CN105798006A - Building balustrade cleaning robot based on six-freedom-degree parallel mechanism - Google Patents
Building balustrade cleaning robot based on six-freedom-degree parallel mechanism Download PDFInfo
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- CN105798006A CN105798006A CN201610343413.9A CN201610343413A CN105798006A CN 105798006 A CN105798006 A CN 105798006A CN 201610343413 A CN201610343413 A CN 201610343413A CN 105798006 A CN105798006 A CN 105798006A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 260
- 230000007246 mechanism Effects 0.000 title claims abstract description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 46
- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 239000000463 material Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 18
- 230000008901 benefit Effects 0.000 description 11
- 239000000284 extract Substances 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B08B1/10—
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- B08B1/30—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Abstract
The invention relates to a building balustrade cleaning robot based on a six-freedom-degree parallel mechanism. The building balustrade cleaning robot comprises a lower platform. A bottom plate is arranged on the lower end face of the lower platform. Four universal wheels are symmetrically arranged on the lower end face of the bottom plate. The building balustrade cleaning robot can be freely moved to the side of a balustrade needing to be cleaned through the four universal wheels, and operation is easy and convenient. Six parallel branched chains are mounted on the lower platform, and the upper ends of the six parallel branched chains are evenly mounted on an upper platform. Each parallel branched chain comprises a hollow lower threaded shaft with the lower end welded to the lower platform. A first spherical hinge is mounted on each hollow lower threaded shaft in a threaded connection manner. The upper end of each first spherical hinge is provided with a first sleeve in a threaded connection manner. The upper end of each first sleeve is provided with a first hydraulic cylinder in a threaded connection manner. According to the building balustrade cleaning robot, the stable automatic lifting cleaning function of the indoor balustrade can be achieved, and a new path of automatically cleaning the balustrade is provided.
Description
Technical field
The present invention relates to building cleaning equipment, specifically a kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism.
Background technology
Development along with China's economy, the high buildings and large mansions of various places are seen everywhere, in order to ensure user security performance high-rise indoor glass before generally all can load onto rustless steel guardrail, rustless steel guardrail is required for being periodically subject to wiping and cleaning, but owing to existing indoor rustless steel guardrail is large number of, thus greatly adding the workload of cleaning personnel, and manual cleaning indoor rustless steel guardrail mode exists, and cleaning speed is slow, cleaning performance is poor and the inferior defect of inefficiency；Although most of guardrail cleaning equipments of existing market are both for the outdoor rustless steel Guardrail design such as road guard, Green protection fence, but still there is a small amount of interior divider cleaning equipment, substantially handheld cleaning device, there is following defect: 1, when the interior divider aspect ratio running into required cleaning is higher, it is accomplished by lengthening equipment and cleans length, but owing to equipment long causing of stretching exists shake situation in cleaning process, reduce the stability of cleaning, also reduce cleaning performance, the rigid support intensity of equipment is low, and work efficiency is low；2, cleaning diameter unadjustable, the interior divider diameter range being suitable for cleaning is little, and the scope of application is little.
Summary of the invention
nullIn order to solve the problems referred to above，The invention provides a kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism，The labor intensity that existing manual cleaning interior divider mode exists can be solved big、Cleaning speed is slow、Cleaning performance difference and the inferior difficult problem of inefficiency，The cleaning height adjustment range that can also solve the existence of existing hand-held interior divider cleaning equipment is little、In lifting cleaning process there is shake situation in equipment、Cleaning stability is poor、Cleaning performance is poor、Rigid support poor performance、Work efficiency is low、Clean the difficult problems such as the irreconcilable scope of application of diameter is little，Automatization's lifting cleaning function that interior divider is stable can be realized，And it is fast to have cleaning speed、Cleaning height adjustment range is big、Clean diameter adjustment scope big、The scope of application is big、Lifting cleaning process non-jitter phenomenon、Clean good stability、Rigid support performance is good、Cleaning performance is good and work efficiency advantages of higher，Provide a kind of automatization and clean the new way of guardrail.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism, including lower platform, described lower platform lower surface is provided with base plate, the lower surface of base plate is symmetrically arranged with four universal wheels, can be arbitrarily mobile to required cleaning guardrail limit by the present invention by four universal wheels, easy and simple to handle, being separately installed with six side chains in parallel on lower platform, the upper end of six side chains in parallel is uniformly arranged on upper mounting plate；nullDescribed side chain in parallel includes the hollow lower thread spindle that lower end is welded on lower platform，The mode that is threaded connection on hollow lower thread spindle is provided with a ball pivot，The upper end of a number ball pivot is threaded connection mode and is provided with a sleeve，The upper end of a number sleeve is threaded connection mode and is provided with a hydraulic cylinder，The upper end of a number hydraulic cylinder is threaded connection mode and is provided with No. two sleeves，The upper end of No. two sleeves is threaded connection mode and is provided with No. two ball pivots，The upper end of No. two ball pivots is threaded connection mode and is provided with hollow upper thread spindle，Hollow upper thread spindle is welded on the lower surface of upper mounting plate，Upper mounting plate is driven to do oscilaltion campaign by six hydraulic cylinders on six side chains in parallel，Achieve the present invention and clean adjustable for height function，When required cleaning guardrail height is too high without excessively flexible，Improve work efficiency，The spherical pair S formed when the present invention is by a ball pivot job、The spherical pair S formed when the moving sets P formed during a number hydraulic cylinder extension and No. two ball pivot work constitutes SPS parallel connection side chain，And the lower platform in the present invention is as fixed platform、Six SPS parallel connection side chains、Upper mounting plate constitutes 6-SPS parallel institution as moving platform，It is good that 6-SPS parallel institution has dynamic response、Rigidity is high、Bearing capacity is big、Good stability and kinematic accuracy advantages of higher，Made by the advantage of 6-SPS parallel institution to this invention removes the shake situation existed in equipment lifting cleaning process，Cleaning stability is good，Cleaning performance is good，Work efficiency is high；It is welded with cleaning manipulator in the middle part of the upper surface of described upper mounting plate.
As a preferred technical solution of the present invention, described cleaning manipulator includes the cleaning pillar being welded in the middle part of upper mounting plate upper surface, the end cleaning pillar is welded with fixed installation plate, fixed installation plate is symmetrically welded with four mounting posts, the end of four mounting posts is welded with cleaning installing plate, four angle steel it are symmetrically welded with between four mounting posts, the lower end of four angle steel is all integrally formed with four triangle closure plates, and the four of four angle steel triangle closure plates are provided with cleaning water tank, clean in water tank and be contained with cleaning water, the surrounding cleaning water tank bears against on four angle steel inwalls, four angle steel play and support the effect cleaning water tank；Described cleaning installing plate is symmetrically welded with two rinsers；Described rinser includes being welded on the joint pin cleaned on installing plate, the end of a number joint pin is provided with two engaging lugs, the lateral wall, middle part of a number joint pin is welded with two and supports hanger, by bearing pin, No. two engaging lugs are installed between two engaging lugs, No. two engaging lugs are welded with No. two joint pins, the end of No. two joint pins is welded with cleaning panel, and is provided with angular adjustment side chain between No. two joint pin inwalls and a joint pin inwall；Described angular adjustment side chain includes the ear mount being welded on a joint pin inwall, by bearing pin, No. four hydraulic cylinders are installed between a number ear mount, the top of No. four hydraulic cylinders is arranged in No. two ear mount by bearing pin, No. two ear mount are welded on the inwall of No. two joint pins, No. two joint pins angle of inclination relative to a joint pin is regulated by No. four hydraulic cylinders on angular adjustment side chain, thus the distance that directly have adjusted between two rinsers, the present invention is made to be applicable to the cleaning of different-diameter guardrail, achieve guardrail of the present invention and clean the adjustable function of diameter, the scope of application is big；The inwall of described cleaning panel is welded with two and cleans hanger, between two cleaning hangers, by bearing, cleaning rotating shaft is installed, clean rotating shaft upper end, by shaft coupling, cleaning adjustment motor is installed, clean adjustment motor and be arranged on cleaning panel by motor cabinet；nullDescribed cleaning rotating shaft is installed with two fixing hangers，The end of two fixing hangers is welded with cleaning cavity plate，Cleaning cavity plate is arc-shaped structure，Clean and the inwall of cavity plate is evenly arranged with profile of tooth cleaning sheet from top to bottom，The material of profile of tooth cleaning sheet is flexible rubber material，The flexible rubber material life-span is long，The use time is long，Profile of tooth cleaning sheet includes being arranged on the arc teeth portion cleaned on cavity plate inwall，Arc teeth portion is evenly arranged with column tooth bar，Automatization's lifting cleaning function of the present invention is realized by the continuous up and down elevating movement of column tooth bar，The upper end cleaning cavity plate is provided with cleaning side chain，The middle part cleaning side chain is arranged between two support hangers by screw，Clean the bottom welding of side chain in corresponding mounting post，Driven by motor cleaning rotating shaft work is regulated by cleaning，Cleaning rotating shaft drives cleaning cavity plate to rotate，The profile of tooth cleaning sheet cleaned in cavity plate is made to be right against required cleaning guardrail，Greatly strengthen cleaning speed and cleaning performance；Described cleaning side chain includes the cleaning support plate being welded on corresponding mounting post sidewall, the upper surface cleaning support plate is provided with high-pressure hydraulic pump by screw, the import of high-pressure hydraulic pump is connected with cleaning water tank by water inlet pipe, water under high pressure delivery side of pump is connected to outlet pipe, the middle part of outlet pipe is provided with electromagnetic valve, the water yield of water pipe is adjusted by electromagnetic valve, electromagnetic valve is arranged on two by screw and supports between hanger, the end of outlet pipe is provided with shower nozzle, the middle part of shower nozzle is fixed on the upper end cleaning cavity plate, the present invention extracts the cleaning water cleaned in water tank by high-pressure hydraulic pump, clean water and enter in shower nozzle by outlet pipe, shower nozzle required cleaning guardrail is sprayed water by the high pressure of high-pressure hydraulic pump.
As a preferred technical solution of the present invention, the central axis of described lower platform and the central axis of upper mounting plate coincide, the advantages such as the rigidity by 6-SPS parallel institution is high and stability is good can make lower platform and upper mounting plate keeping parallelism all the time, so that cleaning manipulator can remain steady carrying out lifting in automatic cleaning process, eliminate the shake situation existed in equipment lifting cleaning process, cleaning stability is good, and cleaning performance is good, and work efficiency is high.
During work, first passing through four universal wheels can by the present invention arbitrarily mobile extremely required cleaning guardrail limit, first regulate according to required cleaning guardrail height and clean height, the cleaning manipulator of upper mounting plate is driven to do oscilaltion campaign by six hydraulic cylinders on six side chains in parallel, achieve the present invention and clean adjustable for height function, when required cleaning guardrail height is too high without excessively flexible, improve work efficiency, when the present invention reaches suitable cleaning highly, a hydraulic cylinder quits work；Then the cleaning diameter of the present invention is directly regulated according to required cleaning guardrail, No. four hydraulic cylinders on angular adjustment side chain are started working, No. four hydraulic cylinders regulate No. two joint pins angle of inclination relative to a joint pin, thus the distance that directly have adjusted between two rinsers, the present invention is made to be applicable to the cleaning of different-diameter guardrail, achieving guardrail of the present invention and clean the adjustable function of diameter, the scope of application is big, quits work when reaching No. four hydraulic cylinders after suitable guardrail cleans diameter；Subsequently cleaning adjustment motor to start working, regulate driven by motor cleaning rotating shaft work by cleaning, cleaning rotating shaft drives cleans cavity plate rotation so that cleans needed for the profile of tooth cleaning sheet in cavity plate is right against and cleans guardrail, greatly strengthen cleaning speed and cleaning performance；Finally clean side chain to start working, first pass through electromagnetic valve and adjust the water yield of water pipe, then pass through high-pressure hydraulic pump and extract the cleaning water cleaned in water tank, clean water and enter in shower nozzle by outlet pipe, shower nozzle required cleaning guardrail is sprayed water by the high pressure of high-pressure hydraulic pump, meanwhile six hydraulic cylinders on six side chains in parallel start simultaneously at and do oscilaltion campaign, so that the profile of tooth cleaning sheet cleaned in cavity plate achieves automatization's lifting cleaning function that interior divider is stable；And owing to the lower platform in the present invention is as fixed platform, six SPS parallel connection side chains, upper mounting plate constitutes 6-SPS parallel institution as moving platform, it is good that 6-SPS parallel institution has dynamic response, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, 6-SPS parallel institution has six degree of freedom, the present invention by the premium properties of six degree of freedom 6-SPS parallel institution so that cleaning manipulator can remain steady carrying out lifting in automatic cleaning process, eliminate the shake situation existed in equipment lifting cleaning process, cleaning stability is good, cleaning performance is good, work efficiency is high.
The invention has the beneficial effects as follows:
1, the present invention drives the cleaning manipulator on upper mounting plate to do oscilaltion campaign by six hydraulic cylinders on six side chains in parallel, achieve the present invention and clean adjustable for height function, when required cleaning guardrail height is too high without excessively flexible, improve work efficiency；
2, the lower platform in the present invention constitutes 6-SPS parallel institution as fixed platform, six SPS parallel connection side chains, upper mounting plates as moving platform, 6-SPS parallel institution has six degree of freedom, by the premium properties of six degree of freedom 6-SPS parallel institution so that cleaning manipulator can remain steady carrying out lifting in automatic cleaning process, eliminate the shake situation existed in equipment lifting cleaning process, cleaning stability is good, cleaning performance is good, and work efficiency is high；
3, the present invention regulates No. two joint pins angle of inclination relative to a joint pin by No. four hydraulic cylinders, thus the distance that directly have adjusted between two rinsers, the present invention is made to be applicable to the cleaning of different-diameter guardrail, achieving guardrail of the present invention and clean the adjustable function of diameter, the scope of application is big；
4, the present invention extracts the cleaning water cleaning water tank by high-pressure hydraulic pump, required cleaning guardrail is sprayed water by the high pressure by high-pressure hydraulic pump by shower nozzle, and drives the profile of tooth cleaning sheet cleaned in cavity plate to realize automatization's lifting cleaning function that interior divider is stable by six hydraulic cylinders on six side chains in parallel；
5, the invention solves the labor intensity that existing manual cleaning interior divider mode exists big, cleaning speed is slow, cleaning performance difference and the inferior difficult problem of inefficiency, also the cleaning height adjustment range solving the existence of existing hand-held interior divider cleaning equipment is little, in lifting cleaning process there is shake situation in equipment, cleaning stability is poor, cleaning performance is poor, rigid support poor performance, work efficiency is low, clean the difficult problems such as the irreconcilable scope of application of diameter is little, achieve automatization's lifting cleaning function that interior divider is stable, and it is fast to have cleaning speed, cleaning height adjustment range is big, clean diameter adjustment scope big, the scope of application is big, lifting cleaning process non-jitter phenomenon, clean good stability, rigid support performance is good, cleaning performance is good and work efficiency advantages of higher, provide a kind of automatization and clean the new way of guardrail.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of cleaning manipulator of the present invention；
Fig. 3 is the top view of cleaning manipulator of the present invention；
Fig. 4 is the structural representation that the present invention fixedly mounts between plate, mounting post and angle steel；
Fig. 5 is that the present invention cleans cavity plate, structural representation between profile of tooth cleaning sheet and shower nozzle.
Specific embodiment
For the technological means making the present invention realize, creation characteristic, reach purpose and effect and be easy to understand, below in conjunction with being specifically illustrating, the present invention is expanded on further.
As shown in Figures 1 to 5, a kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism, including lower platform 1, described lower platform 1 lower surface is provided with base plate 1a, the lower surface of base plate 1a is symmetrically arranged with four universal wheel 1b, can be arbitrarily mobile to required cleaning guardrail limit by the present invention by four universal wheel 1b, easy and simple to handle, being separately installed with six side chains 2 in parallel on lower platform 1, the upper end of six side chains 2 in parallel is uniformly arranged on upper mounting plate 3；nullDescribed side chain 2 in parallel includes the hollow lower thread spindle 21 that lower end is welded on lower platform 1，The mode that is threaded connection on hollow lower thread spindle 21 is provided with a ball pivot 22，The upper end of a number ball pivot 22 is threaded connection mode and is provided with a sleeve 23，The upper end of a number sleeve 23 is threaded connection mode and is provided with a hydraulic cylinder 24，The upper end of a number hydraulic cylinder 24 is threaded connection mode and is provided with No. two sleeves 25，The upper end of No. two sleeves 25 is threaded connection mode and is provided with No. two ball pivots 26，The upper end of No. two ball pivots 26 is threaded connection mode and is provided with hollow upper thread spindle 27，Hollow upper thread spindle 27 is welded on the lower surface of upper mounting plate 3，Upper mounting plate 3 is driven to do oscilaltion campaign by six hydraulic cylinder 24 motions on six side chains 2 in parallel，Achieve the present invention and clean adjustable for height function，When required cleaning guardrail height is too high without excessively flexible，Improve work efficiency，The spherical pair S formed when the present invention is worked by a ball pivot 22、The spherical pair S formed when the moving sets P formed when a number hydraulic cylinder 24 stretches and No. two ball pivots 26 work constitutes SPS parallel connection side chain 2，And the lower platform 1 in the present invention is as fixed platform、Six SPS parallel connection side chains 2、Upper mounting plate 3 constitutes 6-SPS parallel institution as moving platform，It is good that 6-SPS parallel institution has dynamic response、Rigidity is high、Bearing capacity is big、Good stability and kinematic accuracy advantages of higher，Made by the advantage of 6-SPS parallel institution to this invention removes the shake situation existed in equipment lifting cleaning process，Cleaning stability is good，Cleaning performance is good，Work efficiency is high；It is welded with cleaning manipulator 9 in the middle part of the upper surface of described upper mounting plate 3.
Described cleaning manipulator 9 includes being welded on the cleaning pillar 91 in the middle part of upper mounting plate 3 upper surface, the end cleaning pillar 91 is welded with fixed installation plate 92, fixed installation plate 92 is symmetrically welded with four mounting posts 93, the end of four mounting posts 93 is welded with cleaning installing plate 94, four angle steel 95 it are symmetrically welded with between four mounting posts 93, the lower end of four angle steel 95 is all integrally formed with four triangle closure plate 95a, and the four of four angle steel 95 triangle closure plate 95a are provided with cleaning water tank 96, clean in water tank 96 and be contained with cleaning water, the surrounding cleaning water tank 96 bears against on four angle steel 95 inwalls, four angle steel 95 play and support the effect cleaning water tank 96；Described cleaning installing plate 94 is symmetrically welded with two rinsers 97；Described rinser 97 includes being welded on the joint pin 971 cleaned on installing plate 94, the end of a number joint pin 971 is provided with two engaging lug 971a, the lateral wall, middle part of a number joint pin 971 is welded with two and supports hanger 971b, by bearing pin, No. two engaging lug 972a are installed between two engaging lug 971a, No. two engaging lug 972a are welded with No. two joint pins 972, the end of No. two joint pins 972 is welded with cleaning panel 973, and is provided with angular adjustment side chain 974 between No. two joint pin 972 inwalls and joint pin 971 inwall；Described angular adjustment side chain 974 includes the ear mount 9741 being welded on joint pin 971 inwall, by bearing pin, No. four hydraulic cylinders 9742 are installed between a number ear mount 9741, the top of No. four hydraulic cylinders 9742 is arranged in No. two ear mount 9743 by bearing pin, No. two ear mount 9743 are welded on the inwall of No. two joint pins 972, No. two joint pins 972 angle of inclination relative to a joint pin 971 is regulated by No. four hydraulic cylinders 9742 on angular adjustment side chain 974, thus the distance that directly have adjusted between two rinsers 97, the present invention is made to be applicable to the cleaning of different-diameter guardrail, achieve guardrail of the present invention and clean the adjustable function of diameter, the scope of application is big；The inwall of described cleaning panel 973 is welded with two and cleans hanger 973a, by bearing, cleaning rotating shaft 975 is installed between two cleaning hanger 973a, clean rotating shaft 975 upper end, by shaft coupling, cleaning adjustment motor 976 is installed, clean adjustment motor 976 and be arranged on cleaning panel 973 by motor cabinet；nullDescribed cleaning rotating shaft 975 is installed with two fixing hanger 977a，The end of two fixing hanger 977a is welded with cleaning cavity plate 977，Cleaning cavity plate 977 is arc-shaped structure，Clean and the inwall of cavity plate 977 is evenly arranged with profile of tooth cleaning sheet 978 from top to bottom，The material of profile of tooth cleaning sheet 978 is flexible rubber material，The flexible rubber material life-span is long，The use time is long，Profile of tooth cleaning sheet 978 includes being arranged on the arc teeth portion 978a cleaned on cavity plate 977 inwall，Arc teeth portion 978a is evenly arranged with column tooth bar 978b，Automatization's lifting cleaning function of the present invention is realized by the continuous up and down elevating movement of column tooth bar 978b，The upper end cleaning cavity plate 977 is provided with cleaning side chain 979，The middle part cleaning side chain 979 is arranged between two support hanger 971b by screw，Clean the bottom welding of side chain 979 in corresponding mounting post 93，Cleaning rotating shaft 975 is driven to work by cleaning adjustment motor 976，Cleaning rotating shaft 975 drives cleaning cavity plate 977 to rotate，The profile of tooth cleaning sheet 978 cleaned in cavity plate 977 is made to be right against required cleaning guardrail，Greatly strengthen cleaning speed and cleaning performance；nullDescribed cleaning side chain 979 includes the cleaning support plate 9791 being welded on corresponding mounting post 93 sidewall，The upper surface cleaning support plate 9791 is provided with high-pressure hydraulic pump 9792 by screw，The import of high-pressure hydraulic pump 9792 is connected with cleaning water tank 96 by water inlet pipe 9793，The outlet of high-pressure hydraulic pump 9792 is connected to outlet pipe 9794，The middle part of outlet pipe 9794 is provided with electromagnetic valve 9795，The water yield of water pipe 9794 is adjusted by electromagnetic valve 9795，Electromagnetic valve 9795 is arranged on two by screw and supports between hanger 971b，The end of outlet pipe 9794 is provided with shower nozzle 9796，The middle part of shower nozzle 9796 is fixed on the upper end cleaning cavity plate 977，The present invention extracts the cleaning water cleaned in water tank 96 by high-pressure hydraulic pump 9792，Clean water to be entered in shower nozzle 9796 by outlet pipe 9794，Shower nozzle 9796 required cleaning guardrail is sprayed water by the high pressure of high-pressure hydraulic pump 9792.
The central axis of described lower platform 1 and the central axis of upper mounting plate 3 coincide, the advantages such as the rigidity by 6-SPS parallel institution is high and stability is good can make lower platform 1 and upper mounting plate 3 keeping parallelism all the time, so that cleaning manipulator 9 can remain steady carrying out lifting in automatic cleaning process, eliminate the shake situation existed in equipment lifting cleaning process, cleaning stability is good, cleaning performance is good, and work efficiency is high.
During work, first passing through four universal wheel 1b can by the present invention arbitrarily mobile extremely required cleaning guardrail limit, first regulate according to required cleaning guardrail height and clean height, the cleaning manipulator 9 of upper mounting plate 3 is driven to do oscilaltion campaign by six hydraulic cylinder 24 motions on six side chains 2 in parallel, achieve the present invention and clean adjustable for height function, when required cleaning guardrail height is too high without excessively flexible, improve work efficiency, when the present invention reaches suitable cleaning highly, a hydraulic cylinder 24 quits work；Then the cleaning diameter of the present invention is directly regulated according to required cleaning guardrail, No. four hydraulic cylinders 9742 on angular adjustment side chain 974 are started working, No. four hydraulic cylinders 9742 regulate No. two joint pins 972 angle of inclination relative to a joint pin 971, thus the distance that directly have adjusted between two rinsers 97, the present invention is made to be applicable to the cleaning of different-diameter guardrail, achieve guardrail of the present invention and clean the adjustable function of diameter, the scope of application is big, quits work when reaching No. four hydraulic cylinders 9742 after suitable guardrail cleans diameter；Subsequently clean adjustment motor 976 to start working, cleaning rotating shaft 975 is driven to work by cleaning adjustment motor 976, cleaning rotating shaft 975 drives cleaning cavity plate 977 to rotate so that cleans needed for the profile of tooth cleaning sheet 978 in cavity plate 977 is right against and cleans guardrail, greatly strengthen cleaning speed and cleaning performance；Finally clean side chain 979 to start working, first pass through electromagnetic valve 9795 and adjust the water yield of water pipe 9794, then pass through high-pressure hydraulic pump 9792 and extract the cleaning water cleaned in water tank 96, clean water and enter in shower nozzle 9796 by outlet pipe 9794, shower nozzle 9796 required cleaning guardrail is sprayed water by the high pressure of high-pressure hydraulic pump 9792, meanwhile six hydraulic cylinders 24 on six side chains 2 in parallel start simultaneously at and do oscilaltion campaign, so that the profile of tooth cleaning sheet 978 cleaned in cavity plate 977 achieves automatization's lifting cleaning function that interior divider is stable；nullAnd owing to the lower platform 1 in the present invention is as fixed platform、Six SPS parallel connection side chains 2、Upper mounting plate 3 constitutes 6-SPS parallel institution as moving platform，It is good that 6-SPS parallel institution has dynamic response、Rigidity is high、Bearing capacity is big、Good stability and kinematic accuracy advantages of higher，6-SPS parallel institution has six degree of freedom，The present invention by the premium properties of six degree of freedom 6-SPS parallel institution so that cleaning manipulator 9 can remain steady carrying out lifting in automatic cleaning process，Eliminate the shake situation existed in equipment lifting cleaning process，Cleaning stability is good，Cleaning performance is good，Work efficiency is high，Solve the labor intensity that existing manual cleaning interior divider mode exists big、Cleaning speed is slow、Cleaning performance difference and the inferior difficult problem of inefficiency，Also the cleaning height adjustment range solving the existence of existing hand-held interior divider cleaning equipment is little、In lifting cleaning process there is shake situation in equipment、Cleaning stability is poor、Cleaning performance is poor、Rigid support poor performance、Work efficiency is low、Clean the difficult problems such as the irreconcilable scope of application of diameter is little，Reach purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; description in above-described embodiment and description is that principles of the invention is described; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements both fall within the claimed scope of the invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (3)
1. the building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism, it is characterized in that: include lower platform (1), described lower platform (1) lower surface is provided with base plate (1a), the lower surface of base plate (1a) is symmetrically arranged with four universal wheels (1b), being separately installed with six side chains in parallel (2) on lower platform (1), the upper end of six side chains in parallel (2) is uniformly arranged on upper mounting plate (3)；Cleaning manipulator (9) it is welded with in the middle part of the upper surface of described upper mounting plate (3)；
Described side chain (2) in parallel includes the hollow lower thread spindle (21) that lower end is welded on lower platform (1), the mode that is threaded connection on hollow lower thread spindle (21) is provided with a ball pivot (22), the upper end of a number ball pivot (22) is threaded connection mode and is provided with a sleeve (23), the upper end of a number sleeve (23) is threaded connection mode and is provided with a hydraulic cylinder (24), the upper end of a number hydraulic cylinder (24) is threaded connection mode and is provided with No. two sleeves (25), the upper end of No. two sleeves (25) is threaded connection mode and is provided with No. two ball pivots (26), the upper end of No. two ball pivots (26) is threaded connection mode and is provided with hollow upper thread spindle (27), hollow upper thread spindle (27) is welded on the lower surface of upper mounting plate (3)；
Described cleaning manipulator (9) includes the cleaning pillar (91) being welded in the middle part of upper mounting plate (3) upper surface, the end cleaning pillar (91) is welded with fixed installation plate (92), fixed installation plate (92) is symmetrically welded with four mounting posts (93), the end of four mounting posts (93) is welded with cleaning installing plate (94), four angle steel (95) it are symmetrically welded with between four mounting posts (93), the lower end of four angle steel (95) is all integrally formed with four triangle closure plates (95a), and four triangle closure plates (95a) of four angle steel (95) are provided with cleaning water tank (96), the surrounding cleaning water tank (96) bears against on four angle steel (95) inwalls；Described cleaning installing plate (94) is symmetrically welded with two rinsers (97)；
Described rinser (97) includes being welded on the joint pin (971) cleaned on installing plate (94), the end of a number joint pin (971) is provided with two No. one engaging lug (971a), the lateral wall, middle part of a number joint pin (971) is welded with two and supports hanger (971b), by bearing pin, No. two engaging lugs (972a) are installed between two No. one engaging lug (971a), No. two engaging lugs (972a) are welded with No. two joint pins (972), the end of No. two joint pins (972) is welded with cleaning panel (973), and between No. two joint pin (972) inwalls and joint pin (971) inwall, angular adjustment side chain (974) is installed；The inwall of described cleaning panel (973) is welded with two and cleans hanger (973a), by bearing, cleaning rotating shaft (975) is installed between two cleanings hanger (973a), clean rotating shaft (975) upper end, by shaft coupling, cleaning adjustment motor (976) is installed, clean adjustment motor (976) and be arranged in cleaning panel (973) by motor cabinet；nullDescribed cleaning rotating shaft (975) is installed with two fixing hangers (977a)，The end of two fixing hangers (977a) is welded with cleaning cavity plate (977)，Cleaning cavity plate (977) is arc-shaped structure，Clean and the inwall of cavity plate (977) is evenly arranged with profile of tooth cleaning sheet (978) from top to bottom，The material of profile of tooth cleaning sheet (978) is flexible rubber material，Profile of tooth cleaning sheet (978) includes being arranged on the arc teeth portion (978a) cleaned on cavity plate (977) inwall，Arc teeth portion (978a) is evenly arranged with column tooth bar (978b)，The upper end cleaning cavity plate (977) is provided with cleaning side chain (979)，The middle part cleaning side chain (979) is arranged between two supports hanger (971b) by screw，Clean the bottom welding of side chain (979) on corresponding mounting post (93)；
Described angular adjustment side chain (974) includes the ear mount (9741) being welded on joint pin (971) inwall, by bearing pin, No. four hydraulic cylinders (9742) are installed between a number ear mount (9741), the top of No. four hydraulic cylinders (9742) is arranged on No. two ear mount (9743) by bearing pin, and No. two ear mount (9743) are welded on the inwall of No. two joint pins (972).
2. a kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism according to claim 1, it is characterised in that: the central axis of the central axis of described lower platform (1) and upper mounting plate (3) coincides.
null3. a kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism according to claim 1，It is characterized in that: described cleaning side chain (979) includes the cleaning support plate (9791) being welded on corresponding mounting post (93) sidewall，The upper surface cleaning support plate (9791) is provided with high-pressure hydraulic pump (9792) by screw，The import of high-pressure hydraulic pump (9792) is connected with cleaning water tank (96) by water inlet pipe (9793)，The outlet of high-pressure hydraulic pump (9792) is connected to outlet pipe (9794)，The middle part of outlet pipe (9794) is provided with electromagnetic valve (9795)，Electromagnetic valve (9795) is arranged on two by screw and supports between hanger (971b)，The end of outlet pipe (9794) is provided with shower nozzle (9796)，The middle part of shower nozzle (9796) is fixed on the upper end cleaning cavity plate (977).
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| CN201610343413.9A CN105798006B (en) | 2016-05-22 | 2016-05-22 | A kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism |
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| CN109281528A (en) * | 2016-12-27 | 2019-01-29 | 潘学勇 | A kind of stereo garage |
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| CN108999117B (en) * | 2018-08-20 | 2020-11-06 | 宣城恒创科技有限公司 | Highway guardrail installation robot |
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