CN104762905A - Posture adjusting device and cleaning device of rolling brush type cleaning equipment - Google Patents
Posture adjusting device and cleaning device of rolling brush type cleaning equipment Download PDFInfo
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- CN104762905A CN104762905A CN201510145729.2A CN201510145729A CN104762905A CN 104762905 A CN104762905 A CN 104762905A CN 201510145729 A CN201510145729 A CN 201510145729A CN 104762905 A CN104762905 A CN 104762905A
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Abstract
The invention discloses a posture adjusting device and a cleaning device of rolling brush type cleaning equipment. The equipment comprises the posture adjusting device (1) and the cleaning device (2). The posture adjusting device comprises a first-level swing mechanism (12), a second-level swing mechanism (17) and a third-level swing mechanism (19); a parallelogram four-connecting-rod derricking mechanism composed of a main connecting rod base (13), two connecting rods (14) and an auxiliary connecting rod base (16). The cleaning device comprises a rolling brush support (21), a rolling brush (22), a rolling brush driving mechanism (23), a water blocking cover (24) and a water spraying pipe (25). The bottom end of the rolling brush support is fixedly connected to the third-level swing mechanism. The posture adjusting device and the cleaning device of the rolling brush type cleaning equipment achieves adjustment with multi-degree of freedom by controlling the swing mechanisms and the parallelogram four-connecting-rod derricking mechanism. Convenience is made for storage and adjustment with multi-degree of freedom in a small space is achieved. Rolling brush work under the different working conditions can be realized, and the equipment is easy to operate and facilitating working.
Description
Technical field
The present invention relates to a kind of device for adjusting posture and brush device, specifically a kind of device for adjusting posture of roller brush type cleaning equipment and brush device, belong to roller brush type cleaning equipment technical field.
Background technology
Along with the develop rapidly of China's economy, the high speed of vehicular traffic flow increases, incity, city overpass bridge, belt viaduct and mountain tunnel, the quantity in river-crossing tunnel or Chuan Hu tunnel is increasing, a large amount of airborne dusts that greasy dirt in a large amount of tail gas that vehicle is discharged and the driving vehicle passed through at a high speed are rolled mix and are finally attached to metope, on acoustic screen and guardrail, accumulate over a long period and just form obvious spot, spot not only can affect attractive in appearance, and can illuminating effect be affected, serious even affects pilot's line of vision and then affects traffic safety, usually need metope, acoustic screen and guardrail carry out periodic cleaning maintenance, remove spot.
Wall surface cleaning vehicle is the special vehicle of the cleaning work for urban road facade, it is the preferred unit of tunnel metope and the operation of acoustic screen clean and maintenance, good owing to adopting the wall surface cleaning vehicle of round brush cleaning way to have transaction capabilities, operating efficiency is high, single effective operation time and mileage long, the advantages such as running cost is low, therefore existing wall surface cleaning vehicle adopts round brush cleaning way mostly, generally comprise car body assembly, folding arm and washing and brushing device assembly etc., folding arm is driven to raise or to reduce by fluid pressure drive device, and then realize washing and brushing device assembly scrub height change, drive washing and brushing device assembly can horizontally rotate direction thus realize multiple directions by fluid pressure drive device to scrub.
Pose adjustment many uses connecting rod of current round brush coordinates the jib lubbing mechanism of oil cylinder form, its complex structure, take up room after storage large, and the multiple degrees of freedom being difficult to realize in little space regulates, make the scrubbing manner of round brush cleaning equipment single, and then cause the jib lubbing mechanism and the rolling-brush cleaning device that adopt different structure form in order to meet different operating mode needs.
Summary of the invention
For the problems referred to above, the invention provides a kind of device for adjusting posture and washing and brushing device of roller brush type cleaning equipment, structure is simple, be convenient to storage, multiple degrees of freedom in little space can be realized regulate, can meet and scrub operation under different operating modes, simple to operate, operation convenient.
For achieving the above object, the device for adjusting posture of this roller brush type cleaning equipment and washing and brushing device comprise device for adjusting posture and washing and brushing device;
Described device for adjusting posture comprises leveling bracket, one-level swing mechanism, master connecting-rod seat, connecting rod, connecting rod amplitude oil cylinder, slave connecting rod seat, secondary swing mechanism, swing seat and three grades of swing mechanisms;
The minor details top of leveling bracket one end and expansion coupling arm or folding arm is articulated and connected, and expansion coupling arm or folding arm are provided with leveling hydraulic cylinder, and leveling hydraulic cylinder one end is articulated and connected in leveling bracket, and the other end is articulated and connected on expansion coupling arm or folding arm;
The axis of rotation of one-level swing mechanism is fixedly connected on the other end of leveling bracket along the direction in the hinged direction of minor details perpendicular to leveling bracket one end and expansion coupling arm or folding arm;
Master connecting-rod seat is fixedly connected on one-level swing mechanism;
Connecting rod is set to two pieces, and two pieces connecting rod be arranged in parallel and one end is articulated and connected in master connecting-rod seat respectively, and the other end is articulated and connected in slave connecting rod seat, and master connecting-rod seat, two pieces connecting rod and slave connecting rod seat form parallelogram four-bar linkage jointly;
Connecting rod amplitude oil cylinder is arranged on the diagonal of parallelogram four-bar linkage, and one end is articulated and connected in master connecting-rod seat, and the other end is articulated and connected in slave connecting rod seat;
Secondary swing mechanism is fixedly connected on slave connecting rod seat and the rotation axis parallel of the rotation of secondary swing mechanism and one-level swing mechanism is arranged;
Swing seat is fixedly connected with the axis of rotation of secondary swing mechanism;
The axis of rotation of three grades of swing mechanisms is fixedly connected in swing seat along the direction perpendicular to the axis of rotation of secondary swing mechanism;
Described washing and brushing device comprises round brush support, round brush, round brush driving mechanism, water retaining cover and sparge pipe;
Round brush support is in " U " shape, and its " U " shape bottom is fixedly connected on three grades of swing mechanisms;
Rolling brush rack is located at " U " shape inside configuration of round brush support, comprises bristle and roller brush shaft;
Round brush driving mechanism is arranged on one end of the roller brush shaft of round brush;
The curved structure in water retaining cover cross section, is arranged on round brush support, and water retaining cover is greater than the bristle of round brush along the length on the axial direction of the roller brush shaft of round brush along the length on the axial direction of the roller brush shaft of round brush;
Sparge pipe is arranged on two tops of water retaining cover along the axial direction of the roller brush shaft of round brush, and sparge pipe is laid with nozzle, nozzle and sparge pipe through.
Scheme as a further improvement on the present invention, the triangular structure that described master connecting-rod seat and slave connecting rod seat are arranged to, master connecting-rod seat and slave connecting rod seat are symmetrical arranged, a summit of the master connecting-rod seat of triangular structure is fixedly connected on one-level swing mechanism, another two summits are articulated and connected connecting rod respectively, a summit of the slave connecting rod seat of triangular structure is fixedly connected on secondary swing mechanism, and another two summits are articulated and connected connecting rod respectively.
As preferred version of the present invention, described one-level swing mechanism, secondary swing mechanism and three grades of swing mechanisms are hydraulic motors.
Scheme as a further improvement on the present invention, described water retaining cover bottom is communicated with Sewage treatment water pipe, on the chassis that the Sewage treatment water pipe other end is arranged on cleaning Vehicle and the mouth of pipe hang low near ground.
Scheme as a further improvement on the present invention, the central angle of the arcuate structure of described water retaining cover is greater than 180 °, is less than 270 °.
As preferred version of the present invention, the arcuate structure face of described water retaining cover arranges arc-shaped rack, the gear that on described round brush support, correspondence position is provided with driving mechanism and coordinates with arc-shaped rack.
Compared with prior art, the device for adjusting posture of this roller brush type cleaning equipment and the device for adjusting posture of washing and brushing device are owing to being a parallelogram four-link luffing, therefore during receiving state, two pieces connecting rod can fit together under the drive of connecting rod amplitude oil cylinder, make the area of parallelogram minimum, decrease storage and take up room; Because device for adjusting posture has two C rotation of coordinate mechanisms (being namely one-level swing mechanism and the secondary swing mechanism of rotation along vertical axis), an A rotation of coordinate mechanism (being namely three grades of swing mechanisms of rotation along X-direction horizontal axis) and a B rotation of coordinate mechanism (being namely the leveling bracket of rotation along Y direction horizontal axis), therefore can swing by multiple degrees of freedom, the multiple degrees of freedom that can realize in little space regulates, meet and scrub operation under different operating modes, scrub the method for operation flexibly, simple to operate, operation convenience.
Accompanying drawing explanation
Fig. 1 is three-dimensional structure schematic diagram of the present invention;
Fig. 2 uses the present invention to scrub partial structurtes schematic diagram when end face scrubs face;
Fig. 3 uses the present invention to scrub partial structurtes schematic diagram when face is scrubbed in side.
In figure: 1, device for adjusting posture, 11, leveling bracket, 12, one-level swing mechanism, 13, master connecting-rod seat, 14, connecting rod, 15, connecting rod amplitude oil cylinder, 16, slave connecting rod seat, 17, secondary swing mechanism, 18, swing seat, 19, three grades of swing mechanisms, 2, washing and brushing device assembly, 21, round brush support, 22, round brush, 23, round brush driving mechanism, 24, water retaining cover, 25, sparge pipe, 3, expansion coupling arm or folding arm.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figure 1, the device for adjusting posture of this roller brush type cleaning equipment and washing and brushing device comprise device for adjusting posture 1 and washing and brushing device 2.
Described device for adjusting posture 1 comprises leveling bracket 11, one-level swing mechanism 12, master connecting-rod seat 13, connecting rod 14, connecting rod amplitude oil cylinder 15, slave connecting rod seat 16, secondary swing mechanism 17, swing seat 18 and three grades of swing mechanisms 19;
The minor details top of leveling bracket 11 one end and expansion coupling arm or folding arm 3 is articulated and connected, expansion coupling arm or folding arm 3 are provided with leveling hydraulic cylinder, leveling hydraulic cylinder one end is articulated and connected in leveling bracket 11, the other end is articulated and connected on expansion coupling arm or folding arm 3, flexiblely can be realized leveling bracket 11 by what control leveling hydraulic cylinder and rotates along horizontal axis;
The axis of rotation of one-level swing mechanism 12 is along the other end being fixedly connected on leveling bracket 11 perpendicular to leveling bracket 11 one end and the direction in the hinged direction of minor details of expansion coupling arm or folding arm 3, and one-level swing mechanism 12 can rotate freely and locate within the scope of axis ± 90 of the jointed shaft of the minor details perpendicular to leveling bracket 11 and expansion coupling arm or folding arm 3 °;
Master connecting-rod seat 13 is fixedly connected on one-level swing mechanism 12, and master connecting-rod seat 13 can be driven when one-level swing mechanism 12 rotates to rotate freely within the scope of ± 90 ° and locate;
Connecting rod 14 is set to two pieces, and two pieces connecting rod 14 be arranged in parallel and one end is articulated and connected in master connecting-rod seat 13 respectively, and the other end is articulated and connected in slave connecting rod seat 16, and master connecting-rod seat 13, two pieces connecting rod 14 and slave connecting rod seat 16 form parallelogram four-bar linkage jointly;
Connecting rod amplitude oil cylinder 15 is arranged on the diagonal of parallelogram four-bar linkage, one end is articulated and connected in master connecting-rod seat 13, the other end is articulated and connected in slave connecting rod seat 16, stretching by control link amplitude oil cylinder 15, can realize the luffing motion of quadric chain;
Secondary swing mechanism 17 is fixedly connected on slave connecting rod seat 16 and the rotation axis parallel of the rotation of secondary swing mechanism 17 and one-level swing mechanism 12 is arranged, and secondary swing mechanism 17 can rotate freely and locate within the scope of its axis ± 90 °;
Swing seat 18 is fixedly connected with the axis of rotation of secondary swing mechanism 17, and swing seat 18 can be driven when secondary swing mechanism 17 rotates to rotate freely within the scope of ± 90 ° and locate;
The axis of rotation of three grades of swing mechanisms 19 is fixedly connected in swing seat 18 along the direction perpendicular to the axis of rotation of secondary swing mechanism 17, and three grades of swing mechanisms 19 can rotate freely and locate within the scope of its axis ± 180 °.
Described washing and brushing device 2 is connected with the end of device for adjusting posture 1, comprises round brush support 21, round brush 22, round brush driving mechanism 23, water retaining cover 24 and sparge pipe 25;
Round brush support 21 is in " U " shape, and its " U " shape bottom is fixedly connected on three grades of swing mechanisms 19, and round brush support 21 can be driven when three grades of swing mechanisms 19 rotate to rotate freely within the scope of ± 180 ° and locate;
Round brush 22 is erected at " U " shape inside configuration of round brush support 21, comprises bristle and roller brush shaft;
Round brush driving mechanism 23 is arranged on one end of the roller brush shaft of round brush 22, and round brush driving mechanism 23 can drive round brush 22 to rotate and realize round brush;
Water retaining cover 24 cross section is in the arcuate structure concentric with the roller brush shaft axle center of round brush 22, be arranged on round brush support 21, water retaining cover 24 is greater than the bristle of round brush 22 along the length on the axial direction of the roller brush shaft of round brush 22 along the length on the axial direction of the roller brush shaft of round brush 22, arc water retaining cover 24 can circumferential partial occlusion round brush 22;
Sparge pipe 25 is arranged on two tops of water retaining cover 24 along the axial direction of the roller brush shaft of round brush 22, and sparge pipe 25 is laid with nozzle, nozzle and sparge pipe 25 through.
The device for adjusting posture of this roller brush type cleaning equipment and washing and brushing device are when the normal driving states of cleaning Vehicle, namely during complete receiving state, its leveling hydraulic cylinder, connecting rod amplitude oil cylinder 15 is all in retraction state, two pieces connecting rod 14 can fit together under the drive of connecting rod amplitude oil cylinder 15, i.e. master connecting-rod seat 13, the area that two pieces connecting rod 14 and slave connecting rod seat 16 form parallelogram is jointly minimum, one-level swing mechanism 12, secondary swing mechanism 17 and three grades of swing mechanisms 19 are in the length and width range that respective extreme positions makes whole device for adjusting posture 1 and washing and brushing device 2 all be in the chassis of cleaning Vehicle respectively, normal driving can not be affected.
When scrubbing duty, can control that leveling hydraulic cylinder stretches out, one-level swing mechanism 12 action, connecting rod amplitude oil cylinder 15 stretch out and make leveling bracket 11 rout up and be raised up to horizontal level, then controlling 17, three grades of swing mechanism 19 actions of secondary swing mechanism makes washing and brushing device 2 rotate, as shown in Figure 2 and Figure 3, round brush 22 is made to be in the face of scrubbing the state in face, then controlling the unlatching of round brush driving mechanism 23 makes round brush 22 rotate, controlling water pump unlatching makes the nozzle on sparge pipe 25 start sparging swabbing, can carry out scrubbing operation.
Fit for the ease of two pieces connecting rod 14 and receive, scheme as a further improvement on the present invention, the triangular structure that described master connecting-rod seat 13 and slave connecting rod seat 16 are arranged to, master connecting-rod seat 13 and slave connecting rod seat 16 are symmetrical arranged, a summit of the master connecting-rod seat 13 of triangular structure is fixedly connected on one-level swing mechanism 12, another two summits are articulated and connected connecting rod 14 respectively, a summit of the slave connecting rod seat 16 of triangular structure is fixedly connected on secondary swing mechanism 17, and another two summits are articulated and connected connecting rod 14 respectively.
Described one-level swing mechanism 12, secondary swing mechanism 17 and three grades of swing mechanisms 19 can adopt gear teeth ring type structure, also hydraulic motor formula structure can be adopted, or other form of structure, due to realization rotate and under the object of locating hydraulic motor space hold relatively little, be convenient to rotating control, therefore preferred first scheme, namely, as preferred version of the present invention, described one-level swing mechanism 12, secondary swing mechanism 17 and three grades of swing mechanisms 19 are hydraulic motors.
Secondary is caused to drip bespatter dye to avoid sewage drippage in scrubbing process as far as possible to ground or vehicular traffic, scheme as a further improvement on the present invention, described water retaining cover 24 bottom is communicated with Sewage treatment water pipe, on the chassis that the Sewage treatment water pipe other end is arranged on cleaning Vehicle and the mouth of pipe hangs low near ground, waste water can hang low through Sewage treatment water pipe and be disposed to ground, can reduce sewage in scrubbing process and drip the degree causing secondary splash to pollute to ground or vehicular traffic.
Dripping to prevent sewage further, being convenient to reclaim sewage, scheme as a further improvement on the present invention, the central angle of the arcuate structure of described water retaining cover 24 is greater than 180 °, is less than 270 °, namely, the injection direction of nozzle tilts inside round brush 22, the scrub major part of water through scrubbing face reflection and round brush 22 of nozzle ejection falls in water retaining cover 24, and waste water hangs low through Sewage treatment water pipe collecting and is disposed to ground.
Owing to scrubbing the difference in direction, the direction of the sewage that the round brush 22 rotated throws away is also different, in order to effectively stop the sewage thrown away, described water retaining cover 24 adopts variable impedance direction to arrange, water retaining cover 24 can pass through latch, the manual mode of different jack is fixed on different stop directions, also gear can be passed through, the automated manner of tooth bar is fixed on different stop directions, because the latter arbitrarily can facilitate adjustment in scrubbing process, therefore preferred the latter, namely, as preferred version of the present invention, the arcuate structure face of described water retaining cover 24 arranges arc-shaped rack, the gear that on described round brush support 21, correspondence position is provided with driving mechanism and coordinates with arc-shaped rack, realize controlling water retaining cover 24 change stop direction by controlling the rotating of driving mechanism driven gear.
The device for adjusting posture of this roller brush type cleaning equipment and the device for adjusting posture 1 of washing and brushing device are owing to being a parallelogram four-link luffing, therefore during receiving state, two pieces connecting rod 14 can fit together under the drive of connecting rod amplitude oil cylinder 15, make the area of parallelogram minimum, decrease storage and take up room, because device for adjusting posture 1 has two C rotation of coordinate mechanisms (being namely one-level swing mechanism 32 and the secondary swing mechanism 37 of rotation along vertical axis), an A rotation of coordinate mechanism (being namely three grades of swing mechanisms 39 of rotation along X-direction horizontal axis) and a B rotation of coordinate mechanism (being namely the leveling bracket 31 of rotation along Y direction horizontal axis), therefore can swing by multiple degrees of freedom, the multiple degrees of freedom that can realize in little space regulates, meet and scrub operation under different operating modes, scrub the method for operation flexible, simple to operate, operation is convenient.
Claims (6)
1. the device for adjusting posture of roller brush type cleaning equipment and a brush device, comprise device for adjusting posture (1) and washing and brushing device (2), washing and brushing device (2) comprises round brush support (21), round brush (22), round brush driving mechanism (23), water retaining cover (24) and sparge pipe (25), round brush support (21) is in " U " shape, round brush (22) is erected at " U " shape inside configuration of round brush support (21), comprise bristle and roller brush shaft, round brush driving mechanism (23) is arranged on one end of the roller brush shaft of round brush (22), the curved structure in water retaining cover (24) cross section, be arranged on round brush support (21), water retaining cover (24) is greater than the bristle of round brush (22) along the length on the axial direction of the roller brush shaft of round brush (22) along the length on the axial direction of the roller brush shaft of round brush (22), sparge pipe (25) is arranged on two tops of water retaining cover (24) along the axial direction of the roller brush shaft of round brush (22), (25) are laid with nozzle to sparge pipe, nozzle and sparge pipe (25) through, it is characterized in that,
Described device for adjusting posture (1) comprises leveling bracket (11), one-level swing mechanism (12), master connecting-rod seat (13), connecting rod (14), connecting rod amplitude oil cylinder (15), slave connecting rod seat (16), secondary swing mechanism (17), swing seat (18) and three grades of swing mechanisms (19); The minor details top of leveling bracket (11) one end and expansion coupling arm or folding arm (3) is articulated and connected, expansion coupling arm or folding arm (3) are provided with leveling hydraulic cylinder, leveling hydraulic cylinder one end is articulated and connected in leveling bracket (11), and the other end is articulated and connected on expansion coupling arm or folding arm (3); The axis of rotation of one-level swing mechanism (12) is fixedly connected on the other end of leveling bracket (11) along the direction in the hinged direction of minor details perpendicular to leveling bracket (11) one end and expansion coupling arm or folding arm (3); Master connecting-rod seat (13) is fixedly connected on one-level swing mechanism (12); Connecting rod (14) is set to two pieces, two pieces connecting rod (14) be arranged in parallel and one end is articulated and connected in master connecting-rod seat (13) respectively, the other end is articulated and connected in slave connecting rod seat (16), and master connecting-rod seat (13), two pieces connecting rod (14) and slave connecting rod seat (16) form parallelogram four-bar linkage jointly; Connecting rod amplitude oil cylinder (15) is arranged on the diagonal of parallelogram four-bar linkage, and one end is articulated and connected in master connecting-rod seat (13), and the other end is articulated and connected in slave connecting rod seat (16); Secondary swing mechanism (17) is fixedly connected on slave connecting rod seat (16) and the rotation axis parallel of the rotation of secondary swing mechanism (17) and one-level swing mechanism (12) is arranged; Swing seat (18) is fixedly connected with the axis of rotation of secondary swing mechanism (17); The axis of rotation of three grades of swing mechanisms (19) is fixedly connected in swing seat (18) along the direction perpendicular to the axis of rotation of secondary swing mechanism (17);
Described round brush support (21) " U " shape bottom is fixedly connected on three grades of swing mechanisms (19).
2. the device for adjusting posture of roller brush type cleaning equipment according to claim 1 and brush device, it is characterized in that, the triangular structure that described master connecting-rod seat (13) and slave connecting rod seat (16) are arranged to, master connecting-rod seat (13) and slave connecting rod seat (16) are symmetrical arranged, a summit of the master connecting-rod seat (13) of triangular structure is fixedly connected on one-level swing mechanism (12), another two summits are articulated and connected connecting rod (14) respectively, a summit of the slave connecting rod seat (16) of triangular structure is fixedly connected on secondary swing mechanism (17), another two summits are articulated and connected connecting rod (14) respectively.
3. the device for adjusting posture of roller brush type cleaning equipment according to claim 1 and 2 and brush device, it is characterized in that, described one-level swing mechanism (12), secondary swing mechanism (17) and three grades of swing mechanisms (19) are hydraulic motors.
4. the device for adjusting posture of roller brush type cleaning equipment according to claim 1 and 2 and brush device, it is characterized in that, described water retaining cover (24) bottom is communicated with Sewage treatment water pipe, on the chassis that the Sewage treatment water pipe other end is arranged on cleaning Vehicle and the mouth of pipe hang low near ground.
5. the device for adjusting posture of roller brush type cleaning equipment according to claim 1 and 2 and brush device, it is characterized in that, the central angle of the arcuate structure of described water retaining cover (24) is greater than 180 °, is less than 270 °.
6. the device for adjusting posture of roller brush type cleaning equipment according to claim 1 and 2 and brush device, it is characterized in that, the arcuate structure face of described water retaining cover (24) arranges arc-shaped rack, the gear that the upper correspondence position of described round brush support (21) is provided with driving mechanism and coordinates with arc-shaped rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510145729.2A CN104762905B (en) | 2015-03-30 | 2015-03-30 | The device for adjusting posture of a kind of roller brush type cleaning equipment and brush device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510145729.2A CN104762905B (en) | 2015-03-30 | 2015-03-30 | The device for adjusting posture of a kind of roller brush type cleaning equipment and brush device |
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| Publication Number | Publication Date |
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| CN104762905A true CN104762905A (en) | 2015-07-08 |
| CN104762905B CN104762905B (en) | 2016-08-24 |
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| CN201510145729.2A Active CN104762905B (en) | 2015-03-30 | 2015-03-30 | The device for adjusting posture of a kind of roller brush type cleaning equipment and brush device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082173A (en) * | 2015-07-24 | 2015-11-25 | 中国科学院等离子体物理研究所 | Built-in quadrangular pitching driving joint used in vacuum environment |
| CN105133526A (en) * | 2015-09-18 | 2015-12-09 | 山东理工大学 | Position self-adapting and adjusting device for sweeper rolling brushes |
| CN105507566A (en) * | 2016-01-14 | 2016-04-20 | 广西大学 | Wall painting mechanism |
| CN106272386A (en) * | 2016-09-22 | 2017-01-04 | 中国科学院合肥物质科学研究院 | A kind of hinge type double freedom modular mechanical arm for EAST device |
| CN107088486A (en) * | 2017-04-21 | 2017-08-25 | 成都大漠石油技术有限公司 | Antirust solution is sprayed on to the mechanism of oil drum inwall |
| CN107171629A (en) * | 2016-11-10 | 2017-09-15 | 上海电力新能源发展有限公司 | A kind of photovoltaic battery panel cleaning car and its application method |
| CN108442298A (en) * | 2018-04-15 | 2018-08-24 | 扬州金威环保科技有限公司 | A kind of dry-wet integrated clearing apparatus of roll-type multiple degrees of freedom |
| CN108797478A (en) * | 2018-07-28 | 2018-11-13 | 安徽南博机器人有限公司 | A kind of hand propelled, which is swept, washes all-in-one machine |
| CN109488826A (en) * | 2018-11-27 | 2019-03-19 | 徐工集团工程机械有限公司 | A kind of vacuum soil suction vehicle pipe connecting device and adapting method |
| CN109797693A (en) * | 2019-03-20 | 2019-05-24 | 吉林省北欧重型机械有限公司 | Floating type road-surface cleaning apparatus is inhaled by force in rolling and brushing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105082173A (en) * | 2015-07-24 | 2015-11-25 | 中国科学院等离子体物理研究所 | Built-in quadrangular pitching driving joint used in vacuum environment |
| CN105133526A (en) * | 2015-09-18 | 2015-12-09 | 山东理工大学 | Position self-adapting and adjusting device for sweeper rolling brushes |
| CN105507566A (en) * | 2016-01-14 | 2016-04-20 | 广西大学 | Wall painting mechanism |
| CN106272386A (en) * | 2016-09-22 | 2017-01-04 | 中国科学院合肥物质科学研究院 | A kind of hinge type double freedom modular mechanical arm for EAST device |
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| CN107171629B (en) * | 2016-11-10 | 2024-04-05 | 上海电力新能源发展有限公司 | Photovoltaic cell panel cleaning vehicle and application method thereof |
| CN107088486A (en) * | 2017-04-21 | 2017-08-25 | 成都大漠石油技术有限公司 | Antirust solution is sprayed on to the mechanism of oil drum inwall |
| CN108442298B (en) * | 2018-04-15 | 2024-02-13 | 扬州金威环保科技有限公司 | Roller type multi-degree-of-freedom dry-wet integrated cleaning device |
| CN108442298A (en) * | 2018-04-15 | 2018-08-24 | 扬州金威环保科技有限公司 | A kind of dry-wet integrated clearing apparatus of roll-type multiple degrees of freedom |
| CN108797478A (en) * | 2018-07-28 | 2018-11-13 | 安徽南博机器人有限公司 | A kind of hand propelled, which is swept, washes all-in-one machine |
| CN108797478B (en) * | 2018-07-28 | 2020-12-29 | 安徽南博机器人有限公司 | Hand-push type sweeping and washing integrated machine |
| CN109488826A (en) * | 2018-11-27 | 2019-03-19 | 徐工集团工程机械有限公司 | A kind of vacuum soil suction vehicle pipe connecting device and adapting method |
| CN109797693B (en) * | 2019-03-20 | 2024-02-09 | 吉林省北欧重型机械有限公司 | Rolling-sweeping strong-suction floating road surface cleaning device |
| CN109797693A (en) * | 2019-03-20 | 2019-05-24 | 吉林省北欧重型机械有限公司 | Floating type road-surface cleaning apparatus is inhaled by force in rolling and brushing |
| CN114766981B (en) * | 2022-05-13 | 2023-09-29 | 杭州萤石软件有限公司 | Cleaning robot and control method thereof |
| CN114766981A (en) * | 2022-05-13 | 2022-07-22 | 杭州萤石软件有限公司 | Cleaning robot and control method thereof |
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| CN104762905B (en) | 2016-08-24 |
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