CN203346835U - Floor sweeping robot - Google Patents
Floor sweeping robot Download PDFInfo
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- CN203346835U CN203346835U CN 201320261340 CN201320261340U CN203346835U CN 203346835 U CN203346835 U CN 203346835U CN 201320261340 CN201320261340 CN 201320261340 CN 201320261340 U CN201320261340 U CN 201320261340U CN 203346835 U CN203346835 U CN 203346835U
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Abstract
The utility model discloses a floor sweeping robot which comprises a machine frame, a first sweeping mechanism, a second sweeping mechanism, a conveying mechanism and a garbage can, wherein the machine frame is provided with a walking mechanism; the first sweeping mechanism comprises a sweeping head and a first driving mechanism for driving the sweeping head to rotate in the axis direction vertical to the ground, and the sweeping head is arranged at the front end of the machine frame; the second sweeping mechanism comprises at least one sweeping rolling brush and a second driving mechanism for driving the sweeping rolling brush to rotate in the axis direction parallel with the ground, and the sweeping rolling brush is arranged in the middle of the machine frame; the conveying mechanism is arranged behind the sweeping rolling brush; the garbage can is arranged behind the conveying mechanism. The floor sweeping robot has the advantages that working efficiency of the floor sweeping robot is higher than that of sanitation workers or cleaners; in addition, the number of the sanitation workers or the cleaners can be greatly reduced to resolve the problem that the sanitation workers or the cleaners are in shortage; meanwhile, the number of the sanitation workers and the cleaners is reduced, and meanwhile labor cost in sweeping operation can be reduced to a large extent.
Description
Technical field
The utility model relates to the equipment of sweeping the floor, but relates in particular to the sweeping robot on a kind of automatic cleaning ground.
Background technology
Along with social development and the raising of people's living standard, cleaning becomes a problem must facing in people's life, especially the road in city, Nei sidewalk, community etc., these cleanings complete by sanitation worker or cleaner at present mostly, yet, raising in the face of current social development and people's living standard, it is large that most people is unwilling to be engaged in this workload, the arduous cleaning of low income again, especially younger generation may not be engaged in cleaning, current sanitation worker or the cleaner who is engaged in cleaning is generally slightly large colony of age, therefore, produced sanitation worker or cleaner situation in short supply, in addition, for the owner of needs community, employ the cleaner, its cost of labor is higher, and for sanitation worker and cleaner self, its income is low, the various contradictions in the cleaning have been caused, thus, on market for this problem, part automated cleaning instrument has appearred, dust catcher for example, auto-cleaner etc., these cleaning equipments can only be cleaned indoor mostly, perhaps only can be cleaned etc. by the road pavement dust, can not realize rubbish is carried out to automated cleaning collection etc.
The utility model content
The purpose of this utility model is to overcome deficiency of the prior art and a kind of sweeping robot of providing, this robot can realize the automatic cleaning on ground and refuse collection etc., replace hand sweeping, increase work efficiency and alleviate sanitation worker or cleaner's shape situation in short supply.
The technical scheme that the utility model solution prior art problem adopts is: a kind of sweeping robot, and it comprises:
Frame, described frame is provided with the walking mechanism that drives described frame to advance or retreat;
The first cleaning agency, the first driving mechanism that described the first cleaning agency comprises cleaning head and drives described cleaning head to rotate along the axis direction perpendicular to ground, described cleaning head is arranged at the front end of described frame;
The second cleaning agency, the second driving mechanism that described the second cleaning agency comprises at least one cleaning rolling brush and drives described cleaning rolling brush to rotate along the axis direction that is parallel to ground, described cleaning rolling brush is arranged at the middle part of described frame;
Connecting gear, described connecting gear is arranged at the rear of described cleaning rolling brush, in order to the rubbish by described cleaning rolling brush cleaning, rearward transmits;
Dustbin, described dustbin arranges the rear of described connecting gear, the rubbish transmitted in order to receive described connecting gear;
And in order to control the control system of said mechanism action.
Below technique scheme is further elaborated:
Further, described walking mechanism comprises left side walking mechanism and the right side walking mechanism that is respectively the frame both sides, the 3rd driving mechanism that described left side walking mechanism and right side walking mechanism include at least two belt wheels, are connected in the crawler belt shape driving-belt between described belt wheel and drive described belt wheel to rotate, described belt wheel is rotationally connected by connector and described frame side wall.
Further, the 4 wheel driven actuation mechanism that described connecting gear comprises at least two roller bearings, is connected in the conveyer belt between described roller bearing and drives described roller bearing to rotate.
Further, the front end of described frame and rear end are respectively equipped with the sensor that can make this sweeping robot avoiding obstacles, and described sensor is connected with described control system signal.
Further, the front end of described frame and rear end are respectively equipped with the monitoring camera assembly, and described monitoring camera assembly is connected with described control system signal.
Further, but the push-pull mechanism of Automatic-dumping rubbish after being provided with the described dustbin of push-and-pull in described frame it being tilted.
Further, also be provided with duty warning lamp and alarm lamp on described frame.
Further, described cleaning head is two, and two cleaning head left and right are arranged side by side the front end in described frame.
Further, also be provided with the touch screen for described sweeping robot is controlled on described frame, described touch screen is connected with described control system signal.
Further, the top of described cleaning rolling brush is covered with curved baffle, and the spaced surface of described conveyer belt is provided with strip bulge.
The beneficial effects of the utility model are: one, sweeping robot of the present utility model, can be according to the walking path walking of planning under the control of control system, in the process of walking, at first pass through the rotation of the cleaning head of the first cleaning agency, pavement garbage is swept to the cleaning rolling brush position of middle part the second cleaning agency, rubbish is kicked up and dished out to the conveyer belt of its rear connecting gear by cleaning rolling brush again, finally by conveyer belt, rubbish is sent to dustbin, driving along with walking mechanism, this sweeping robot cleans and collects rubbish successively along ground, realized the automated cleaning on ground and refuse collection etc., its operating efficiency is with respect to sanitation worker or cleaner Geng Gao, two, by sweeping robot, clean, can greatly reduce sanitation worker or cleaner's quantity, to solve sanitation worker and cleaner's problem in short supply, simultaneously, be accompanied by the minimizing of sanitation worker and cleaner's quantity, but the cost of labor in the decrease cleaning works.Three, the crawler belt shape driving-belt in the walking mechanism, can make this sweeping robot clear the jumps or advance on the road surface that is uneven, to be applicable to various different road surfaces situation; Four, be provided with the monitoring camera assembly before and after frame, realize remote monitoring is carried out in the place ahead and road surface, rear and road cleaning situation by this monitoring camera assembly, be convenient to the monitor staff and understand in real time current sweeping robot cleaning situation and pavement state etc.; The duty warning lamp and the alarm lamp that five, on the frame, arrange, can send the duty warning, avoid pedestrian's accident collision etc., alarm lamp can be collected at robot fault or dustbin in the situation such as full rubbish send alarm signal, and the prompting monitor staff further processes or dumps rubbish etc.The push-pull mechanism six, arranged in frame, can make the dustbin wing drop outwell rubbish, so, by the detection of control system, controls, and can automatically run to refuse storage area after completely at dustbin or refuse container is dumped rubbish, and realizes full-automatic operation; The touch screen seven, arranged on the frame, can realize the controlling of robot, on-the-spot control and management to robot.
The accompanying drawing explanation
Fig. 1 is the utility model embodiment stereogram 1;
Fig. 2 is the utility model embodiment stereogram 2;
Fig. 3 is the sectional view of the utility model embodiment;
Fig. 4 is the utility model embodiment internal construction schematic diagram;
In figure: frame 10; Monitoring camera assembly 101; Duty warning lamp 102; Alarm lamp 103; Sensor 104; Touch screen 105; Walking mechanism 20; Belt wheel 201; Crawler belt shape driving-belt 202; The 3rd driving mechanism 203; The first cleaning agency 30; Cleaning head 301; The first driving mechanism 302; The second cleaning agency 40; Cleaning rolling brush 401; Motor D402; Curved baffle 403; Drive D404; Drive D ' 405; Driving-belt D406; Regulating wheel 407; Connecting gear 50; Roller bearing 501; Conveyer belt 502; Strip bulge 5021; Fixed mount 503; Motor B504; Drive B505; Drive B ' 506; Driving-belt B507; Dustbin 60; Push-pull mechanism 601; Control system 70.
The realization of the utility model purpose, functional characteristics and advantage, in connection with embodiment, are described further with reference to accompanying drawing.
The specific embodiment
Describe the technical solution of the utility model in detail below with reference to drawings and the specific embodiments, so as clearer, understand invention essence of the present utility model intuitively.
Shown in Fig. 4, the utility model provides a kind of sweeping robot, it comprises frame 10, the first cleaning agency 30, the second cleaning agency 40, connecting gear 50, dustbin 60 and the control system 70 in order to control above-mentioned mechanism's collaborative work, wherein, described frame 10 is provided with the walking mechanism 20 that drives described frame 10 to advance or retreat, by walking mechanism 20, drive whole sweeping robot slowly to move along the ground bearing of trend, in moving process, the first cleaning agency 30 and 40 pairs of ground of the second cleaning agency are cleaned, described the first cleaning agency 30 comprises cleaning head 301 and drives first driving mechanism 302 of described cleaning head 301 along the rotation of the axis direction perpendicular to ground, described cleaning head 301 is arranged at the front end of described frame 10, this cleaning head 301 can adopt discoid hair brush structure, in the present embodiment, cleaning head 301 is two, two cleaning head 301 left and right are arranged side by side in the front end of described frame 10, and drive two cleaning head 301 synchronous rotaries by the first driving mechanism 302, when two cleaning head 301 rotations, the foreign material such as ground rubbish can be cleaned to the second cleaning agency 40 positions to frame 10 middle parts, the second driving mechanism that described the second cleaning agency 40 comprises at least one cleaning rolling brush 401 and drives described cleaning rolling brush 401 to rotate along the axis direction that is parallel to ground, described cleaning rolling brush 401 is arranged at the middle part of described frame 10, in the present embodiment, described cleaning rolling brush 401 is two, two cleaning rolling brush 401 front and back are arranged side by side in the middle part of described frame 10, the second driving mechanism drives two cleaning rolling brushes 401 synchronously to rotate, when the first cleaning agency 30 by refuse sweeping during to frame 10 middle part, last cleaning rolling brush 401 is kicked up the rubbish on ground again, and along with the rotation of cleaning rolling brush 401 successively from a cleaning rolling brush 401 dish out to connecting gear 50, described connecting gear 50 is arranged at the rear of described cleaning rolling brush 401, and when rubbish that cleaning rolling brush 401 is dished out drops on described connecting gear 50, connecting gear 50 rearward transmits rubbish again, described dustbin 60 arranges the rear of described connecting gear 50, and the rubbish that connecting gear 50 transmits drops down onto dustbin 60 at the falling at tail end of connecting gear 50, by dustbin 60, collects, and after dustbin 60 is collected full rubbish, more manually outwells and gets final product.
In the present embodiment, described walking mechanism 20 comprises left side walking mechanism 20 and the right side walking mechanism 20 that is respectively frame 10 both sides, described left side walking mechanism 20 and right side walking mechanism 20 include at least two belt wheels 201, the 3rd driving mechanism 203 that is connected in the crawler belt shape driving-belt 202 between described belt wheel 201 and drives described belt wheel 201 to rotate, described belt wheel 201 is rotationally connected by connector and described frame 10 sidewalls, the 3rd driving mechanism 203 adopts motor A to drive, one of them belt wheel 201 of the output shaft of motor A connects, drive this belt wheel 201 to rotate, because crawler belt shape driving-belt 202 is connected on each belt wheel 201, therefore, drive described crawler belt shape driving-belt 202 motions by the belt wheel 201 rotated, so, form relative motion by frictional force between crawler belt shape driving-belt 202 and ground, final drive chassis 10 is advanced or is retreated that (motor A forward is advanced, upset retreats), realized that this sweeping robot walks automatically.
Further, described connecting gear 50 comprises at least two roller bearings 501, the 4 wheel driven actuation mechanism that is connected in the conveyer belt 502 between described roller bearing 501 and drives described roller bearing 501 to rotate, two roller bearings 501 are rotationally connected with frame 10, described 4 wheel driven actuation mechanism adopts motor B504, motor B504 is fixing with frame 10 by a fixed mount 503, the output shaft of motor B504 connects a drive B505, wherein roller bearing 501 1 ends in two roller bearings 501 connect a drive B ' 506, between drive B505 and drive B ' 506, by driving-belt B507, be connected, so, motor B504 drives drive B505 to rotate, drive B505 drives drive B ' 506 by driving-belt B507, drive B ' 506 drives roller bearing 501 again and rotates, the final conveyer belt 502 that drives of roller bearing 501 moves, realize the transmission of rubbish.
Further, the first driving mechanism 302 in described the first cleaning agency 30 adopts motor C, two cleaning heads 301 are rotationally connected with frame 10 front ends, the transmission mechanism formed by driving-belt C and drive C between two cleaning heads 301 is connected to form interlock, and the output shaft of motor C is synchronizeed rotation with transmission mechanism connection rear drive two cleaning heads 301.The second driving mechanism in described the second cleaning agency 40 adopts motor D402, the output shaft of motor D402 connects a drive D404, two cleaning rolling brushes 401 an end be separately installed with drive D ' 405, between drive D404 and drive D ' 405, by driving-belt D406, connect, the outside of driving-belt also is equipped with regulating wheel 407, so, motor D402 drives two cleaning rolling brush 401 synchronous rotaries by driving-belt D406.
Further, the front end of described frame and rear end are respectively equipped with the sensor 104 that can make this sweeping robot avoiding obstacles, described sensor 104 is connected with described control system 70 signals, so, when sensor 104 detects the place ahead or rear obstruction is arranged, sensor 104 exports detection signal to control system 70, control system 70 is controlled the obstruction that walking mechanism turns to avoid the place ahead, make this sweeping robot there is the function of automatic avoiding obstacles, the security reliability in assurance work.
For the ease of described sweeping robot being controlled and management, front end and rear end in described frame are respectively equipped with monitoring camera assembly 101, described monitoring camera assembly 101 is connected with described control system 70 signals, this monitoring camera assembly 101 can detect pavement behavior, sweeping robot duty and road cleaning situation etc., by this monitoring camera assembly 101, realize remote monitoring is carried out in the place ahead and road surface, rear and road cleaning situation, be convenient to the monitor staff and understand in real time current sweeping robot, cleaning situation and pavement state etc., simultaneously, also be provided with the touch screen 105 for described sweeping robot is controlled on described frame, described touch screen 105 is connected with described control system 70 signals, can realize controlling robot by this touch screen 105, on-the-spot control and management to robot.
After described rubbish is full, if by manually toppling over, workload and difficulty strengthen, therefore, and in the present embodiment, but be provided with the push-pull mechanism 601 that the described dustbin of push-and-pull makes its rear Automatic-dumping rubbish that tilts in described frame, can make the dustbin wing drop outwell rubbish, so, control by the detection of control system 70, can automatically run to refuse storage area after completely at dustbin or refuse container is dumped rubbish, realize full-automatic operation.Simultaneously, sweeping robot travels on the sidewalk, community or position, road sidewalk, for fear of pedestrian and this sweeping robot, bump, also be provided with duty warning lamp 102 and alarm lamp 103 on described frame, can play down in working order warning function, the prompting pedestrian notes, the function that combined sensor 104 detects avoiding obstacles again can guarantee the safety of this robot in the work of road surface, alarm lamp 103 can send alarm signal in the situations such as robot fault or the full rubbish of dustbin collection, prompting the monitor staff further process or dump rubbish etc.
In addition, the top of described cleaning rolling brush 401 is covered with curved baffle 403, form garbage shaft between curved baffle 403 and cleaning rolling brush 401, when cleaning rolling brush 401 is kicked up rubbish, this curved baffle 403 can block rubbish, and directly dish out to connecting gear 50 from garbage shaft, while avoiding there is no curved baffle 403, rubbish is kicked up to position, the interior dead angle of frame 10, is not convenient for cleaning.Simultaneously, the spaced surface of described conveyer belt 502 is provided with strip bulge 5021, this strip bulge 5021 can increase the friction factor on conveyer belt 502 surfaces on the one hand, be conducive to increase the rubbish of larger volume and the frictional force between driving-belt, be convenient to the transmission of rubbish, on the other hand, rubbish for smaller size smaller, can directly drop between two strip bulges 5021, so, be conducive to the transmission of less rubbish.
In concrete use procedure, walking mechanism 20 drives the path walking of whole sweeping robot according to planning, cleaning head 301 rotations of frame 10 front end the first cleaning agencies 30, pavement garbage is swept to cleaning rolling brush 401 positions of middle part the second cleaning agency 40, by cleaning rolling brush 401, rubbish is kicked up and dished out to the conveyer belt 502 of its rear connecting gear 50 again, finally by conveyer belt 502, rubbish is sent to dustbin 60, along with advancing of walking mechanism 20, this sweeping robot cleans and collects rubbish successively along ground, realized the automated cleaning on ground and refuse collection etc., in addition, also can be controlled and be monitored by control system 70 and 101 pairs of these sweeping robots of monitoring camera assembly, can realize that Full-automatic ground is clean.
To sum up, sweeping robot of the present utility model, its operating efficiency, with respect to sanitation worker or cleaner Geng Gao, in addition, owing to cleaning by sweeping robot, can greatly reduce sanitation worker or cleaner's quantity, to solve sanitation worker and cleaner's problem in short supply; Simultaneously, be accompanied by the minimizing of sanitation worker and cleaner's quantity, but the cost of labor in the decrease cleaning works.
The foregoing is only preferred embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model manual and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in scope of patent protection of the present utility model.
Claims (10)
1. a sweeping robot, is characterized in that, it comprises:
Frame, described frame is provided with the walking mechanism that drives described frame to advance or retreat;
The first cleaning agency, the first driving mechanism that described the first cleaning agency comprises cleaning head and drives described cleaning head to rotate along the axis direction perpendicular to ground, described cleaning head is arranged at the front end of described frame;
The second cleaning agency, the second driving mechanism that described the second cleaning agency comprises at least one cleaning rolling brush and drives described cleaning rolling brush to rotate along the axis direction that is parallel to ground, described cleaning rolling brush is arranged at the middle part of described frame;
Connecting gear, described connecting gear is arranged at the rear of described cleaning rolling brush, in order to the rubbish by described cleaning rolling brush cleaning, rearward transmits;
Dustbin, described dustbin arranges the rear of described connecting gear, the rubbish transmitted in order to receive described connecting gear;
And in order to control the control system of said mechanism action.
2. sweeping robot according to claim 1, it is characterized in that: described walking mechanism comprises left side walking mechanism and the right side walking mechanism that is respectively the frame both sides, the 3rd driving mechanism that described left side walking mechanism and right side walking mechanism include at least two belt wheels, are connected in the crawler belt shape driving-belt between described belt wheel and drive described belt wheel to rotate, described belt wheel is rotationally connected by connector and described frame side wall.
3. sweeping robot according to claim 1, is characterized in that: the 4 wheel driven actuation mechanism that described connecting gear comprises at least two roller bearings, is connected in the conveyer belt between described roller bearing and drives described roller bearing to rotate.
4. sweeping robot according to claim 1, it is characterized in that: the front end of described frame and rear end are respectively equipped with the sensor that can make this sweeping robot avoiding obstacles, and described sensor is connected with described control system signal.
5. sweeping robot according to claim 1, it is characterized in that: the front end of described frame and rear end are respectively equipped with the monitoring camera assembly, and described monitoring camera assembly is connected with described control system signal.
6. sweeping robot according to claim 1, is characterized in that: but be provided with the described dustbin of push-and-pull in described frame, make its push-pull mechanism of Automatic-dumping rubbish afterwards that tilts.
7. sweeping robot according to claim 1, is characterized in that: also be provided with duty warning lamp and alarm lamp on described frame.
8. sweeping robot according to claim 1, it is characterized in that: described cleaning head is two, two cleaning heads left and right are arranged side by side the front end in described frame.
9. sweeping robot according to claim 1, it is characterized in that: also be provided with the touch screen for described sweeping robot is controlled on described frame, described touch screen is connected with described control system signal.
10. sweeping robot according to claim 3, it is characterized in that: the top of described cleaning rolling brush is covered with curved baffle, and the spaced surface of described conveyer belt is provided with strip bulge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320261340 CN203346835U (en) | 2013-05-14 | 2013-05-14 | Floor sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320261340 CN203346835U (en) | 2013-05-14 | 2013-05-14 | Floor sweeping robot |
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| Publication Number | Publication Date |
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| CN203346835U true CN203346835U (en) | 2013-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320261340 Expired - Fee Related CN203346835U (en) | 2013-05-14 | 2013-05-14 | Floor sweeping robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103225278A (en) * | 2013-05-14 | 2013-07-31 | 深圳中科得利智能技术有限公司 | Ground sweeping robot |
| CN104863075A (en) * | 2015-05-28 | 2015-08-26 | 安庆市达东电子科技有限公司 | Road surface fallen leaf cleaning device |
| CN105082153A (en) * | 2015-09-01 | 2015-11-25 | 江苏新光数控技术有限公司 | Large intelligent sweeping robot |
| CN105388895A (en) * | 2014-09-03 | 2016-03-09 | 戴森技术有限公司 | Robot cleaner |
| CN105773626A (en) * | 2016-05-10 | 2016-07-20 | 广西升禾环保科技股份有限公司 | Robotic vacuum cleaner control platform with real-time road detection function |
| CN106192826A (en) * | 2016-08-21 | 2016-12-07 | 张玉华 | A kind of street clean robot |
| CN106498890A (en) * | 2016-10-29 | 2017-03-15 | 芜湖市恒浩机械制造有限公司 | A kind of cleaning plant |
| CN108814435A (en) * | 2018-06-13 | 2018-11-16 | 芜湖金智王机械设备有限公司 | Sweeper control method and control system |
| CN113498998A (en) * | 2021-06-17 | 2021-10-15 | 科沃斯机器人股份有限公司 | Self-moving equipment and cleaning assembly |
| CN114541305A (en) * | 2022-02-28 | 2022-05-27 | 重庆兴路路桥工程有限公司 | Old road cleaning device of road construction |
| CN114592459A (en) * | 2022-03-21 | 2022-06-07 | 苏州高之仙自动化科技有限公司 | Multi-roller brush cleaning device and cleaning robot |
-
2013
- 2013-05-14 CN CN 201320261340 patent/CN203346835U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103225278A (en) * | 2013-05-14 | 2013-07-31 | 深圳中科得利智能技术有限公司 | Ground sweeping robot |
| CN105388895A (en) * | 2014-09-03 | 2016-03-09 | 戴森技术有限公司 | Robot cleaner |
| CN104863075A (en) * | 2015-05-28 | 2015-08-26 | 安庆市达东电子科技有限公司 | Road surface fallen leaf cleaning device |
| CN105082153A (en) * | 2015-09-01 | 2015-11-25 | 江苏新光数控技术有限公司 | Large intelligent sweeping robot |
| CN105773626A (en) * | 2016-05-10 | 2016-07-20 | 广西升禾环保科技股份有限公司 | Robotic vacuum cleaner control platform with real-time road detection function |
| CN106192826A (en) * | 2016-08-21 | 2016-12-07 | 张玉华 | A kind of street clean robot |
| CN106498890A (en) * | 2016-10-29 | 2017-03-15 | 芜湖市恒浩机械制造有限公司 | A kind of cleaning plant |
| CN108814435A (en) * | 2018-06-13 | 2018-11-16 | 芜湖金智王机械设备有限公司 | Sweeper control method and control system |
| CN113498998A (en) * | 2021-06-17 | 2021-10-15 | 科沃斯机器人股份有限公司 | Self-moving equipment and cleaning assembly |
| CN114541305A (en) * | 2022-02-28 | 2022-05-27 | 重庆兴路路桥工程有限公司 | Old road cleaning device of road construction |
| CN114541305B (en) * | 2022-02-28 | 2023-12-15 | 重庆兴路路桥工程有限公司 | Old road cleaning device for road construction |
| CN114592459A (en) * | 2022-03-21 | 2022-06-07 | 苏州高之仙自动化科技有限公司 | Multi-roller brush cleaning device and cleaning robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131218 Termination date: 20140514 |