CN104339358A - Skilled robot for scrubbing or spraying outer layer surface of high-rise building - Google Patents

Abstract

The invention discloses a skilled robot for scrubbing or spraying an outer layer surface of a high-rise building. A hydraulic system, a water spray apparatus, temperature-control heating and spraying device, 24 V transformer and an electromagnetic starter are arranged in a flat and square body of the robot; a finger-shaped inflatable glass elastic-band rubber scrubbing rocker arm wheel, a chain-transmission concave window scrubbing manipulator, a 120-degree shoe-shaped gap water sprayer, a flat fan-shaped spraying nozzle, four high-definition tracking and monitoring cameras, two hoisting steel wire ropes with a diameter of 11 mm, and a movable trolley are arranged on the top surface of the robot body; the arm length of the finger-shaped inflatable glass elastic-band rubber scrubbing rocker arm wheel is 2.5-4 m, and the diameter is 100 cm; the movable trolley is formed by two double-strut fixed pulleys, two shafts and four wheels and can be flexed by the hydraulic force on the roof and inclined for 60 degrees upwards; two worm reduction gear reels are mounted at the lower centers of gravity on the two sides of the skilled robot body, and connected with two 11 mm stability-control steel wire ropes; an air bag restraint system is arranged at the front belly; four steel wire ropes which are lifted up and down at the equal speed are connected with a four-drum winch; interphones, surveillance videos and various control electric appliances are mounted in a compartment type vehicle; then the skilled robot for scrubbing or spraying the outer layer surface of the high-rise building, which is capable of saving water, energy and coating, efficient, environment-friendly, and safe, is formed.

Description

High building superficies are cleaned or spraying technical ability robot

(1) technical field:

Inventing type high building superficies are cleaned or spraying technical ability robot one is practically applicable to Tall Office Building, middle level residential building, little, high, medium and low floor, the various buildings such as rectangle, square column build, circle, flat arc, ellipse, roof of storied building is flat-top or has the pent-roof opening active window, now inhabitation Ji Jian building, carry out scouring to outer surface to keep a public place clean or spray and whitewash, realize the unmanned automatic job in high-altitude, be autonomous innovation invention energy-conservation, keep a public place clean, environmental protection, safety, automatic scrubbing or spraying technical ability robot device.

(2) background technology:

The BeiJing, China of reform and opening-up, Shanghai, Guangzhou, Shenzhen, Chongqing, Shenyang, Wuhan, Qingdao, Hong Kong, Macao, the big cities such as the Taibei, world-class high level building great masters devise very strange high buildings and large mansions and the beautiful residential building of middle low layer, high building outer surface is the platen surface structure of frame block combination, it adopts PA heat-insulation aluminium alloy double glazing or safety glass, its frame block connects on peace plate face, gap, the mixed pollutants of large quantities of acid-alkali salt has been gathered in absorption, manpower with the hands cannot clean in erasing, collect of a specified duration and then become the unclean surface of sheltering evil people and countenance evil practices, another kind of is the labyrinth of frame net lattice indent window and each shape exterior wall plane or convex tendon bar rib, the exterior wall surface of the waterproof coating layer of manual round brush be ripple in length and breadth, rise one after another, particle accumulation, cheat recessed injustice, thickness great disparity, waste very heavy, its surface roughness, because the personal safety accident caused during operation happens occasionally, traditional round brush technique will be reformed, invent the robot replacing manpower handwork in high-altitude, it will meet the various building of adaptation existing architectural feature in kind, ensure the not damaged of various high building outer surface material, intact and beautiful, reach and beautify, the environmental sanitation standard of clean brightening, ensure automation and the machine security of whole operation overall process, realize safety engineering, and surmount the manual mass effect of cleaning or spraying, realize processing quality, machine driving, safety in production is locked in a tie for first.

(3) summary of the invention:

The object of invention is the high-rise building to domestic and international each shape, the pollution aspect that the outer surface of the superficies PA heat-insulation aluminium alloy double glazing of little high-rise building or safety glass platelet face Connecting groups synthesis super plane structure gathers and dirt, the specific condition cleaned cannot be implemented by hand at manpower under, to carry out scouring from roof to ground in high-altitude with robot to keep a public place clean and realize lighting engineering, the exterior wall of concave shaped window is had and at the little high building exterior wall of the high building built to the high building of having lived and little high building, implement the spraying of exterior wall waterproofing coating, promote exterior wall surface fineness, reduce unevenness, save water-repellent paint, increase work efficiency, stop personal injury accident.High building superficies are cleaned has 4 of the two fixed pulley of the Hydraulic Double pole of having installed level meter to take turns bassinet structure with spraying technical ability robot at roof, at the in-built hydraulic workstation of this structure, there is the two fixed pulley of two poles of major axis and axle sleeve wide 178 cm distance in series can do angle adjustment in the scope at 60 ° of angles that stands at the inside edge of vehicle frame top plane, two pole afterbodys of 550 centimeter length connect the slide rail set zoarium of a length 120 centimetres, its rail chair is arranged on the both sides of the upper plane of wide 178 centimetres of four-wheel vehicle frame respectively, have the steel wire rope of diameter 11 millimeters to be connected to high building superficies in two fixed pulley grooves of two strut ends to clean and Fig. 1 on two safety collars of two focus points of plane left and right distance 178 centimetres on spray robot body, in having between inside 150 centimetres and 350 centimetres of pole pulley × word crossing rod piece connection tensioner, form a stable plane frame structure, its flexible stroke has been come by hydraulic cylinder, front and back two arbor wheel of carriage structure uses the front-rear axle of minibus, two iron-clad horses supports being with hard rubber roller are had in the inner side of high roof plane surrounding enclosure wall, two rod end pulley takes advantage of its pulling force or quality separately to hard rubber roller fulcrum and this fulcrum respectively to the length of two segment distances of two bar carriage focus point, its ratio is 1 to 5, a high-resolution video camera is installed in two pole four-wheel vehicle frame face live picture is delivered to Fig. 4 on the computer screen of ground, level meter installed by iron-clad horses support level bar, the two pole in left and right is not pinned with after the hydraulic jack adjustment of iron-clad horses support at ordinary times again, the levelness of two pole should keep level consistent with the level meter of carriage structural plane, level two pulley and the ground two axle two gear four winding drum of two strut ends all should keep level.

High building superficies are cleaned or its feature two of spray robot is: in the plane of technical ability robot cuboid body top, be arranged on groined type workbench by hydraulic cylinder push-and-pull do transverse horizontal roll adjustment rotation clean long-armed, this is long-armed is mounted in by four closed frame structures adjusting gap track rollers and No. 10 channel-section steels to be combined into, indulge the center line left and right sides No. 10 channel-section steels that are welded in structure and close frame beam, the two interior above chassises that planes have two arbor wheels to do in framework bottom two leg b face have to be done perpendicular to windowpane plane by hydraulic cylinder push-and-pull, rotated by the mushroom-shaped of the inside and outside push-and-pull of Chain conveyer energy and clean manipulator, No. 10 channel-section steel transverse reciprocating operating structures become with No. 8 channel-section steel vertical shift textural associations one in length and breadth left and right clean by compound work structuring Fig. 7 of groined type of two hydraulic cylinder push-and-pulls, on the rotation scouring of technical ability robot is long-armed, the erasing of hundreds of inflatable long finger-type opal glass Cowhells rubber is installed and refers to Fig. 5, long-armed axial length 178 centimetres is outer six spline cast aluminium alloy light structures axles, be PA heat-insulation aluminium alloy double glazing or safety glass outer surface special turn wiping arm axle, six splines that can lengthen 75 centimetres at two ends, technical ability robot body landing slab face in addition turn wiping arm structure, in the arrangement orientation of two structures once two, not on same horizontal center line, upper and lower wheelbase 50 centimetres, within its total length four meters, can increase or reduce if there is convex tendon type to decorate in this width range the quantity being contained in the aphalangia Connection Block that the inflatable long finger-type opal glass rubber on outer six splined shafts of 178 centimeter length refers to, by the side of plate glass, two cylindrical aeration rubber bag tanks are installed at technical ability robot body, the contact of prevention plate glass and technical ability robot body, turn angle, 75 °, wiping arm top and 120 ° of water-saving gap water spouts are installed, watering has that to be arranged on technical ability robot body internal volume be have the water pump supply more than 3.2 kilograms of pressure and automatic pressure-reducing in the water tank of 60 cm x 50 cm x 40 centimetres, the pressurize conveying from temperature automatically controlled water-repellent paint case of muddy water pump is had during spray water-repellent paint, paint spray nozzle is the same with water nozzle structure, the different Fig. 6 of spout angle, there is solenoid control bypass water nozzle to supply the thinned water of water-repellent paint agitator at any time, the work quality picture cleaned or spray passes on the computer screen of report control platform by three CCTV cameras at any time that be provided with different angles in plane left, center, right, technical ability robot top, operator is allowed to ensure the optimum efficiency cleaned or spray.Two center of gravity line and distance is had to be that the center of gravity line that stands of two side elevations of 178 centimetres crosses and has four points at upper and lower two horizontal planes of technical ability robot body, after two joints of upper plane respectively have the fixed pulley of the steel wire rope of a diameter 11 millimeters via two strut ends, respectively be connected to a meshing gear elevating shaft is installed two with external diameter with on the Volume cylinder of rotating speed, two joints of lower plane respectively install a worm decelerating machine Volume cylinder, the tail end of the steel wire rope of the diameter that two Volume cylinders connect 11 millimeters is after the fixed pulley via two groups of tunings on ground, be connected to another root meshing gear decline axle is installed two with external diameter with on the Volume cylinder of rotating speed, two axle two meshing gear four Volume cylinders simultaneously synchronous same-speed oppositely alternately change rotation by the demand of adjustable height each other, Volume or put the steel wire rope of two pairs of diameters 11 millimeters, technical ability robot is made to carry out rising or declining cleaning spraying Fig. 1, when technical ability robot is used as spray coating operations, after high building superficies scouring parts are all dismantled, change and associated paint parts are installed, connect spraying pipeline, temp controlling heater and electromagnetism water control valve and muddy water spray pump, spraying operation is got final product when concentration is suitable for after adding gentle agitation until water proof exterior wall coating, the levelness in its horizontal operation face of Plane Installation one level measurement on technical ability robot body, left-right deviation does not surpass 10 millimeters.

High building superficies are cleaned or its feature three of spraying technical ability robot is: the R series plagiodont wheel hard-tooth surface speed reducer having two different capacities, output shaft is installed the sprocket one-way clutch reducing transmission structure Fig. 2 on another axle of sprocket wheel chain drive, engage the gear wheel of two outside circles, 951 millimeter of 3 modulus 315 tooth respectively, two gear wheels are attached at the medial surface of the upper outside Volume cylinder of each gear shaft respectively, 2 315 tooth gear wheel permanent engagement.Tradition hoister has single Volume cylinder and lifting to make the return trip empty two Volume cylinders, they can not meet the special transmission demand of technical ability robot, so independent innovational design goes out two axle two meshing gear four Volume cylinder hoisters, and in the middle part of rising Volume cylinder axle, having hand brake brake structure, sprocket individual event clutch reducing transmission structure Fig. 2 of encircling type brake ribbon, they and two R series plagiodonts are taken turns hard-tooth surface speed reducer and are combined into a special type transmission system Fig. 3.Gear wheel modulus 3 number of teeth 315 outside circle external diameter 951 millimeters is by modulus 3, the number of teeth 26, the pinion that outside circle external diameter is 84 millimeters drives, size gear ratio is 1: 12.1, Volume cylinder external diameter 700 millimeters, length of run 2200 millimeters, 55 millimeters per second of the decrease speed that high building outer surface is cleaned or sprayed, 2200 millimeters need with 40 seconds, about nearly 8 teeth of the gear rotation per second number of teeth of 315 tooth gear wheels and 26 teeth, the chain number of teeth 26 pitch diameter 211 millimeters of hinge wheel, in-line gears are 78 millimeters, 3 modulus 26 pitch footpaths, the number of teeth is identical but driving torque different, but the rotating speed in per second is identical, R series declines with 0.25KW bevel-gear hard tooth surface speed reducer output speed 29 turns, output torque 79, sprocket wheel 17 tooth on output shaft, the rotating speed in 40 seconds is 19.3 turns, always turn the number of teeth 328.1 tooth, in 40 seconds, the hinge wheel deceleration transmission revolution of 26 tooth one-way clutch is that 19.3 turns × 17 ÷ 26=12.6 turn, the gear of 40 seconds coaxial 3 modulus 26 teeth is both 12.6 turns, 12.6 turns are a bit larger tham 12.1 turns.Rising loading P≤200 kilogram, diagrammatically total pulling force≤250 kilogram, 70 degree of angles, rising gear wheel Volume cylinder uses output shaft rotating speed 57 output torque 87 of 0.55 kilowatt of reductor, the bevel-gear hard tooth surface speed reducer of gearratio 24, the output speed 29 to 57 of two R types about 2 times, i.e. 110 millimeters per second of the rate of climb, it is the safe speed steadily risen, people's brain brakes overall process between 0.6 ~ 0.8 second from the information manipulation in one's hands that monitored picture captures clearly, and all unsafe runnings can obtain fully adjustment and dissolve control.The bevel-gear hard tooth surface speed reducer of 0.25 kilowatt and 0.55 kilowatt shares one 220 volts power initiation key Fig. 3, reducing motor can only alternate-running, corotation is program mode alternate-running transmission diagram 3 simultaneously never, if when the afterbody standing in 0.55KW motor is watched towards gear wheel direction, the pawl clutch that motor output shaft rotates clockwise transmission one way engagement also turns clockwise, the pinion of 26 coaxial tooth 3 moduluses also turns clockwise, the canine tooth crop rotation of 3 engaged modulus 315 teeth drives two coaxial Volume cylinders to do counterclockwise lifting rotation diagram 1 counterclockwise, two fixed pulleys via two pole outermost end upwards pull technical ability robot body to rise, meanwhile Fig. 1 is connected at the motor circuit end of 0.25 kilowatt on right side, motor does not rotate, the gear wheel of 3 modulus 315 teeth is passive by opposite 315 gears meshing, on axle, two Volume cylinders are rotated clockwise by action, the synchronized steel wire rope putting two diameter 11 millimeters, through ground, two groups of pulleys change transmission direction and are connected to the two worm decelerating machine Volume cylinders that technical ability robot body lower plane two focus point is installed and together rise, upper and lower two pairs of diameters 11 millimeters steel wire rope of tightening transmission upwards runs the while of synchronized, being in operation upper and lower two has a degree of tautness to wave or elegant and rock to ensure that technical ability robot body can not produce to 11 millimeters of steel wire ropes all the time, when robot body arrives roof height stopping rising, effect two canine tooth standard engagement two canine tooths that during time-out, each single direction ratchet drive mechanism all receives spring force because of four canine tooths of ratchet closely engage, the ratchet that eight canine tooths engage two one-way clutch respectively forms the shape blocked, 180 degree of symmetrical four canine tooths engagements of installing be odd number gear ratchet, diameter 11 millimeters of long hundred rice tighten the slow length that steel wire rope only has half canine tooth tooth pitch 10 millimeters, the weight of rising Volume cylinder is 250 kilograms, what decline Volume cylinder carried is the weightless power of tightening, caused by the pulling force tightened and spring force, two ratchets are all the time in engagement, the body wait silently of technical ability robot is descending carries out erasing cleaning or spraying operation, when unidirectional electrical keyed jointing leads to the reductor circuit of downlink working 0.25kw, the TG25417 tooth that output shaft turns clockwise the coaxial 3 modulus 26 tooth small cylinder gears of the chain gear transmission 26 tooth sprocket two Volume cylinders that engage 3 modulus 315 gears coaxial rotate counterclockwise, draw technical ability robot body descending, the coaxial two Volume cylinders steel wire rope that synchronized positive hour hands rotation straightens 11 millimeters, footpath simultaneously of another engaged 3 modulus 315 tooth gear wheel declines, moisturizing or coating material loading rising again again behind ground, repeat operation.Understand the motor limit for tonnage protector of autostop when each installation one surmounts the pulling force of setting on the motor of the bevel-gear hard tooth surface speed reducer of R0.55KW and 0.25KW, can not cause mechanical accident because burst overload operation, above-mentioned electrical equipment is commercially available.

High building superficies are cleaned or its feature four of spraying technical ability robot is: have one 120 degree of ungulate controls to fillet belt water injection nozzle, the fan-shaped 120 degree of fillet vaporific scouring glass surface water of level of ejection, every 12 square metres with 1.5 kilograms, water, without the deflection globule and bounce-back water droplet, a water-saving water injection nozzle Fig. 6, it is 90 degree that the thin arcuate sectors material spray of exterior wall waterproofing coating is chewed, it is 60 centimetres with the spray distance of exterior surface of wall, spraying length 100 centimetres, width 10 centimetres, spraying the quantity of chewing is arranged on the table top of the main platform structure pulling four tune gaps horizontal rail roller to lead about technical ability robot body upper surface has hydraulic cylinder as required, there are high-pressure hose and water pump, muddy water pump, the flexible Dynamic link library of Hydraulic Station, 55 millimeters per second of its decline operating rate, it is all use magnetic valve Push And Release that spraying is chewed with water injection nozzle, come by the operator of ground control platform.

High building superficies are cleaned or its feature five of spraying technical ability robot is: the Hydraulic Double bar sister block carriage structure of roof installs the operator that the work picture of hydraulic pressure carriage is passed to ground control platform by a high-resolution monitoring camera at any time, what on technical ability robot body, plane hydraulic cylinder pulled installs three monitoring cameras by the table top left, center, right three of the four main platforms adjusting gap horizontal rail roller to lead, side, left and right two is monitored exterior surface of wall or glass outer surface function situation at work and is cleaned quality, the monitoring camera monitoring technical ability robot at middle part and the real-time scouring picture of window frame glass, make the operator of ground control platform understand each work quality at any time and get rid of various fault in time, ensure safety in production.Ground level has the conical boss shape of cutting off of high 30 centimetres an of diameter 100 centimetres to coil line box, the synchronized lifting of technical ability robot body followed by the binding cable being arranged on power line on technical ability robot body and monitoring camera line, during decline, one encloses automatic coiling Fig. 1 in the dish line box that conical boss is cut off at the interior end, the operator of roof operator and ground control platform uses the intercom wireless communication equipment be arranged on report control platform to link to dispatch and commander, roof and ground harmonious.Monitoring screen, intercommunication message register, two axle two gear four Volume cylinders of 3 modulus 315 teeth that each operating key, instrument board, two R series 0.25KW, 0.55KW bevel-gear hard tooth surface speed reducers engage with single direction ratchet clutch deceleration transmission sprocket structure driven are elevated hoister and are jointly arranged on the 180 degree of left back right sides lengthened in the van of 420 centimetres, wide 198 centimetres of going to the lavatory and are rotatably provided with on the round turntable of latch-up structure, and van is a small-sized movable workshop.

Accompanying drawing illustrates:

Fig. 1: high building superficies are cleaned or schematic diagram is looked on a spraying technical ability robot rising transmission system left side

Fig. 2: high building superficies are cleaned or sprayed the sprocket one-way clutch drive mechanism generalized section of technical ability robot

Fig. 3: high building superficies are cleaned or sprayed the two Volume cylinder transmission of axle two meshing gear four and hand brake principle schematic top plan view of technical ability robot

Fig. 4: high building superficies are cleaned or the two fixed pulley hydraulically extensible of roof Hydraulic Double pole of spraying technical ability robot looks schematic diagram with a vertical varied angle carriage structure left side

Fig. 5: high building superficies are cleaned or the inflatable long finger-type opal glass Cowhells rubber erasing of spraying technical ability robot refers to structural representation

Fig. 6: high building superficies are cleaned or the exterior wall waterproofing coating thin arcuate sectors material spray of spraying technical ability robot chews the ungulate directed fillet belt water injection nozzle structural representation with 120 degree

Fig. 7: the main workbench that high building superficies are cleaned or spraying technical ability robot back and forth pulls the holder of four tune gaps horizontal rail roller to prop up by hydraulic cylinder and the generalized section of vertical shift mushroom-shaped subtask platform groined type duplex.

Detailed description of the invention:

Be described further below in conjunction with accompanying drawing and embodiment.

Embodiment 1: the two fixed pulley carriage structure chart 4 of the two pole of centre-to-centre spacing 178 centimetres that high building superficies are cleaned or spraying technical ability robot body must have the hydraulically extensible of a removable tuning to pull at the roof of any one outer surface, a fixed pulley is respectively installed in two pole outer end, pulley body and axle there are one 206 bearing jointing structures, it is 1 ~ 1.5 millimeter that pulley rim protects the gap of taking turns link plate with wheel left and right two, the radius of pulley groove 6 millimeters, pulley external diameter 96 millimeters, take turns wide 22 millimeters, with No. 45, forged steel, case-carbonizing process, groove face hardness HB220 degree, the gear rope segmental arc of one section of internal diameter 100 mm outer diameter 120 millimeters is welded at two tops protecting wheel link plate 1/3rd circle, the steel wire rope that diameter is 11 millimeters penetrates or lays down a side guard plate from race circular hole and passes.By the steel wire rope of GB1102-88 standard application 6 × 19 diameter 11 millimeters every square millimeter 170 kilograms of pulling force, its total rupture pull force is 6130 kilograms, two steel wire ropes are attached at technical ability robot body two side faces center of gravity line respectively and intersect on the safety collar of the long 178 cm two end focus points of plane after passing through two fixed pulleys, tail end is connected to a two axle two gear four Volume cylinder centre-to-centre spacing 178 centimetres, Fig. 1 on wide 22 cm OD 70 centimetre of two Volume cylinder, two bar material that hydraulic cylinder extension pulls are by GB707-88 standard application 14a area of section 18.51 square centimeters, face mould amount Wz80.5cm is cut out in theoretical weight every meter 14.53 kilograms of bending resistances ³4 leg face b of long 550 centimetres of two channel-section steels are welded into the pulley rod member of square shape relatively, the bearing load forces of every rod member end and pulley is 1500 kilograms, the balance pivot of rod member is less than 150 centimetres inside fixed pulley, the total moment of flexure of maximum deflection 3750 kilograms of every root pole, the stress every square centimeter 1000 kilograms that 14a channel-section steel is bending, long-pending 37 square centimeters of the two 14a assembly welding bar cross section of this degree of lip-rounding, safety coefficient 16.5, can use safely.14a channel-section steel square shape 4 connects the low hydrogen type high strength steel alloy welding rod of seam use knot 606 pulling force every square millimeter of 45 kgfs in b face, use direct current generator, negative pole connects soldering turret, positive pole joint welding part ground connection, segmentation is every the weld bond of 200 millimeters of welderings 100 millimeters, implement first spot welding, then the cold welding that intersects ensures that the two pole of weldment is indeformable, flawless, high strength, the two pole of square shape makes a vertical line mark from inside 150 centimeters of external end head, from then on line again in 200 centimeters do one vertical line mark, rectangular configuration is formed with the center line of every pole, its parallel vertical width 178 centimetres, 4 intersection points of two vertical marker lines on each strut piece center line are put orthogonal, use long 267 centimetres, thick 4 centimetres, wide 10 centimetres, the shaped steel rod member diagonal angle of wall thickness 3 millimeters is linear is solderedly connected on thick 6 millimeters, long 26 centimetres, the reinforcement steel plate of wide 20 centimetres connects into X-shaped stayed mast syndeton, the afterbody of two poles links dovetail guide, the guide rail that hydraulic cylinder push-and-pull is long 120 centimetres turns the optimum distance needed for brush arm along the round slip roll adjustment acquisition high building superficies of track base work and technical ability robot, dovetail guide assembly does the angle on angle change adjustment connection carriage between plane and two pole along two vertical 60 degree of angles, pole direction, support back edge and four-wheel vehicle frame top have a major axis and axle sleeve to be rotationally connected, be rotating on the glass outer surface having special surface carry out rake angle scouring with the brush arm that turns that hydraulic cylinder push-and-pull adjustment stands that vertical angle degree makes two pole pulleys connect.150 centimeters in the pulley center of distance two strut ends, there are two zigzag of installing in flat-square-shaped steel framework automatically with two fulcrums that lock and guide rod sliding sleeve are formed, its top connects hard rubber roller, its lower end is connected in hydraulic jack and is combined into an iron-clad horses supporting structure, Hydraulic Station is arranged in four-wheel vehicle frame, front and back two axle four-wheels adopt the front-rear axle of minibuses, draw pushing to move and alleviate brake shoe, can increase counterweight Fig. 4 if desired with hydraulic cylinder.High-resolution monitoring camera installed by Hydraulic Double pole carriage, work picture is transmitted ground level report control platform, after the assembling of ground, carriage structure entirety can winch to roof, also parts can be transported to roof to assemble again, from two pole pulleys to fulcrum, two fulcrums are greater than 1 to 5 to the torque ratio of the heavy bearing pressure of carriage focus point.

Embodiment 2: high building superficies are cleaned or long 178 centimetres of spraying technical ability robot body, wide 100 centimetres, high 80 centimetres, long 60 centimetres are installed in body, wide 50 centimetres, high 40 centimetres, with the water tank of 3 millimeters thick A3 steel plate electric welding, in water tank, 4 kilograms of pressure water pumps are installed, pressure-reducing valve water pump being installed 3.2kg pressure is enough to atomisation pressure Fig. 6 of guarantee 4 ~ 6 120 degree of gap water injection nozzles, its flow is 12 square metres of water sprays 1.5 kilograms, the capacity of exterior wall waterproofing coating case 80 kilograms, the muddy water pump of the in-built one 4 kilograms of pressure of case, pressure-reducing valve reduces pressure when surpassing 3.5 kilograms, arc fan-shaped nozzle uses the corrosion resistant plate of 1.5 millimeters thick to be welded, arc fan-like pattern nozzle is outer wide 60 millimeters, long 50 millimeters, throat opening 10 millimeters, spray seam 1 ~ 1.2 millimeter, spray distance 60 ~ 80 centimetres, spray pressure 3.5 kilograms, sprayed coating temperature 40 degree, in coating case, electric heater with thermostat and electromagnetic switch valve are installed, guarantee that concentration optimum effect is best, at scouring or long 178 centimetres of spray robot body, wide 100 centimetres, on the frame of top plane two side of high 80 centimetres, have two long 250 centimetres, press No. 10 channel-section steels of GB707-88 standard application, channel-section steel two groove surface stands crossing with length parallel center line on every limit 53 centimetres to 125 centimetres of line, on two line segments of clean length 72 centimetres, the trapezoidal upper base in cross section 40 millimeters is linked with 6 bolt of serrations of nominal diameter 16 millimeter pitch 2 millimeters, go to the bottom 60 millimeters, high 40 millimeters, long 720 millimeters, four trapezoidal rails of case-carbonizing process are carried out by the carbon constructional quality steel HB241 degree tensile strength 61 kilograms every square millimeter of GB699-88 standard application, the two groove b legs on trapezoidal rail and two limits form one " mountain " font directive slide track body, the mountain font directive slide track body of two long 250 centimetres of No. 10 channel-section steels in left and right and two trapezoidal rail compositions installs four respectively at long 178 centimetres of four points all around to be had with mountain font joint match and ask a directive slide track roller to form closed slide rail wheel support structure chart 7, long 250 centimetres are held up with it, wide 80 centimetres, thick 10 centimetres of totally enclosed main workbenches by the reciprocal horizontal left and right horizontal roll adjustment of hydraulic cylinder push-and-pull 70 centimetres, this platform structure often hold can misplace downwards 50 centimetres add a segment length 75 centimetres turn wiping arm formula manipulator, its total length does not surpass 400 centimetres, on the outer six spline casting jewelling alloy axles of long 178 centimetres, the erasing of hundreds of inflatable opal glass Cowhells rubber is installed and refers to Fig. 5, it uses Malaysia to originate in top-quality rubber, adopt RB batching standard, take into account pulling force tear resistance and tear-proof, appropriate interpolation White Carbon black, improve pliability and micro-puckery skid resistance and strengthen elasticity, its acid-base value PH6-7.5, stretching resistance every square centimeter is greater than 100 kilograms, 3 years are not aging, every physical index surmounts car rain brush, indeformable under high temperature and load, hard and soft suitable when making long 20 centimetres of parabola shaped Volume songs, and not sticky black dirt does not also extrude glass surface, the long finger cover for seat of pressure one is first cast in the making that this length refers to, cast pressure two erasings length again and refer to monolithic, wherein the root of a slice is equipped with intake valve structure, after sticky be pressed into that a complete erasing is long to be referred to by one two, length refers to that a cylindrical 120 degree three is selected position and had the cylinder seat connection inflatable long finger-type opal glass Cowhells rubber erasing of long 100 mm dia 16 millimeters of convex to refer to Fig. 5, cover for seat uses toroidal helical clamp fastening, two adjacent erasings refer to it is that dislocation 60 degree is assembled on outer six splined shafts, when the outer flat glass of high building has convex rectangular structure, only six spline casting cover for seat in brachydactylia are installed by its size outside six splined shafts, allly be installed on interior six spline casting cover for seat on outer six splines casting jewelling alloy axles at two spindle nose fastening nuts, it is the structure that a lightweight major diameter surmounts car rain brush scrub effect that this technical ability robot turns wiping arm, gross mass is within 15 kilograms, turn wiping arm external diameter 100 centimetres, erasing elasticity diameter 90 centimetres, working diameter circumferential surface 280 centimetres, wiping speed 31 centimetres per second, turn wiping 9 and turn 6.6 ~ 7 turns per minute of wiping arm second, that Ultra-Low Speed rotates, its rotary centrifugal force is very little, be less than strength and the speed of the manual scouring of people, turning wiping arm adopts the worm decelerating machine of WWJK aluminum alloy casing gearratio 1: 200 to connect TG190 chain drive structure, when exterior wall and glass planar have a recessed glass pane face, totally enclosed mountain glyph framework is indulged vertical center line two limit and is respectively welded with the inside beam of two grooves of long 100 centimetres wide 80 cm thicks 10 centimetres, on in two times b leg faces that two are welded to connect beam, plane has two parallel arbor wheels hold up one close grow 100 centimetres by GB707-88 No. 8 channel-section steels welding, wide 80 centimetres have hydraulic cylinder vertically to stretch to window face to draw 10-20 centimetre to vertically move to wipe the special roll adjustment auxiliary platform of window, the main platform that it and totally-enclosed mountain font rail groove steel construction are formed with a holder track roller, two platform consubstantialities, two hydraulic cylinder one vertical and one horizontal reciprocating sliding composition groined type structure charts 7, its brush body shape that turns vertically turning the use of clean glass window face-port frame is mushroom-shaped, with WWJK aluminum alloy casing worm decelerating machine and the chain composition chain drive structure pressing GB1243-88 standard TG190 Breaking load 3200 kilograms, the chain drive structure of this mushroom shaped also can be used for cleaning exterior wall surface, technical ability robot turns wiping arm and mushroom-shaped two kinds scouring structure all uses 120 degree of water spouts, it is the water-saving nozzle of oriented control.A small-sized hydraulic job of installing in technical ability robot body is bored, two ends of body 178 centimetres under the limit, center two that stands two WWJK aluminum alloy casing worm decelerating machine Volume cylinders are installed respectively, each Volume cylinder connects the steel wire rope an of diameter 11 millimeter of 6 × 19 rupture pull force summation 6130 kilograms, three, location and installation left, center, right tracing and monitoring video camera in the plane of technical ability robot body top, service cable and monitoring wire can be bundled into one, during decline, coil with the decrease speed of 55 millimeters per second in the drum wire terminal box of the convex truncated cone shape of one meter in diameter on the ground.Rise by decline hour indicator around sequentially rising according to the order of sequence from line box top layer face, can not be disorderly.The effect of two worm decelerating machine Volume cylinders adjusts the degree of tautness of the upper and lower two pairs of diameters in two sides 11 millimeters of steel wire ropes about technical ability robot body at any time and horizontal departure is avoided being elevated and rocking and drifting about and unevenness in construction operation.

Embodiment 3: high building superficies are cleaned or sprayed 55 millimeters per second of the decline operating rate of technical ability robot, 110 millimeters per second of rising load-carrying speed, select two respectively with the bevel-gear hard tooth surface speed reducer of structure power 0.25KW and the 0.55KWR series different with output speed, by GB1243-88, the sprocket wheel of pitch 25.4 millimeter of 26 tooth of one-way clutch and the roller gear reducing transmission structure of 3 coaxial modulus 26 teeth on the different axle of output chain gear transmission that 1244-88 uses the disrumpent feelings full payload of TG254 chain 5000 kilograms of pitches 25.4 millimeter of 17 tooth, the gear of 2 26 teeth engages two respectively and protects rope sheave baffle plate external diameter 950 millimeters thick 8 millimeters at the big column gear protecting the modulus 3 number of teeth 315 outside circle external diameter 951 millimeters that rope sheave baffle plate lateral surface links, wheelbase 945 millimeters of Fig. 3 of two gear wheel engagements, the outside diameter circle of the gear wheel of 315 teeth is greater than 400-600 millimeter, because of the little just selection of its carrying torsion No. 45 cast steels, tooth face hardness HB >=200-220 degree, with driver pinion 3 modulus 26 tooth of its engaged transmission, tip circle external diameter is 84 millimeters, use No. 45, forged steel, implement surface hardening process allowable contact stress 5400 kilograms every square centimeter, permissible bending stress every square centimeter 1960 kilograms, tooth face hardness HB220-250 degree, be arranged on the pitch 25.4 millimeters on 209 outer races, another periphery of consubstantiality is installed the ratchet canine tooth that four respectively have spring pressure symmetry outside the sprocket wheel of 26 sprockets, its clutch be with flat key be arranged on coaxial on strange number of teeth ratchet denticle, wherein two canine tooths are that safe canine tooth for subsequent use is insured in accurate engagement, the another two transmission canine tooths just closely engaged.The shared gearratio 12.1 of technical ability Robot Design works 55 millimeters per second of decrease speed, gear wheel outside barrel diameter 700 millimeters, its girth 2200 millimeters, often turn around the used time: 2200 millimeters of ÷ 55 mm/second=40 second, the gear wheel of 315 teeth and the gearratio of 26 gears are 315 tooth ÷ 26 tooth=12.1, 29 turns per minute of sprocket wheel on 17 pitch of teeth, 25.4 millimeters of output shafts of R0.25KW bevel-gear hard tooth surface speed reducer, the revolution in 40 seconds is: 29 turns × 40 seconds/60 seconds=19.3 turns, 19.3 turns × 17 teeth/turn ÷ 26 tooth/turn=12.6, the gearratio of 12.6 and 12.1 is close, 3 modulus 26 tooth roller gear internal diameters are connected with power transmission shaft gib-headed flat key, this roller gear is identical with the teeth number of sprocket of pitch 25.4 millimeter of 26 tooth, the moment transmitted is different, as the stressed relation between spanner and nut, the small cylinder gear in 3 78 millimeters, modulus 26 pitch footpaths and 26 tooth sprocket coaxial speed-down one-way clutch drive mechanisms are compact simple and safe innovative speed reducer structure Fig. 2, learn from diagram method, high building superficies are cleaned or the maximum load of spraying technical ability robot is less than 200 kilograms, rising total pulling force is less than 250 kilograms, rise and adopt 0.55Kw output speed 57, export torque 87, the bevel-gear hard tooth surface speed reducer of gearratio 24, power of motor doubles, output speed also doubles, hundred meters of high buildings rise and need 15 minutes, be the shooting of tight tracing and monitoring is live control under the slow load of steady safety to rise Fig. 1, 30 minutes decline scouring work used times, stand in the motor breech face viewing Chain conveyer power structure in the face of R0.55Kw bevel-gear hard tooth surface speed reducer output shaft, the ratchet of its transmission one-way clutch and sprocket wheel direction of rotation are all that positive hour hands turn with 26 coaxial tooth 3 gears, 26 gears engage 3 modulus 315 tooth gear wheels and rotate counterclockwise, on its gear shaft, two is wide 22 centimetres, diameter 70 centimetres, protect two of rope sheave listrium outside diameter 95 centimetres and copy two steel wire ropes that cylinder is arranged on two counterclockwise synchronized in the same way coiling diameters 11 millimeters of Volume cylinders work of coaxial two ends of long 178 centimetres respectively, through two fixed pulleys of two pole rod ends of Hydraulic Double pole carriage structure, high building superficies are cleaned or spray technical ability robot slowly to rise, the steel wire rope of two diameters 11 millimeters that the WWJK aluminum alloy casing worm decelerating machine Volume cylinder that two times focus points that technical ability robot body stands 178 centimetres, left and right are installed connects is connected to same size two Volume cylinders that in another 3 modulus 315 tooth Large Gear Shaft, left and right two ends are installed and does clockwise synchronized rotation and put rope, on each gear shaft the two anti-and clockwise direction rotations with the synchronized do of size isostructural Volume cylinder, the ratchet idle running of 26 tooth sprockets of 0.25Kw motor output shaft chain gear transmission this moment, in the 3 modulus 315 tooth Large Gear Shaft that the steel wire rope of two diameters 11 millimeters connects, two reels in left and right are that the passive 3 modulus 315 tooth gear wheels by the transmission of R0.55KW bevel-gear hard tooth surface speed reducer are rotated counterclockwise engagement, two reels turn clockwise with the synchronized rope of putting of the speed of 110 millimeters per second with rising, the steel wire rope of four diameters 11 millimeters risen remains all the same elasticity, if when having two steel wire ropes up and down of wherein side or four, two sides tightness of steel wire rope degree to differ to affect safety work, pass through monitoring camera, operating personnel on ground handling platform can start WWJK aluminum alloy casing worm decelerating machine Volume cylinder at any time and adjust a little, one-way clutch ratchet wheel body flat key is connected on the outer section axle of diameter 43 millimeters long 39 millimeters, in 26 toothed chain wheel bodys, two 209 bearings are installed, this bearing inner ring is connected on one section of axle of diameter 45 millimeters long 38 millimeters, it and TG25426 tooth sprocket with on the disk of body diameter 156 mm wide 17 millimeters 180 degree symmetrical four canine tooths by spring pressure are installed, this two canine tooth and the hook tooth on one-way clutch ratchet wheel body are closely meritorious to be engaged, the valid insurance engagement of two canine tooths, the small cylinder gear gib-headed flat key of inner 3 78 millimeters, the modulus 26 pitch footpath outside circle external diameter 84 millimeters of this power transmission shaft is connected on the spindle nose of diameter 40 millimeters of keyways 8 × 10, the axle of long 272 millimeters has two axle boxes and bearing to link, when technical ability robot body rises to the moment of summit disconnecting circuit, eight ratchet canine tooths on the ratchet driving structure of two one-way clutch must have four to engage on two ratchets at place respectively under spring pressure, the valid insurance engagement of another four difference, 26 tooth sprockets of the one-way clutch ratchet driving in engagement and 3 coaxial modulus 26 tooth small cylinder gears all engage to be bitten, there are not 4.6 ton forces without making during electricity needed for R0.25kw bevel-gear hard tooth surface speed reducer 17 tooth sprocket output shaft rotation in this locked transmission system, the tooth number of two zigzag ratchets is odd numbers, now the gear wheel of two 315 teeth steadily can be parked in any one position, the brake structure being located at the gear shaft center Manual flat flat rubber belting encircling type of rising Volume cylinder can slow down the load of meshing gear, during arbitrary circuit only in connection two bevel-gear hard tooth surface speed reducers, no matter be continue rising or start decline scouring or spraying ability transmission engagement rotation diagram 3, if four ratchet canine tooths of an one-way clutch sprocket are in engagement, the sprocket four ratchet canine tooth of another one-way clutch is then separated, on the motor output shaft of the arbitrary R series plagiodont wheel hard-tooth surface speed reducer after separation, 17 tooth sprockets are that non-transformer is static, but four Volume cylinders on the gear shaft of 23 modulus 315 teeth are the anti-or clockwise direction rotary work of synchronized relative work as usual, also can adopt the bevel-gear hard tooth surface speed reducer of R57 type 0.75KW output speed 52 output torque 131 gearratio 27, do one and drive two one-way clutch type sour jujube sprocket drive mechanisms, this transmission system is innovative design.Outer surface two end inside the body of technical ability robot install respectively high 120 centimetres a, diameter 35 centimetres the safe collision proof airbag of light body rubber in case with the contact of glass planar.

Embodiment 4: high building superficies are cleaned or there are several the 120 degree of control amount oriented slots gap type fog nozzles be connected to side by side on water tank high-pressure hydraulic pump delivery hose in spraying technical ability robot, it can spray powerful fan-like pattern fillet water smoke band, 120 degree of controls being water smoke and spraying to, the width degree in gap determines the Quality Map 6 of spray painting, the nozzle brass sheet of 0.6 ~ 1 millimeter or corrosion resistant plate are welded, the water spray seam 0.5 ~ 0.8 millimeter of interior spout, this gap is one long 10 millimeters by fixed blade formula, wide 8 millimeters, the brass sheet of thick 1.5 millimeters or corrosion resistant plate bolt are connected on the disk that in water injection nozzle, outdoor stands, the other end is connected with high pressure soft rubber tube, the bolt be fixedly connected with two diameters 5 millimeters of latten(-tin), this part has the hole of 8 diameters 5.5 millimeters, 120 degree of water injection nozzles and adjustable 45 degree of 90 degree of nozzles, 90 degree, 135 degree, 180 degree of Fig. 6, standing 120 degree of this figure is to more intuitively show, the gap that on it, gap of lower flashboard presents is two blades of horizontal line section, the flashboard of two expanding slots up and down, 120 degree of nozzles grow 6 centimetres, the water sprayed when water pump 3.2 kilograms of pressure is droplet shape jet, also the center of orifices of brass artesian well on Manual pressure mister head 0.7 millimeter can be made into the atomized water spray gap of 0.5 millimeters long 3 millimeters, and on the union cap (UC) of this latten(-tin), weld the ungulate gap nozzle of one 120 degree loose 60 millimeters long, water pump opens decompression more than pressure-reducing valve during 3.2 kilograms of pressure above water pump, in the press water reflux tank of decompression, 24 volts of magnetic valve Push And Releases of water pump have terrestrial operation person to shake control with remote controller.120 degree of nozzles control spray direction to be made outside scouring arm two end without water spray, electric heater with thermostat is established in water spray chamber, make scouring water temperature in the scope of 40 degree, dirt ion and hydrone are active travelling 40 degree Celsius time, the clean effect of glass surface can be improved, exterior wall waterproofing coating nozzle can spray the band shape coating fog belt of 10 centimetres wide 100 centimeter length, its spraying is chewed has 50 ~ 60 cm distance with wall outer surface, wide one times than water injection nozzle of the interior spout gap of its nozzle, it is 1 ~ 1.6 millimeter, this width can with the spraying gap of adjusting needed for the flashboard upper and lower displacement adjustment of gap, then fix again behind adjustment gap with the bolt of two 5 mm outer diameter, water injection nozzle is the same with spraying the constitutional detail size of chewing, just the shape of spout and angle spray to and distinguish to some extent, length 50 centimetres wide 40 centimetres high 40 centimetres sheet metals of thick 3 millimeters of building exterior wall waterproofing coating temperature control heater incubator A3 are welded, incubator skin has pearl foamed plastic plate, a 0.2Kw is inside established to be furnished with the muddy water pump of 4 kilograms of gate valve and the middle font mould wash mixer of 0.1Kw, case top has one 220 volts of transformations to become the water of the solenoid control of 24 volts to chew switch dilution structure and water-repellent paint nozzle construction of switch, can open and close at various height at any time, Hydraulic Station and coating material volume case are installed side by side.

Embodiment 5, the high-resolution Camera location monitoring transmission work that technical ability robot is connected and installed a sextant on Hydraulic Double bar two fixed pulley carriage structure-steel framing is cleaned or sprayed to high building superficies, picture is passed on the computer screen of workbench, three high-resolution video cameras are installed at plane left, center, right three place, technical ability robot body top and will clean and each actuation live with spraying at any time, coating quality, erasing effect, the computer screen that the pictures such as safe operation are delivered to ground surface platform is clearly understood in real time for operator, problem is had to process in time, commander is contacted at any time with intercom to roof staff, it is allowed to adjust extension and the updip angle of Hydraulic Double pole fixed pulley and to horizontally rotate direction, the hydraulic cylinder magnetic valve that technical ability robot and Hydraulic Double bar carriage are installed, water injection nozzle and exterior wall waterproofing coating nozzle, clarified water pump, muddy water pump, the motor switch of the worm decelerating machine Volume cylinder of two WWJK aluminum alloy casings, the two-direction switch that R series 0.25Kw ~ 0.55Kw bevel-gear hard tooth surface speed reducer shares, wireless remotely-controlled formula and button electrical equipment, high-resolution tracing and monitoring video camera and picture transmission image display system, intercommunication verbal system etc., all to isolate water smoke to keep dry and ventilate so be all arranged on the steam bleeding vehicle commander 4.2 meters that goes to the lavatory of 82 horsepowers, wide 1.98 meters can do left back right 180 degree, three directions add on locking-type horizontal rotating disc, steering structure is connected with room, railway carriage or compartment horizontal bottom, Hydraulic Double bar carriage just must move to next new scrub width and position after complete one way scouring or spraying from roof to bottom of the building layer, in ground fixed pulley and railway carriage or compartment, the Volume of two axle two gear four Volume cylinder hoisters and steel wire rope also will do the adjustment of corresponding position, direction around place position, if when building building and affecting spraying operation because of power supply, the power station of a 1KW can be joined, car room ceiling and two axle two gear four Volume cylinder hoisters will establish safety guard net in the face of three of wire rope gearing, ceiling will weld security protection steel skeleton, above-mentioned each structure and system are preferred embodiments of the present invention.

Above-mentioned is embodiments of the invention, and any change that Fan Yiben technical characteristic makes or extension, all should within the protection domain of this technology.

Claims (5)

1. high building superficies are cleaned or there is Hydraulic Double pole two fixed pulley carriage structure in spraying technical ability robot, and technical ability is cleaned or spray robot structure, the lifting drive system of technical ability robot and shooting tracing and monitoring remote control intercommunication commander operating system combine.On the roof of the high building superficies that will clean or spray, a carriage that level meter removable tuning Hydraulic Double pole two fixed pulley is housed need be had, the outer end of two pole respectively has one to make 180 degree of pulleys turned to, 1 millimeter, pulley link plate gap, pulley external diameter 96 millimeters, thick 22 millimeters of pulley, wheel groove radius 6 millimeters, the case hardness HB220 of Carburization Treatment, use No. 45, forged steel, load-bearing 3000 kilograms, two pole presses GB1102-88 standard application 26 × 19, diameter 11 millimeters, every square millimeter of 170 kilograms of pulling force, the steel wire rope of total rupture pull force 6130 kilograms, two steel wire ropes pass through pulley groove, and to be connected to plane length on technical ability robot body be on the safety collar of two focus points in left and right of 178 centimetres, the length of two pole is respectively 550 centimetres, press GB707-88 standard application 14a sectional area 18.51 square centimeters, theoretical weight every meter 14.53 kilograms, module of anti-bending section Wz80.5cm ³channel-section steel, 4 leg face b are relative, be welded into the pole of square shape, pole afterbody is attached on dovetail guide, the two pole in left and right connects to a stable frame structure by hydraulic cylinder push-and-pull 100 centimetres of helical pitches, in two pole lower plane two, two axle sleeves are welded at base place, planar back side limit, carriage framework top outer rim is also welded with two axle sleeves with size, the major axis mated with sleeve diameter by one passes through four axle sleeves and forms and two be pulled in the two bar hue angle structure of the carriage be elevated in 60 angular ranges with hydraulic cylinder pushes between pole and vehicle frame, an iron-clad horses support is had apart from fixed pulley 150 centimeters, minibus front-rear axle two axle four crop rotation carriage EEF bogie, small-sized hydraulic station is arranged in carriage structure-steel framing, the rotation tailstock of two hydraulic cylinders is connected to carriage framework end face and above.On technical ability robot body about 178 lis 2, plane two safety collars on, link the steel wire rope of two diameters 11 millimeters via two pole two horizon adjustable corner fixed pulley respectively, on technical ability robot body, Plane Installation has long 250 centimetres wide 100 cm thicks 10 centimetres to move back and forth by hydraulic cylinder push-and-pull the main platform of roll adjustment that four tune gap track rollers form, wide 80 cm thick 8 centimetres of length 100 centimetres be welded with No. 8 channel-section steels by GB707-88 standard moves the wiping window secondary platform of 10 ~ 20 centimetres by the longitudinal vertical window surface glass of hydraulic cylinder push-and-pull, mushroom-shaped turns wiping manipulator and is arranged on this vertical shift auxiliary platform, vertical shift auxiliary platform on the main platform of transverse moving left and right and its end face forms the cladding moving structure of a groined type two hydraulic cylinder push-and-pull.Transverse moving left and right platform two end is respectively installed by GB1243-88, the worm gear reducer chain drive structure of the TG190 chain sprocket that 1244-88 selects, this structure driven be long 178 centimetres of outer six splines casting pressure aluminium driving shafts, this axle assembles the row of wearing be external diameter by 120 degree three points have three short cylindricals refer to an internal diameter be cast with outer six splines press aluminium driving shaft to match high strength casting in six spline fittings, they and hundreds of inflatable opal glass Cowhells rubber erasing length refer to that being assembled into the lightweight of gross mass in 15 kilograms turns brush body, erasing high building superficies PA aluminium alloy glass is carried out as dust wiped by horsetail whisk duster, being installed on six splined connection nuts in the casting on outer six splined shafts carries out fastening from the two ends of axle, in technical ability robot body, the water pump setting up pressure-reducing valve is installed, temperature control electric heater, magnetic valve control bypass water valve, clarified water pump and water tank, there is the muddy water pump setting up pressure-reducing valve, temperature control electric heater, middle font agitator and exterior wall paint thermal-insulation coating case and a hydraulic workstation, technical ability robot body is provided with many parallel 120 degree of ungulate clearance type water injection nozzles with electromagnetic valve switch and clearance type 90 degree of coating nozzles and three high-resolution tracing and monitoring video cameras, technical ability robot body connects on the safety collar of 178 centimetres of two focus points the steel wire rope of a diameter 11 millimeters about plane respectively, on two focus points that about lower plane, 178 cm distance are corresponding up and down, one WWJK aluminum alloy casing worm decelerating machine is installed respectively, its output shaft is installed a Volume cylinder, each Volume cylinder connects the steel wire rope of a diameter 11 millimeters, the steel wire rope of two diameters 11 millimeters stood is connected to the external diameter 70 centimetres on 23 modulus 315 tooth mesh gear shafts rotate two fixed pulleys of tuning respectively via 180 degree, ground after, take turns on two Volume cylinders of wide 22 centimetres, on the fixed pulley that two steel wire ropes of the diameter that two safety collars link 11 millimeters can turn to via two strut ends two respectively and railway carriage or compartment vehicle frame two tunings fixed pulley after be connected on two Volume cylinders of wide 22 centimetres of external diameter 70 centimetres wheel on 23 another mesh gear shafts of modulus 315 tooth.TG25417 tooth sprocket on R series 0.25Kw bevel-gear hard tooth surface speed reducer output shaft, 29 turns per minute, TG25426 tooth sprocket and the coaxial axle head 3 modulus 26 tooth roller gear of the coaxial ratchet one of its transmission one and one way engagement when being rotated counterclockwise engage one 3 modulus 315 tooth big column gears, this big column mesh gear shaft two end respectively installs an external diameter 70 centimetres, the Volume cylinder of wide 22 centimetres, the steel wire rope of each installation diameter 11 millimeters on WWJK aluminum alloy casing worm decelerating machine Volume cylinder on to be technical ability robot body lower plane distance be two focus points of 178 centimetres that Volume cylinder connects, 57 turns per minute of TG25417 tooth sprocket on 0.55Kw bevel-gear hard tooth surface speed reducer output shaft, TG25426 tooth sprocket and the coaxial axle head 3 modulus 26 tooth roller gear of the coaxial ratchet one of its transmission one and clockwise one way engagement engage one 3 modulus 315 tooth big column gears, this big column mesh gear shaft two end respectively installs an external diameter 70 centimetres, the Volume cylinder of wide 22 centimetres, what Volume cylinder connected is that on technical ability robot body, plan range is the steel wire rope that 178 centimetres of two focus points are arranged on the diameter 11 millimeters that safety collar links respectively, the gear wheel permanent engagement of 23 modulus 315 teeth, the terminal Volume cylinder rotating speed of 0.25Kw and 0.55Kw bevel-gear hard tooth surface speed reducer is that work declines 55 millimeters or rise 110 millimeters per second per second respectively, rising is load lifting, decline is that work is cleaned or spraying, tooth number along two ratchet fluted discs of counterclockwise clutch is odd number, each ratchet cover plate is installed the ratchet canine tooth that four only have spring pressure symmetry, with GB1243-88, the TG254 chain link transmission TG254 sprocket wheel of 1244-88 standard, 3 modulus 26 tooth cylinder pinions of TG254 sprocket wheel axially outer end engage the cylinder gear wheel of 3 modulus 315 teeth respectively, thus the drive mechanism that a sprocket wheel and pinion coaxially engage gear wheel is formed.Three, Plane Installation left, center, right tracing and monitoring video camera on the high-resolution tracing and monitoring video camera at 60 degree of angles and technical ability robot body is cleaned or the Hydraulic Double bar two fixed pulley carriage structure-steel framing of spraying technical ability robot on roof is installed to high building superficies, the monitored picture of four video cameras is delivered on the computer screen of ground handling platform, understand grasp command scheduling for operator, roof operator and ground handling platform operator have intercom equipment to contact commander.The water injection nozzle that technical ability robot is installed and water-repellent paint nozzle, clarified water pump, muddy water pump, two WWJK aluminum alloy casing worm decelerating machine Volume cylinders and electric switch can adopt wired button or wireless remotely-controlled two kinds of modes, 220 volts of transformations can be used to become the power supply safety voltage of 24 volts or 12 volts, two gear wheel two axle four Volume cylinder devices of R series two bevel-gear hard tooth surface speed reducer difference one-way clutch transmission, distribution board, video transfer equipment, wireless communication apparatus, the combined platform of each button is all arranged on the steam bleeding vehicle commander 4.2 meters that goes to the lavatory of 82 horsepowers, on the combination dials formula platform of the indoor, railway carriage or compartment of wide 1.98 meters, it be one by fixed axis can 180 degree rotate after the great circle turntable structures that lock, the power station of an another outfit 1Kw is to ensure the inconvenience because causing without electricity or temporary interruption, ensure that cleaning is stroked in the wiping of high building superficies or spraying exterior wall waterproofing coating work in every is smooth and easy, guarantee the quality, efficiently, safety work is constructed.

2. high building superficies according to claim 1 are cleaned or spraying technical ability robot, it is characterized in that: roof has a removable tuning Hydraulic Double pole two fixed pulley carriage structure, the length of two pole is respectively 550 centimetres, by GB707-88 standard application 14a sectional area 18.51 square centimeters, Theoretical Mass every meter 14.53 kilograms, module of anti-bending section Wz80.5cm ³channel-section steel, 4 leg face b are relative, be welded into square shape pole, strut ends installs the fixed pulley that turns to of 180 degree of levels only, 1 millimeter, gap between pulley body and pulley link plate, pulley external diameter 96 millimeters, take turns thick 22 millimeters, groove radius 6 millimeters, case hardness HB220 degree after Carburization Treatment, pulley body uses No. 45 forged steel, load-bearing 3000 kilograms, pulley two protects inner side spot welding one diameter 99 millimeters of wheel link plate, the annular of thick 5. millimeters protects cheese, make the steel wire rope of diameter 11 millimeters under any condition, all be forbidden folder rope, from two bar external port shaped sections inside 150 centimetres and 350 centimetres two some positions, face perpendicular to this place there are two 14a channel-section steels be used as the connecting rod of square shape, thick 6 millimeters, long 260 millimeters, the stiffening plate of wide 200 millimeters divides upper and lower two 4 positions being welded on two 150 centimetres, bar and 350 centimetres, with long 30 millimeters of major diameter of external thread 16 millimeter pitch 2 millimeters of screw threads, the bolt that total length is 50 millimeters connects, square shape connecting rod two side weld connects the length 144 millimeters of thick 6 millimeters of dipteron shape, two stiffening plates of wide 84 millimeters, four stiffening plate external diameters 16 millimeters up and down, the bolt that pitch is 2 millimeters connects, in long 200 centimetres, the rectangular space of clear span distance 167.4 centimetres has an X-shaped digonal link part, two or two rod member two ends are connected to thick 6 millimeters, long 260 millimeters, on the stiffening plate of wide 200 millimeters, font in one is had in the middle of two digonal link parts, one end is right-handed thread, the other end is the strainer of left hand thread, parallel the stablizing of Hydraulic Double bar is ensured safety with zero absent-mindedness, the dovetail slide rail connected at two pole afterbody and gliding mass use hydraulic cylinder to do 100 centimetres reciprocatingly sliding, the length distance of stretching out outside the building of two pole is regulated with this, adjust the optimum distance of technical ability robot erasing manipulator at any time, carriage structure can orientation arbitrarily needed for adjustment sister block, hydraulic cylinder can brake four wheels by transmitting hydraulic pull bar, when high building is flat uncovered structure end face, two hydraulic cylinders that carriage shelf structure is installed can be elevated two bar slope mass structure at the same time or separately and become arbitrary angle of inclination, can with needing to adjust two bar fixed pulley and erasing manipulator to clean the superficies glass that floor gap has angle of inclination in time, parts crane can be transported to roof assembling by two pole carriage structure, lower building can be assembled after each part also can be transported to roof with manpower by roof in complete machine handling, two pole four-wheel vehicle frame is installed the high-resolution tracing and monitoring video camera at-60 degree angles, in four-wheel vehicle frame, a hydraulic workstation is installed, in the two pole fixed pulley of distance, 100 ~ 150 centimeters have an end face to be provided with hard rubber crop rotation fulcrum, helical pitch made by cuboid shaped steel, hand hydraulic jack makes the iron-clad horses support be elevated, hard rubber wheel is arranged on cuboid shaped steel helical pitch masthead, it has zigzag automatically with locking device, four wheel constructions of minibus front-rear axle make the EEF bogie of carriage.Plane Installation one level meter on four-wheel vehicle frame.

3. high building superficies according to claim 1 are cleaned or spraying technical ability robot, it is characterized in that: long 178 centimetres of technical ability robot body, wide 100 centimetres, high 80 centimetres, install one in vivo hold the water tank of 120 kg 3 millimeters thick A3 welded steel plates and hold the coating case of 80 kilograms of water proof exterior wall coating, each wiping journey or throw fill 40 kg of water or 30 kilograms of coating, the temp controlling heater of 40 degree Celsius is all had in two molten long-pending casees, the clarified water pump of pressure limiting 3.2 kilograms of pressure-reducing valves is installed in water tank, the muddy water pump of pressure limiting 3.5 kilograms of pressure-reducing valves is installed in coating case, what clarified water pump flexible pipe connected is 120 degree of ungulate gap water injection nozzles, what muddy water pump connected is that 90 arc spray fan are chewed, the structure of two nozzles is identical, its spray seam gap fixes after flashboard type two bolts regulate sword formula flashboard again, on the outer six splines light body axle of long 178 centimetres of cast aluminium alloys, equipped number picks up six spline joint seats in a hard casting mated with outer six splines, Connection Block cylindrical has 120 degree uniform three long 100 millimeters, the convex cylindrical body of diameter 16 millimeters, each cylinder is installed an inflatable opal glass Cowhells erasing length refer to, hundreds of inflatable opal glass Cowhells erasing is long to be referred to be assembled on outer six splined shafts of cast aluminium alloy of long 178 centimetres, inflatable opal glass Cowhells rubber erasing dolichostenomelia can not be installed at convex cylindrical body hard casting Connection Block or the special-shaped structure that brachydactylia is used for adapting to the convex wall face of various width is installed, the arm shape cast aluminium alloy axle of long 178 centimetres being assembled into diameter 100 centimetres cleans manipulator assembly weight within 15 kilograms, belong to light material structure, at the pliable and tough erasing glass of function that high building glass outer surface is the same just like feather duster, technical ability robot body by glass surface medial surface about two places to stand the Aerated safety air bag of long 120 cm diameter 35 centimetres of installation two, in order to prevent, the inflatable opal glass Cowhells rubber of diameter 100 centimetres is long to be referred to play safety protection function when working diameter tightens and likely injures the situation of glass to 80 centimetres.Clean or spray robot body horizontal top surface before and after have on two frames two long 250 centimetres by GB707-88 standard application No. 10 channel-section steels, the center line that the wide face of channel-section steel two groove stands and 53 centimetres to 125 centimetres, the every limit of length parallel center line joining, clean length 72 centimetres two sections is the trapezoidal slide rail occupied on cross central line with the cross section that bolted No. 45 steels do, is furnished with the horizontal rail roller guiding of four tune gaps, No. 10 channel-section steels of two length 250 centimetres have four joint slide rails, No. 10 channel-section steels of two length 250 centimetres use No. 10 channel-section steels of length 100 centimetres to form closed main platform structure closed being welded to connect of two ends, be welded to connect as beam with No. 10 channel-section steels of long 89.4 centimetres respectively apart from each 85 centimeters of two ends, two groove surfaces are relative, two times leg face widths 48 millimeters, the two interior upper planes of two times leg face b double as rail level, on rail level, two long 100 centimetres wide 80 cm thicks 8 centimetres of arbor wheel carrying one works that No. 8 channel-section steels are welded longitudinally are come and gone the car shape subtask platform run by hydraulic cylinder push-and-pull 10 ~ 20 centimetres, it and main workbench form upper and lower two layers of major-minor groined type work platform structure, on this auxiliary platform, one the to be indulged thrust working diameter 75 centimetres long mushroom-shaped manipulator referring to form of number ten inflatable opal glass Cowhells rubber by vertical thrust working diameter 90 centimetres of nothings is respectively installed at plane two edge, manipulator afterbody has by GB1243-88, the machine double chain wheel that the TG190 chain sprocket of 1244-88 standard employing and WWJK aluminum alloy casing worm decelerating machine output chain gear are formed or multi-sprocket composite transmission structure, when two manipulators are to spill windowpane and lateral wall width undersize, the main workbench pushing away 35 centimetres of strokes can be drawn to adjust distance by fluid cylinder by its length 250 centimetres of carrying, mushroom-shaped manipulator has multiple different diameter, select according to the concrete size of building window.Mushroom-shaped manipulator can replace the exterior wall surface erasing cleaning that high building superficies turn wiping arm manipulator unconformable various buildings on the middle and senior level special structure, main workbench face can be changed arbitrarily the manipulator installing various different size, also can connect at two ends and lengthen the manipulator of various different size, the longlyest not surpass 4 meters.In technical ability robot body, water tank and all system accessories of water system accessory exterior wall waterproofing coating case and Hydraulic Station etc. are installed.On technical ability robot body about plane 178 centimetres two focus points safety collar on, the steel wire rope of the diameter 11 millimeters of GB1102-88 standard application is pressed in each connection, fixed pulley and hoister two via the two strut ends Volume cylinder that rises is connected, two focus points of the lower plane corresponding with upper plane are installed respectively two WWJK aluminum alloy casing worm decelerating machine Volume cylinders, the steel wire rope of connection diameter 11 millimeters on every Volume cylinder, two steel wire ropes are connected with two decline Volume cylinders on hoister respectively via the fixed pulley on ground.The level meter of one length 100 centimetres is installed in technical ability robot body, is made the duty of technical ability robot body guarantee level by the adjustment of worm decelerating machine.

4. high building superficies scouring according to claim 1 or spraying technical ability robot is characterized in that: have R series 0.55Kw output speed 57 turns of output torque 87 type R37 and 0.25kw output speed 29 output torque 79R37 type two R series plagiodonts wheel hard-tooth surface speed reducers, its two speed reducer output shaft has installed pitch 25.4 millimeters by GB1244-88 and GB1243-88 standard, the sprocket wheel of the number of teeth 17 tooth and the driving chain of Breaking load 5000 kilograms, the sprocket chain of respective transmission one one-way clutch ratchet structure and pitch 25.4 millimeter of 26 tooth is connected together, and 3 modulus 26 teeth that the coaxial axle head of transmission is installed, pitch diameter 78 millimeters, the roller gear that outside circle external diameter is 84 millimeters, the gear wheel of this gears meshing 1 modulus 315 tooth, 315 tooth gear wheels are arranged on long 178 centimetres of axles made by No. 45 carbon junction steels, 208 bearing housing syndetons are respectively had at two spindle noses, axle two end of long 178 centimetres respectively installs the Volume cylinder that inner width 22 cm OD 70 centimetres protects rope sheave sheet external diameter 95 centimetres, the medial surface of right side reel connects the gear wheel of one 3 modulus 315 teeth with bolt, what install with 0.55Kw bevel-gear hard tooth surface speed reducer parallel side-by-side is the bevel-gear hard tooth surface speed reducer of 0.25KW, on output shaft pitch 25.4 millimeter of 26 tooth of the sprocket wheel chain drive of the pitch 25.4 millimeters of number of teeth 17 teeth sprocket wheel outside sawtooth thread form ratchet is installed, its tooth direction is rotated counterclockwise direction engagement, the chain drive of 0.55KW output shaft 17 tooth sprocket be the sprocket wheel of pitch 25.4 millimeter of 26 tooth, sawtooth thread form ratchet is installed outside it, its tooth is to being the engagement of dextrorotation veer, the chain gear transmission of the one-way clutch ratchet of 17 tooth sprocket transmissions on the output shaft of 0.25Kw bevel-gear hard tooth surface speed reducer and 26 teeth one is with the roller gear of axle head 3 modulus 26 tooth, the gear wheel of this gears meshing 1 tooth, this 315 tooth gear wheel by bolt link in the drum wall of the outer reel inside diameter 95 centimetres of another long 178 centimetres of axles, the wheelbase of the gear wheel engagement of 2 315 teeth is 945 millimeters, 0.55Kw and 0.25Kw bevel-gear hard tooth surface speed reducer shares a two-direction switch, the former rotates forward the latter to reverse, two reductors only have alternate intermittent to operate, can not simultaneously corotation, this sprocket transmission is an omnidistance engagement rotation, its burble point is on the tooth teeth directional of the zigzag ratchet both forward and reverse directions of pitch diameter 25.4 millimeter of 26 tooth sprocket coaxial separated, a positive hour hands engagement, another is then that counterclockwise separation is not engaged, positive hour hands engagement direction of rotation is that technical ability robot overall load rises, counterclockwise engagement direction of rotation is conversely the operative orientation of decline erasing cleaning.Also can adopt the bevel-gear hard tooth surface speed reducer of R57 type 0.75KW output speed 52 output torque 131 gearratio 27, do the drive mechanism that drives two one-way clutch type sour jujube sprocket innovative designs.

5. high building superficies scouring according to claim 1 or spraying technical ability robot is characterized in that: the level meter framework of the Hydraulic Double pole two fixed pulley carriage structure on roof being installed a high-resolution tracing and monitoring video camera and a length 100 centimetres, on technical ability robot working body, three high-resolution tracing and monitoring video cameras are installed in plane left, center, right, four camera pictures are delivered on the computer screen of ground handling platform, work transmission conditions is understood for operator, grasp work quality, correction is improved mass defect and is controlled steady transmission operation, commander's safety in production matters are linked by talkback system, the water injection nozzle of solenoid control, coating nozzle, muddy water pump, the switches such as clarified water pump and aluminum alloy casing worm decelerating machine Volume cylinder adopt 12 volts or 24 volt-amperes of full voltages, wireless remote control or wired key controlled two types can be used, two axle two gear four Volume cylinder hoisters of R series two bevel-gear hard tooth surface speed reducer transmissions, distribution board, wireless intercom equipment, tracing and monitoring video system etc. electrically the combined platform of parts and each button be all arranged on 82 horsepowers go to the lavatory lengthen that 4.2 meters wide 1.98 meters of railway carriage or compartments are indoor can on 180 degree rotations and the rotating disc type workbenches that lock, 1 rice diameter dish type truncated cone boss of tricycle equipment automatically turns around dish line and closes, can need with the orientation that stands of cable and move, also join a 1Kw self power generation power station.