CN104339358B - High building superficies are cleaned or spraying technical ability robot - Google Patents
High building superficies are cleaned or spraying technical ability robot Download PDFInfo
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- CN104339358B CN104339358B CN201310339847.8A CN201310339847A CN104339358B CN 104339358 B CN104339358 B CN 104339358B CN 201310339847 A CN201310339847 A CN 201310339847A CN 104339358 B CN104339358 B CN 104339358B
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Abstract
High building superficies are cleaned or sprayed in the deltiod body of technical ability robot,Fill hydraulic system,Water spray apparatus,Temperature control heating spraying equipment,24 volts of transformers and electromagnetic start device,Inflating type glass Cowhells rubber cleans pivoted arm wheel in the centimeter length finger-type of 2.5 4 rice diameter of body top surface installation brachium 100,The recessed window of Chain conveyer cleans manipulator,120 degree of style of the shoe gap water spouts and flat spray fan mouth,4 high-resolution tracing and monitoring video cameras,The locomotive that the fixed pulley of double poles two and two axle four-wheels at 60 ° of angles of hoist rope and roof hydraulically extensible and energy updip of two 11 millimeters of diameters are formed,Focus point under the side of technical ability robot body two,Two worm decelerating machine Volume cylinders are installed and connect two 11 millimeters of steady steel wire ropes of control,Preceding abdomen has air bag,4 steel wire ropes lifted at the same speed connect four hoisters,Intercom is with monitor video and each manipulation electric mounting in van,Technical ability robot is cleaned or sprayed to the high building superficies for forming saving color high-efficiency environment friendly safety of saving water and energy.
Description
(1) technical field：
Inventing type high building superficies are cleaned or spraying technical ability robot is one to be practically applicable to Tall Office Building, middle level resident
The various buildings such as building, small, high, medium and low floor, rectangle, square column build, circle, flat arc, ellipse, roof of storied building be flat-top or
Have a pent-roof for opening active window, existing inhabitation Ji Jian buildings, scouring carried out to outer surface and is kept a public place clean or spray rendering, realize high-altitude without
People's automatic job is the energy-conservation of autonomous innovation invention, keep a public place clean, environmental protection, safety, the technical ability robot of automatic scrubbing or spraying
Equipment.
(2) background technology：
BeiJing, China, Shanghai, Guangzhou, Shenzhen, Chongqing, Shenyang, Wuhan, Qingdao, Hong Kong, Macao, the Taibei of reform and opening-up
Deng big city, 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, and it uses PA heat-insulation aluminium alloys double glazing or safety glass, its frame block
In connection gap and platen surface, the mixed pollutants of large quantities of acid-alkali salts have been gathered in absorption, manpower with the hands can not erasing cleaning, collection
And it is long then turn into the unclean surface sheltered evil people and countenance evil practices, another kind of is frame net lattice indent window and each shape exterior wall plane or convex tendon
The labyrinth of 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, hole
Recessed uneven, thickness great disparity, waste very heavy, its surface roughness, when operation caused by personal safety accident be to happen occasionally, pass
The round brush technique of system will be reformed, invention high-altitude substitution manpower handwork robot, it will meet to adapt to various buildings
Existing architectural feature in kind, it is ensured that it is the not damaged of various high building outer surface materials, intact and beautiful, to reach beautification, clean
The environmental sanitation standard of net brightening, it is ensured that the automation of whole operation overall process and machine security, realize safety engineering, to surmount hand
Work is cleaned or the mass effect of spraying, realizes processing quality, machine driving, safety in production is locked in a tie for first.
(3) content of the invention：
The purpose of invention is with PA heat-insulation aluminium alloys to the domestic and international high-rise building of each shape, the superficies in small high-rise building
The empty small plate face connection of glass or safety glass is combined into the pollution aspect gathered on the outer surface of super plane structure and dirt,
Manpower can not be implemented under the specific condition cleaned by hand, carried out with robot from roof to ground in high-altitude scouring keep a public place clean realize it is bright
Chemical industry journey, there is the exterior wall of concave shaped window to the high building lived and small high building and in the small high building exterior wall of high building built, implementation exterior wall
The spraying of water-repellent paint, exterior wall surface finish is lifted, reduce unevenness, save water-repellent paint, improved operating efficiency, prevent people
Body injury accident, high building superficies, which are cleaned in roof to have with spraying technical ability robot, is mounted with that the Hydraulic Double pole of level meter is double
4 wheel bassinet structures of fixed pulley, in the built-in hydraulic workstation of the structure, on vehicle frame top, the inside edge of plane has major axis and axle sleeve string
The double fixed pulleys of double poles that connection constitutes wide 178 cm distance can do angle adjustment, double poles in the range of the 60 ° of angles that stand
Outer end respectively have a flag 180 degree turn to pulley, 3000 kilograms of load-bearing, the inner side of the wheel guard of skidding two, the diameter 99 of spot welding one
The shield cheese of 5 millimeters of millimeters thick, make the steel wire rope of 11 millimeters of diameter is all inaccurate in any condition to press from both sides rope, pair of 550 centimeter lengths
The slide rail assembly of 120 centimetres of the length of pole afterbody connection one, its rail chair are separately mounted to the upper plane of wide 178 centimetres of four-wheel vehicle frame
Both sides, the double poles in left and right connect to a stable frame structure by 100 centimetres of helical pitches of hydraulic cylinder push-and-pull, the two of double strut ends
There is the steel wire rope of 11 millimeters of diameter to be connected to high building superficies in fixed pulley groove to clean and a plane left side on spray robot body
Two safety collar figure 1 above of two focus points of right 178 centimetres of distance, there is an iron-clad horses support away from the centimeters of fixed pulley 150, in pole
Useful 16 millimeter pitch of major diameter of external thread, 2 millimeters of screw threads grow 30 millimeters of 50 millimeters of total lengths between inside 150 centimetres and 350 centimetres of pulley
Bolt connection, two stiffening plates of thick 6 millimeters long 84 millimeters of 144 mm wide of the side of square shape connecting rod two welding dipteron shape, on
The bolt connection of four stiffening plates in lower left and right, 2 millimeters of 16 millimeter pitch of external diameter, it is long 200 centimetres in 167.4 centimetres of clear span distance
Rectangular space have an X-shaped digonal link part connection tensioner, form a stable plane frame structure, two hydraulic cylinders
Rotation tailstock is connected to before four-wheel frame and top surface, and its flexible stroke is completed by hydraulic cylinder, is marked by GB707-88
8 centimetres of 100 centimetres wide 80 cm thick of length that mutatis mutandis No. 8 channel-section steels are welded moves 10- by hydraulic cylinder push-and-pull, longitudinally perpendicular window face glass
20 centimetres of the special vertical shift auxiliary platform of wiping window, mushroom-shaped turn wiping manipulator on the vertical shift auxiliary platform, traversing main platform and its
Vertical shift auxiliary platform on top surface forms the cladding mobile working platform structure of about one two layer of hydraulic cylinder push-and-pull of groined type two, four-wheel
The front and rear two axles wheel of bassinet structure uses the front-rear axle of minibus, there is two band hard rubber on the inside of high roof plane surrounding enclosure wall
The iron-clad horses support of roller, two segment distances of double-rod head sheave to hard rubber roller fulcrum and the fulcrum to double-rod carriage focus point
Length multiply its each pulling force or quality respectively, its ratio is 1 to 5, and a high-resolution video camera is installed on double pole four-wheel vehicle frame faces
Live picture is delivered to ground computer screen figure 4 above, level meter is installed on iron-clad horses support level bar, the double poles in left and right are not usually
With being pinned again after the hydraulic jack adjustment of iron-clad horses support, the levelness of double poles should be kept with the level meter of carriage structural plane
Horizontal consistent, the pulley of level two and the gear four winding drum of two axle of ground two of double strut ends all answer keep level state, in double poles
Dovetail slide rail and the gliding mass of afterbody connection are reciprocatingly slided using 100 centimetres of hydraulic cylinder work.
High building superficies are cleaned or spray robot its feature two is：In technical ability robot cuboid body top plane
On, the rotation for doing transverse horizontal roll adjustment by hydraulic cylinder push-and-pull on groined type workbench is cleaned long-armed, and it is peace that this is long-armed
On the closed frame structure for adjusting No. 10 channel-section steels in gap track roller and two times 48 millimeters of leg faces to be combined into by four, tying
Structure indulges No. 8 channel-section steels closing grid beams that are welded at left and right sides of center line, the leg face of framework bottom two two in upper plane have what two axle wheels were done
Have on chassis and done by hydraulic cylinder push-and-pull perpendicular to windowpane plane, swaging machine is rotated by the mushroom-shaped of push-and-pull inside and outside Chain conveyer energy
Tool hand, the traversing main reciprocal operating structure of platform of No. 10 channel-section steels and No. 8 channel-section steel vertical shift auxiliary platform structures are combined into a left and right wiping in length and breadth
Compound work structuring Fig. 7 of groined type by two hydraulic cylinder push-and-pulls is washed, is cleaned in the rotation of technical ability robot and number is installed on long-armed
The long finger-type opal glass Cowhells rubber erasing of hundred inflatables refers to Fig. 5, the long-armed axial length of worm gear reducer chain drive structure transmission
178 centimetres, be an outer six spline cast aluminium alloy light structures axles, what the axle over-assemble wore row is that external diameter has three by 120 degree three points
Individual short cylindrical refers to six spline fittings in the high intensity casting that an internal diameter matches with outer six spline casting pressure aluminium driving shaft, and they are filled
There is the long finger-type opal glass Cowhells rubber erasing of hundreds of inflatables to refer to Fig. 5, be assembled into lightweight of the gross mass in 15 kilograms
Amount turns brush body, carrys out erasing high building superficies PA aluminium alloy glass as horsetail whisk duster wipes dust, is in PA heat-insulation aluminium alloys
Empty glass or safety glass outer surface it is special turn wiping arm axle, can lengthen 75 in addition at technical ability robot body platform plate face both ends
Centimetre six splines turn wiping arm structure, once two in the arrangement orientation of two structures, not on same horizontal center line, upper and lower axle
Away from 50 centimetres, within four meters of its total length, if there is convex tendon type decoration to increase or decrease mounted in 178 centimeter lengths in this width range
The quantity for the aphalangia connecting seat that the long finger-type opal glass rubber of inflatable on outer six splined shaft refers to, when two manipulators pair
, can be by carrying 250 centimetres of its length by 35 centimetres of strokes of hydraulic cylinder push-and-pull when spill windowpane and lateral wall width undersize
Traversing main platform adjusts distance, and mushroom-shaped manipulator has a variety of different diameters, selected according to the specific size of building window
With mushroom-shaped manipulator may replace high building superficies and turn the outer of the unconformable various building special structures on the middle and senior level of wiping arm manipulator
The erasing cleaning of wall surface, can arbitrarily change the various various sizes of manipulator of installation in traversing main flat surface, can also be two
End connection lengthens various various sizes of manipulator, most long not surpass 4 meters, pacifies in technical ability robot body by the side of plate glass
Fill two cylindrical aeration rubber bag tanks, contact of the prevention plate glass with technical ability robot body, turn 75 ° of wiping arm top angle and install
120 ° of water-saving gap water spouts, it is 40 lis of 60 cm x, 50 cm x that watering, which has installed in technical ability robot body internal volume,
The water pump supply of the i.e. automatic pressure-reducing of 3.2 kilograms of pressure is had more than in the water tank of rice, has muddy water pump when spraying water-repellent paint from automatic control
Pressurize conveys in the water-repellent paint case of temperature, and paint spray nozzle the different Fig. 6 of spout angle, there is electricity as water nozzle structure
Magnet valve control bypass water nozzle is set with supplying the thinned water of water-repellent paint agitator at any time in technical ability robot top plane left, center, right
Three CCTV cameras for having different angle at any time pass to the work quality picture cleaned or sprayed in the computer of report control platform
On screen, operator is allowed to ensure the optimum efficiency cleaned or sprayed, two horizontal planes there are two centers of gravity above and below technical ability robot body
Line crosses with distance for the center of gravity line that stands of 178 centimetres of two side elevations four points, and two joints of upper plane respectively have one
The steel wire rope that 11 millimeters of diameter via strut ends install one can the fixed pulley that is horizontally diverted of 180 degree, be respectively connected to one and nibble
Installed on gear elevating shaft two are closed with external diameter with the reel of rotating speed, respectively one worm screw of installation subtracts two joints of lower plane
Fast machine reel, the tail end of the steel wire rope of 11 millimeters of the diameter connected on two reels are the fixed pulleys via two groups of tunings on ground
Afterwards, it is connected to another meshing gear and declines two installed on axle with external diameter with the reel of rotating speed, two axles two engages
Synchronous same-speed reversely makees alternately conversion rotation to gear four winding drum by the demand of adjustable height each other simultaneously, rolls up or put two pairs of diameters 11
The steel wire rope of millimeter, technical ability robot is set to carry out rising or falling scouring spraying Fig. 1, when technical ability robot is used as spray coating operations
When, after high building superficies are cleaned into parts whole dismounting, installation associated paint parts are changed, connection sprays pipeline, control
Warm heater and electromagnetism water control valve and muddy water spray pump, it can be sprayed after water proof exterior wall coating when concentration is suitable after adding gentle agitation
Operation is applied, the levelness in its horizontal operation face of the level measurement of Plane Installation one, left-right deviation do not surpass on technical ability robot body
10 millimeters.
High building superficies are cleaned or its feature three of spraying technical ability robot is：There are the R series plagiodonts of two different capacities
Hard-tooth surface speed reducer is taken turns, the sprocket one-way clutch reducing transmission structure figure on another axle of sprocket wheel chain drive is installed on output shaft
2, the canine tooth for respectively there are a 208 bearing housing attachment structures in two spindle noses of two outside circles, 951 millimeter of 3 tooth of modulus 315 is engaged respectively
Wheel, two gear wheels are attached at the medial surface of outer reel on each gear shaft, 2 315 tooth gear wheel permanent engagements, conventional roll respectively
The machine of raising has a single drum and lifting is made the return trip empty two winding drum, they can not meet the special transmission demand of technical ability robot, so from chief creating
The meshing gear four winding drum hoist engine of two axle two is newly designed, and has the hand brake system of encircling type brake ribbon in the middle part of rising spool shaft
Dynamic structure, sprocket individual event clutch reducing transmission structure Fig. 2, they are combined into two R series plagiodont wheel hard-tooth surface speed reducers
One special type transmission system Fig. 3,951 millimeters of 3 number of teeth of gear wheel modulus, 315 outside circle external diameter is by the number of teeth 26 of modulus 3, outside circle external diameter
84 millimeters of little gear driving, size gear ratio is 1: 12.1,700 millimeters of outside barrel diameter, 2200 millimeters of length of run, high
Building outer surface is cleaned or 55 millimeters per second of the decrease speed of spraying, and 2200 millimeters need to use 40 seconds, the tooth of 315 tooth gear wheels and 26 teeth
Rotation about nearly 8 tooth of the number of teeth per second, 211 millimeters of 26 pitch diameter of the chain number of teeth of big sprocket wheel are taken turns, in-line gears are the millis of 3 modulus, 26 pitch footpath 78
Rice, the number of teeth is identical but driving torque is different, but identical in interior rotating speed per second, and R series, which declines, uses 0.25KW helical gear Hardened gear faces
29 turns of reductor output speed, output torque 79, the tooth of sprocket wheel 17 on output shaft, the rotating speed of 40 seconds is 19.3 turns, always turns tooth
Several 328.1 teeth, the big sprocket wheel deceleration transmission revolution of 26 tooth one-way clutch is that 19.3 turns × 17 ÷ 26=12.6 turn in 40 seconds, 40 seconds
The gear of the coaxial tooth of 3 modulus 26 is both 12.6 turns, and 12.6 turns are slightly larger than 12.1 turns, rise loading P≤200 kilogram, with diagram
70 degree of angles of method total pulling force≤250 kilogram, rise gear wheel reel and turned round using the output of output rotating speed 57 of 0.55 kilowatt of reductor
Square 87, the bevel-gear hard tooth surface speed reducer of gearratio 24, about 2 times of the output speed 29 to 57 of two R types, i.e., the rate of climb is per second
110 millimeters, be the safe speed steadily risen, and the information that people's brain captures from clearly monitored picture manipulation braking in one's hands is complete
Process is between 0.6~0.8 second, and all unsafe runnings can obtain fully adjustment neutralizing and control, 0.25 kilowatt and 0.55 thousand
Watt bevel-gear hard tooth surface speed reducer share 220 volts of power initiation key Fig. 3, reducing motor can only alternate-running, never
Can corotation be simultaneously program mode alternate-running transmission diagram 3, if standing when the afterbody of 0.55KW motors is watched towards gear wheel direction,
The pawl clutch that motor output shaft rotates clockwise transmission one way engagement also turns clockwise, the coaxial modulus of 26 tooth 3
Little gear also turns clockwise, and the canine tooth crop rotation of the engaged tooth of 3 modulus 315 drives two coaxial reels to do and risen counterclockwise counterclockwise
Respin turns Fig. 1, pulling up technical ability robot body via double fixed pulleys of double pole outermost ends rises, at the same time right side
Fig. 1 is connected at 0.25 kilowatt of motor circuit end, and motor do not rotate, and the gear wheel of the tooth of 3 modulus 315 is passive by the tooth of opposite 315
Wheel engages, and two reels, which are acted, on axle rotates clockwise, and puts the steel wire rope of 11 millimeters of two diameter at the same speed, changes through two groups of ground pulley
Become transmission direction with being connected to the two worm gear reels installed on the focus point of technical ability robot body lower plane two together to rise, up and down
Two pairs of diameters, 11 millimeters of steel wire ropes for tightening transmission at the same speed while are run up, and two pairs of 11 millimeters of steel wire ropes begin up and down in operation
There is a degree of tautness eventually and waved or elegant and rock to ensure that technical ability robot body will not produce, when robot body reaches building
When heights of roofs stops rising, each single direction ratchet drive mechanism all receives the work of spring force because of four canine tooths of ratchet during pause
Being tightly engaged with two canine tooths, two canine tooths of quasi- engagement, the ratchet that eight canine tooths engage two one-way clutch respectively forms the shape blocked, and 180
The four canine tooths engagement that degree is symmetrically installed is odd number gear ratchet, and the steel wire rope of tightening of 11 millimeters of long hundred rice of diameter only has half of canine tooth
The slow length of 10 millimeters of tooth pitch, the weight for rising reel are 250 kilograms, and decline reel carrying is the weightless power of tightening,
All the time in engagement, the wait of technical ability robot body silently is descending to be wiped two ratchets caused by the pulling force and spring force tightened
Cleaning or spraying operation are smeared, when unidirectional telegraph key connects downlink working 0.25kw reductor circuit, dextrorotation on output shaft
The coaxial tooth small cylinder gear of the 3 modulus 26 engagement gear of 3 modulus 315 of the tooth sprocket of chain gear transmission 26 of the teeth of TG254 17 turned
Two coaxial reels rotate counterclockwise, and draw technical ability robot body descending, the engaged tooth gear wheel of another 3 modulus 315 it is same
The reel of axle two steel wire rope that synchronized positive hour hands rotation straightens 11 millimeters of footpath simultaneously declines, to ground after moisturizing or coating material again again
Loading rises, repetition operation, and respectively installation one surmounts setting on the motor of R0.55KW and 0.25KW bevel-gear hard tooth surface speed reducer
Pulling force when can autostop motor limit for tonnage protector, will not because burst overload operation and caused by mechanical accident, above-mentioned electricity
Device is commercially available, the axle four winding drum equipment of two gear wheel two of R series two bevel-gear hard tooth surface speed reducers difference one-way clutch rotations,
Distribution board, video transmission equipment, mechanical, each key combination platform of infinitely conversing all lengthen 4.2 meters installed in 82 horsepowers go to the lavatory
On combination dials formula platform in wide 1.98 meters of railway carriage or compartment.
High building superficies are cleaned or its feature four of spraying technical ability robot is：There are one 120 degree of ungulate steering fillet belts
Water injection nozzle, the vaporific scouring glass surface water of the fan-shaped 120 degree fillets of level of ejection, every 12 square metres with 1.5 kilograms of water, unbiased
It is a water-saving water injection nozzle Fig. 6, the thin arcuate sectors material spray nozzle of exterior wall waterproofing coating is 90 degree, with wall to the globule and bounce-back water droplet
The spray distance of external surface is 60 centimetres, sprays 100 centimetres of length, 10 centimetres of width, the quantity for spraying nozzle is arranged on demand
Technical ability robot body upper surface has hydraulic cylinder or so to pull on the table top of the four main platform structures for adjusting the horizontal rail roller of gap to be oriented to,
There are high-pressure hose and water pump, muddy water pump, hydraulic station flexibility Dynamic link library, it declines 55 millimeters per second of operating rate, magnetic valve control
The water spout of system, paint spray nozzle, multifunctional pump, the switch of clarified water pump and aluminum alloy casing worm decelerating machine reel, can be used 220 volts
The power supply safety voltage that 24 volts or 12 volts of transformation, is completed by the operator of ground control platform.
High building superficies are cleaned or its feature five of spraying technical ability robot is：The hydraulic pressure double-rod sister block carriage of roof
The level meter of 100 centimetres of the length of installation one and high-resolution monitoring camera at any time pass to the work picture of hydraulic pressure carriage in structure
The operator of ground control platform, plane adjusts the horizontal rail rollers of gaps to be oriented to what hydraulic cylinder pulled by four on technical ability robot body
Traversing main platform table top left, center, right three at three monitoring cameras, the side of left and right two monitoring exterior surface of wall or glass appearance surface are installed
The function situation of face at work and scouring quality, the monitoring camera monitoring technical ability robot at middle part and the real-time wiping of window frame glass
Picture is washed, the operator of ground control platform is understood each work quality at any time and excludes various failures in time, it is ensured that safety in production,
Ground level have a diameter it is 100 centimetres high 30 centimetres cut off conical boss shape disk line box, on technical ability robot body
Power line and the binding cable of monitoring camera line follow technical ability robot body to lift at the same speed, one encloses inventory during decline
Fig. 1 in the disk line box of conical boss is cut off around bottom inside, roof operator and operator's use of ground control platform are arranged on
Intercom wireless communication equipment on report control platform links scheduling and commander, and roof is harmonious with ground, monitoring screen, intercommunication
The gear four winding drum elevator of two axle two of the serial two bevel-gear hard tooth surface speed reducers transmission of message register, each appliance working, instrument board, R
Machine, distribution board, wireless intercom equipment, the combined platform of the electric parts of tracing and monitoring video system and each button are all arranged on 82 horses
The going to the lavatory of power, which lengthens, to be made 180 degree in the room of 4.2 meters wide 198 centimetres of railway carriage or compartments and rotates and lock on rotating disc type workbench, and van is one
Individual small-sized movable workshop.
Brief description of the drawings：
Fig. 1：High building superficies are cleaned or spraying technical ability robot rises transmission system left view schematic diagram
Fig. 2：High building superficies are cleaned or the sprocket one-way clutch drive mechanism section signal of spraying technical ability robot
Figure
Fig. 3：High building superficies are cleaned or the meshing gear four winding drum of two axle two transmission of spraying technical ability robot and parking brake
Car principle schematic top plan view
Fig. 4：High building superficies are cleaned or the double fixed pulley hydraulically extensibles of the roof Hydraulic Double pole of spraying technical ability robot
With vertical varied angle four-wheel bassinet structure left view schematic diagram
Fig. 5：High building superficies are cleaned or the long finger-type opal glass Cowhells rubber of inflatable of spraying technical ability robot
Erasing refers to structural representation
Fig. 6：High building superficies clean or the thin arcuate sectors material spray nozzle of exterior wall waterproofing coating of spraying technical ability robot with
120 degree of ungulate orientation fillet belt water injection nozzle structural representations
Fig. 7：High building superficies are cleaned or spraying technical ability robot is back and forth pulled the horizontal rail roller of four tune gaps by hydraulic cylinder
Hold in the palm the traversing main platform of branch and the diagrammatic cross-section of mushroom-shaped vertical shift auxiliary platform groined type duplex
Embodiment：
It is described further below in conjunction with accompanying drawing and embodiment.
Embodiment 1：Roof of the technical ability robot body in any outer surface is cleaned or sprayed to high building superficies must
There must be the double fixed pulley carriage structure charts 4 of the double poles of 178 centimetres of centre-to-centre spacing that the hydraulically extensible of a removable tuning pulls, it is double
A fixed pulley is respectively installed in pole outer end, and pulley body is with having one 206 bearing jointing structures, pulley rim and the shield of wheel left and right two in mandrel
The gap for taking turns hanging plate is 1~1.5 millimeter, 6 millimeters of the radius of pulley groove, 96 millimeters of pulley external diameter, and wheel is wide 22 millimeters, with forged steel 45
Number, case-carbonizing processing, groove face hardness HB220 degree, it is outer that one section of 100 millimeters of internal diameter is welded at the top that two shield wheel hanging plates 1/3rd are justified
The gear rope segmental arc in 120 millimeters of footpath, the steel wire rope that 11 millimeters of diameter penetrate or laid down a side guard plate from race circular hole and pass through, press
The steel wire rope of GB1102-88 standard applications 6 × 19 diameter, 11 millimeters every square millimeter 170 kilograms of pulling force, its total rupture pull force are
6130 kilograms, two steel wire ropes pass through after two fixed pulleys be attached at respectively technical ability robot body two side faces center of gravity line intersect at it is flat
Face length the end focus point of 178 cm two safety collar on, tail end be connected to a vertical shift drum center of two axles, two gear four away from
70 centimetre of two 178 centimetres, wide 22 cm OD reel figure 1 above, the double-rod material that hydraulic cylinder extension pulls press GB707-88 standards
From 18.51 square centimeters of 14a areas of section, face mould amount Wz80.5cm is cut out in the 14.53 kilograms of bending resistances of every meter of theoretical weight3, it is long
The bearing load forces of the relative pulley rod member for being welded into square shape in the 4 leg faces of 550 centimetres of two channel-section steels, every rod member end and pulley are 1500
Kilogram, the balance pivot of rod member is less than 150 centimetres on the inside of fixed pulley, 3750 kilograms of the total moment of flexure of maximum deflection of every pole,
1000 kilograms every square centimeter of the stress of 14a channel-section steels bending, the double 14a groups weldering bar cross sections of this degree of lip-rounding accumulate 37 square centimeters,
Safety coefficient 16.5, it can use safely, the seam of 14a channel-section steels 4 joint faces of square shape uses every square millimeter of the pulling force of knot 606
The low hydrogen type high strength steel alloy welding rod of 45 kgfs, using direct current generator, negative pole connection soldering turret, positive pole joint welding part ground connection, divide
Section implements first spot welding every 200 millimeters of welderings, 100 millimeters of weld bond, then intersect cold welding ensure the double poles of weldment it is indeformable, without splitting
Trace, high intensity, the double poles of square shape make vertical line mark from inside 150 centimeters of external end head, and from this line, interior 200 centimeters are made again
One vertical line is marked, and rectangular configuration, 178 centimetres of its parallel vertical width, in each strut piece are formed with the center line of every pole
4 intersection points of two vertical marker lines are put rectangular on heart line, use long 267 centimetres, thick 4 centimetres, the wide 10 centimetres, milli of wall thickness 3
Diagonally linear weldering is connected on thick 6 millimeters, long 26 centimetres, wide 20 centimetres of reinforcement steel plate and connects into X-shaped drawing the shaped steel rod member of rice
Power bar attachment structure, the afterbody of two poles link dovetail guide, and the guide rail that hydraulic cylinder push-and-pull grows 120 centimetres comes and goes along track base
Slip roll adjustment acquisition high building superficies turn the optimum distance needed for brush arm with technical ability robot, and dovetail guide assembly props up along double
Do the angle between plane and double poles, support back edge and four on angle change adjustment connection carriage in the vertical 60 degree of angles in bar direction
Wheel vehicle frame top has a major axis to be rotatablely connected with axle sleeve, and adjusting the vertical angle degree that stands with hydraulic cylinder push-and-pull makes turning for two pole pulleys connection
Brush arm is rotating on the glass outer surface for having special surface carries out rake angle scouring, in the pulley center away from two strut ends
Interior 150 centimeters, there are two zigzag installed in flat-square-shaped steel framework automatically with locking two fulcrums formed with guide rod sliding sleeve,
Its top connects hard rubber roller, and its lower end, which is connected in hydraulic jack, is combined into an iron-clad horses supporting structure, hydraulic station peace
In four-wheel vehicle frame, front and rear two axles four-wheel uses the front-rear axle of minibus, draws pushing dynamic with alleviating brake shoe with hydraulic cylinder, necessary
When can increase counterweight Fig. 4, Hydraulic Double pole carriage installation high-resolution monitoring camera, it is flat that work picture is transmitted into ground level manipulation
Platform, four-wheel bassinet structure can integrally be hung to roof after being assembled on ground, and also part can be transported into roof assembles again, be slided from two poles
Fulcrum is taken turns to, the torque ratio of the weight bearing pressure of two fulcrums to carriage focus point is more than 1 to 5.
Embodiment 2：High building superficies are cleaned or spraying technical ability robot body grow 178 centimetres, it is wide 100 centimetres, high by 80
Centimetre, installation in vivo is long 60 centimetres, wide 50 centimetres, high 40 centimetres, the water tank formed with the electric welding of 3 millimeters thick A3 steel plates, in water tank
One 4 kilograms of pressure water pump is installed, the pressure-reducing valve that 3.2kg pressure is installed on water pump is enough to ensure that 4~6 120 degree of gaps water sprays
Atomisation pressure Fig. 6 of nozzle, its flow are 12 square metres and sprayed water 1.5 kilograms that 80 kilograms of the capacity of exterior wall waterproofing coating case, case is built-in
The muddy water pump of one 4 kilograms of pressure, pressure-reducing valve are depressurized when surpassing 3.5 kilograms, and arc fan-shaped nozzle is welded using the stainless steel plate of 1.5 millimeters thicks
System, 60 millimeters of arc fan-like pattern nozzle outer width, long 50 millimeters, 10 millimeters of throat opening, 1~1.2 millimeter of spray seam, 60~80 lis of spray distance
Rice, 3.5 kilograms of spray pressure, 40 degree of sprayed coating temperature, the interior installation electric heater with thermostat of coating case and electromagnetic switch valve, it is ensured that
Concentration optimum effect is optimal, grows 178 centimetres, wide 100 centimetres, high 80 centimetres of top plane two in scouring or spray robot body
On the frame of side, there is 250 centimetres of two root long, by No. 10 channel-section steels of GB707-88 standard applications, the groove surface of channel-section steel two stand line with
Length parallel center line intersects on every 53 centimetres to 125 centimetres of side, on net two long 72 centimetres line segments, with 16 millimeters of nominal diameter
6 bolt of serrations of 2 millimeters of pitch link trapezoidal upper 40 millimeters of the bottom in section, 60 millimeters of bottom, high 40 millimeters, 720 millimeters of length, press
61 kilograms every square millimeter of the carbon constructional quality steel HB241 degree tensile strength of GB699-88 standard applications is carried out at case-carbonizing
The two groove leg faces on four trapezoidal rails of reason, trapezoidal rail and two sides form " mountain " font directive slide track body, the root long 250 of left and right two
The mountain font directive slide track body of centimetre No. 10 channel-section steels and two trapezoidal rails compositions is in long 178 centimetres four points difference all around
Four slide rail wheel support structure charts 7 for thering is support branch directive slide track roller to form closing with mountain font joint match of installation, with it come
Picking-up is long 250 centimetres, wide 80 centimetres, and thick 10 centimetres totally enclosed by 70 centimetres of reciprocal horizontal left and right horizontal roll adjustments of hydraulic cylinder push-and-pull
Traversing main platform, what the platform structure often held can misplace downwards 50 centimetres plus one section long 75 centimetres turns wiping arm formula manipulator, its
Total length does not surpass 400 centimetres, and long 178 centimetres outer six spline is cast on jewelling alloy axle, is provided with hundreds of inflatable milkys
Glass Cowhells rubber erasing refers to Fig. 5, and it, using RB dispensing standards, it is wear-resisting to take into account pulling force using the original top-quality rubber of Malaysia
Power and tear-proof, White Carbon black is added in right amount, improve pliability and micro-puckery skid resistance and strengthen elasticity, its acid-base value PH6-7.5, resist
Pulling force is every square centimeter to be more than 100 kilograms, and not aging in 3 years, every physical index surmounts car rain brush, in high temperature and load
Under it is indeformable, be hard and soft suitable when making long 20 centimetres of parabola shaped curlings, and not viscous black dirt does not also extrude glass surface, the length
The making of finger is that first one long finger cover for seat is pressed in casting, then casts two erasing length of pressure and refer to monolithic, wherein a piece of root is equipped with air inlet gas
Door, after the one two viscous complete erasing length that are pressed into are referred to, there is convex length 100 the long cylindrical 120 degree three point position of seat that refers in the least
The cylinder housing connection long finger-type opal glass Cowhells rubber erasing of inflatable of 16 millimeters of rice diameter refers to Fig. 5, and cover for seat uses ring
Shape spiral clip fastens, and it is that 60 degree of dislocation is assembled on outer six splined shafts that adjacent two erasings, which refer to, the layer plane glass outside high building
When glass has convex rectangular parallelepiped structure, by its size six spline casting cover for seat in brachydactylia are only installed outside on six splined shafts, owned
The interior six splines casting cover for seat being installed on outer six splines casting jewelling alloy axle is fastened in two spindle noses with nut, this technical ability robot
It is the structure that a lightweight major diameter surmounts car rain brush scrub effect to turn wiping arm, and gross mass turns wiping arm within 15 kilograms
100 centimetres of external diameter, 90 centimetres of erasing elasticity diameter, 280 centimetres of working diameter circumferential surface is per second to wipe 31 centimetres of speed, turns to wipe 9 seconds
Clock turns 6.6~7 turns per minute of wiping arm, is that Ultra-Low Speed rotates, its rotary centrifugal force very little, the strength and speed cleaned by hand less than people
Degree, turn wiping arm using WWJK aluminum alloy casings gearratio 1: 200 worm decelerating machine connection TG190 chain drive structures, exterior wall with
Glass planar when having recessed glass pane face totally enclosed mountain glyph framework indulge the side of vertical center line two be respectively welded with length it is 100 centimetres wide 80 lis
The inside beam of two thick 10 centimetres grooves of rice, being welded to connect two in two times leg faces of beam in plane has two parallel axes wheel supports
That plays a closing presses No. 8 100 centimetres of channel-section steel welding length of GB707-88, and wide 80 centimetres have hydraulic cylinder vertically to stretch drawing 10- to window face
20 centimetres vertically move the special roll adjustment auxiliary platform of wiping window, and it and totally-enclosed mountain font rail groove steel construction are with holding in the palm branch track roller
Traversing main platform is formed, two platforms are androgynous to form groined type structure chart 7 with the vertical and one horizontal reciprocating sliding of two hydraulic cylinder one, its vertical turn
It is mushroom-shaped that what clean glass window face-port frame used, which turns brush body shape, with WWJK aluminum alloy casings worm decelerating machine and by GB1243-
88 standards form chain drive structure with the chain of 3200 kilograms of TG190 Breaking loads, and the chain drive structure of the mushroom shaped also may be used
So that for cleaning exterior wall surface, technical ability robot turns wiping arm and two kinds of mushroom-shaped cleans structure and all uses 120 degree of water spouts, and it is
The water-saving nozzle of oriented control, technical ability robot body one small-sized hydraulic work station of interior installation, two ends of 178 centimetres of body are under
Two WWJK aluminium alloy worm speed-down reels are installed on the side of center two that stands respectively, and each reel connects diameter 11 millimeter 6 × 19
The steel wire rope that 6130 kilograms of rupture pull force summation, the tracking prison of location and installation left, center, right three in the plane of technical ability robot body top
Video camera is controlled, service cable and monitoring wire can bundle integrally, during decline, be coiled in ground with 55 millimeters per second of decrease speed
On face in the drum wire terminal box of the convex truncated cone shape of one meter in diameter, rise by decline when coiling order from line box top layer face sequentially
Rise, will not be disorderly, the effect of two worm decelerating machine reels is to adjust two pairs up and down of technical ability robot body or so two sides at any time
The degree of tautness and horizontal departure of 11 millimeters of steel wire ropes of diameter avoid rocking in lifting and construction operation and drifted about and unevenness.
Embodiment 3：High building superficies are cleaned or 55 millimeters per second of the decline operating rate of spraying technical ability robot, rise
110 millimeters per second of load-carrying speed, respectively from two 0.25KWs different with structure power and output speed and 0.55KWR series
Bevel-gear hard tooth surface speed reducer, by GB1243-88,1244-88 uses TG254 chains 5000 kilograms of pitches of disrumpent feelings full payload
The output chain gear of 25.4 millimeter of 17 tooth is driven the sprocket wheel of 25.4 millimeter of 26 tooth of pitch of one-way clutch and 3 coaxial moulds on different axle
The roller gear reducing transmission structure of several 26 teeth, the gear of 2 26 teeth engage the milli of two 950 millimeters thick of shield rope sheave baffle plate external diameter 8 respectively
The big roller gear for 951 millimeters of 3 number of teeth of modulus, the 315 outside circle external diameter that rice links in shield rope sheave baffle plate lateral surface, two gear wheels
945 millimeters of Fig. 3 of wheelbase of engagement, the outside diameter circle of the gear wheel of 315 teeth are more than 400-600 millimeters, because its carrying torsion is small just
No. 45 cast steels are selected, tooth face hardness HB >=200-220 degree, engage the tooth of 3 modulus of driver pinion 26 of transmission, tip circle external diameter
It is 84 millimeters, using forged steel 45, implements surface hardening 5400 kilograms every square centimeter of allowable contact stress of processing, it is allowable curved
1960 kilograms every square centimeter of transverse stress, tooth face hardness HB220-250 degree, the milli of pitch 25.4 on 209 outer races
Meter, installation four respectively has the symmetrical ratchet canine tooth of spring pressure, its clutch on androgynous another periphery on the outside of the sprocket wheel of 26 sprockets
Be the strange number of teeth ratchet denticle being arranged on flat key on coaxial, wherein two canine tooths, which are quasi- engagements, insures standby safe canine tooth,
The another two transmission canine tooths simply tightly engaged, the shared gearratio 12.1 of technical ability Robot Design work decrease speed per second 55 in the least
Rice, 700 millimeters of gear wheel outside barrel diameter, 2200 millimeters of its girth, every revolution used time：2200 millimeters of mm/second=40 of ÷ 55
Second, the gearratio of the gear wheel of 315 teeth and 26 gears is that tooth=12.1, the R0.25KW helical gear Hardened gear faces of 315 tooth ÷ 26 slow down
29 turns per minute of sprocket wheel on 17 pitch of teeth, 25.4 millimeters of output shafts of machine, the revolution of 40 seconds are：29 turns × 40 seconds/60 seconds=
19.3 turns, 19.3 turns × 17 teeth/turn teeth of ÷ 26/turn=12.6,12.6 and approached with 12.1 gearratio, the tooth Cylinder Gear of 3 modulus 26
Wheel internal diameter is connected with power transmission shaft with gib-headed flat key, and the roller gear is identical with the teeth number of sprocket of 25.4 millimeter of 26 tooth of pitch, is transmitted
Torque it is different, such as the stress relation between spanner and nut, the small cylinder gear and 26 in 78 millimeters of 3 modulus, 26 pitch footpath
Tooth sprocket coaxial speed-down one-way clutch drive mechanism is compact simple and safe innovative speed reducer structure Fig. 2, is obtained from diagram method
Know, high building superficies are cleaned or the maximum load of spraying technical ability robot is less than 200 kilograms, and it is public less than 250 to rise total pulling force
Jin, rise using 0.55Kw output speeds 57, output torque 87, the bevel-gear hard tooth surface speed reducer of gearratio 24, power of motor
Double, output speed is also doubled, and hundred meters of high buildings, which rise, to be needed 15 minutes, is in the tight live palm of tracing and monitoring shooting
The slow load of the lower steady safety of control rises Fig. 1, declines and cleans 30 minutes work used times, stands hard in face of R0.55Kw helical gears
The motor breech face viewing Chain conveyer power structure of tooth surface speed reducer output shaft, it is driven ratchet and the sprocket wheel rotation side of one-way clutch
To being all that positive hour hands turn with the coaxial gear of 26 tooth 3, the 26 gears engagement tooth gear wheel of 3 modulus 315 rotates counterclockwise,
Two wide 22 centimetres, 70 centimetres of diameter, two reels of 95 centimetres of shield rope sheave listrium outside diameter are separately mounted to grow on its gear shaft
Two reels at 178 centimetres of coaxial two end make counterclockwise two steel wire ropes of synchronized 11 millimeters of coiling diameter in the same direction, by hydraulic pressure
Two fixed pulleys of double pole rod ends of double pole four-wheel bassinet structures, high building superficies is cleaned or spray technical ability robot and delay
It is slow to rise, the WWJK aluminum alloy casing worm speed-downs of technical ability robot body stands or so 178 centimetres of two times focus points installation
The steel wire rope of 11 millimeters of two diameters connected on machine reel is connected to left and right two in another tooth Large Gear Shaft of 3 modulus 315
Hold two reels of same size of installation to make synchronized rotate clockwise and put rope, two on each gear shaft are the same as the isostructural reel of size
It is synchronized to make the rotation of anti-and clockwise direction, the ratchet idle running of 26 tooth sprockets of 0.25Kw motor output shafts chain gear transmission this moment, two
Two reels in left and right are passive by R0.55KW in the tooth Large Gear Shaft of 3 modulus 315 that the steel wire rope that 11 millimeters of root diameter is connected
The tooth gear wheel rotate counterclockwise of 3 modulus 315 engagement of bevel-gear hard tooth surface speed reducer transmission, two reels turn clockwise with per second
110 millimeters of speed puts rope with rising at the same speed, and the steel wire rope of 11 millimeters of the diameter of four risings remains all the same elasticity,
If there are wherein two steel wire ropes up and down of side or the wire rope tightness of two sides four differing when influenceing safety work, taken the photograph by monitoring
Picture, the operating personnel on ground handling platform can start WWJK aluminum alloy casing worm decelerating machine reels at any time and slightly adjust i.e.
Can, one-way clutch ratchet wheel body is connected on the 43 millimeters long 39 millimeters outer section axle of diameter with flat key, installation two in 26 tooth sprocket bodies
Only 209 bearings, the bearing inner ring are connected on one section of 45 millimeters long 38 millimeters axle of diameter, and it is androgynous with TG25426 tooth sprockets
180 degree is symmetrically installed four canine tooths by spring pressure on the disk of 17 millimeters of 156 mm wide of external diameter, two canine tooth with unidirectionally from
Close the hook tooth closely active engagement on ratchet wheel body, the valid insurance engagement of two canine tooths, power transmission shaft the inner pitch footpath 78 of 3 modulus 26
The small cylinder gear of 84 millimeters of millimeter outside circle external diameter is connected to gib-headed flat key on the spindle nose of 40 millimeters of keyways 8 × 10 of diameter,
Long 272 millimeters axle has two axle boxes to link with bearing, and when the moment of technical ability robot body lifting to summit disconnecting circuit, two is single
To eight ratchet canine tooths on the ratchet driving structure of clutch must have under spring pressure four respectively engage where two spine
On wheel, the another valid insurance of four difference is engaged, 26 tooth sprockets of the one-way clutch ratchet driving in engagement and 3 coaxial moduluses 26
Tooth small cylinder gear, which all engages, to be bitten, and can make R0.25kw helical gear Hardened gear faces when being not present in this locked transmission system without electricity
4.6 ton forces needed for the tooth sprocket output shaft rotation of reductor 17, the tooth number of two zigzag ratchets is odd number, now two 315
The gear wheel of tooth can be steadily be parked in any one position, be located at rise reel gear axis center at manual Flat belt encircling type
Brake structure can slow down the load of meshing gear, the only either circuit in two bevel-gear hard tooth surface speed reducers are connected
When, engagement rotation Fig. 3 could be driven by no matter being to continue with rising or starting to decline to clean or spray, if an one-way clutch sprocket
Four ratchet canine tooths engaging, the ratchet canine tooth of sprocket four of another one-way clutch then separates, any R series plagiodonts after separation
It is that non-transformer is static to take turns 17 tooth sprockets on the motor output shaft of hard-tooth surface speed reducer, but on the gear shaft of the tooth of 23 modulus 315
Four winding drum is as usual synchronized to make anti-or clockwise direction rotary work relatively, can also use a R57 type 0.75KW output speed 52
The bevel-gear hard tooth surface speed reducer of the gearratio 27 of output torque 131, the one-way clutch type spine sprocket drive mechanism of a drive two is done, this
Transmission system is innovative design, and the end of outer surface two on the inside of the body of technical ability robot is installed one high 120 centimetres, straight respectively
The safe collision proof airbag of light body rubber in 35 centimetres of footpath is to prevent the contact with glass planar.
Embodiment 4：High building superficies are cleaned or spraying technical ability robot has several to be connected to water tank high-pressure hydraulic pump side by side
120 degree of control amount oriented slots gap type fog nozzles on delivery hose, it can spray strength fan-like pattern fillet water smoke band, and 120 degree are
The control that water smoke sprays to, the width degree in gap determine the Quality Map 6 of spray painting, 0.6~1 millimeter of brass sheet or stainless of nozzle
Welded steel plate, the water spray of interior spout stitch 0.5~0.8 millimeter, and this gap is one by 10 millimeters of fixed blade formula length, wide 8 millimeters, thickness
1.5 millimeters of brass sheet or stainless steel plate is bolted in water injection nozzle on the outdoor disk to stand, the other end and high pressure
Soft rubber tube connects, and the bolt being fixedly connected with two 5 millimeters of diameters of latten(-tin), this part has the hole of 8 5.5 millimeters of diameters,
120 degree of water injection nozzles and 90 degree of nozzles are adjustable 45 degree, 90 degree, 135 degree, 180 degree Fig. 6, this figure stand 120 degree be in order to more directly perceived
It has been shown that, the gap that the gap of lower flashboard is presented thereon is two blades of horizontal line section, is two expanding slots up and down
Flashboard, 120 degree of nozzles grow 6 centimetres, and the water sprayed in 3.2 kilograms of pressure of water pump is in droplet shape jet, will can also be pressed manually
The center of orifices of 0.7 millimeter of brass artesian well makes 0.5 millimeter long 3 millimeters atomized water spray gap on power mister head, and
One 120 degree loose 60 millimeters long of ungulate gap nozzle is welded on the union cap (UC) of the latten(-tin), is subtracted when water pump is more than 3.2 kilograms of pressure
Pressure valve opens decompression above water pump, and in the press water reflux tank of decompression, 24 volts of magnetic valve Push And Releases of water pump have ground behaviour
Work person shakes control with remote controller, and 120 degree nozzles control spray directions make the end of scouring arm two outside without water spray, and temperature control is set in water spray chamber
Electric heater, make scouring water temperature in the range of 40 degree, dirt ion and hydrone are active travelling at 40 degree Celsius, can carry
The clean effect of high glass surface, exterior wall waterproofing coating nozzle can spray the strip-form coating fog belt of 10 centimetres wide 100 centimeter length,
It, which sprays nozzle and wall outer surface, 50~60 cm distances, and the interior spout gap of its nozzle is wider one times than water injection nozzle, be 1~
1.6 millimeters, this width can use the spraying gap adjusted needed for gap flashboard upper and lower displacement adjustment, then with two 5 mm outer diameters
Bolt is fixed again after gap is adjusted, and water injection nozzle is as the constitutional detail size for spraying nozzle, the simply shape and angle of spout
Spray to otherwise varied, building exterior wall waterproofing coating temperature control heater incubator is 50 centimetres wide 40 centimetres high 40 lis with thick 3 millimeters of A3 length
Rice sheet metal is welded, and incubator outer layer has pearl foamed plastic plate, inside sets a 0.2Kw and is furnished with 4 kilograms of gate valves
Muddy water pump and 0.1Kw middle font mould wash mixer, case top has one 220 volts to become the water nozzles of solenoid valve control for being pressed into 24 volts to open
Dilution structure and water-repellent paint nozzle construction of switch are closed, can be opened and closed at various height at any time, hydraulic station holds with coating
Product case is installed side by side.
Embodiment 5, high building superficies are cleaned or spraying technical ability robot is in the fixed pulley four-wheel bassinet structure of hydraulic pressure double-rod two
The high-resolution Camera location monitoring transmission work of one long 100 centimetres of level meter and a sextant is installed in connection on frame
Make, picture is passed on the computer screen of workbench, three high definitions are installed at technical ability robot body top plane left, center, right three
Clear video camera is clear with spraying the pictures such as live and each actuation, coating quality, erasing effect, safe operation by scouring at any time
Be delivered on the computer screen of ground surface platform and understand in real time for operator, problematic timely processing, in roof staff
Contact commander at any time with intercom, allow it to adjust the extension of Hydraulic Double pole fixed pulley and updip angle and the side of horizontally rotating
To hydraulic cylinder magnetic valve, water injection nozzle and the exterior wall waterproofing coating nozzle installed in technical ability robot and hydraulic pressure double-rod carriage, clear
Water pump, muddy water pump, the motor switch of worm decelerating machine reel of two WWJK aluminum alloy casings use 12V or 24V safe voltages, R
Serial 0.25Kw~0.55Kw bevel-gear hard tooth surface speed reducers share a two-direction switch, 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., water smoke will be isolated and keep dry
Dry ventilation, thus all installed in 82 horsepowers 4.2 meters of the steam bleeding vehicle commander that goes to the lavatory, wide 1.98 meters can do left back right three direction 180 degrees
Locking formula horizontal rotating disc on, steering structure is connected with railway carriage or compartment room horizontal bottom, and hydraulic pressure double-rod carriage is from roof to bottom of the building layer
Complete one way scouring or next new scrub width and position are just had to move to after spraying, two axles in ground fixed pulley and railway carriage or compartment
The winding place position of two gear four winding drum hoist engines and steel wire rope will also make the adjustment of corresponding direction position, if building building
When influenceing spraying operation because of power supply, 1KW power station, car ceiling canopy and the gear four winding drum hoist engine of two axle two can be matched somebody with somebody
Safety guard net is set in face of three faces of wire rope gearing, security protection steel skeleton, above-mentioned each structure and system are welded on ceiling
It is the preferred embodiment of the present invention.
Above-mentioned is embodiments of the invention, all any changes or extension made according to this technology feature, all should be in this technology
Protection domain within.
Claims (5)
1. a kind of high building superficies are cleaned or spraying technical ability robot, its by the fixed pulley four-wheel bassinet structure of Hydraulic Double pole two,
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 behaviour
Formed as system in combination, on the roof for the high building superficies that clean or spray, there need to be one equipped with level meter, may move
The Hydraulic Double pole of tuning and double strut ends are equipped with the carriage of two fixed pulleys, and the outer end of double poles respectively has one to make 180 degree turn
To pulley, 1 millimeter of pulley hanging plate gap, 96 millimeters of pulley external diameter, pulley are thick 22 millimeters, 6 millimeters of groove radius of wheel, Carburization Treatment
Case hardness HB220, using forged steel 45,3000 kilograms of load-bearing, double poles are by GB1102-88 standard applications 26 × 19, straight
11 millimeters of footpath, every square millimeter of 170 kilograms of pulling force, the steel wire rope of 6130 kilograms of total rupture pull force, two steel wire ropes pass through pulley groove
It is connected on the safety collar of two focus points in left and right that plane length on technical ability robot body is 178 centimetres, double poles
Length respectively be 550 centimetres, by 18.51 square centimeters of GB707-88 standard application 14a sectional areas, every meter of theoretical weight
14.53 kilograms, module of anti-bending section Wz80.5cm3Channel-section steel, 4 leg faces are relative, are welded into the pole of square shape, and pole afterbody links
On dovetail guide, the double poles in left and right connect to a stable frame structure by 100 centimetres of helical pitches of hydraulic cylinder push-and-pull, in double branch
Two axle sleeves are welded in bar lower plane two at base, four-wheel frame top planar back side side outer rim is also welded with two axle sleeves with size,
The dynamic connection of four axle sleeves is passed through by a major axis matched with sleeve diameter, form pair between pole and vehicle frame with pushing drawing on hydraulic cylinder,
The carriage double-rod hue angle structure lifted in 60 angular ranges, has an iron-clad horses support, minibus away from the centimeters of fixed pulley 150
The crop rotation carriage EEF bogie of two axle of front-rear axle four, small-sized hydraulic station are arranged in carriage structure-steel framing, the rotation tail of two hydraulic cylinders
Seat is connected to four-wheel frame top surface and above, two safety of 178 lis or so 2 points of plane on technical ability robot body
On ring, link the steel wire rope of 11 millimeters of two diameters via double horizon adjustable corner fixed pulleys of pole two respectively, in technical ability machine
Plane Installation has long 250 centimetres wide 10 centimetres of 100 cm thick to be moved back and forth by hydraulic cylinder push-and-pull, led by four tune gaps on device people's body
The traversing main platform that rail roller is formed, 100 centimetres wide 8 centimetres of 80 cm thick of length being welded by GB707-88 standards with No. 8 channel-section steels
10~20 centimetres of the special vertical shift auxiliary platform of wiping window is moved by the longitudinally perpendicular window face glass of hydraulic cylinder push-and-pull, mushroom-shaped turns to wipe machinery
Hand is arranged on the vertical shift auxiliary platform, and traversing main platform forms about one two layer of groined type two with the vertical shift auxiliary platform on its top surface
The cladding mobile working platform structure of hydraulic cylinder push-and-pull, respectively GB1243-88,1244-88 are pressed in installation at the transverse moving left and right main end of platform two
The worm gear reducer chain drive structure of the TG190 chain sprockets of selection, the structure driven is the outer six splines casting pressure of 178 centimetres of a length
Aluminium driving shaft, what the axle over-assemble wore row is external diameter has three short cylindricals to refer to an internal diameter by 120 degree three points is and outer six flowers
Six spline fittings in the high intensity casting that matches of key casting pressure aluminium driving shaft, they and hundreds of inflatable opal glass oxen
Muscle rubber erasing length, which refers to, to be assembled into lightweight of the gross mass in 15 kilograms and turns brush body, carrys out erasing as horsetail whisk duster wipes dust
High building superficies PA aluminium alloy glass, six splined connection nuts are installed in the casting on outer six splined shaft from the two of axle
End is fastened, and the water pump for setting up pressure-reducing valve, temperature control electric heater, magnetic valve control bypass water are provided with technical ability robot body
Valve, clarified water pump and water tank, there are the muddy water pump for setting up pressure-reducing valve, temperature control electric heater, middle font agitator and exterior wall paint coating
Incubator and a hydraulic workstation, more parallel 120 degree of hoof with electromagnetic valve switch are installed on technical ability robot body
90 degree of coating nozzles of shape clearance type water injection nozzle and clearance type and three high-resolution tracing and monitoring video cameras, on technical ability robot body
Plane or so connects the steel wire rope of 11 millimeters of a diameter, lower plane respectively on the safety collar of 178 centimetres of two focus points
The cm distance of left and right 178 on corresponding two focus points, installs a WWJK aluminum alloy casing worm decelerating machines, its is defeated respectively up and down
One reel is installed, each reel connects the steel wire rope of 11 millimeters of a diameter, the steel of 11 millimeters of two diameters to stand on shaft
Cord is connected on the tooth mesh gear shaft of 23 modulus 315 after rotating two fixed pulleys of tuning via ground 180 degree respectively
70 centimetres of external diameter, take turns on wide 22 centimetres of two reels, two steel wire ropes of 11 millimeters of the diameter linked on two safety collars pass through respectively
The tooth of 23 modulus 315 to be connected to after the fixed pulley of two tunings another on the fixed pulley and railway carriage or compartment vehicle frame that can be turned to by double strut ends two
On two reels of 70 centimetres of wide 22 centimetres of wheels of external diameter on one mesh gear shaft, R series 0.25Kw helical gears Hardened gear face slows down
The tooth sprockets of TG254 17 on machine output shaft, 29 turns per minute, it is driven a coaxial ratchet with one way engagement during rotate counterclockwise
The tooth sprockets of TG254 26 and the tooth roller gear of 3 modulus of coaxial shaft end 26 the engagement big roller gear of the tooth of one 3 modulus 315 of one, this
70 centimetres of one external diameter, wide 22 centimetres of reel are installed side by side, what is connected on reel is technical ability machine on big cylinder mesh gear shaft
People's body lower plane distance is respectively to be installed on the WWJK aluminum alloy casing worm decelerating machine reels on 178 centimetres of two focus points
The steel wire rope that 11 millimeters of diameter, 57 turns per minute of the tooth sprockets of TG254 17 on 0.55Kw bevel-gear hard tooth surface speed reducer output shafts,
It is driven the tooth sprockets of TG254 26 and the tooth cylinder of 3 modulus of coaxial shaft end 26 with the coaxial ratchet one of one way engagement clockwise
Gear engages the big roller gear of the tooth of one 3 modulus 315, each 70 centimetres of one external diameter of installation side by side on two big cylinder mesh gear shafts, wide
22 centimetres of reel, what is connected on reel is that plan range is that 178 centimetres of two focus points are pacified respectively on technical ability robot body
The steel wire rope of 11 millimeters of the diameter linked on safety collar, the gear wheel permanent engagement of the tooth of 23 modulus 315,0.25Kw and
The terminal drum speed of 0.55Kw bevel-gear hard tooth surface speed reducers is that work declines 55 millimeters per second or rises 110 milli per second respectively
Rice, rising are load liftings, and decline is that work is cleaned or sprayed, and the tooth number along two ratchet fluted discs of clutch counterclockwise is odd number,
The only symmetrical ratchet canine tooth of spring pressure of installation four on each ratchet cover plate, with the TG254 of GB1243-88,1244-88 standard
Chain connection is driven TG254 sprocket wheels, and the tooth cylinder little gear of 3 modulus 26 of TG254 sprocket wheel axially outer ends engages the tooth of 3 modulus 315 respectively
Cylinder gear wheel, thus form an one way engagement, the sprocket wheel that has canine tooth ratchet coaxially engages the transmission of gear wheel with little gear
Technical ability robot is cleaned or sprayed to structure, high building superficies on the fixed pulley carriage structure-steel framing of hydraulic pressure double-rod two on roof
The tracking of Plane Installation left, center, right three on the high-resolution tracing and monitoring video camera and technical ability robot body at one 60 degree of angle is installed
CCTV camera, the monitored picture of four video cameras are delivered on the computer screen of ground handling platform, are understood for operator and are grasped
Command scheduling, roof operator have intercommunication machine equipment to contact commander with ground handling platform operator, pacified in technical ability robot
The water injection nozzle and water-repellent paint nozzle of dress, clarified water pump, muddy water pump, two WWJK aluminum alloy casing worm decelerating machine reels and electric switch
Wired button or wireless remotely-controlled two kinds of modes can be used, the power supply safety voltage that 220 volts of changes can be used to be pressed into 24 volts or 12 volts, R
The axle four winding drum equipment of two gear wheel two of serial two bevel-gear hard tooth surface speed reducers difference one-way clutch transmission, distribution board, video
Transmission equipment, wireless communication apparatus, the combined platform of each button are all arranged on 82 horsepowers of 4.2 meters of the steam bleeding vehicle commander that goes to the lavatory, width
On combination dials formula platform in 1.98 meters of railway carriage or compartment room, it be one by fixing axle can 180 degree rotate after the great circle rotating disk knot that locks
Structure, 1Kw power station is separately equipped with to ensure the inconvenience caused by without electricity or temporary interruption, ensures that the wiping of high building superficies is stroked
Cleaning or spraying exterior wall waterproofing coating work in every it is smooth, guarantee the quality, efficiently, safety work construction.
2. a kind of high building superficies according to claim 1 are cleaned or spraying technical ability robot, it is characterized in that：Roof has
One removable fixed pulley four-wheel bassinet structure of tuning Hydraulic Double pole two, the length of double poles is respectively 550 centimetres, by GB707-88
18.51 square centimeters of standard application 14a sectional areas, 14.53 kilograms of every meter of Theoretical Mass, module of anti-bending section Wz80.5cm3
Channel-section steel, the wide face of 4 legs is relative, is welded into square shape pole, the fixed pulley that only 180 degree is horizontally diverted of strut ends installation one, sliding
1 millimeter of gap between wheel body and pulley hanging plate, 96 millimeters of pulley external diameter, take turns thick 22 millimeters, 6 millimeters of groove radius, Carburization Treatment
Case hardness HB220 degree afterwards, pulley body use No. 45 forged steel, 3000 kilograms of load-bearing, the inner side spot welding of the shield wheel hanging plate of pulley two
One 99 millimeters of diameter, thick 5 millimeters annular shield cheese, make the steel wire rope of 11 millimeters of diameter is all inaccurate in any condition to press from both sides rope,
From double-rod external port shaped sections inside 150 centimetres and 350 centimetres of two point positions, there are two 14a on the face where the point
Number channel-section steel is used as the connecting rod of square shape, thick 6 millimeters, long 260 millimeters, wide 200 millimeters of stiffening plates point two welding up and down
In 150 centimetres and 350 centimetres of four point positions of double-rod, 30 millimeters are grown with 16 millimeter pitch of major diameter of external thread, 2 millimeters of screw threads, total length 50
The bolt connection of millimeter, 144 millimeters thick 6 millimeters of length of the side of square shape connecting rod two welding dipteron shape, two of wide 84 millimeters
Stiffening plate, four stiffening plates, 16 millimeters of external diameter, the bolt connection of 2 millimeters of pitch, grow clear span distance in 200 centimetres up and down
167.4 centimetres of rectangular space has an X-shaped digonal link part, and the end of two rod member two is connected to thick 6 millimeters, long 260 millimeters, wide
On 200 millimeters of stiffening plate, font in having one among two digonal link parts, one end is right-handed thread, and the other end is left hand thread
Strainer, make the parallel stabilization of hydraulic pressure double-rod and zero relax ensure safety, double pole afterbodys connection dovetail slide rail make with gliding mass
With 100 centimetres reciprocatingly slide of hydraulic cylinder work, the long short distance overhang with this building for adjusting double poles, technical ability machine is adjusted at any time
The optimum distance of device people's erasing manipulator, the orientation that four-wheel bassinet structure can arbitrarily needed for adjustment sister block, hydraulic cylinder can transmission fluid
Pull bar is pressed to brake four wheels, when high building is flat uncovered structure top surface, two hydraulic cylinders installed on four-wheel body frame structure for automotive can be simultaneously
Or double-rod slope mass structure is lifted respectively into any angle of inclination, can be with double-rod fixed pulley and erasing manipulator need to be adjusted to clean building in time
Interlayer has the superficies glass at angle of inclination, double pole four-wheel bassinet structures can by parts with crane transport to roof assemble, it is low
Floor room can complete machine handling each part is also transported into roof with manpower to roof after assemble, install one on double pole four-wheel vehicle frames
The high-resolution tracing and monitoring video camera at 60 degree of angles, four-wheel vehicle frame one hydraulic workstation of interior installation, in away from double pole fixed pulleys
100~150 centimeters have a top surface to be provided with hard rubber crop rotation fulcrum, cuboid shaped steel makees helical pitch, hand hydraulic jack rises
The iron-clad horses support of drop, hard rubber wheel are arranged on cuboid shaped steel helical pitch bar top, and it has zigzag automatically with locking device, minibus
Four wheel constructions of front-rear axle make the EEF bogie of carriage, the level meter of Plane Installation one on four-wheel vehicle frame.
3. a kind of high building superficies according to claim 1 are cleaned or spraying technical ability robot, it is characterized in that：Technical ability machine
Device people body grow 178 centimetres, it is wide 100 centimetres, high 80 centimetres, in vivo install one receiving 120 kg welded with 3 millimeters thick A3 steel plates
The water tank of system and the coating case for accommodating 80 kilograms of water proof exterior wall coating, each wiping journey or throw fill 40 kg of water or 30 kilograms of coating
, have the temp controlling heater of 40 degree Celsius in two molten long-pending casees, the clear water of 3.2 kilograms of pressure-reducing valves of pressure limiting be installed in water tank
Pump, the muddy water pump of 3.5 kilograms of pressure-reducing valves of pressure limiting is installed, what clear water pump hose was connected is 120 degree of ungulate gaps in coating case
Water injection nozzle, the connection of muddy water pump is 90 arc spray fan nozzles, and the structure of two nozzles is identical, and it is two semicircle flashboard types that it, which sprays seam gap,
Fixation is remake after adjusting two semicircle flashboards with two bolts, several ten are equipped with the light body axle of long outer six splines of 178 centimetres of cast aluminium alloys
Six spline connecting seats in the hard casting matched with outer six spline, connecting seat is cylindrical have 120 degree it is uniform three long 100 millimeters, straight
The convex cylindrical body in 16 millimeters of footpath, an inflatable opal glass Cowhells erasing length is installed on each cylinder and referred to, number
Hundred inflatable opal glass Cowhells erasings length, which refers to, to be assembled on outer six splined shafts of long 178 centimetres cast aluminium alloy, on the axle
Some convex cylindrical body hard casting connecting seats do not install inflatable opal glass Cowhells rubber erasing dolichostenomelia or installation is short
Refer to the special-shaped structure for the convex wall face for being used for adapting to various width, long 178 centimetres of cast aluminium alloy axle over-assemble is into diameter 100
Centimetre arm shape clean manipulator assembly weight within 15 kilograms, belong to light material structure, have on high building glass outer surface
The flexible erasing glass of function as feather duster, in technical ability robot body by being hung down at medial surface of glass surface or so two
The Aerated safety air bag of vertical 35 centimetres of 120 cm diameter of the length of installation two, to prevent the inflatable milky glass of 100 centimetres of diameter
Glass Cowhells rubber length refers to plays safety protection function when working diameter is packed into 80 centimetres of situations for being possible to injure glass,
There is 250 centimetres of two root long to be selected by GB707-88 standards on two frames before and after the horizontal top surface of scouring or spray robot body
With No. 10 channel-section steels, the center line that the wide face of the groove of channel-section steel two stands is with length parallel center line joining per 53 centimetres to 125 lis of side
Rice, the trapezoidal slide rail occupied on cross central line in section that No. 45 steels do has been fastened with bolt on net long 72 centimetres two sections,
The horizontal rail roller of gap is adjusted to be oriented to equipped with four, No. 10 channel-section steels of two 250 centimetres of length have four section slide rails, No. 10 grooves of two 250 centimetres of length
Steel is welded to connect composition in two end seal encloseds using No. 10 channel-section steels of 100 centimetres of length and closes traversing Working table structure, away from two
Each 85 centimeters are held to be welded to connect respectively with No. 10 long 89.4 centimetres channel-section steels as beam, two groove surfaces are relative, two times millis of leg face 48
Rice, two time leg faces two in upper plane double as rail level, two axle wheels carry one and grow 100 centimetres wide 8 centimetres of 80 cm thicks on rail level
With the work longitudinal direction that No. 8 channel-section steels are welded by 10~20 centimetres of round vertical shift auxiliary platforms of hydraulic cylinder push-and-pull, it is formed with traversing main platform
Upper and lower two layers of groined type cladding mobile working platform structure, respectively installation one has vertical thrust work to the edge of plane two on vertical shift auxiliary platform
Make the ten inflatable opal glass Cowhells rubber length of number of 90 centimetres of diameter without vertical 75 centimetres of thrust working diameter and refer to composition
Mushroom-shaped manipulator, manipulator afterbody have the TG190 chain sprockets used by GB1243-88,1244-88 standard and WWJK aluminium to close
The machine double chain wheel or multi-sprocket composite transmission structure that golden shell worm decelerating machine output chain gear is formed, when two manipulators are to spill
When windowpane and lateral wall width undersize, it can be drawn by fluid cylinder by carrying 250 centimetres of its length and push away the traversing masters of 35 centimetres of strokes
Platform adjusts distance, and mushroom-shaped manipulator has a variety of different diameters, selected, mushroom according to the specific size of building window
Shape manipulator may replace the exterior wall surface that high building superficies turn the unconformable various building special structures on the middle and senior level of wiping arm manipulator
Erasing is cleaned, and the various various sizes of manipulator of installation can be arbitrarily changed in traversing main flat surface, can also be connected and be added at two ends
Long various various sizes of manipulator, it is most long not surpass 4 meters, installed in technical ability robot body outside water tank and water system accessory
The all system accessories of wall water-repellent paint case and hydraulic station, two centers of gravity of 178 centimetres of plane or so on technical ability robot body
On the safety collar of point, each connection determines cunning by the steel wire rope of 11 millimeters of the diameter of GB1102-88 standard applications via double strut ends
Wheel rises reel with hoist engine two and is connected, and two WWJK aluminium are installed respectively on two focus points of lower plane corresponding with upper plane
Alloy shell worm decelerating machine reel, per the steel wire rope of 11 millimeters of connection diameter on reel, two steel wire ropes determine cunning via ground
Take turns and be connected respectively with two decline reels on hoist engine, the level meter of 100 centimetres of the length of installation one, passes through snail in technical ability robot body
The adjustment of bar reductor makes the horizontal working condition of technical ability robot body guarantee.
4. a kind of high building superficies according to claim 1 clean or spraying technical ability robot it is characterized in that：There is R serial
57 turns of output torques of 0.55Kw output speeds, 87 type R37 and 0.25kw output speed 29, two R series of output torque 79R37 types
Bevel-gear hard tooth surface speed reducer, secondly being mounted with pitch 25.4 by GB1244-88 and GB1243-88 standards on speed reducer output shaft
Millimeter, the sprocket wheel of the tooth of the number of teeth 17 and the driving chain of 5000 kilograms of Breaking load, each it is driven the milli of an one way engagement pitch 25.4
26 teeth of rice have the tooth of 3 modulus 26 of the coaxial shaft end installation of the chain gear transmission of canine tooth ratchet, 78 millimeters of pitch diameter, 84 millimeters of outside circle external diameter
Roller gear, the gear engage the tooth of one 3 modulus 315 gear wheel, 315 tooth gear wheels be arranged on 178 centimetres of a root long by 45
On the axle that number carbon junction steel makes, respectively there are a 208 bearing housing attachment structures in two spindle noses, installed side by side on long 178 centimetres axle
The reel of one inner width, 22 cm OD, 70 centimetres of 95 centimetres of shield rope sheave piece external diameters, the medial surface of right side reel are connected with 1
The gear wheel of the tooth of modulus 315, with R0.55Kw bevel-gear hard tooth surface speed reducers parallel side-by-side installation be 0.25KW helical gear it is hard
Tooth surface speed reducer, the sprocket wheel of 25.4 millimeter of 26 tooth of pitch of the sprocket wheel chain drive of 25.4 millimeters of teeth of the number of teeth 17 of pitch on output shaft
Outside is provided with dogtooth ratchet, and its tooth direction is that rotate counterclockwise direction is engaged, the tooth sprocket chain of R0.55KW output shafts 17
Transmission be 25.4 millimeter of 26 tooth of pitch sprocket wheel, its outside is provided with dogtooth ratchet, and its tooth is to being the side of turning clockwise
To engagement, on the output shaft of R0.25Kw bevel-gear hard tooth surface speed reducers, 17 tooth sprockets, which are driven 26 tooth one way engagements, canine tooth ratchet
Chain gear transmission with the tooth of 3 modulus of shaft end 26 roller gear, the gear engage one 315 teeth gear wheel, this 315 tooth gear wheel quilt
Bolt link is in the drum wall of 95 centimetres of the outer reel inside diameter of another 178 centimetres of axles of length, the gear wheel engagement of 2 315 teeth
Wheelbase be 945 millimeters, 0.55Kw and 0.25Kw bevel-gear hard tooth surface speed reducers share a two-direction switch, after the former is rotating forward
Person is to reverse, and two reductors only have alternate intermittent operating, will not corotation simultaneously, the chain gear transmission is a whole engagement rotation,
Its burble point is on the tooth teeth directional of the dogtooth ratchet both forward and reverse directions of 25.4 millimeter of 26 tooth sprocket coaxial separated of pitch diameter, and one just
Hour hands engage, and another is then that separation counterclockwise is not engaged, and positive hour hands engagement direction of rotation is in technical ability robot overall load
Rise, engagement direction of rotation counterclockwise in turn is the operative orientation for declining erasing cleaning；R57 type 0.75KW output speeds 52 are defeated
The bevel-gear hard tooth surface speed reducer for going out the gearratio 27 of moment of torsion 131 has the sprocket wheel installed on a rotating output shaft, and it is single to do a drive two
The chain gear transmission coaxial pinion of ratchet is engaged with to canine tooth, does the drive mechanism of just anti-driven two axles four winding drum.
5. a kind of high building superficies according to claim 1 clean or spraying technical ability robot it is characterized in that：On roof
The fixed pulley four-wheel bassinet structure of Hydraulic Double pole two framework on install a high-resolution tracing and monitoring video camera and one length 100 lis
The level meter of rice, three high-resolution tracing and monitoring video cameras, four shootings are installed in plane left, center, right on technical ability robot working body
Picture is delivered on the computer screen of ground handling platform, is understood work transmission conditions for operator, is grasped work quality, maked corrections
The kind steady transmission operation of mass defect control, commander's safety in production matters, the water spray of solenoid valve control are linked with talkback system
Nozzle, coating nozzle, muddy water pump, the switch of clarified water pump and aluminum alloy casing worm decelerating machine reel are using 12 volts or 24 volt-amperes full electricity
Pressure, use wireless remote control or wired key controlled two type, the tooth of two axle two of R series two bevel-gear hard tooth surface speed reducers transmissions
Take turns four winding drum hoist engine, distribution board, wireless intercom equipment, the combined platform of the electric parts of tracing and monitoring video system and each button
All lengthened installed in 82 horsepowers go to the lavatory and make the rotating disc type workbench that 180 degree is rotated and locked in the room of 4.2 meters wide 1.98 meters of railway carriage or compartments
On, 1 rice diameter dish type truncated cone boss of tricycle equipment turns around disk line box automatically, can need and move with the orientation that stands of cable
It is dynamic, also with a 1Kw self power generations power station.
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