second flexible silk
Bar 31, the first telescopic block 32, the second telescopic block 33, third telescopic block 34, sucker motor 35, sucker bevel gear 36, sucker gear
37, upper and lower screw rod 39, electric cylinders disk 40, electric cylinders 41, sucker 42, air pump 43；Cleaning arm section includes: cleaning brush 15, cleaning
Bevel gear 16, cleaning brush axis 17, cleaning motor 18, cleaning brush holder 19, cleaning rotating electric machine 20, rotation bevel gear 21, rotary shaft
22, forearm 23, buffer spring 24, cleaning hydraulic cylinder 25, cleaning link block 26 are cleaned；Bottom-purge part includes: bottom-purge
Brush 6, bottom-purge wheel 7, disk rotary shaft 8, cleaning turbin generator 9, bottom gears 10, bottom bevel gear 11, cleaning axis 12, side brush
Gear 13, side brush motor 14；
It is characterized by: water tank 2 is connected on disk 3, rotating middle part disk 4 is fixedly connected on 3 lower part of disk, middle part rotation
Turn disk 4 and bottom disc 5 is rotatablely connected, water tank 2 is connect by water-supply-pipe 1 with sprinkler head 44；
The hydraulic giant shell 49 of the hydraulic giant part is connected in 3 top of disk, and pushing motor 48 is connected on hydraulic giant shell 49,
The motor shaft of pushing motor 48 is fixedly connected by shaft coupling with the first rotating bar 47, the first rotating bar 47 and the second rotating bar 46
Using being hinged, with catch bar 45 using being hinged, sprinkler head 44 and hydraulic giant shell 49 are connected the second drive rod 46；
First telescopic block 32 of the suction cup portion is connected on rotating middle part disk 4, and the first telescope motor 27 is stretched with second
Contracting motor 28 is connected in the first telescopic block 32, the first telescope motor 27 and the first telescopic screw rod 30, the second telescope motor 28 with
Second telescopic screw rod 31 is connected by shaft coupling 29, and the first telescopic block 32 is adopted with the second telescopic block 33 by the first telescopic screw rod 30
It is threadedly coupled, the second telescopic block 33 is used by the second telescopic screw rod 31 with third telescopic block 34 and is threadedly coupled, sucker motor
35 are fixedly connected in third telescopic block 34, and sucker bevel gear 36 is connected on sucker motor 35, another is connected to gear shaft
On, sucker gear 37 is connected on gear shaft, another sucker gear 37 is connected on screw rod 39 up and down by thread bush, up and down
39 lower end of screw rod is connected on electric cylinders disk 40, and 39 upper end of upper/lower guide is threadedly coupled with third telescopic block 34, four electric cylinders 41
Bottom is connected on electric cylinders disk 40, and the telescopic rod top end of four electric cylinders 41 is connected on sucker 42, and air pump 43 is connected to suction
On disk 42；
The cleaning link block 26 of the cleaning arm section is connected on bottom disc 5, and four 25 bottoms of cleaning hydraulic cylinder are connected
On cleaning link block 26, cleans at the top of hydraulic cylinder 25 and be connected on cleaning forearm 23,24 one end of buffer spring is connected in cleaning
On link block 26, the other end is connected on cleaning forearm 23, and cleaning forearm 23 is connect with cleaning brush holder 19 using shaft, rotating cone
Gear 21 is connected in rotary shaft 22, another rotation bevel gear 21 is mounted on cleaning rotating electric machine 20, cleans rotating electric machine
20 are mounted on cleaning forearm 23, and cleaning motor 18 is mounted on cleaning brush holder 19, and cleaning bevel gear 16 is mounted on cleaning motor
On 18, another cleaning bevel gear 16 is mounted on cleaning brush axis 17, and cleaning brush axis 17 is mounted on cleaning brush holder 19 by bearing
On, cleaning brush 15 is mounted on cleaning brush axis 17；
The bottom gears 10 of the bottom-purge part are connected in disk rotary shaft 8, and 8 upper end of disk rotary shaft passes through axis
It holds and is connect with bottom disc 5, another bottom gears 10 is connected on cleaning turbin generator 9, and bottom-purge wheel 7 is connected to disk rotary
In shaft 8, side brush gear 13 is connected on side brush motor 14, another side brush gear 13 is connected on a cleaning axis 12, bottom
Portion's cleaning brush 6 is connected on cleaning axis 12, and cleaning 12 other end of axis is connected with bottom bevel gear 11, phase between bottom bevel gear 11
Mutually engagement, cleans turbin generator 9 and side brush motor 14 is connected on bottom disc 5；
The pushing motor 48, cleaning turbin generator 9, side brush motor 14, cleaning motor 18, cleaning rotating electric machine 20, cleaning solution
Cylinder pressure 25, the first telescope motor 27, the second telescope motor 28, sucker motor 35, electric cylinders 41, air pump 43 by control cabinet come
Control.
The working principle of the invention: in the use of the present invention, robot body is placed in shielding door glass, in sucker
Sucker 42 is adsorbed on shield door under the control of motor 35 and air pump 43；Clean 19 turns of brush holder of cleaning of the control of rotating electric machine 20
Dynamic, the flexible drive cleaning forearm 23 of cleaning hydraulic cylinder 25 is to drive cleaning brush holder 19 flexible, the cleaning control cleaning of motor 18
Brush axis 17 rotates, so that the rotation of cleaning brush 15 be made to be cleaned；The control cleaning axis 12 of side brush motor 14 rotates, to keep bottom clear
6 rotations are scrubbed, cleaning turbin generator 9 controls bottom-purge wheel 7 and rotates, and achievees the effect that cleaning, and simultaneously, pushing motor 48 is controlled
Water flow processed sprays sprinkler head 44；When robot needs mobile, two suckers 42 discharge under the control of air pump 43, inhale simultaneously
Coil motor 35 controls sucker and leaves glass surface, and the first telescope motor 27 and the second telescope motor 28 control robot are moved.
Claims (1)
1. a kind of shield door cleaning robot, including water-supply-pipe (1), water tank (2), upper disk (3), rotating middle part disk (4), bottom
Portion's disk (5), hydraulic giant part, suction cup portion, cleaning arm section, bottom-purge part；Hydraulic giant part include: sprinkler head (44),
Catch bar (45), the second rotating bar (46), the first rotating bar (47), pushing motor (48), hydraulic giant shell (49)；Sucking disk part subpackage
It includes: the first telescope motor (27), the second telescope motor (28), shaft coupling (29), the first telescopic screw rod (30), the second telescopic screw rod
(31), the first telescopic block (32), the second telescopic block (33), third telescopic block (34), sucker motor (35), sucker bevel gear
(36), sucker gear (37), upper and lower screw rod (39), electric cylinders disk (40), electric cylinders (41), sucker (42), air pump (43)；Cleaning
Arm section include: cleaning brush (15), cleaning bevel gear (16), cleaning brush axis (17), cleaning motor (18), cleaning brush holder (19),
Cleaning rotating electric machine (20), rotation bevel gear (21), rotary shaft (22), cleaning forearm (23), buffer spring (24), cleaning are hydraulic
Cylinder (25), cleaning link block (26)；Bottom-purge part includes: bottom cleaning brush (6), bottom-purge wheel (7), disk rotary shaft
(8), turbin generator (9), bottom gears (10), bottom bevel gear (11), cleaning axis (12), side brush gear (13), side brush electricity are cleaned
Machine (14)；
It is characterized by: water tank (2) is connected on disk (3), rotating middle part disk (4) is fixedly connected under disk (3)
Portion, rotating middle part disk (4) and bottom disc (5) are rotatablely connected, and water tank (2) is connect by water-supply-pipe (1) with sprinkler head (44)；
The hydraulic giant shell (49) of the hydraulic giant part is connected in disk (3) top, and pushing motor (48) is connected in outside hydraulic giant
On shell (49), the motor shaft of pushing motor (48) is fixedly connected by shaft coupling with the first rotating bar (47), the first rotating bar
(47) with the second rotating bar (46) using being hinged, the second drive rod (46) is used with catch bar (45) and is hinged, sprinkler head
(44) it is connected with hydraulic giant shell (49)；
The first telescopic block (32) of the suction cup portion is connected on rotating middle part disk (4), the first telescope motor (27) with
Second telescope motor (28) is connected on the first telescopic block (32), the first telescope motor (27) and the first telescopic screw rod (30), the
Two telescope motors (28) are connect with the second telescopic screw rod (31) by shaft coupling (29), the first telescopic block (32) and the second telescopic block
(33) by the first telescopic screw rod (30) using being threadedly coupled, the second telescopic block (33) is stretched with third telescopic block (34) by second
Contracting screw rod (31) is using being threadedly coupled, and sucker motor (35) is fixedly connected on third telescopic block (34), sucker bevel gear (36)
It is connected on sucker motor (35), another is connected on gear shaft, and sucker gear (37) is connected on gear shaft, another suction
Disk gear (37) is connected on screw rod (39) up and down by thread bush, and upper and lower screw rod (39) lower end is connected to electric cylinders disk (40)
On, upper/lower guide (39) upper end is threadedly coupled with third telescopic block (34), and four electric cylinders (41) bottoms are connected to electric cylinders disk
(40) on, the telescopic rod top end of four electric cylinders (41) is connected on sucker (42), and air pump (43) is connected on sucker (42)；
The cleaning link block (26) of the cleaning arm section is connected on bottom disc (5), four cleaning hydraulic cylinder (25) bottoms
Portion is connected in cleaning link block (26), is connected in cleaning forearm (23) at the top of cleaning hydraulic cylinder (25), buffer spring (24)
One end is connected in cleaning link block (26), and the other end is connected in cleaning forearm (23), cleaning forearm (23) and cleaning brush holder
(19) it is connected using shaft, rotation bevel gear (21) is connected on rotary shaft (22), another rotation bevel gear (21) is mounted on
It cleans on rotating electric machine (20), cleaning rotating electric machine (20) is mounted in cleaning forearm (23), and cleaning motor (18) is mounted on clearly
It scrubs on frame (19), cleaning bevel gear (16) is mounted in cleaning motor (18), another cleaning bevel gear (16) is mounted on clearly
It scrubs on axis (17), cleaning brush axis (17) is mounted in cleaning brush holder (19) by bearing, and cleaning brush (15) is mounted on cleaning brush
On axis (17)；
The bottom gears (10) of the bottom-purge part are connected on disk rotary shaft (8), disk rotary shaft (8) upper end
It is connect by bearing with bottom disc (5), another bottom gears (10) is connected in cleaning turbin generator (9), bottom-purge wheel
(7) it is connected on disk rotary shaft (8), side brush gear (13) is connected on side brush motor (14), another side brush gear (13)
It is connected on a cleaning axis (12), bottom cleaning brush (6) is connected in cleaning axis (12), and cleaning axis (12) other end is connected with
Bottom bevel gear (11), bottom bevel gear are intermeshed between (11), clean turbin generator (9) and side brush motor (14) is connected in
On bottom disc (5)；
The pushing motor (48), cleaning turbin generator (9), side brush motor (14), cleaning motor (18), cleaning rotating electric machine
(20), clean hydraulic cylinder (25), the first telescope motor (27), the second telescope motor (28), sucker motor (35), electric cylinders (41),
Air pump (43) is controlled by control cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810829944.8A CN109127624A (en) | 2018-07-25 | 2018-07-25 | A kind of shield door cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810829944.8A CN109127624A (en) | 2018-07-25 | 2018-07-25 | A kind of shield door cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109127624A true CN109127624A (en) | 2019-01-04 |
Family
ID=64798020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810829944.8A Pending CN109127624A (en) | 2018-07-25 | 2018-07-25 | A kind of shield door cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109127624A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112890654A (en) * | 2021-01-19 | 2021-06-04 | 中国人民解放军空军工程大学 | Intelligent window cleaning robot capable of crossing obstacles |
| CN117731183A (en) * | 2024-02-19 | 2024-03-22 | 杭州万向职业技术学院 | Shield door cleaning robot and cleaning method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105455748A (en) * | 2015-12-30 | 2016-04-06 | 马鞍山清净环保科技有限公司 | Efficient wall cleaning robot and control method thereof |
| CN106073623A (en) * | 2016-08-11 | 2016-11-09 | 广西大学 | Double-brush double crawler belt adds sucker Mobile domestic glass cleaning machine people |
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
| CN108185901A (en) * | 2018-02-28 | 2018-06-22 | 孟凡林 | A kind of high-altitude glass curtain wall cleaning machine device people |
-
2018
- 2018-07-25 CN CN201810829944.8A patent/CN109127624A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105455748A (en) * | 2015-12-30 | 2016-04-06 | 马鞍山清净环保科技有限公司 | Efficient wall cleaning robot and control method thereof |
| CN106073623A (en) * | 2016-08-11 | 2016-11-09 | 广西大学 | Double-brush double crawler belt adds sucker Mobile domestic glass cleaning machine people |
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
| CN108185901A (en) * | 2018-02-28 | 2018-06-22 | 孟凡林 | A kind of high-altitude glass curtain wall cleaning machine device people |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112890654A (en) * | 2021-01-19 | 2021-06-04 | 中国人民解放军空军工程大学 | Intelligent window cleaning robot capable of crossing obstacles |
| CN117731183A (en) * | 2024-02-19 | 2024-03-22 | 杭州万向职业技术学院 | Shield door cleaning robot and cleaning method thereof |
| CN117731183B (en) * | 2024-02-19 | 2024-05-10 | 杭州万向职业技术学院 | Shield door cleaning robot and cleaning method thereof |
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Application publication date: 20190104 |