CN109805840B - Advanced optical-mechanical-electrical-based service robot - Google Patents
Advanced optical-mechanical-electrical-based service robot Download PDFInfo
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- CN109805840B CN109805840B CN201910190797.9A CN201910190797A CN109805840B CN 109805840 B CN109805840 B CN 109805840B CN 201910190797 A CN201910190797 A CN 201910190797A CN 109805840 B CN109805840 B CN 109805840B
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- 238000004140 cleaning Methods 0.000 claims abstract description 58
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000003139 buffering effect Effects 0.000 claims description 26
- 238000010408 sweeping Methods 0.000 claims description 11
- 238000007790 scraping Methods 0.000 claims description 8
- 238000003466 welding Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 9
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000010521 absorption reaction Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 7
- 239000000919 ceramic Substances 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 239000011324 bead Substances 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 244000007853 Sarothamnus scoparius Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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Abstract
The invention discloses an advanced opto-electro-mechanical-based service robot, which comprises a machine body shell, a gap cleaning mechanism and a buffer detection device, wherein the gap cleaning mechanism is arranged in the middle of the bottom of the machine body shell, and the buffer detection device is arranged in an inner cavity of the machine body shell; the gap cleaning mechanism comprises a transverse rail, a cleaning folding shaft, a compensation short shaft, a support eccentric shaft, cleaning feet, a powerful electromagnet and an anti-falling absorption block, the top of the transverse rail is fixedly connected with the middle of the bottom of a machine body shell through a screw, the compensation short shaft is telescopically arranged at the bottom of an inner cavity of the cleaning folding shaft, the support eccentric shaft is movably arranged at the bottom of the left side of the cleaning folding shaft, the powerful electromagnet is fixedly arranged at the left side of the inner cavity of the transverse rail, the advanced optical-mechanical-electrical-based service robot can be specially used for cleaning gaps among a plurality of floor tiles in the process of indoor cleaning, and convex burrs on the ground can be ground and cut off in the process of continuous movement cleaning.
Description
Technical Field
The invention relates to the technical field of optical-mechanical-electrical technology, in particular to an advanced optical-mechanical-electrical-based service robot.
Background
Optoelectromechanical, mainly the short-term of gathering optics, machinery and electronic technology, in the state of the rapid development of science and technology, optoelectromechanical technology has been applied to the development of various industries, optoelectromechanical technology has been the most important component in science and technology, and with the continuous progress and development of artificial intelligence, it is also changing continuously, no matter industrial production or daily life is involved, wherein the robot is the most common, the robot is the machine device that automatically executes work, it can not only accept human command, but also run the program arranged in advance, also can be based on the principle outline action made by artificial intelligence technology, its task is to assist or replace the work of human work.
The service robot is a robot working semi-autonomously or fully autonomously, has a wide application range, can be used for maintenance, repair, transportation, cleaning, security, rescue, monitoring and the like, and has an increasingly enhanced demand for the service robot along with the development of economy, the increasing aging of population and the continuous popularization of the home-based old-age mode of the Chinese society, but the existing service robot is mainly used for industrial or commercial service operation, and has no service robot which is specially used for family members, particularly the old people, so that the service robot which can be applied to the family living environment is needed, and can provide necessary daily life support for the family members, particularly the old people, including taking and transporting articles, man-machine interaction, auxiliary entertainment and the like, wherein the sweeping robot is the most representative robot at present, the robot of sweeping the floor normally all carries out indoor work of sweeping through the rotatory broom of its bottom and suction inter-match, the ceramic tile has generally been laid to the indoor most family now, gap between a ceramic tile can remain a large amount of dirt when time spent use the in-process, often can not clear up specially when carrying out cleaning among the daily life, the in-process not only influences the health condition general and can also influence indoor whole pleasing to the eye daily long-pending month, the cooperation is with the life service mechanical equipment of intelligence, single simple cleaning and dust absorption have been can not satisfy present sanitary demand.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an advanced optical-mechanical-electrical-based service robot, and solves the problem that the service robot, namely a sweeping robot, cannot deeply clean gaps among floor tiles in the indoor cleaning process.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an advanced service robot based on optoelectromechanical, cleans mechanism and buffering detection device including fuselage shell, gap, the gap cleans the middle part that the mechanism installed in fuselage shell bottom, the inner chamber at fuselage shell is installed to buffering detection device, the bar groove has been seted up to fuselage shell's the equipartition distance in front and the back.
The gap cleans the mechanism and includes horizontal track, cleans the break axis, compensates the minor axis, supports off-axis, clean foot, powerful electro-magnet and anticreep and inhales the piece, screw fixed connection is passed through at the middle part of horizontal orbital top and fuselage shell bottom, the detachable middle part of installing at horizontal track inner chamber in top of cleaning the break axis, the telescopic bottom of installing at cleaning the break axis inner chamber of compensation minor axis, support off-axis movable mounting and clean the left bottom of break axis, clean foot is installed in the bottom of compensating the minor axis, powerful electro-magnet fixed mounting is in the left side of horizontal track inner chamber, anticreep inhales the piece activity joint at horizontal orbital inner chamber.
Preferably, buffering detection device includes lower plate, upper plate, buffering straight axle, detection spring and buffering foot, lower plate and upper plate all pass through bolt fixed mounting on the inner wall of fuselage shell, the buffering hole has all been seted up at the front and the back of lower plate and upper plate top both sides, buffering straight axle movable mounting is at the inner circle in buffering hole, the outside that the buffering hole and extend to fuselage shell bottom is run through to the bottom of buffering straight axle, the detection spring cup joints on the outer lane of buffering straight axle, the bottom at the buffering straight axle is installed to the buffering foot.
Preferably, the length of sweeping the jackshaft is the twice of compensation minor axis, the compensation groove has all been seted up to the both sides of jackshaft in sweeping, the middle part of compensation minor axis both sides all fixed welding has the joint strip, the fixed welding in top of compensation minor axis has pressure spring.
Preferably, the cleaning feet are hemispherical, the middle parts of the tops of the cleaning feet are fixedly welded with the bottom of the compensation shaft, and scraping and grinding holes are formed in the outer walls of the cleaning feet at equal distances.
Preferably, the front and the back of the two sides of the top of the lower base plate are fixedly welded with resonance plates, the bottom of the outer wall of the buffer straight shaft is fixedly welded with an impact ball, the top of the detection spring is fixedly welded with the bottom of the upper base plate, and the bottom of the detection spring is fixedly welded with the outer wall of the buffer straight shaft.
Preferably, the bottom of the buffering foot is provided with a hidden groove, the inner cavity of the hidden groove is movably provided with a detection ball, the top of the inner cavity of the buffering foot is provided with a funnel column, and the bottom of the inner cavity of the funnel column is movably provided with a sensitive bead.
Preferably, the bottom of buffering straight axle is the toper, the fixed welding in bottom of buffering straight axle has butt joint ball, the inner chamber that the buffering foot and extend to the buffering foot is run through to the bottom of buffering straight axle.
Preferably, the resonance piece is located under the impact ball, the resonance piece is an elastic piece, and the resonance piece is located the back in bar groove.
(III) advantageous effects
The invention provides an advanced optical-mechanical-electrical-based service robot. The method has the following beneficial effects:
(1) the advanced opto-electro-mechanical-based service robot can be specially used for cleaning gaps among a plurality of floor tiles in the indoor cleaning process.
(2) This advanced service robot based on optoelectromechanical, more importantly can also carry out self-adaptive control according to the unevenness between the gap when carrying out cleaning work to the gap between the ceramic tile, and the clear in-process of continuous motion can also grind the level and intercept the processing to subaerial convex burr.
(3) This advanced service robot based on optoelectromechanical stops when between the ceramic tile gap, utilizes the use of the unevenness cooperation scraping claw in the ground gap to increase the frictional force between service robot and the ground, plays the effect of similar ship anchor, can restrict the speed of machine on the one hand, can also avoid the mistake to bump simultaneously and lead to the striking to damage.
(4) The advanced optical-mechanical-electrical-based service robot has the advantages that in the cleaning operation process, the self damping mechanism can be used for helping the robot to stably move, certain sound can be generated when the robot encounters uneven ground in a quiet state, and the finish degree of the ground is detected through the sound or the robot is not damaged.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of the fuselage shell of the present invention;
FIG. 3 is a schematic structural view of a gap cleaning mechanism according to the present invention;
FIG. 4 is a schematic structural diagram of a buffer over-detection apparatus according to the present invention;
FIG. 5 is a cross-sectional view of a cushioning foot according to the present invention.
In the figure: the device comprises a machine body shell 1, a strip-shaped groove 101, a gap cleaning mechanism 2, a transverse track 201, a cleaning folding shaft 202, a compensation groove 2021, a compensation short shaft 203, a clamping bar 2031, a pressure spring 2032, a support eccentric shaft 204, a cleaning foot 205, a scraping and grinding hole 2051, a powerful electromagnet 206, an anti-drop suction block 207, a buffer detection device 3, a lower base plate 301, a resonance sheet 3011, an upper base plate 302, a buffer straight shaft 303, a butt joint ball 3031, a detection spring 304, a buffer foot 305, a hidden groove 3051, a detection ball 3052, a funnel 3053 column, a sensitive 3054 bead and a buffer hole 306.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1-5, the present invention provides a technical solution: an advanced service robot based on opto-electro-mechanical-electricity comprises a machine body shell 1, a gap cleaning mechanism 2 and a buffer detection device 3, wherein the gap cleaning mechanism 2 is installed in the middle of the bottom of the machine body shell 1, the buffer detection device 3 is installed in an inner cavity of the machine body shell 1, a strip-shaped groove 101 is formed in the front surface and the back surface of the machine body shell 1 at equal distance, the gap cleaning mechanism 2 comprises a transverse track 201, a cleaning folding shaft 202, a compensation short shaft 203, a support eccentric shaft 204, a cleaning foot 205, a powerful electromagnet 206 and an anti-drop suction block 207, the top of the transverse track 201 is fixedly connected with the middle of the bottom of the machine body shell 1 through screws, the top of the cleaning folding shaft 202 is detachably installed in the middle of the inner cavity of the transverse track 201, the compensation short shaft 203 is telescopically installed at the bottom of the inner cavity of the cleaning folding shaft 202, the support eccentric, the powerful electromagnet 206 is fixedly installed on the left side of the inner cavity of the transverse rail 201, the anti-falling absorption block 207 is movably clamped in the inner cavity of the transverse rail 201, the length of the sweeping folding shaft 202 is twice of that of the compensation short shaft 203, the two sides of the folding shaft 202 in sweeping are both provided with compensation grooves 2021, the middle parts of the two sides of the compensation short shaft 203 are both fixedly welded with clamping strips 2031, the top of the compensation short shaft 203 is fixedly welded with a pressure spring 2032, the cleaning foot 205 is hemispherical, the middle part of the top of the cleaning foot 205 is fixedly welded with the bottom of the compensation shaft 203, the outer wall of the cleaning foot 205 is equidistantly provided with scraping and grinding holes 2051, the buffer detection device 3 comprises a lower bottom plate 301, an upper bottom plate 302, a buffer straight shaft 303, a detection spring 304 and a buffer foot 305, the upper bottom plate 301 and the upper bottom plate 302 are both fixedly installed on the inner wall of the machine body shell 1 through, the buffer straight shaft 303 is movably arranged at the inner ring of the buffer hole 306, the bottom of the buffer straight shaft 303 penetrates through the buffer hole 306 and extends to the outer side of the bottom of the machine body shell 1, the detection spring 304 is sleeved on the outer ring of the buffer straight shaft 303, the buffer foot 305 is arranged at the bottom of the buffer straight shaft 303, the bottom of the buffer foot 305 is provided with an invisible groove 3051, the inner cavity of the invisible groove 305 is movably provided with a detection ball 3052, the top of the inner cavity of the buffer foot 305 is provided with a funnel column 3053, the bottom of the inner cavity of the funnel column 3053 is movably provided with a sensitive ball 3054, the bottom of the buffer straight shaft 303 is conical, the bottom of the buffer straight shaft 303 is fixedly welded with an abutting ball 3031, the bottom of the buffer straight shaft 303 penetrates through the buffer foot 305 and extends to the inner cavity of the buffer foot 305, the front surface and the back surface at the two sides of the top of the lower bottom plate 301 are fixedly welded with resonance sheets 3011, the bottom of, the bottom of the detection spring 304 is fixedly welded with the outer wall of the buffer straight shaft 303, the resonance sheet 3011 is located right below the striking ball 3031, the resonance sheet 3011 is an elastic sheet, and the resonance sheet 3011 is located on the back of the strip-shaped groove 101.
When the advanced photo-electro-mechanical based service robot works (or is used), when the service robot in the application is used for cleaning the ground, the robot is placed according to a central line indicator on a machine body shell 1, then equipment is directly started to enable the robot to move and clean the ground, at the moment, a gap cleaning mechanism 2 of the robot is positioned right above gaps of a plurality of floor tiles, cleaning feet 205 directly fall in the gaps, the power supply is switched on for a powerful electromagnet 206 through remote control when the robot is started, the powerful electromagnet 206 is electrified to generate strong magnetic force to attract an anti-release suction block 207 and approach the powerful electromagnet 206, the anti-release suction block 207 pulls a support eccentric shaft 204 to gradually change the angle along with the continuous movement of the anti-release suction block 207, the support eccentric shaft 204 also gradually pulls a compensation short shaft 203, the compensation short shaft 203 also continuously presses a pressing spring 2032, and the reverse acting force of the pressing spring 2032 enables the compensation short shaft 203 to give a certain pressure to the cleaning feet 205, the cleaning foot 205 is contacted with the gap more closely, at this time, the scraping and grinding operation is performed on the adhesive at the bottom and some protrusions of the gap by the scraping and grinding hole 205 in the process of the continuous movement of the robot, the adhesive at the side of the floor tile is processed by the part at the side, when the ground is uneven or the floor tile is deformed, the detection ball 3052 moves upwards relative to the invisible groove 3051, the detection ball 3052 directly pushes up the sensitive ball 3054, the sensitive ball 3054 pushes up the buffer straight shaft 303, the buffer straight shaft 303 drives the docking ball 3031 on the outer wall of the buffer straight shaft 303 to pull away from the resonant piece 3011, after the robot runs out of the uneven ground, the detection spring 304 drives the buffer straight shaft 303 to move downwards, the buffer straight shaft 303 drives the docking ball 3031 to impact the resonant piece straight shaft and directly fall on the lower bottom plate 301, the resonant piece 3011 vibrates to generate sound, and out through the strip groove 101.
In summary, the advanced opto-electro-mechanical-based service robot can be used for cleaning gaps among a plurality of floor tiles in an indoor cleaning process, more importantly, the service robot can be used for self-adaptive adjustment according to unevenness among the gaps when the gaps among the floor tiles are cleaned, burrs protruding out of the ground can be ground and cut off in the continuous moving and cleaning process, when the service robot stays among the gaps among the floor tiles, the friction force between the service robot and the ground can be increased by utilizing the unevenness in the gaps among the ground and matching with the scraping claws, the function similar to a boat anchor is achieved, on one hand, the speed of the service robot can be limited, meanwhile, impact damage caused by mistaken collision can be avoided, in the cleaning process, a self damping mechanism not only can be used for helping the robot to move stably, and when the ground is uneven in a quiet state, a certain sound is generated to detect the finish of the ground or the presence or absence of damage by the sound.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. An advanced opto-electro-mechanical based service robot, characterized by: the cleaning device comprises a machine body shell (1), a gap cleaning mechanism (2) and a buffer detection device (3), wherein the gap cleaning mechanism (2) is installed in the middle of the bottom of the machine body shell (1), the buffer detection device (3) is installed in an inner cavity of the machine body shell (1), and strip-shaped grooves (101) are formed in the front surface and the back surface of the machine body shell (1) at equal distances;
the gap cleaning mechanism (2) comprises a transverse track (201), a cleaning folding shaft (202), a compensation short shaft (203), a support eccentric shaft (204), a cleaning foot (205), a powerful electromagnet (206) and an anti-drop suction block (207), the top of the transverse track (201) is fixedly connected with the middle part of the bottom of the machine body shell (1) through a screw, the top of the sweeping folding shaft (202) is detachably arranged in the middle of the inner cavity of the transverse track (201), the compensation short shaft (203) is telescopically arranged at the bottom of the inner cavity of the sweeping folding shaft (202), the supporting eccentric shaft (204) is movably arranged at the bottom of the left side of the sweeping folding shaft (202), the cleaning foot (205) is arranged at the bottom of the compensation short shaft (203), the powerful electromagnet (206) is fixedly arranged at the left side of the inner cavity of the transverse track (201), the anti-dropping suction block (207) is movably clamped in the inner cavity of the transverse track (201); the buffer detection device (3) comprises a lower bottom plate (301), an upper bottom plate (302), a buffer straight shaft (303), a detection spring (304) and buffer pins (305), wherein the lower bottom plate (301) and the upper bottom plate (302) are fixedly installed on the inner wall of the machine body shell (1) through bolts, buffer holes (306) are formed in the front sides and the rear sides of the tops of the lower bottom plate (301) and the upper bottom plate (302) along the transverse two sides, the buffer straight shaft (303) is movably installed at the inner ring of the buffer holes (306), the bottom of the buffer straight shaft (303) penetrates through the buffer holes (306) and extends to the outer side of the bottom of the machine body shell (1), the detection spring (304) is sleeved on the outer ring of the buffer straight shaft (303), and the buffer pins (305) are installed at the bottom of the buffer straight shaft (303); resonance sheets (3011) are fixedly welded to the top of the lower bottom plate (301) along the front side and the rear side of the two transverse sides, an impact ball (3031) is fixedly welded to the bottom of the outer wall of the buffer straight shaft (303), the top of the detection spring (304) is fixedly welded to the bottom of the upper bottom plate (302), and the bottom of the detection spring (304) is fixedly welded to the outer wall of the buffer straight shaft (303).
2. An advanced opto-electro-mechanical based service robot as claimed in claim 1, characterized in that: the length of cleaning broken axle (202) is the twice of compensation minor axis (203), compensation groove (2021) have all been seted up to the both sides of cleaning broken axle (202), the middle part of compensation minor axis (203) both sides all fixed welding has joint strip (2031), the fixed welding in top of compensation minor axis (203) has pressure spring (2032).
3. An advanced opto-electro-mechanical based service robot as claimed in claim 1, characterized in that: the cleaning foot (205) is hemispherical, the middle of the top of the cleaning foot (205) is fixedly welded with the bottom of the compensation short shaft (203), and scraping and grinding holes (2051) are formed in the outer wall of the cleaning foot (205) at equal distances.
4. An advanced opto-electro-mechanical based service robot as claimed in claim 1, characterized in that: the bottom of buffering foot (305) has seted up hidden groove (3051), the inner chamber movable mounting in hidden groove (3051) has detection ball (3052), the top of buffering foot (305) inner chamber is provided with funnel post (3053), sensitive pearl (3054) have been placed in the bottom activity of funnel post (3053) inner chamber.
5. An advanced opto-electro-mechanical based service robot as claimed in claim 1, characterized in that: the bottom of the buffering straight shaft (303) is conical, and the bottom of the buffering straight shaft (303) penetrates through the buffering foot (305) and extends to the inner cavity of the buffering foot (305).
6. An advanced opto-electro-mechanical based service robot as claimed in claim 1, characterized in that: the resonance sheet (3011) is located right below the impact ball (3031), the resonance sheet (3011) is an elastic sheet, and the resonance sheet (3011) is located on the back of the strip-shaped groove (101).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910190797.9A CN109805840B (en) | 2019-03-13 | 2019-03-13 | Advanced optical-mechanical-electrical-based service robot |
| JP2019124791A JP2022008749A (en) | 2019-03-13 | 2019-07-03 | Advanced service robot based on optomechatronics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910190797.9A CN109805840B (en) | 2019-03-13 | 2019-03-13 | Advanced optical-mechanical-electrical-based service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109805840A CN109805840A (en) | 2019-05-28 |
| CN109805840B true CN109805840B (en) | 2021-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910190797.9A Active CN109805840B (en) | 2019-03-13 | 2019-03-13 | Advanced optical-mechanical-electrical-based service robot |
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| Country | Link |
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| JP (1) | JP2022008749A (en) |
| CN (1) | CN109805840B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116213369A (en) * | 2023-03-10 | 2023-06-06 | 茂茂(重庆)汽车驱动系统有限公司 | Cleaning device, cleaning tool and cleaning method for high-cleanliness stator core |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03236804A (en) * | 1990-02-13 | 1991-10-22 | Hayakawa Kogyo Kk | Improved cleaning implement |
| JPH10327482A (en) * | 1997-05-27 | 1998-12-08 | Mitsubishi Electric Corp | Remote controller with cleaning mechanism |
| JP2010124879A (en) * | 2008-11-25 | 2010-06-10 | Nippon Seal Kk | Cleaner |
| CN101872534B (en) * | 2010-06-29 | 2012-12-19 | 池晓春 | Magnetic suspension earthquake alarm |
| DE102018204462A1 (en) * | 2017-03-24 | 2018-09-27 | Kirsch Gmbh | Tool for grinding throat grooves or joints |
| CN107007221A (en) * | 2017-06-06 | 2017-08-04 | 合肥智慧殿投资管理有限公司 | A kind of intelligent mop of domestic safety |
| CN107816007B (en) * | 2017-10-24 | 2020-12-08 | 王麒麟 | Sucking disc formula rail cleaning device |
| CN108042052A (en) * | 2017-12-08 | 2018-05-18 | 合肥工业大学 | A kind of floor Scraper device device |
| CN108457460B (en) * | 2018-04-04 | 2019-03-22 | 深圳市洪涛装饰股份有限公司 | A kind of U.S. seam method of the automatic U.S. seam device of ceramic tile |
| CN108451446B (en) * | 2018-04-27 | 2021-07-27 | 江苏元杰自动化科技有限公司 | Independently clear up intelligent robot with antidetonation function |
| CN109276192A (en) * | 2018-11-12 | 2019-01-29 | 蒋名成 | A kind of sweeping robot automatic alarm device |
-
2019
- 2019-03-13 CN CN201910190797.9A patent/CN109805840B/en active Active
- 2019-07-03 JP JP2019124791A patent/JP2022008749A/en active Pending
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| JP2022008749A (en) | 2022-01-14 |
| CN109805840A (en) | 2019-05-28 |
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