CN109602347A - Intelligent indoor floor-cleaning machine - Google Patents
Intelligent indoor floor-cleaning machine Download PDFInfo
- Publication number
- CN109602347A CN109602347A CN201910126616.6A CN201910126616A CN109602347A CN 109602347 A CN109602347 A CN 109602347A CN 201910126616 A CN201910126616 A CN 201910126616A CN 109602347 A CN109602347 A CN 109602347A
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- CN
- China
- Prior art keywords
- cleaning
- motor
- gear
- cleaning device
- rack
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a kind of Intelligent indoor floor-cleaning machines, the device includes walking module, ground cleaning module, sanitary ware cleaning module and control module, the running gear is the movement walking carrier of floor cleaning device and sanitary ware cleaning device, sanitary ware cleaning device cleans floor cleaning device, and control module is that whole device carries out feedback regulation.Whole process is as follows: after flooring cleaner receives job command, roller is put to ground by four bar composite machine arms, roller built-in motor drives reel rotation, it starts to work, walking module carries out path planning by control module simultaneously, it drives entire machine to walk in cleaning region, is worked by the dragging that the reel rolled completes ground.After the completion of a piece of region clean, passage path planning makes complete machine go to subsequent work region.The features such as Intelligent indoor floor-cleaning machine that the present invention designs can carry out full-automatic cleaning for the ground of the indoor public places such as megastore, have structure simple, convenient and practical, and cost is relatively low.
Description
Technical field
The present invention relates to cleaner technical field, specially a kind of Intelligent indoor floor-cleaning machine.
Background technique
With the process of China's Urbanization Construction, the ground cleannes requirement of city large-scale public place is higher and higher, clearly
The environmental pollution requirement with cleaning process is swept also to be valued by people further.Traditional cleaning mode, burnisher is just
Be dirt push away, mop, clean bucket, cleaning vehicle etc..During cleaning, in order to guarantee to clean ground to greatest extent, otherwise
The cleaning mop stopped.The Full-automatic ground of Technical comparing maturation clears up robot at this stage, although can be realized full automatic
Land clearing work, but it is also only limitted to indoor cleaning, and most robot can only also carry out cleaning works, it can not be comprehensive
Ground cleans ground, and a large amount of manpower of public place investment and material resources is needed to safeguard daily hygiene.The machine of different prices
Its working performance of people is also far apart.Therefore developing vdiverse in function, the environmentally friendly floor cleaning apparatus of one kind has wide application
Prospect.
Summary of the invention
There are problems for above-mentioned, and the purpose of the present invention is to provide a kind of Intelligent indoor floor-cleaning machines, to solve to pass
System cleaning mode can not comprehensively clean ground, and need not stop the problem of cleaning.Which employs four bar composite machine arms, so that
Work process is simpler effectively；Secondary cleaning can preferably clear up ground；With path planning and urgent barrier avoiding function, certainly
Dynamicization degree is high, and safety is good.
To achieve the above object, the technical solution adopted by the present invention is that: Intelligent indoor floor-cleaning machine, including walking dress
It sets, floor cleaning device, sanitary ware cleaning device, the running gear is the movement row of floor cleaning device and sanitary ware cleaning device
Carrier is walked, sanitary ware cleaning device cleans floor cleaning device；
Running gear includes pedestal and rack；
Sanitary ware cleaning device is mounted on the base；
Floor cleaning device include the first driving mechanism, four bar composite machine arms, drum apparatus, the second driving mechanism and
Drying device, first driving mechanism are fixed on two sides in the rack of running gear and are sequentially connected four bar composite machines respectively
Arm, the double leval jib composite machine arm front end are equipped with a load-bearing axle extended in left-right direction, the load-bearing axle both ends difference
Hinged angular guide rod, rotation is provided with roller between the first linking arm of the angular guide rod in two sides, states drums inside and is equipped with and drives institute
The hub motor of roller rotation is stated, the first linking arm of angular guide rod is equipped with sliding slot, and sliding guide is arranged in the second linking arm
Sliding slot in two sides connect respectively with second connecting rod, steering engine is mounted on the four bars composite machine arm, the steering wheel of the steering engine
It is fixed with second connecting rod.
Preferably, first driving mechanism includes first motor, minor sprocket, big sprocket wheel, driving chain and the first tooth
Wheel shaft, the first motor are fixedly mounted on the rack by first motor frame, the drive shaft and minor sprocket of the first motor
Connection, big sprocket wheel are connect by driving chain with minor sprocket, and first gear axis is distinguished across big sprocket wheel center both ends
It is hinged in the rack with the rear end of the four bars composite machine arm.
Preferably, second driving mechanism include the second motor, pinion gear, gear wheel, first gear axis, described second
Motor by the second motor rack be fixedly mounted on the rack, the drive shaft of second motor is connect with pinion gear, gear wheel and
The pinion gear engagement, second gear axis pass through gear wheel center both ends and are hinged on institute with the drying device respectively
It states in rack.
Preferably, the four bars composite machine arm includes the first rocking bar, first connecting rod, the second rocking bar, first rocking bar
One end and first gear axis the both ends happy festival time on the rack, the other end is hinged with first connecting rod, one end of second rocking bar
It is hinged on pedestal, the other end is hinged on first connecting rod, and the front end of the first connecting rod and angular guide rod are hinged.
Preferably, the drying device includes pull rod, heating plate, dry cloth, and the pull rod is hinged on second gear axis two
End, second driving mechanism can control the lifting of pull rod, and the other end of the pull rod is fixedly connected with heating plate, described dry
Dry cloth is coated in heating plate.
Preferably, mud guard is equipped with above the roller.
Preferably, the sanitary ware cleaning device includes water tank, and the water tank is mounted on above the pedestal of running gear, described
Water tank is equipped with tank lid.
Preferably, the walking module includes that two non-connecting shaft snow tires and two universal wheels, the universal wheel pass through
Universal wheeling support is fixed on bottom plate, and hoofing part decelerating motor is fixed on the other side of bottom plate, the row by electric machine support
Walk to drive the motor shaft of decelerating motor to connect with small synchronous pulley, the small synchronous pulley is connected by synchronous belt and big synchronous pulley
It connects, the non-connecting shaft snow tire is connect by hind axle with big synchronous pulley, and the hind axle is fixed by rear-wheel shaft stool
On the bottom plate.
Preferably, the control module uses stm32 development board as main controller, passes through laser radar, OpenMV and red
Outer sensor carries out feedback regulation, and the laser radar is mounted in front of rack, and multiple infrared sensings are disposed in vehicle body surrounding
Device.
Compared with prior art, the beneficial effects of the present invention are:
Intelligent indoor floor-cleaning machine has a variety of function such as cleaning ground, dry ground, path planning and urgent avoidance
Energy.The work for pulling in and putting down of roller mechanical arm is realized using four-bar mechanism, it is only necessary to which a motor can be realized
The course of work reduces the cost of complete machine；It is disposed with motor in roller, roller can be driven to rotate, cleaning is more efficiently convenient.
Path planning function can greatly improve the degree of automation of project, improve the efficiency of work, reduce the waste of manpower and material resources,
In view of complicated cleaning situation, urgent avoidance work energy reduces the possibility that machine is damaged, improves safety.
Detailed description of the invention
Fig. 1 is the front view of the embodiment of the present invention；
Fig. 2 is running gear of embodiment of the present invention structure bottom view；
Fig. 3 is the perspective view of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the guide rod slide block mechanism in the embodiment of the present invention；
Fig. 5 is the workflow schematic diagram of Intelligent indoor floor-cleaning machine embodiment of the invention.
Wherein:
10- running gear: 11- pedestal, 12- rack, the universal wheeling support of 13- universal wheel, 131-, 14- hoofing part slow down
Motor, 141- electric machine support, 15- small synchronous pulley, 16- synchronous belt, the big synchronous pulley of 17-, 18- hind axle, 181- hind axle
Support, 19- snow tire；
20- floor cleaning device: the first driving mechanism of 21-, 211- first motor, 212- minor sprocket, 213- big sprocket wheel,
214- driving chain, 215- first gear axis, 216- first motor frame,
Tetra- bar composite machine arm of 22-, the first rocking bar of 221-, 222- first connecting rod, the second rocking bar of 223-,
23- drum apparatus, 231- load-bearing axle, the angular guide rod of 232-, the first linking arm of 2321-, the second linking arm of 2322-,
2323- sliding slot, 233- roller, 234- sliding guide, 235- second connecting rod, 236- steering engine, 237- mud guard,
The second driving mechanism of 24-, the second motor of 241-, 242- pinion gear, 243- gear wheel, 244- second gear axis,
The second motor rack of 245-,
The dry cloth of 25- drying device, 251- pull rod, 252- heating plate, 253-,
30- sanitary ware cleaning device: 31- water tank, 32- tank lid；
Specific embodiment
The present invention provides a kind of Intelligent indoor floor-cleaning machine, has cleaning ground, dry ground, path planning and urgent
The multiple functions such as avoidance.Technical solution provided by the embodiment of the present invention is in order to solve the above technical problems, in order to better understand
Above-mentioned technical proposal in conjunction with appended figures and specific embodiments carries out specifically above-mentioned technical proposal
It is bright.
Embodiment 1:
It is as shown in Figure 1 a kind of basic structure of embodiment, when flooring, cleaner receives job command, and traveling is extremely
Behind office work region, floor cleaning device is started to work, and is put roller to ground by four bar composite machine arms 22, built in roller
The rotation of motor driven roller, starts to work, while walking module carries out path planning by control module, drives entire machine clear
Clean region walking, is worked by the dragging that the roller rolled completes ground, meanwhile, subsequent drying device becomes the ground of wetting
Obtain dried and clean.After the completion of a piece of region clean, passage path planning makes complete machine go to subsequent work region, while by machinery
Arm puts cleaning roller into sanitary ware cleaning module, and drying device is lifted heating plate, prevents from continuing and ground face contact.In service sink
In, roller only needs oneself rotation that the cleaning to roller sanitary ware can be realized.
Running gear includes pedestal 11 and rack 12；
Sanitary ware cleaning device 30 is mounted on the pedestal 11；
Floor cleaning device includes the first driving mechanism 21, four bar composite machine arms 22, drum apparatus 23, the second driving machine
Structure 24 and drying device 25, first driving mechanism 21 are fixed on two sides in the rack 12 of running gear and are sequentially connected respectively
Four bar composite machine arms 22, as shown in figure 4, the drum apparatus 23 includes the edge left and right of double leval jib composite machine arm front end setting
The load-bearing axle 231 that direction extends, 231 both ends of load-bearing axle are respectively articulated with angular guide rod 232, and the of the angular guide rod 232 in two sides
Rotation is provided with roller 233 between one linking arm 2321, and the wheel hub electricity for driving the roller rotation is equipped with inside the roller 233
Machine, the second linking arm 2322 of angular guide rod 232 are equipped with sliding slot 2323, and sliding guide 234 is arranged in the first linking arm 2322
Sliding slot 2323 in two sides connect respectively with second connecting rod 235, steering engine 236 is mounted on the four bars composite machine arm 22, institute
Steering wheel and the second connecting rod 235 for stating steering engine 236 are fixed.
In embodiments of the present invention, drum apparatus can be rotated with angle-style guide rod together about load-bearing axle, to realize rolling
The lifting that wound packages is set and the expected movement fallen.Sliding guide slided in sliding slot can also whole story position adjust by
The kinematic error of the guide rod caused by the movement of four-bar mechanism, so that roller can preferably reach expected working position
It sets.
It advanced optimizes, mud guard 237 is set above roller 233.
As shown in Fig. 2, the running gear further includes two non-connecting shaft snow tires 19 and two universal wheels 13, described ten thousand
It is fixed on bottom plate to wheel 13 by universal wheeling support 131, hoofing part decelerating motor 14 is fixed on bottom by electric machine support 141
The motor shaft of the other side of plate, the hoofing part decelerating motor 14 is connect with small synchronous pulley 15, the small synchronous pulley 15
It is connect by synchronous belt 16 with big synchronous pulley 17, the non-connecting shaft snow tire is connected by hind axle 18 and big synchronous pulley 17
It connects, the hind axle 18 is fixed on the bottom plate by rear-wheel shaft stool 181.
In embodiments of the present invention, the left and right sides motor of running gear is controlled by control module respectively, passes through two
Side motor rotates synchronously the straight trip that can realize machine, passes through the differential turning that can realize machine of two sides motor.Universal wheel
Rotation flexibly, can adapt in the operative scenario of various complexity.
As shown in figure 3, first driving mechanism 21 includes first motor 211, minor sprocket 212, big sprocket wheel 213, transmission
Chain 214 and first gear axis 215, the first motor 211 are fixedly mounted in rack 12 by first motor frame 216,
The drive shaft of the first motor 211 is connect with minor sprocket 212, and big sprocket wheel 213 is connected by driving chain 214 and minor sprocket 212
It connects, first gear axis 215 passes through the 213 center both ends of the big sprocket wheel rear end with the four bars composite machine arm 22 respectively
It is hinged in the rack 12.
Second driving mechanism 24 includes the second motor 241, pinion gear 242, gear wheel 243, second gear axis 244,
Second motor 241 is fixedly mounted in rack 12 by the second motor rack 245, the drive shaft of second motor 241 with
Pinion gear 242 connects, and gear wheel 243 is engaged with the pinion gear 242, and second gear axis 244 passes through 243 center of gear wheel
Position both ends are hinged in the rack 12 with the drying device 25 respectively.
The four bars composite machine arm 22 include the first rocking bar 221, first connecting rod 222, the second rocking bar 223, described first
One end of rocking bar 221 and the both ends of first gear axis 215 are hinged in rack 12, and the other end and first connecting rod 222 are hinged, described
Hingedly on the pedestal 11, the other end is hinged on first connecting rod 222 for one end of second rocking bar 223, before the first connecting rod 222
End and angular guide rod 232 are hinged.
In an embodiment of the present invention, when first connecting rod 222 is straight at one with the first rocking bar 221, the second rocking bar 223 respectively
When on line, be mechanism two extreme positions, can control drum apparatus put on the rack cleaning tool cleaning device 30 in it is right
Roller carry out cleaning or by rolling move to need it is clean above the ground.Motor can make the first rocking bar 221, second when working
Rocking bar 223 is swung, so that cylinder mechanism being capable of smoothly rise and fall.
The drying device 25 includes pull rod 251, heating plate 252, dry cloth 253, and the pull rod 251 is hinged on the second tooth
244 both ends of wheel shaft, second driving mechanism 24 can control the lifting of pull rod 251, the other end of the pull rod 251 and heating
Plate 252 is fixedly connected, and the dry cloth 253 is coated in heating plate 252.
Sanitary ware cleaning device 30 includes water tank 31, and the water tank 31 is mounted on 11 top of pedestal of running gear, the water
Case 31 is equipped with tank lid 32.
Further include control module, the control module uses stm32 development board as main controller, by laser radar,
The feedback signal of OpenMV and infrared sensor controls the revolving speed of two sides wheel, to realize the function of traveling and avoidance, described
Laser radar is mounted in front of rack, and disposes multiple infrared sensors in vehicle body surrounding.
In the above-described embodiments, the control module carries out ranging using laser radar scanning rangefinder, uses
OpenMV module disturbance in judgement, driving trace carry out path optimization using algorithm；It is realized using Artificial Potential Field Method and feedback signal
The control of Real Time Obstacle Avoiding and smooth track.
As shown in figure 5, the specific course of work are as follows:
1. behind traveling to working region, cleaning roller is moved to ground region by four bar composite machine arms, roller starts to turn
It is dynamic；
2. after cleaning reel starts turning, main control module carries out information bank analysis, passage path planning determines cleaning rail
The motor driven complete machine of mark, control connection rear-wheel is advanced according to path；
3. spool turns complete machine walking simultaneously, reel carries out dragging operation, the dry reel wetting of drying device on the ground
Ground.Reel stops operating, and goes to subsequent work region again after completing the work in the region；
If determining Obstacle Position using laser radar scanning and infrared sensor 4. encountering obstacle, further according to setting
The algorithm set turns to complete machine to achieve the effect that avoidance, and judges whether to complete to keep away by the image that OpenMV module obtains
Barrier is changed to remote control state if avoidance is unsuccessful, ensures machine safety.
5. reel is moved to intermediate service sink by four bar composite machine arms in the walking process for going to subsequent region,
Drying device is lifted heating plate；
6. reel starts turning, work on after carrying out sanitary ware cleaning in service sink to subsequent work region, until complete
At all operations.
Specific embodiments of the present invention are described in detail above, but it is intended only as one such embodiment,
The present invention is not restricted to particular embodiments described above.To those skilled in the art, any couple of present invention carries out
Equivalent modifications and substitution also all among scope of the invention.Therefore, made without departing from the spirit and scope of the invention
Equal transformation and modification, all should be contained within the scope of the invention.
Claims (9)
1. Intelligent indoor floor-cleaning machine, it is characterised in that: including running gear, floor cleaning device, sanitary ware cleaning device, institute
The movement walking carrier that running gear is floor cleaning device and sanitary ware cleaning device is stated, sanitary ware cleaning device is to ground sanitizer cartridge
It sets and is cleaned；
Running gear includes pedestal and rack；
Sanitary ware cleaning device is mounted on the base；
Floor cleaning device includes the first driving mechanism, four bar composite machine arms, drum apparatus, the second driving mechanism and drying
Device, first driving mechanism are fixed on two sides in the rack of running gear and are sequentially connected four bar composite machine arms, institute respectively
State the load-bearing axle extended in left-right direction that drum apparatus includes the setting of double leval jib composite machine arm front end, the load-bearing axle both ends
It is respectively articulated with angular guide rod, rotation is provided with roller between the first linking arm of the angular guide rod in two sides, and the drums inside is equipped with
The hub motor of the roller rotation is driven, the second linking arm of angular guide rod is equipped with sliding slot, and sliding guide is arranged second
Two sides are connect with second connecting rod respectively in the sliding slot of linking arm, and steering engine is mounted on the four bars composite machine arm, the steering engine
Steering wheel fixed with second connecting rod.
2. Intelligent indoor floor-cleaning machine according to claim 1, it is characterised in that: first driving mechanism includes the
One motor, minor sprocket, big sprocket wheel, driving chain and first gear axis, the first motor pass through the fixed peace of first motor frame
On the rack, the drive shaft of the first motor is connect dress with minor sprocket, and big sprocket wheel is connect by driving chain with minor sprocket, the
One gear shaft passes through rear end of the big sprocket wheel center both ends respectively with the four bars composite machine arm and is hinged on the machine
On frame.
3. Intelligent indoor floor-cleaning machine according to claim 1, it is characterised in that: second driving mechanism includes the
Two motors, pinion gear, gear wheel, second gear axis, second motor are fixedly mounted on the rack by the second motor rack, institute
The drive shaft for stating the second motor is connect with pinion gear, and gear wheel is engaged with the pinion gear, and second gear axis passes through the canine tooth
Wheel center both ends are hinged in the rack with the drying device respectively.
4. Intelligent indoor floor-cleaning machine according to claim 1, it is characterised in that: the four bars composite machine arm includes
The both ends of first rocking bar, first connecting rod, the second rocking bar, one end of first rocking bar and first gear axis hingedly on the rack,
The other end is hinged with first connecting rod, and one end of second rocking bar is hinged on pedestal, and the other end is hinged on first connecting rod, institute
Front end and the angular guide rod for stating first connecting rod are hinged.
5. Intelligent indoor floor-cleaning machine according to claim 1, it is characterised in that: the drying device include pull rod,
Heating plate, dry cloth, the pull rod are hinged on second gear axis both ends, and second driving mechanism can control the liter of pull rod
Drop, the other end of the pull rod are fixedly connected with heating plate, and the dry cloth is coated in heating plate.
6. Intelligent indoor floor-cleaning machine according to claim 1, it is characterised in that: be equipped with gear mud above the roller
Plate.
7. Intelligent indoor floor-cleaning machine according to claim 1, it is characterised in that: the sanitary ware cleaning device includes water
Case, the water tank are mounted on above the pedestal of running gear, and the water tank is equipped with tank lid.
8. Intelligent indoor floor-cleaning machine according to claim 1, it is characterised in that: the running gear further includes two
Non- connecting shaft snow tire and two universal wheels, the universal wheel are fixed on bottom plate by universal wheeling support, and hoofing part slows down
Motor is fixed on the other side of bottom plate by electric machine support, and the motor shaft and small synchronous pulley of the hoofing part decelerating motor connect
It connects, the small synchronous pulley is connect by synchronous belt with big synchronous pulley, and the non-connecting shaft snow tire is by hind axle and greatly
Synchronous pulley connection, the hind axle are fixed on the bottom plate by rear-wheel shaft stool.
9. Intelligent indoor floor-cleaning machine according to claim 1, it is characterised in that: it further include control module, the control
Molding block uses stm32 development board as main controller, carries out feedback regulation by laser radar, OpenMV and infrared sensor,
The laser radar is mounted in front of rack, and disposes multiple infrared sensors in vehicle body surrounding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910126616.6A CN109602347A (en) | 2019-02-20 | 2019-02-20 | Intelligent indoor floor-cleaning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910126616.6A CN109602347A (en) | 2019-02-20 | 2019-02-20 | Intelligent indoor floor-cleaning machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109602347A true CN109602347A (en) | 2019-04-12 |
Family
ID=66021996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910126616.6A Pending CN109602347A (en) | 2019-02-20 | 2019-02-20 | Intelligent indoor floor-cleaning machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN109602347A (en) |
Citations (10)
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| JPH0924009A (en) * | 1995-07-10 | 1997-01-28 | Toshiba Corp | Cleaning apparatus |
| CN203074575U (en) * | 2012-12-11 | 2013-07-24 | 唐彦 | Cleaning trolley |
| CN203987874U (en) * | 2014-06-20 | 2014-12-10 | 浙江工业大学 | Wiping integrated machine is inhaled on floor |
| CN204715262U (en) * | 2015-05-25 | 2015-10-21 | 济宁小林清洁设备有限公司 | Adjusting device for rolling brush |
| CN105581740A (en) * | 2016-03-04 | 2016-05-18 | 合肥学院 | Floor mopping robot |
| CN205530064U (en) * | 2016-02-18 | 2016-08-31 | 徐工集团工程机械有限公司 | Road sweeper cleaning device |
| CN106192826A (en) * | 2016-08-21 | 2016-12-07 | 张玉华 | A kind of street clean robot |
| CN106759009A (en) * | 2016-11-15 | 2017-05-31 | 江苏悦达专用车有限公司 | A kind of sweeping device of sweeping car |
| CN108245093A (en) * | 2018-04-02 | 2018-07-06 | 内蒙古科技大学 | Dedusting car |
| CN108354538A (en) * | 2018-04-25 | 2018-08-03 | 湖州佳创自动化科技有限公司 | A kind of floor moisture erasing robot |
-
2019
- 2019-02-20 CN CN201910126616.6A patent/CN109602347A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0924009A (en) * | 1995-07-10 | 1997-01-28 | Toshiba Corp | Cleaning apparatus |
| CN203074575U (en) * | 2012-12-11 | 2013-07-24 | 唐彦 | Cleaning trolley |
| CN203987874U (en) * | 2014-06-20 | 2014-12-10 | 浙江工业大学 | Wiping integrated machine is inhaled on floor |
| CN204715262U (en) * | 2015-05-25 | 2015-10-21 | 济宁小林清洁设备有限公司 | Adjusting device for rolling brush |
| CN205530064U (en) * | 2016-02-18 | 2016-08-31 | 徐工集团工程机械有限公司 | Road sweeper cleaning device |
| CN105581740A (en) * | 2016-03-04 | 2016-05-18 | 合肥学院 | Floor mopping robot |
| CN106192826A (en) * | 2016-08-21 | 2016-12-07 | 张玉华 | A kind of street clean robot |
| CN106759009A (en) * | 2016-11-15 | 2017-05-31 | 江苏悦达专用车有限公司 | A kind of sweeping device of sweeping car |
| CN108245093A (en) * | 2018-04-02 | 2018-07-06 | 内蒙古科技大学 | Dedusting car |
| CN108354538A (en) * | 2018-04-25 | 2018-08-03 | 湖州佳创自动化科技有限公司 | A kind of floor moisture erasing robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190412 |
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