CN112587023B - Cleaning cloth device for window cleaning robot, and window cleaning robot control system and method - Google Patents
Cleaning cloth device for window cleaning robot, and window cleaning robot control system and method Download PDFInfo
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- CN112587023B CN112587023B CN202011518661.5A CN202011518661A CN112587023B CN 112587023 B CN112587023 B CN 112587023B CN 202011518661 A CN202011518661 A CN 202011518661A CN 112587023 B CN112587023 B CN 112587023B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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Abstract
The invention discloses a cloth cleaning device for a window cleaning robot, a window cleaning robot control system and a window cleaning robot control method. The invention aims to provide a cleaning cloth device, a window cleaning robot control system and a window cleaning robot control method.
Description
The application is a divisional application with application date of 28.09.2019, application number of 201910928084.8 and invention name of 'a window cleaning robot'.
Technical Field
The invention belongs to the field of robots, and particularly relates to a cleaning cloth device for a window cleaning robot, a window cleaning robot control system and a window cleaning robot control method.
Background
With the increasing urbanization process, the glass surfaces of both residential buildings and high-rise buildings are more and more, so that window glass cleaning is not easy, especially for the high-rise buildings, the window glass is cleaned at a long time, and workers are required to work at high altitude, so that the safety is also tested. The external glass of the residential building is difficult to clean, and the manual cleaning has certain potential safety hazard, so the window cleaning robot is produced. The existing window cleaning robot has the defects of unclean glass cleaning and low window cleaning efficiency, so a better window cleaning robot is needed.
Disclosure of Invention
In view of the above-described problems, it is an object of the present invention to provide a cleaning device for a window-cleaning robot, a window-cleaning robot control system, and a method thereof.
The invention is realized by the following technical scheme:
a window cleaning robot comprises a robot body in a rectangular box shape, wherein a walking device and an adsorption mechanism capable of enabling the robot to be adsorbed on the surface of glass are arranged at the bottom of the robot body;
the robot body is also internally provided with a clean water tank and a sewage tank which are connected with the cloth cleaning device.
The cleaning device comprises two rotary drums and at least one rotary drum, wherein a motor which is connected with the rotary drums and can drive the rotary drums to rotate is arranged on the at least one rotary drum, annular cleaning cloth which can rotate along with the rotary drums is installed on the two rotary drums in a matched mode, the rotary drums are installed on the inner sides of the cleaning cloth and enable the cleaning cloth to be tightly tightened, a side opening door is arranged opposite to the motor, a plurality of anti-skidding protrusions are arranged on the outer cylindrical surface of each rotary drum, a window cleaning auxiliary device is further arranged in the robot body and comprises a movable plate which is installed between the two rotary drums and located on the inner side of the annular cleaning cloth, the movable plate can be installed in the robot body in a vertically telescopic mode through an electric telescopic rod installed in the robot body, the force of the movable plate acting on the cleaning cloth can be adjusted through the telescopic of the electric telescopic rod, and the electric telescopic rod is arranged on the opposite side opening door. The bottom surface of the movable plate is provided with a pressure sensor
The cleaning cloth device comprises an outer shell and a first opening arranged in the outer shell, wherein the outer shell is provided with a piece of cleaning cloth facing the first opening, the first opening is sequentially provided with a front dirt removing structure connected with a sewage tank and a middle dirt removing structure connected with the sewage tank along the moving direction of the cleaning cloth, the front dirt removing structure and the middle dirt removing structure are located on the outer side of the cleaning cloth, the inner side of the cleaning cloth on the side of the first opening is provided with a supporting plate matched with the front dirt removing structure and the middle dirt removing structure, and a plurality of pores are formed in the supporting plate.
Wherein, the rotary drum is installed on branch, branch include interior pole and cover establish with interior pole outer pole, the rotary drum is located on the outer pole, be equipped with on interior pole with outer pole terminal surface complex compression spring, be equipped with limit structure between interior pole and the outer pole, the one end that the spring was kept away from to the outer pole is established to the centrum structure, and conical bearing is installed to the centrum structure cooperation, conical bearing installs on the side door, and the side door is closed and is just made conical bearing and centrum structure form the cooperation.
The cleaning cloth is characterized in that the rotary drum is olive-shaped, the cleaning cloth has elasticity, the structure of the cleaning cloth is matched with that of the olive-shaped rotary drum, inner ribs are embedded in the cleaning cloth, and the angle formed by the inner ribs and the edge of the cleaning cloth is 70-110 degrees.
The device comprises a front decontamination structure, a front decontamination structure and a back decontamination structure, wherein the front decontamination structure comprises a scraping part which is of an arc structure and used for scraping dirt and an extrusion part positioned at the downstream of the scraping part, the scraping part is provided with a rotating hopper in a matching way, the rotating hopper comprises a driving motor which is installed in a matching way with a rotating shaft of the rotating hopper, the rotating hopper and the scraping part are installed in a matching way to form a U-shaped structure, the rotating hopper is installed at the inner side of the scraping part and is also provided with an impurity box in a matching way, the top of the impurity box is provided with an electric door, the rotating hopper rotates to just pour the impurities into the impurity box through the electric door, and the bottom of the impurity box is connected with a negative pressure air pump; the squeezing part comprises a strip-shaped shell with a section similar to a right trapezoid, a shorter bottom surface of the strip-shaped shell is arranged close to the cleaning cloth, a plurality of through holes are formed in the inclined surface of the strip-shaped shell and the bottom surface close to the cleaning cloth, a plurality of outer concave structures are further arranged close to the bottom surface of the cleaning cloth, the outer concave structures can be spherical structures, and the strip-shaped shell is connected to the sewage tank through a negative pressure air pump;
the central dirt removing structure comprises a water spraying structure and an extrusion part, wherein the water spraying structure sprays water towards the cleaning surface of the cleaning cloth, the extrusion part is arranged on the downstream side of the water spraying structure, and the water spraying structure is connected to the clean water tank and can uniformly spray water with set pressure.
The control system of the window cleaning robot further comprises an MCU (micro control unit) controller arranged in the robot body, and the walking device, the adsorption mechanism, the cleaning device and the cloth cleaning device are all connected with the MCU controller; the bottom of the movable plate is provided with a pressure sensor connected with the MCU controller, and the motor, the electric telescopic rod, the water spraying structure, the driving motor, the electric door and the negative pressure air pump are respectively connected with the MCU controller.
The control method of the window cleaning robot comprises the following steps:
step one, when the window cleaning robot needs to be used, controlling an adsorption mechanism and a walking device to work;
step two, controlling the cleaning device and the cloth cleaning device to work, enabling the cleaning cloth on the cleaning device to clean the glass surface, cleaning the cleaning cloth by the cloth cleaning device according to the setting, scraping off dirt by a scraping component when the cloth cleaning device is cleaned, setting a rotating bucket to rotate once according to the setting time, opening an electric door when the rotating bucket rotates, opening a negative pressure pump to guide the dirt into an impurity box, controlling an extrusion part to extrude the sewage, pumping the sewage into a sewage box through the negative pressure pump, controlling a middle-mounted dirt cleaning structure to spray the sewage to clean the cleaning cloth, and cleaning through the extrusion part arranged on the middle-mounted dirt cleaning structure to improve the cleaning degree; step three, the pressure sensor transmits the measured data to the MCU controller in real time, when the pressure is smaller than a set value, the MCU controller controls the electric telescopic rod to extend the set value until the pressure is in a set interval, and when the pressure is larger than the set value, the MCU controller controls the electric telescopic rod to shorten until the pressure is in the set interval;
and step four, circulating the control flow from the step one to the step three until the cleaning is finished.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
the window cleaning robot can conveniently replace the cleaning cloth, can clean while cleaning, and can greatly improve the window cleaning efficiency and the window cleaning degree.
Drawings
FIG. 1 is a schematic bottom view of a window cleaning robot;
FIG. 2 is a schematic view of the mounting structure of the movable plate;
FIG. 3 is a schematic structural view of a strut;
FIG. 4 is a schematic view showing the construction of the cloth cleaning apparatus;
FIG. 5 is a schematic structural view of a decontamination structure;
FIG. 6 is an enlarged view of A in FIG. 5;
FIG. 7 is a structural schematic diagram of a centrally-mounted trash removal structure;
fig. 8 is a partially developed view of the cleaning cloth.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The first embodiment is as follows:
the window cleaning robot as shown in fig. 1-8 comprises a robot body 1 in the shape of an approximate rectangular box, wherein a walking device 9 and an adsorption mechanism 2 which can enable the robot to be adsorbed on the surface of glass are arranged at the bottom of the robot body 1, the walking device 9 can drive the window cleaning robot to walk, a cleaning device 3 which can clean the glass at the bottom of the robot and a cleaning cloth device 6 which can clean the cleaning cloth of the cleaning device 3 are arranged in the robot body 1, and a side door 101 which is convenient for replacing the cleaning cloth is arranged on the side surface of the robot body 1;
the robot body 1 is also internally provided with a clean water tank 5 and a sewage tank 7 which are connected with the cleaning cloth device; normally, a pair of storage batteries (not shown) connected to the electric devices are also provided in the window wiping robot.
The cleaning device 3 comprises two rotating drums 32 and at least one rotating drum, wherein the rotating drum is provided with a motor 31 which is connected with the rotating drum and can drive the rotating drum to rotate, so that the motor can be conveniently driven to rotate, the two rotating drums 32 are provided with annular cleaning cloth 4 which can rotate along with the rotating drum in a matching way, the cleaning cloth device 3 can be arranged in the middle of the two rotating drums 32 and is positioned above the cleaning cloth 4 and is arranged in a matching way with the cleaning cloth, and the cleaning cloth 4 and the surface of an object to be cleaned move relatively, so that the cleaning cloth 4 has certain elasticity for cleaning; the rotary drum 32 is arranged on the inner side of the cleaning cloth 4 and enables the cleaning cloth to be tightened exactly, sliding of the cleaning cloth is reduced, the side door 101 is arranged opposite to the motor 31, a plurality of anti-skid protrusions (not shown) are arranged on the outer cylindrical surface of the rotary drum 32, the anti-skid protrusions are a plurality of strip-shaped protrusions which protrude outwards and are parallel to the axis of the rotary drum 32, the height of each protrusion is 2-3mm, and the width of each protrusion is 1-3mm, so that the attachment capacity of the cleaning cloth on the surface of the rotary drum can be improved; the robot comprises a robot body 1 and is characterized in that a window cleaning auxiliary device 10 is further arranged in the robot body 1, the window cleaning auxiliary device 10 comprises a movable plate 103 which is arranged between two rotary drums and located on the inner side of annular cleaning cloth, the movable plate 103 can be installed in the robot body in a vertically telescopic mode through an electric telescopic rod 102 installed in the robot body, the force of the movable plate on the cleaning cloth can be adjusted through the telescopic of the electric telescopic rod 102, the electric telescopic rod 102 is arranged on the opposite side of a side opening door, and a pressure sensor is arranged on the bottom surface of the movable plate, so that the force between the cleaning cloth and the surface of an object to be cleaned can be adjusted conveniently, and a better cleaning function is achieved.
The cloth cleaning device 6 comprises an outer shell 62 and a first opening 63 arranged in the outer shell, wherein the outer shell 62 is provided with a front dirt removing structure 61 connected with a sewage tank and a middle dirt removing structure 64 connected with the clean water tank, the first opening 63 is sequentially provided with the front dirt removing structure 61 and the middle dirt removing structure 64 along the moving direction of the cleaning cloth, the front dirt removing structure 61 and the middle dirt removing structure 64 are positioned on the outer side of the cleaning cloth, a support plate 66 matched with the front dirt removing structure 61 and the middle dirt removing structure 64 is arranged on the inner side of the cleaning cloth at the side of the first opening 63, a plurality of pores are formed on the support plate 66, the purpose of the pores is to enable air to flow, the diameter of the pores is small as much as possible, and the effect of cleaning and squeezing sewage on the cleaning cloth is good.
The rotary drum 32 is arranged on a support rod 8, the support rod 8 comprises an inner rod 81 and an outer rod 82 sleeved outside the inner rod, the rotary drum is arranged on the outer rod, a compression spring 806 matched with the end surface of the outer rod is arranged on the inner rod 81, a limiting structure 804 is arranged between the inner rod 81 and the outer rod 82, the limiting structure 804 can be arranged to comprise an anti-slip strip 804a arranged on the inner rod and an anti-slip groove 804b which is arranged on the inner side of the outer rod and is matched with the anti-slip strip, the anti-slip strip 804a and the anti-slip groove 804b play a role in limiting, the end of the outer rod 82, which is far away from the spring, is provided with a cone structure, the cone structure 805 is provided with a conical bearing 803 in a matching way, the tapered bearing is arranged on the side door, the tapered bearing is matched with the cone structure just by opening and closing the side door, this structure can make after clean the completion, or when clean effect is not good, change cleaning cloth to improve clear effect, the change mode is simple.
The rotary drum is olive type, the cleaning cloth 4 has elasticity, the structure of the cleaning cloth is matched with the structure of the olive type rotary drum, an inner rib 41 is embedded in the cleaning cloth, the angle formed by the inner rib is 70-110 degrees with the edge of the cleaning cloth, preferably, the angle is 80 degrees, 90 degrees and 100 degrees, so that the possibility of rolling the cleaning cloth can be avoided or reduced, the cleaning effect is not influenced, meanwhile, the cleaning effect can be improved, the inner rib can be of a rubber or steel wire structure, and the thickness of the cleaning cloth is not influenced by the structure of the inner rib.
The front trash cleaning structure 61 comprises a scraping component 611 in an arc structure and used for scraping dirty dirt, and a squeezing part 612 located at the downstream of the scraping component 611, wherein a rotating hopper 613 is installed in a matching manner on the scraping component 611, the rotating hopper comprises a driving motor a installed in a matching manner with a rotating shaft of the rotating hopper, the rotating hopper and the scraping component 611 are installed in a matching manner in a U-shaped structure, the rotating hopper is installed on the inner side of the scraping component, an impurity box 614 is also installed in the rotating hopper in a matching manner, an electric door 615 is arranged at the top of the impurity box 614, impurities can be just poured into the impurity box 614 through the electric door 615 when the rotating hopper rotates, and a negative pressure air pump is connected to the bottom of the impurity box 614, so that the impurities on the scraping component 611 can be placed into the impurity box 614 through the rotating hopper, and the cleaning effect is improved; the extrusion part 612 comprises a strip-shaped shell 6121 with a right trapezoid-like cross section, the length of the strip-shaped shell 6121 is basically the same as that of the cleaning cloth, a shorter bottom surface of the strip-shaped shell 6121 is arranged close to the cleaning cloth, a plurality of through holes 6122 are arranged on the inclined surface of the strip-shaped shell 6121 and the bottom surface close to the cleaning cloth, a plurality of outer concave structures 6123 are further arranged close to the bottom surface of the cleaning cloth, each outer concave structure can be a spherical structure or a triangular structure in cross section, the strip-shaped shell 6121 is connected to the sewage tank 7 through a negative pressure air pump, and dirt with water can be removed primarily through the extrusion part;
the central dirt removing structure 64 comprises a water spraying structure 641 spraying water towards the cleaning surface of the cleaning cloth and an extrusion part 612 arranged on the downstream side of the water spraying structure, the water spraying structure 641 is connected to the clean water tank 5 and can evenly spray water with set pressure, the central dirt removing structure 64 further removes dirt on the cleaning cloth, and redundant water on the cleaning cloth is removed, so that more proper cleaning dryness and humidity are achieved, and the cleaning effect and efficiency are improved.
The control system of the window cleaning robot based on the technical scheme also comprises an MCU controller arranged in the robot body, and the walking device 9, the adsorption mechanism 2, the cleaning device 3 and the cloth cleaning device 6 are all connected with the MCU controller; the bottom of the movable plate is provided with a pressure sensor connected with the MCU controller, and the motor 31, the electric telescopic rod 102, the driving motor a, the electric door 615, the water spraying structure 641 and the negative pressure air pump are respectively connected with the MCU controller.
The window-cleaning robot control method based on the window-cleaning robot comprises the following steps:
step one, when the window cleaning robot needs to be used, the adsorption mechanism 2 and the walking device 9 are controlled to work;
step two, controlling the cleaning device and the cloth cleaning device to work, enabling the cleaning cloth on the cleaning device to clean the glass surface, enabling the cloth cleaning device to clean the cleaning cloth according to the setting, when the cloth cleaning device is cleaned, scraping off dirt by the arranged scraping part 611, arranging the rotating bucket to rotate once according to the setting time, opening the electric door 615 when the rotating bucket rotates, opening the negative pressure pump to guide the dirt into the impurity box 614, controlling the extrusion part to extrude the sewage, pumping the sewage into the sewage box through the negative pressure pump, simultaneously controlling the central dirt cleaning structure to spray the sewage to clean the cleaning cloth, and cleaning through the extrusion part arranged on the central dirt cleaning structure 64, so as to improve the cleaning degree; step three, the pressure sensor transmits the measured data to the MCU controller in real time, when the pressure is smaller than a set value, the MCU controller controls the electric telescopic rod 102 to extend the set value until the pressure is in a set interval, and when the pressure is larger than the set value, the MCU controller controls the electric telescopic rod 102 to shorten until the pressure is in the set interval;
and step four, circulating the control flow from the step one to the step three until the cleaning is finished.
By the control system and the control method of the window cleaning robot, the window cleaning and the window cleaning method of people can be effectively controlled, and a better window cleaning effect is achieved.
Although the present invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.
Claims (7)
1. The cloth cleaning device for the window cleaning robot is characterized by comprising an outer shell (62), wherein a first opening (63) facing the cleaning cloth (4) is formed in the outer shell (62), a front dirt cleaning structure (61) connected with a sewage tank and a middle dirt cleaning structure (64) connected with the clean water tank are sequentially arranged on the first opening (63) along the moving direction of the cleaning cloth, the front dirt cleaning structure (61) and the middle dirt cleaning structure (64) are positioned on the outer side of the cleaning cloth, and a support plate (66) matched with the front dirt cleaning structure (61) and the middle dirt cleaning structure (64) is arranged on the inner side of the cleaning cloth on the side of the first opening (63);
the front dirt cleaning structure (61) comprises a scraping component (611) which is of an arc-shaped structure and used for scraping dirt and an extrusion part (612) which is located on the downstream of the scraping component (611), wherein a rotating hopper (613) is installed in a matched mode on the scraping component (611), the rotating hopper comprises a driving motor (a) which is installed in a matched mode with a rotating shaft of the rotating hopper, the rotating hopper and the scraping component (611) are installed in a matched mode to be of a U-shaped structure, the rotating hopper is installed on the inner side of the scraping component and is also installed with an impurity box (614) in a matched mode, an electric door (615) is arranged at the top of the impurity box (614), the rotating hopper can rotate to just enable the impurities to fall into the impurity box (614) through the electric door (615), and a negative pressure air pump is connected to the bottom of the impurity box (614); the extrusion portion (612) comprises a strip-shaped shell (6121) with a cross section approximate to a right trapezoid, a shorter bottom surface of the strip-shaped shell (6121) is close to the cleaning cloth, a plurality of through holes (6122) are formed in the inclined surface of the strip-shaped shell (6121) and the bottom surface close to the cleaning cloth, a plurality of outer concave structures (6123) are further arranged on the bottom surface close to the cleaning cloth, each outer concave structure is of a spherical structure or a triangular structure in cross section, and the strip-shaped shell (6121) is connected to the sewage tank (7) through a negative pressure air pump.
2. The cloth cleaning apparatus for a window cleaning robot according to claim 1, wherein the middle-mounted cleaning structure (64) includes a water spraying structure (641) for spraying water toward the cleaning surface of the cleaning cloth and a pressing portion (612) provided on a downstream side of the water spraying structure, and the water spraying structure (641) is connected to the clean water tank (5) and can uniformly spray water at a set pressure.
3. A window-cleaning robot, characterized in that it comprises a cleaning cloth device (6) according to any one of claims 1-2.
4. The window cleaning robot according to claim 3, further comprising a robot body (1) in a rectangular box shape, wherein a walking device (9) and an adsorption mechanism (2) capable of enabling the robot to be adsorbed on the surface of glass are arranged at the bottom of the robot body (1), a cleaning device (3) capable of cleaning the bottom glass of the robot is arranged in the robot body (1), and a side door (101) convenient for replacing cleaning cloth is arranged on the side surface of the robot body (1).
5. The window cleaning robot according to claim 4, wherein the cleaning device (3) comprises two rotating drums (32) and at least one rotating drum is provided with a motor (31) connected with the rotating drums and capable of driving the rotating drums to rotate, the two rotating drums (32) are provided with an annular cleaning cloth (4) capable of rotating along with the rotating drums in a matching manner, the rotating drums (32) are arranged on the inner side of the cleaning cloth (4) and enable the cleaning cloth to be just tightened, the side doors (101) are arranged on the opposite sides of the motor (31), the outer cylindrical surface of the rotating drums (32) is provided with a plurality of anti-skidding bulges, the robot body (1) is further provided with a window cleaning auxiliary device (10), the window cleaning auxiliary device (10) comprises a movable plate (103) arranged between the two rotating drums and located on the inner side of the annular cleaning cloth, the movable plate (103) can be vertically and telescopically arranged in the robot body through an electric telescopic rod (102) arranged in the robot body, the force of the movable plate acting on the cleaning cloth can be adjusted through the extension and retraction of the electric telescopic rod (102), and the electric telescopic rod (102) is arranged on the opposite side of the side opening door.
6. The window-cleaning robot as claimed in claim 5, wherein the drum (32) is mounted on a support rod (8), the support rod (8) comprises an inner rod (81) and an outer rod (82) sleeved outside the inner rod, the drum is arranged on the outer rod, a compression spring (806) matched with the end face of the outer rod is arranged on the inner rod (81), a limiting structure (804) is arranged between the inner rod (81) and the outer rod (82), one end of the outer rod (82) far away from the spring is arranged to be a cone structure, a conical bearing (803) is mounted in a matched mode on the cone structure (805), the conical bearing is mounted on a side door, and the conical bearing is matched with the cone structure just after the side door is closed.
7. The control system of the window cleaning robot according to any one of claims 4 to 6, further comprising an MCU controller arranged in the robot body, wherein the walking device (9), the adsorption mechanism (2), the cleaning device (3) and the cloth cleaning device (6) are all connected with the MCU controller; the bottom of the movable plate is provided with a pressure sensor connected with the MCU controller, and the motor (31), the electric telescopic rod (102), the driving motor (a), the water spraying structure (641), the electric door (615) and the negative pressure air pump are respectively connected with the MCU controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011518661.5A CN112587023B (en) | 2019-09-28 | 2019-09-28 | Cleaning cloth device for window cleaning robot, and window cleaning robot control system and method |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011518661.5A CN112587023B (en) | 2019-09-28 | 2019-09-28 | Cleaning cloth device for window cleaning robot, and window cleaning robot control system and method |
| CN201910928084.8A CN110522337B (en) | 2019-09-28 | 2019-09-28 | Window cleaning robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910928084.8A Division CN110522337B (en) | 2019-09-28 | 2019-09-28 | Window cleaning robot |
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| Publication Number | Publication Date |
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| CN112587023A CN112587023A (en) | 2021-04-02 |
| CN112587023B true CN112587023B (en) | 2022-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910928084.8A Active CN110522337B (en) | 2019-09-28 | 2019-09-28 | Window cleaning robot |
| CN202011518661.5A Active CN112587023B (en) | 2019-09-28 | 2019-09-28 | Cleaning cloth device for window cleaning robot, and window cleaning robot control system and method |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910928084.8A Active CN110522337B (en) | 2019-09-28 | 2019-09-28 | Window cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114312304A (en) * | 2021-12-06 | 2022-04-12 | 河南嘉晨智能控制股份有限公司 | Novel on-vehicle instrument of industrial vehicle |
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| CN103006153A (en) * | 2012-12-14 | 2013-04-03 | 向桂南 | Intelligent floor wiping machine |
| CN105147184A (en) * | 2015-10-08 | 2015-12-16 | 深圳市宝乐机器人技术有限公司 | Traveling device of window cleaning robot |
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| CN109528093A (en) * | 2018-12-21 | 2019-03-29 | 宁波富佳实业股份有限公司 | A kind of automation floor cleaning apparatus |
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| KR101312872B1 (en) * | 2011-03-08 | 2013-09-30 | 고려대학교 산학협력단 | Moving modular and outer wall climbing robot using it |
| CN106214055A (en) * | 2016-09-29 | 2016-12-14 | 深圳市宇辰智能科技有限公司 | A kind of robot for cleaning wall surfaces |
| CN109770777A (en) * | 2017-11-13 | 2019-05-21 | 郑文克 | A kind of Full-automatic window cleaning machine |
| CN109770775A (en) * | 2017-11-13 | 2019-05-21 | 郑子繁 | A kind of Full-automatic window cleaning machine with atomization cleaning and sewage recycling function |
| CN108937704B (en) * | 2018-07-17 | 2021-02-26 | 杨俊杰 | Unmanned operation building window cleaning robot outside based on power line carrier communication |
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- 2019-09-28 CN CN202011518661.5A patent/CN112587023B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09173249A (en) * | 1995-12-27 | 1997-07-08 | Mitsui Eng & Shipbuild Co Ltd | Polisher unit |
| CN103006153A (en) * | 2012-12-14 | 2013-04-03 | 向桂南 | Intelligent floor wiping machine |
| CN105147184A (en) * | 2015-10-08 | 2015-12-16 | 深圳市宝乐机器人技术有限公司 | Traveling device of window cleaning robot |
| CN208625558U (en) * | 2017-08-01 | 2019-03-22 | 蓝兆彤 | A kind of pneumatic type is from walking steam circulation window wiping robot |
| CN208677248U (en) * | 2017-12-04 | 2019-04-02 | 科沃斯机器人股份有限公司 | A kind of multimedium intelligent cleaning device |
| CN109528093A (en) * | 2018-12-21 | 2019-03-29 | 宁波富佳实业股份有限公司 | A kind of automation floor cleaning apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110522337B (en) | 2021-01-15 |
| CN110522337A (en) | 2019-12-03 |
| CN112587023A (en) | 2021-04-02 |
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Effective date of registration: 20221209 Address after: 256623 Room 427, West Annex Building, Gaochuang Center Office Building, the intersection of Gaoshi Road and Xinwu Road, Xiaoying Office, High tech Zone, Binzhou City, Shandong Province Patentee after: Binzhou High tech High end Equipment Manufacturing Industrial Park Co.,Ltd. Address before: No.21, Yueqing Road, Zhuangyuan street, Longwan District, Wenzhou City, Zhejiang Province 325011 Patentee before: WENZHOU YINUOWEITE TECHNOLOGY CO.,LTD. |
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