CN206586879U - A kind of cladding glass cleaning robot - Google Patents
A kind of cladding glass cleaning robot Download PDFInfo
- Publication number
- CN206586879U CN206586879U CN201621123904.4U CN201621123904U CN206586879U CN 206586879 U CN206586879 U CN 206586879U CN 201621123904 U CN201621123904 U CN 201621123904U CN 206586879 U CN206586879 U CN 206586879U
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- cleaning robot
- rope
- magnechuck
- curtain wall
- connecting rod
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Abstract
The utility model is related to a kind of cladding glass cleaning robot, including rope, magnechuck and glass-cleaning robot dolly, and the rope is parallel to curtain wall surface；Also include and fixed drive wheel, contact roller respectively are worn on parallel rotating shaft I and rotating shaft II, the rotating shaft I, rotating shaft II in slide block structure, the housing of the slide block structure, the rope is through between driving wheel and the wheel face of contact roller；The rotating shaft I passes housing, and is arranged in end fixed worm gear；Motor is fixed with outside the housing of the slide block structure, the motor output revolving shaft is worm screw；The worm and wheel intermeshing；The magnechuck is fixed on slide block structure；The glass-cleaning robot dolly is adsorbed in curtain wall surface, and provided with irony disk corresponding with magnechuck on the shell of glass-cleaning robot dolly.The utility model can easily carry out installation and the dismantling operation of robot and curtain wall, improve the wide usage of robot, reduce the labor intensity of personnel.
Description
Technical field
The utility model is related to robot building technical field, specifically a kind of cladding glass cleaning robot.
Background technology
Current urban construction middle-high building is more and more, and substantial amounts of building employs cladding glass, glass curtain wall conduct
The solid matter in dust, haze, rainwater in outdoor wall, air can little by little deposit to glass surface, and then have influence on
The cleaning of glass and attractive in appearance.The cleaning of glass curtain wall is manually cleaned using rope or hanging basket from top layer sus-pension always,
But increase and area increase with story height, clean the risk more and more higher of operative, the workload of cleaning is also more next
It is bigger.
Glass-cleaning robot, is one kind of controlling intelligent household appliances.The electrical equipment of live line work is needed, based on square configuration, side
Just the corner areas of glass is cleared up.Glass-cleaning robot (dolly) is firmly adsorbed in glass by the adsorption element of fuselage bottom
On.With the continuous improvement of domestic level, product manually cleans substitution progressively.But the curtain wall in existing building is big
Use separation structure more, in robot moving process, it is difficult to cross dividing strip, it is therefore desirable to manual intervention, add operation
The burden of personnel, and have larger security risk.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, and asking for dividing strip can not be crossed by solving robot
Topic.
To achieve the above object of the invention there is provided a kind of cladding glass cleaning robot, including rope, magnechuck and wiping glass
Glass robot car, the rope is parallel to curtain wall surface；Also include and worn in slide block structure, the housing of the slide block structure
Distinguish fixed drive wheel, contact roller on parallel rotating shaft I and rotating shaft II, the rotating shaft I, rotating shaft II, the rope is through at driving
Between wheel and the wheel face of contact roller；The rotating shaft I passes housing, and is arranged in end fixed worm gear；The shell of the slide block structure
External to be fixed with motor, the motor output revolving shaft is worm screw；The worm and wheel intermeshing；The electromagnetism
Sucker is fixed on slide block structure；The glass-cleaning robot dolly is adsorbed in curtain wall surface, and in glass-cleaning robot dolly
Shell be provided with irony disk corresponding with magnechuck.
Preferably, in addition to a controller；Counter is set on the motor, and the counter collects driving electricity
The revolution signal of arbor and the input I that output end is connected to controller, the output end of the controller are connected to driving electricity
The setting end of machine.
The controller, by the artificial mode fed back, can also use full automatic chip pair using signal is received
The signal of reception carries out output signal.
Preferably, the glass-cleaning robot dolly is setting com-pression bar sensor, the compression with curtain wall contact surface
Rod-type sensor output end is connected to the input II of controller.
Preferably, described rope quantity is two, and both are parallel to each other, and are symmetrical arranged in magnechuck both sides；Rope
On slide block structure be symmetrically connected on the rope of magnechuck both sides；The irony disk is arranged on parallel to curtain wall surface
On the shell position opposite with curtain wall.
The rope keeps certain distance with curtain wall, should enable the absorption of magnechuck front in irony panel surface.
Preferably, fixed between two ropes to set up cross bar, the cross bar is vertical with rope holding；The cross bar quantity is
Two, respectively positioned at magnechuck both sides.
Preferably, the slide block structure is arranged on rope using middle sliding block, sliding block as one group；Also include slide bar and connecting rod
I, connecting rod II, the slide bar is parallel to rope, and the bottom of the slide bar, which is fixed in the middle part of sliding block, slide bar, is slidably socketed middle cunning
Block；One end of the sliding block articulated linkage I, the connecting rod I other end is hinged magnechuck side；The middle sliding block articulated linkage
In the middle part of II one end, connecting rod II other end articulated linkage I.
Preferably, the magnechuck both sides, which set to slide on the slide rail extended up and down, the slide rail, sets hinged block I；Institute
Extension is set after connecting rod II is stated in the middle part of articulated linkage I, termination and the hinged block I of the extension are hinged.
Preferably, two ropes are overhang above curtain wall face；A piece cross bar is close to curtain wall bottom, and another piece-root grafting is near
Curtain wall top.
Preferably, the slide block structure group also includes connecting rod III, connecting rod IV, balancing weight and is arranged on upper on rope
Sliding block；The top of the slide bar is slidably socketed top shoe；One end of the sliding block articulated linkage III, the connecting rod III other end
It is hinged balancing weight side；In the middle part of one end of the top shoe articulated linkage IV, connecting rod IV other end articulated linkage III.
Two groups of sliding blocks and connecting rod are individually fixed on two ropes, and are symmetrically connected to magnechuck both sides.
Preferably, the balancing weight both sides, which set to slide on the slide rail extended up and down, the slide rail, sets hinged block II；It is described
Connecting rod IV sets extension afterwards in the middle part of articulated linkage III, and termination and the hinged block II of the extension are hinged.
The utility model is combined by magnechuck with the irony disk in robot, allows robot to depart from curtain wall, by setting
Put the robot that the slide block structure on rope is moved out so that cross curtain wall dividing strip and be possibly realized.Control magnechuck
Power on/off, can be achieved and the adhesive of irony disk be fixed in robot and separate.
Controller is controlled, to reach accurate shifting on the basis of motor rotating speed is collected to control motor
Dynamic purpose, conveniently crosses curtain wall dividing strip.
The setting of com-pression bar sensor, the running status of robot is provided to controller, convenient to motor control, is subtracted
The time operated less, reduce personnel labor intensity.
Two parallel ropes provide more limit points for magnechuck, are easy to the pose adjustment of magnechuck, so that
It is convenient to be docked with the irony disk in robot, reduce the time of operation.
Cross bar can be kept being parallel to each other between rope, and reduction is rocked, and improve operation precision.
The combination of slide bar, connecting rod and magnechuck, central sliding block and sliding block move close to or can realize electromagnetism when remote
The function that sucker is released or withdrawn perpendicular to rope group plane.And can smoothly be moved down when withdrawing without dry with curtain wall
Relate to.
The combination of slide bar, connecting rod and balancing weight, when top shoe and sliding block move close to or away from when can realize pouring weight disk
The function of releasing or withdraw perpendicular to track rope group plane, facilitates equalising torque, prevents magnechuck from slipping.
Connecting rod extension is simultaneously connected with balancing weight, magnechuck, the posture of convenient stable magnechuck, so that convenient and machine
Irony disk docking on people, reduces the time of operation.
The beneficial effects of the utility model are can easily to carry out installation and the dismantling operation of robot and curtain wall, are improved
The wide usage of robot, reduces the labor intensity of personnel.
Brief description of the drawings
Fig. 1 is positive structure schematic of the present utility model；
Fig. 2 is side structure schematic diagram of the present utility model；
Fig. 3 is slide block structure schematic diagram of the present utility model；
Wherein：
1- rope 2- cross bar 3- top shoes
Sliding block 5- connecting rods 6- connecting rod hinge points in 4-
7- balancing weight 8- hinged block II 9- sliding blocks
10- slide bar 11- hinged block I 13- working cables
14- leader cable 15- magnechuck 16- irony disks
17- glass-cleaning robot dolly 18- curtain wall 19- remover liquid nozzles
Water pond is scraped in 20- crawler unit 21- vacuum cups 22- rotations
23- driving wheel 24- contact roller 25- housings
26- motor 27- worm screw 28- worm gears
29- counter 30- com-pression bar sensor 31- housing screws
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described further.
A kind of cladding glass cleaning robot according to Fig. 1 to Fig. 3, including rope 1, magnechuck 15, clean the windows
The sliding block group of robot car 17, controller (not shown) and three slide block structure compositions；
The described quantity of rope 1 is two, and when the face of curtain wall 18 is vertical, two ropes 1 are overhang on the face of curtain wall 18
Side, parallel to the surface of curtain wall 18；Two ropes 18 are parallel to each other, and are symmetrical arranged in the both sides of magnechuck 15.Two ropes 18 it
Between it is fixed set up two cross bars 2, the cross bar 2 keeps vertical with rope 1, wherein a cross bar 2 is close to the bottom of curtain wall 18, Ling Yigen
Close to the top of curtain wall 18；Slide block structure on rope 1 is symmetrically connected on the rope 1 of the both sides of magnechuck 15.
The glass-cleaning robot dolly 17 is adsorbed in the surface of curtain wall 18, and on the shell of glass-cleaning robot dolly 17
Provided with irony disk 16 corresponding with magnechuck 15, the irony disk 16 is arranged on shell and curtain parallel to the surface of curtain wall 18
On the opposite position of wall 18.
Worn in the housing 25 of the slide block structure on parallel rotating shaft I and rotating shaft II, the rotating shaft I, rotating shaft II respectively
Fixed drive wheel 23, contact roller 24, the rope 1 are through between the wheel face of driving wheel 23 and contact roller 24；The rotating shaft I is passed
Housing 25, and it is arranged in end fixed worm gear 28；Motor 26, the driving are fixed with outside the housing 25 of the slide block structure
The output revolving shaft of motor 26 is worm screw 27；The worm screw 27 is intermeshed with worm gear 28；
Counter 29 is set on the motor 26, and the counter 29 collects the revolution signal of the axle of motor 26 simultaneously
Output end is connected to the input I of controller (not shown), the output end of the controller is connected to motor 26
Setting end；
The glass-cleaning robot dolly 17 is setting com-pression bar sensor 30, the constrictor with the contact surface of curtain wall 18
The output end of formula sensor 30 is connected to the input II of controller (not shown).
The slide block structure is one group with middle sliding block 4, sliding block 9 and is arranged on rope 1；Also include slide bar 10 and connecting rod
5I, connecting rod 5II, the slide bar 10 fix sliding block 9 parallel to rope 1, the bottom of the slide bar 10, and the middle part of slide bar 10 is slided
Sliding block 4 in socket；One end of the articulated linkage 5I of sliding block 4, the connecting rod 5I other end is hinged the side of magnechuck 15；It is described
In the middle part of the middle articulated linkage 5II of sliding block 4 one end, connecting rod 5II other end articulated linkage 5I.The both sides of magnechuck 15 are set
Slided on the slide rail of lower extension, the slide rail and hinged block I11 is set；The connecting rod 5II is set afterwards in the middle part of articulated linkage 5I to be prolonged
Long section, termination and the hinged block I11 of the extension are hinged.
The slide block structure group also includes connecting rod 5III, connecting rod 5IV, balancing weight 7 and the top shoe being arranged on rope 1
3；The top of the slide bar 10 is slidably socketed top shoe 3；One end of the articulated linkage 5III of sliding block 9, connecting rod 5III's is another
One end is hinged the side of balancing weight 7；One end of the articulated linkage 5IV of top shoe 3, connecting rod 5IV other end articulated linkage 5III
Middle part.The both sides of balancing weight 7, which set to slide on the slide rail extended up and down, the slide rail, sets hinged block II8；The connecting rod 5IV
Extension is set after in the middle part of articulated linkage 5III, termination and the hinged block II8 of the extension are hinged.
In the equipment of actual use, the curtain cleaning robot is by track rope group, track travel device, clean the windows machine
17 3 major part compositions of people's dolly.
Track rope group is made up of rope 1, cross bar 2 and leader cable 14.Cross bar 2 is located between two ropes 1, plays constant spacing
Effect, its position is adjustable, and when track rope group is overhang on building, a cross bar 2 is close to ground, and another cross bar 2 connects
Nearly top of building.The inside of leader cable 14 includes cable and feed pipe, is wound in rolling disk, is connected with track travel device, can be with
Track travel device moves and releases and withdraw.Track rope group top and bottom are individually fixed in top of building and bottom, and open
Tightly holding appropriate distance parallel with the glass of curtain wall 18, plays rail effect.Leader cable 14 is used to connect working power and cleaning fluid
Body is simultaneously delivered to equipment.
Track travel device by top shoe 3, middle sliding block 4, connecting rod 5, connecting rod hinge point 6, balancing weight 7, hinged block II8, under
Sliding block 9, slide bar 10, hinged block I11, working cable 13, magnechuck 15 etc. are constituted.
Sliding block by driving wheel 23, contact roller 24, block case 25, motor 26, worm screw 27, worm gear 28, counter 29,
The grade of housing screw 31 is constituted.Three sliding blocks of upper, middle and lower are fixed on track rope, and block case 25, which can be opened, is easy to rope 1 to be through at
Between driving wheel 23 and contact roller 24, rugged housing screw 31 compresses rope 1 after block case 25 is closed.By controlling driving electricity
Machine 26, drives the worm screw 27 being attached thereto to rotate, slows down and drive worm gear 28 to rotate, worm gear 28 is connected with driving wheel 23, so that
Band movable slider is moved on rope 1.Due to the self-locking action of worm and gear, when motor 26 stops, sliding block can be stopped at
On rope 1 and it can bear certain power.The revolution signal of motor 26 is transferred to controller by counter 29, for controlling to drive
Movement and position of the dynamic work of motor 26 so as to control slide block.Sliding block 9 is fixed with slide bar 10, and top shoe 3 and middle sliding block 4 can be with
Slide bar 10 is slidably.Connecting rod 5 is hinged with top shoe 3 and sliding block 9 respectively, and interconnection is in even connecting rod hinge point 6, two ends point
It is not connected with pouring weight disk 7 and pouring weight disk slide hinged 8, pouring weight disk slide hinged 8 can be slided in the chute of balancing weight 7.When upper
Sliding block 3 and sliding block 9 move close to or can realized when remote the function that balancing weight is released or withdrawn perpendicular to track rope group plane.
Two groups of sliding-block linkages are individually fixed on two ropes 1, and are symmetrically connected to the both sides of balancing weight 7.Track rope group it is another
Side, connecting rod 5 is hinged with middle sliding block 4 and sliding block 9 respectively, interconnection in connecting rod hinge point 6, two ends respectively with magnechuck 15
With hinged block I11 connections, hinged block I11 can be slided in the chute of magnechuck 15.Central sliding block 4 and sliding block 9 movement is leaned on
Close or remote from when can realize magnechuck 15 perpendicular to track rope group plane release or withdraw function.Two groups of sliding-block linkages
It is individually fixed on two ropes 1, and is symmetrically connected to the both sides of magnechuck 15.
The suction with the irony disk 16 above glass-cleaning robot dolly 17 can be achieved by controlling power on/off in magnechuck 15
Close and separate.
Glass-cleaning robot dolly 17 includes working cable 13, remover liquid nozzle 19, crawler unit 20, vacuum cup
21st, water pond 22, com-pression bar sensor 30 and internal control and driving original paper are scraped in rotation.The inside of working cable 13 includes cable
And water-supply-pipe, remover liquid nozzle 19 by by leader cable 14 and working cable 13 transmit come cleaning liquid even spraying in curtain wall
18 glass surfaces, the pumping of vacuum cup 21 makes the reliable attachment of glass-cleaning robot dolly 17 in glass surface, and controller driving is carried out
Band running gear 20 makes glass-cleaning robot dolly 17 be walked by path planning, and rotation scrapes the rotary work of water pond 22 and strikes off glass table
The cleaning liquid in face.
Track travel device is along position of the rope 1 according to every block of glass of curtain wall 18, and it is suitable to be moved to by controller control
Pusher on position, track travel device pushes glass-cleaning robot dolly 17 to glass surface, treats glass-cleaning robot
The vacuum cup 21 of dolly 17 is reliably fixed on after glass surface, and magnechuck 15 is powered off, and pusher is withdrawn.Glass-cleaning robot
Dolly 17 returns to original position after the cleaning of single sheet is completed according to independent procedure, and it is small that pusher is pushed out to glass-cleaning robot
Car 17 is simultaneously powered to magnechuck 15, and the deflation of vacuum cup 21 releases the absorption with glass after magnechuck absorption firmly, pushes
Device is withdrawn, and track travel device is moved to the cleaning positions of next block of glass, then repeated the above steps, until completing building
The cleaning of a thing row glass from top to bottom.Track rope group is arranged in columns, above-mentioned work is repeated, the cleaning of each column glass is completed, i.e.,
The cleaning of whole building thing cladding glass can be completed.
The work of this curtain cleaning robot and control method are：
1- track rope groups hang on building, and close to the glass of curtain wall 18, sliding block is individually fixed in two upper ends of rope 1, rail
Road rope group upper and lower ends are fixed and are tensioned.
The energization glass-cleaning robot dolly of 2- magnechucks 15 is adsorbed on track travel device, and balancing weight 7 and electromagnetism are inhaled
Disk 15 withdraws distance and ensures the double side acting of rope 1 in the equalising torque of slide bar 10, it is possible to smoothly downwards all in retracted state
Movement with curtain wall 18 without interfering.
The spacing and input controller of block above and below the 3- measurement glass of curtain wall 18, equipment are started working.
4- controllers are according to input spacing driving slide block movement, and to first piece of glass center topmost, sliding block 9 is motionless,
Two kinds of sliding blocks 3,4 are moved down in upper, and translational speed ensures both sides equalising torque, when glass-cleaning robot dolly 17 is moved to glass
Com-pression bar sensor 30 is simultaneously touched in glass surface, and sensor is signaled to controller, and controller stops sliding block action.
5- vacuum cups 21 work, and glass-cleaning robot dolly 17 is adsorbed in glass surface.Controller control top shoe 3 to
On move to half retracted state, now the side force square of balancing weight 7 can be with the equalising torque of magnechuck 15 after power-off.
6- magnechucks 15 are powered off, and magnechuck 15 is separated with glass-cleaning robot dolly 17, and upper middle sliding block 3,4 is transported upwards
Dynamic, balancing weight 7 and magnechuck 15 are withdrawn.
7- glass-cleaning robots dolly 17 is completed the cleaning of this block glass by routine plan path and frame sensor signal,
It is then return to original position.
Sliding block 3,4 is moved down during 8- is upper, holding torque balance, onto magnechuck 15 and glass-cleaning robot dolly 17
Irony disk 16 is contacted, and magnechuck 15 is powered, and magnechuck 15 is sucked with glass-cleaning robot dolly 17.Top shoe 3 is moved down, and is matched somebody with somebody
Pouring weight 7 is released, to torque and the equalising torque of magnechuck 15 containing glass-cleaning robot dolly 17.Vacuum cup 21 stops work
Make and releasing vacuum of deflating, glass-cleaning robot dolly 17 is separated with glass.
Sliding block 3,4 is moved up during 9- is upper, and balancing weight 7 and magnechuck 15 are withdrawn, process holding torque balance, to withdrawal
State.
10- is according to the glass spacing of curtain wall 18, and upper, middle and lower sliding block 3,4,9 is moved to next piece of glass center downwardly together, weight
Multiple above-mentioned action, completes the cleaning of next block of glass, until completing the cleaning of the whole glass of a row from top to bottom.
The preferred embodiment that the utility model is created is illustrated above, but the utility model is created not
It is limited to described embodiment, those skilled in the art can be with the premise of without prejudice to the utility model creative spirit
A variety of equivalent modifications or replacement are made, these equivalent modifications or replacement are all contained in the model that the application claim is limited
In enclosing.
Claims (10)
1. a kind of cladding glass cleaning robot, including rope, magnechuck and glass-cleaning robot dolly, it is characterised in that
The rope is parallel to curtain wall surface；
Also include and parallel rotating shaft I and rotating shaft II, the rotating shaft I are worn in slide block structure, the housing of the slide block structure, is turned
Fixed drive wheel, contact roller are distinguished on axle II, the rope is through between driving wheel and the wheel face of contact roller；The rotating shaft I is worn
Go out housing, and be arranged in end fixed worm gear；Motor is fixed with outside the housing of the slide block structure, the motor is defeated
Go out rotating shaft for worm screw；The worm and wheel intermeshing；
The magnechuck is fixed on slide block structure；
The glass-cleaning robot dolly is adsorbed in curtain wall surface, and is provided with and electromagnetism on the shell of glass-cleaning robot dolly
The corresponding irony disk of sucker.
2. cladding glass cleaning robot according to claim 1, it is characterised in that also including a controller；It is described
Counter is set on motor, and the counter collects the revolution signal of motor axle and output end is connected into controller
Input I, the output end of the controller is connected to the setting end of motor.
3. cladding glass cleaning robot according to claim 2, it is characterised in that the glass-cleaning robot dolly exists
Com-pression bar sensor is set with curtain wall contact surface, the com-pression bar sensor output is connected to the input of controller
II。
4. cladding glass cleaning robot according to claim 1, it is characterised in that described rope quantity is two,
Both are parallel to each other, and are symmetrical arranged in magnechuck both sides；Slide block structure on rope is symmetrically connected to magnechuck both sides
On rope；The irony disk is arranged on the shell position opposite with curtain wall parallel to curtain wall surface.
5. cladding glass cleaning robot according to claim 4, it is characterised in that fixed between two ropes to set up horizontal
Bar, the cross bar is vertical with rope holding；The cross bar quantity is two, respectively positioned at magnechuck both sides.
6. cladding glass cleaning robot according to claim 5, it is characterised in that the slide block structure with middle sliding block,
Sliding block is one group and is arranged on rope；Also include slide bar and connecting rod I, connecting rod II, the slide bar is parallel to rope, the slide bar
Bottom fix sliding block, be slidably socketed middle sliding block in the middle part of slide bar；One end of the sliding block articulated linkage I, connecting rod I's is another
One end is hinged magnechuck side；In the middle part of one end of the middle sliding block articulated linkage II, connecting rod II other end articulated linkage I.
7. cladding glass cleaning robot according to claim 6, it is characterised in that above and below the magnechuck both sides are set
Slided on the slide rail of extension, the slide rail and hinged block I is set；The connecting rod II sets extension afterwards in the middle part of articulated linkage I, institute
The termination and hinged block I for stating extension are hinged.
8. cladding glass cleaning robot according to claim 6, it is characterised in that two ropes overhang curtain wall
Above face；A piece cross bar is close to curtain wall bottom, another nearly curtain wall top of piece-root grafting.
9. cladding glass cleaning robot according to claim 8, it is characterised in that the slide block structure group also includes connecting
Bar III, connecting rod IV, balancing weight and the top shoe being arranged on rope；The top of the slide bar is slidably socketed top shoe；It is described
Sliding block articulated linkage III one end, the connecting rod III other end is hinged balancing weight side；The top shoe articulated linkage IV's
In the middle part of one end, connecting rod IV other end articulated linkage III.
10. cladding glass cleaning robot according to claim 9, it is characterised in that above and below the balancing weight both sides are set
Slided on the slide rail of extension, the slide rail and hinged block II is set；The connecting rod IV sets extension afterwards in the middle part of articulated linkage III
Section, termination and the hinged block II of the extension are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621123904.4U CN206586879U (en) | 2016-10-14 | 2016-10-14 | A kind of cladding glass cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621123904.4U CN206586879U (en) | 2016-10-14 | 2016-10-14 | A kind of cladding glass cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206586879U true CN206586879U (en) | 2017-10-27 |
Family
ID=60130904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621123904.4U Active CN206586879U (en) | 2016-10-14 | 2016-10-14 | A kind of cladding glass cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206586879U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110051266A (en) * | 2019-05-24 | 2019-07-26 | 北京史河科技有限公司 | Apparatus for work |
| CN110316272A (en) * | 2019-07-09 | 2019-10-11 | 苏州康鸿智能装备股份有限公司 | A kind of vacuum cap type running gear for vertical crawling robot |
| CN111616637A (en) * | 2020-06-28 | 2020-09-04 | 咸宁职业技术学院 | Curtain wall cleaning robot |
-
2016
- 2016-10-14 CN CN201621123904.4U patent/CN206586879U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110051266A (en) * | 2019-05-24 | 2019-07-26 | 北京史河科技有限公司 | Apparatus for work |
| CN110316272A (en) * | 2019-07-09 | 2019-10-11 | 苏州康鸿智能装备股份有限公司 | A kind of vacuum cap type running gear for vertical crawling robot |
| CN111616637A (en) * | 2020-06-28 | 2020-09-04 | 咸宁职业技术学院 | Curtain wall cleaning robot |
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