CN105798006B - A kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism - Google Patents

A kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism Download PDF

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Publication number
CN105798006B
CN105798006B CN201610343413.9A CN201610343413A CN105798006B CN 105798006 B CN105798006 B CN 105798006B CN 201610343413 A CN201610343413 A CN 201610343413A CN 105798006 B CN105798006 B CN 105798006B
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China
Prior art keywords
cleaning
welded
plate
platform
chain
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CN201610343413.9A
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Chinese (zh)
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CN105798006A (en
Inventor
季燕琴
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季燕琴
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Priority to CN201610343413.9A priority Critical patent/CN105798006B/en
Publication of CN105798006A publication Critical patent/CN105798006A/en
Application granted granted Critical
Publication of CN105798006B publication Critical patent/CN105798006B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02Cleaning by the force of jets or sprays
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/001Cleaning by methods involving the use of tools, brushes, or analogous members characterised by the type of cleaning tool
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/008Cleaning by methods involving the use of tools, brushes, or analogous members using translating operative members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00Accessories or details of general applicability for machines or apparatus for cleaning

Abstract

The present invention relates to a kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism, including lower platform, the lower platform lower surface is provided with bottom plate, the lower surface of bottom plate is symmetrically arranged with four universal wheels, can arbitrarily it be moved to of the invention on required cleaning guardrail side by four universal wheels, it is easy to operate, six side chains in parallel are separately installed with lower platform, the upper end of six side chains in parallel is uniformly arranged on upper mounting plate;The side chain in parallel includes the hollow lower thread spindle that lower end is welded on lower platform, mode is connected through a screw thread on hollow lower thread spindle, and No.1 ball pivot is installed, the upper end of No.1 ball pivot is connected through a screw thread mode and is provided with No.1 sleeve, and the upper end of No.1 sleeve is connected through a screw thread mode and is provided with No.1 hydraulic cylinder.The present invention can realize the stable automation lifting cleaning function of interior divider, there is provided a kind of new way for automating cleaning guardrail.

Description

A kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism

Technical field

The present invention relates to building cleaning equipment, specifically a kind of building guardrail cleaning based on six-degree-of-freedom parallel connection mechanism Robot.

Background technology

With the continuous development of China's economy, the high buildings and large mansions of various regions are seen everywhere, in order to ensure the security of user Stainless steel guard rail typically can be all loaded onto before high-rise indoor glass, stainless steel guard rail is required for periodically being wiped and being cleaned, But because the existing stainless steel guard rail in interior is large number of, so as to greatly add the workload of cleaning personnel, and manually In purge chamber there is the defects of cleaning speed is slow, cleaning performance is poor and operating efficiency is low in stainless steel guard rail mode;It is although existing Most of guardrail cleaning equipments in market are both for the outdoor stainless steel Guardrail design such as road guard, Green protection fence, still Still there are a small amount of interior divider cleaning equipment, substantially handheld cleaning device, following defect be present:1st, it is required when running into When the interior divider height of cleaning is higher, it is necessary to equipment cleaning length is lengthened, but because equipment is stretched long cause Shake situation in cleaning process be present, reduce the stability of cleaning, also reduce cleaning performance, the rigid support of equipment is strong Spend low, operating efficiency is low;2nd, cleaning diameter is unadjustable, and the interior divider diameter range of suitable cleaning is small, and the scope of application is small.

The content of the invention

In order to solve the above problems, the invention provides a kind of building guardrail cleaning machine based on six-degree-of-freedom parallel connection mechanism Device people, can solve existing for existing artificial cleaning interior divider mode that labor intensity is big, cleaning speed is slow, cleaning performance is poor and The problems such as operating efficiency is low, can also solve the existing cleaning height adjustment range of existing hand-held interior divider cleaning equipment There is shake situation in equipment, cleaning stability is poor, cleaning performance is poor, rigid support poor performance, work in small, lifting cleaning process Make the problems such as efficiency is low, the cleaning irreconcilable scope of application of diameter is small, it is possible to achieve the stable automation lifting of interior divider Cleaning function, and with cleaning speed is fast, cleaning height adjustment range is big, cleaning diameter adjustment scope is big, the scope of application is big, rises Cleaning process non-jitter phenomenon drops, cleaning stability is good, rigid support performance is good, cleaning performance is good and operating efficiency height etc. is excellent A kind of point, there is provided new way for automating cleaning guardrail.

To achieve these goals, the present invention is realized using following technical scheme:One kind is based on six-degree-of-freedom parallel The building guardrail cleaning robot of structure, including lower platform, the lower platform lower surface are provided with bottom plate, and the lower surface of bottom plate is symmetrical Four universal wheels are provided with, can be arbitrarily moved to of the invention on required cleaning guardrail side by four universal wheels, operation letter Just, six side chains in parallel are separately installed with lower platform, the upper end of six side chains in parallel is uniformly arranged on upper mounting plate;It is described simultaneously Connection side chain includes the hollow lower thread spindle that lower end is welded on lower platform, and being connected through a screw thread mode on hollow lower thread spindle installs There is No.1 ball pivot, the upper end of No.1 ball pivot is connected through a screw thread mode and is provided with No.1 sleeve, and the upper end of No.1 sleeve passes through spiral shell Line connected mode is provided with No.1 hydraulic cylinder, and the upper end of No.1 hydraulic cylinder is connected through a screw thread mode and is provided with No. two sleeves, and two The upper end of number sleeve is connected through a screw thread mode and is provided with No. two ball pivots, and the upper end of No. two ball pivots is connected through a screw thread mode and installed Free thread spindle, hollow upper thread spindle in the heart are welded on the lower surface of upper mounting plate, pass through six one on six side chains in parallel Number hydraulic cylinder drives upper mounting plate to make oscilaltion campaign, realizes the present invention and cleans adjustable for height function, when required clear Wash guardrail height it is too high when without excessively flexible, improve operating efficiency, the ball that the present invention is formed when being worked by No.1 ball pivot The spherical pair S that the prismatic pair P and No. two ball pivots formed when face secondary S, No.1 hydraulic cylinder extension is formed when working constitutes SPS parallel connections Side chain, and the lower platform in the present invention constitutes 6-SPS as fixed platform, six SPS parallel connections side chains, upper mounting plates as moving platform Parallel institution, 6-SPS parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy height etc. Advantage, situation is shaken present in cleaning process by being lifted the advantages of 6-SPS parallel institutions this invention removes equipment, Cleaning stability is good, and cleaning performance is good, and operating efficiency is high;Cleaning manipulator is welded with the middle part of the upper surface of the upper mounting plate.

As a preferred technical solution of the present invention, the cleaning manipulator includes being welded in the middle part of upper mounting plate upper surface Cleaning pillar, the end for cleaning pillar is welded with fixed installation plate, is fixedly mounted on plate and is symmetrically welded with four mounting posts, four The end of root mounting post is welded with cleaning installing plate, is symmetrically welded with four angle steel between four mounting posts, under four angle steel End is integrally formed with four triangle closure plates, and be provided with cleaning water tank on four triangle closure plates of four angle steel, cleaning Rinse water is contained with water tank, the surrounding for cleaning water tank is born against on four angle steel inwalls, and it is clear that four angle steel play support The effect of water tank;Two cleaning devices are symmetrically welded with the cleaning installing plate;The cleaning device includes being welded on clearly The No.1 connecting pole washed on installing plate, the end of No.1 connecting pole are provided with two No.1 engaging lugs, the middle part of No.1 connecting pole Two support hangers are welded with lateral wall, No. two engaging lugs, No. two companies are provided with by bearing pin between two No.1 engaging lugs No. two connecting poles are welded with lug, the end of No. two connecting poles is welded with cleaning panel, and No. two connection column walls and No.1 Angular adjustment side chain is installed between connection column wall;The angular adjustment side chain includes being welded on No.1 connection column wall No.1 ear mount, No. four hydraulic cylinders are provided with by bearing pin between No.1 ear mount, the top of No. four hydraulic cylinders is arranged on by bearing pin In No. two ear mounts, No. two ear mounts are welded on the inwall of No. two connecting poles, are adjusted by No. four hydraulic cylinders on angular adjustment side chain Angle of inclination of No. two connecting poles relative to No.1 connecting pole is saved, so as to directly have adjusted the distance between two cleaning devices, So that the present invention is applied to the cleaning of different-diameter guardrail, the guardrail cleaning adjustable function of diameter of the present invention is realized, is applicable model Enclose big;Two cleaning hangers are welded with the inwall of the cleaning panel, are provided with clearly by bearing between two cleaning hangers Rotating shaft is washed, cleaning rotating shaft upper end is provided with cleaning regulation motor by shaft coupling, and cleaning regulation motor is arranged on by motor cabinet Clean on panel;Two fixed hangers are installed with the cleaning rotating shaft, the end of two fixed hangers is welded with cleaning Cavity plate, cleaning cavity plate are arc-shaped structure, clean and are evenly arranged with tooth form cleaning sheet on the inwall of cavity plate from top to bottom, tooth form is clear The material developed a film is flexible rubber material, and flexible rubber material long lifespan, usage time length, tooth form cleaning sheet is including being arranged on clearly The arc teeth portion washed on cavity plate inwall, column rack is evenly arranged with arc teeth portion, pass through constantly rising up and down for column rack Drop is moved to realize that the automation of the present invention lifts cleaning function, and the upper end for cleaning cavity plate is provided with cleaning side chain, cleans side chain Middle part two support hangers are arranged on by screw between, the bottom for cleaning side chain is welded in corresponding mounting post, by clear Wash regulation motor and drive cleaning rotating shaft work, cleaning rotating shaft drives cleaning cavity plate to rotate so that the tooth form cleaning in cleaning cavity plate Piece cleans guardrail needed for being right against, and greatly strengthen cleaning speed and cleaning performance;The cleaning side chain includes being welded on correspondingly Cleaning support plate in mounting post side wall, the upper surface for cleaning support plate are provided with high-pressure hydraulic pump, the import of high-pressure hydraulic pump by screw It is connected by water inlet pipe with cleaning water tank, the outlet of high-pressure hydraulic pump is connected with outlet pipe, and magnetic valve is provided with the middle part of outlet pipe, By the water yield of magnetic valve adjusting water outlet pipe, between magnetic valve is arranged on two support hangers by screw, the end of outlet pipe End is provided with shower nozzle, and the upper end of cleaning cavity plate is fixed in the middle part of shower nozzle, and the present invention is extracted in cleaning water tank by high-pressure hydraulic pump Rinse water, rinse water entered in shower nozzle by outlet pipe, and shower nozzle comes to required cleaning shield by the high pressure of high-pressure hydraulic pump Spray water on column.

As a preferred technical solution of the present invention, the central axis of the lower platform and the central axis phase of upper mounting plate Overlap, it is high and lower platform and upper mounting plate holding can be made all the time the advantages that stability is good by the rigidity of 6-SPS parallel institutions It is parallel, so that cleaning manipulator can remain steady in automatic cleaning process lift, eliminate equipment liter Situation is shaken present in drop cleaning process, cleaning stability is good, and cleaning performance is good, and operating efficiency is high.

During work, can arbitrarily it be moved to of the invention on required cleaning guardrail side by four universal wheels first, first root According to required cleaning guardrail height regulation cleaning height, driven and put down by six No.1 hydraulic cylinders on six side chains in parallel The cleaning manipulator of platform makees oscilaltion campaign, realizes the present invention and cleans adjustable for height function, when required cleaning guardrail is high Without excessively stretching when spending high, operating efficiency is improved, No.1 hydraulic cylinder stops when the present invention reaches suitable cleaning height Work;Then the cleaning diameter of the present invention is directly adjusted according to required cleaning guardrail, No. four hydraulic cylinders on angular adjustment side chain Start working, No. four hydraulic cylinders adjust angle of inclination of No. two connecting poles relative to No.1 connecting pole, so as to directly have adjusted two The distance between individual cleaning device so that the present invention is applied to the cleaning of different-diameter guardrail, realizes guardrail cleaning of the present invention The adjustable function of diameter, the scope of application is big, and No. four hydraulic cylinders are stopped after suitable guardrail cleaning diameter is reached;It is subsequently clear Regulation motor start-up operation to be washed, drives cleaning rotating shaft to work by cleaning regulation motor, cleaning rotating shaft drives cleaning cavity plate to rotate, So that the tooth form cleaning sheet in cleaning cavity plate is right against required cleaning guardrail, cleaning speed and cleaning performance greatly strengthen;Most Side chain is cleaned afterwards to start working, and first passes through the water yield of magnetic valve adjusting water outlet pipe, rinse water is then extracted by high-pressure hydraulic pump Rinse water in case, rinse water are entered in shower nozzle by outlet pipe, and shower nozzle comes to required clear by the high pressure of high-pressure hydraulic pump Guardrail water spray is washed, at the same time six No.1 hydraulic cylinders on six side chains in parallel, which start simultaneously at, makees oscilaltion campaign, so as to So that the tooth form cleaning sheet in cleaning cavity plate realizes the stable automation lifting cleaning function of interior divider;And due to the present invention In lower platform constitute 6-SPS parallel institutions, 6- as moving platform as fixed platform, six SPS parallel connections side chains, upper mounting plates SPS parallel institutions have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, 6-SPS Parallel institution has six degree of freedom, and the present invention is by the premium properties of six degree of freedom 6-SPS parallel institutions so that cleaning machine Tool hand can remain steady in automatic cleaning process lift, and eliminate and trembled present in equipment lifting cleaning process Dynamic situation, cleaning stability is good, and cleaning performance is good, and operating efficiency is high.

The beneficial effects of the invention are as follows:

1st, the present invention drives the cleaning machinery on upper mounting plate by six No.1 hydraulic cylinders on six side chains in parallel Hand makees oscilaltion campaign, realizes the present invention and cleans adjustable for height function, need not when required cleaning guardrail height is too high It is excessively flexible, improve operating efficiency;

2nd, the lower platform in the present invention constitutes 6- as fixed platform, six SPS parallel connections side chains, upper mounting plates as moving platform SPS parallel institutions, 6-SPS parallel institutions have six degree of freedom, by six degree of freedom 6-SPS parallel institutions premium properties so as to So that cleaning manipulator can remain steady in automatic cleaning process lift, equipment lifting cleaning process is eliminated Present in shake situation, cleaning stability is good, and cleaning performance is good, and operating efficiency is high;

3rd, the present invention adjusts angle of inclination of No. two connecting poles relative to No.1 connecting pole by No. four hydraulic cylinders, so as to straight Connect and have adjusted the distance between two cleaning devices so that the present invention is applied to the cleaning of different-diameter guardrail, realizes this hair Bright guardrail cleans the adjustable function of diameter, and the scope of application is big;

4th, the present invention extracts the rinse water of cleaning water tank by high-pressure hydraulic pump, passes through shower nozzle by the high pressure of high-pressure hydraulic pump Drive the tooth form in cleaning cavity plate clear to required cleaning guardrail water spray, and by six No.1 hydraulic cylinders on six side chains in parallel Develop a film to realize that the stable automation of interior divider lifts cleaning function;

5th, the present invention solves existing for existing artificial cleaning interior divider mode that labor intensity is big, cleaning speed is slow, clear The problems such as effect is poor and operating efficiency is low are washed, also solve the existing cleaning of existing hand-held interior divider cleaning equipment highly Adjustable range is small, equipment has shake situation in lifting cleaning process, cleaning stability is poor, cleaning performance is poor, rigid support The problems such as poor performance, operating efficiency are low, the cleaning irreconcilable scope of application of diameter is small, realize the automatic of interior divider stabilization Change lifting cleaning function, and with cleaning speed is fast, cleaning height adjustment range is big, cleaning diameter adjustment scope is big, is applicable model Enclose big, lifting cleaning process non-jitter phenomenon, cleaning stability is good, rigid support performance is good, cleaning performance is good and operating efficiency A kind of the advantages that high, there is provided new way for automating cleaning guardrail.

Brief description of the drawings

The present invention is further described with reference to the accompanying drawings and examples.

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 is fixedly mounted between plate, mounting post and angle steel;

Fig. 5 is the structural representation between present invention cleaning cavity plate, tooth form cleaning sheet and shower nozzle.

Specific embodiment

In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below Conjunction is specifically illustrating, and 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 it is lower flat Platform 1, the lower surface of lower platform 1 are provided with bottom plate 1a, and bottom plate 1a lower surface is symmetrically arranged with four universal wheel 1b, passes through four Individual universal wheel 1b can be arbitrarily moved to of the invention on required cleaning guardrail side, easy to operate, be separately installed with lower platform 1 Six side chains 2 in parallel, the upper end of six side chains 2 in parallel are uniformly arranged on upper mounting plate 3;The side chain in parallel 2 welds including lower end The hollow lower thread spindle 21 being connected on lower platform 1, mode is connected through a screw thread on hollow lower thread spindle 21 No.1 ball pivot is installed 22, the upper end of No.1 ball pivot 22 is connected through a screw thread mode and is provided with No.1 sleeve 23, and the upper end of No.1 sleeve 23 passes through screw thread Connected mode is provided with No.1 hydraulic cylinder 24, and the upper end of No.1 hydraulic cylinder 24 is connected through a screw thread mode and is provided with No. two sleeves 25, the upper end of No. two sleeves 25 is connected through a screw thread mode and is provided with No. two ball pivots 26, and the upper end of No. two ball pivots 26 passes through screw thread Connected mode is provided with hollow upper thread spindle 27, and hollow upper thread spindle 27 is welded on the lower surface of upper mounting plate 3, by six simultaneously Six No.1 hydraulic cylinders 24 motion on connection side chain 2 drives upper mounting plate 3 to make oscilaltion campaign, realizes present invention cleaning height Adjustable function, when required cleaning guardrail height is too high without excessively stretching, operating efficiency is improved, the present invention passes through No.1 Shape when the prismatic pair P and No. two ball pivots 26 that spherical pair S, the No.1 hydraulic cylinder 24 that ball pivot 22 is formed when working are formed when stretching work Into spherical pair S constitute SPS parallel connections side chain 2, and the lower platform 1 in the present invention as fixed platform, six SPS parallel connections side chains 2, Upper mounting plate 3 constitutes 6-SPS parallel institutions as moving platform, and 6-SPS parallel institutions have that dynamic response is good, rigidity is high, carrying The advantages that ability is big, stability is good and kinematic accuracy is high, this invention removes equipment the advantages of by 6-SPS parallel institutions Situation is shaken present in lifting cleaning process, cleaning stability is good, and cleaning performance is good, and operating efficiency is high;The upper mounting plate 3 Upper surface in the middle part of be welded with cleaning manipulator 9.

The cleaning manipulator 9 includes being welded on the cleaning pillar 91 in the middle part of the upper surface of upper mounting plate 3, cleans the end of pillar 91 End, which is welded with, is fixedly mounted plate 92, is fixedly mounted on plate 92 and is symmetrically welded with four mounting posts 93, the end of four mounting posts 93 Cleaning installing plate 94 is welded with, is symmetrically welded with four angle steel 95 between four mounting posts 93, the lower end of four angle steel 95 is homogeneous It is body formed to have four triangle closure plate 95a, and cleaning water tank 96 is installed on four triangle closure plate 95a of four angle steel 95, Rinse water is contained with cleaning water tank 96, the surrounding of cleaning water tank 96 is born against on four inwalls of angle steel 95, four angle steel 95 play a part of support cleaning water tank 96;Two cleaning devices 97 are symmetrically welded with the cleaning installing plate 94;It is described clear Cleaning device 97 includes the No.1 connecting pole 971 being welded on cleaning installing plate 94, and the end of No.1 connecting pole 971 is provided with two No.1 engaging lug 971a, two support hanger 971b, two No.1s connections are welded with the middle part lateral wall of No.1 connecting pole 971 It is provided between ear 971a by bearing pin on No. two engaging lugs 972a, No. two engaging lug 972a and is welded with No. two connecting poles 972, two The end of number connecting pole 972 is welded with cleaning panel 973, and between No. two inwalls of connecting pole 972 and the inwall of No.1 connecting pole 971 Angular adjustment side chain 974 is installed;The angular adjustment side chain 974 includes the No.1 being welded on the inwall of No.1 connecting pole 971 Ear mount 9741, No. four hydraulic cylinders 9742 are provided with by bearing pin between No.1 ear mount 9741, the top of No. four hydraulic cylinders 9742 leads to Bearing pin is crossed in No. two ear mounts 9743, No. two ear mounts 9743 are welded on the inwall of No. two connecting poles 972, are adjusted by angle Save No. four hydraulic cylinders 9742 on side chain 974 and adjust angle of inclination of No. two connecting poles 972 relative to No.1 connecting pole 971, from And it directly have adjusted the distance between two cleaning devices 97 so that the present invention is applied to the cleaning of different-diameter guardrail, realizes Guardrail cleaning diameter adjustable function of the present invention, the scope of application are big;Two are welded with the inwall of the cleaning panel 973 clearly Wash between hanger 973a, two cleaning hanger 973a and cleaning rotating shaft 975 is provided with by bearing, cleaning rotating shaft 975 upper end passes through Shaft coupling is provided with cleaning regulation motor 976, and cleaning regulation motor 976 is arranged on cleaning panel 973 by motor cabinet;It is described Two fixed hanger 977a are installed with cleaning rotating shaft 975, two fixed hanger 977a end is welded with cleaning cavity plate 977, cleaning cavity plate 977 is arc-shaped structure, cleans on the inwall of cavity plate 977 and is evenly arranged with tooth form cleaning sheet from top to bottom 978, the material of tooth form cleaning sheet 978 is flexible rubber material, flexible rubber material long lifespan, usage time length, tooth form cleaning Piece 978 includes the arc teeth portion 978a being arranged on the cleaning inwall of cavity plate 977, and columnar tooth is evenly arranged with arc teeth portion 978a Bar 978b, realize that the automation of the present invention lifts cleaning function by column rack 978b elevating movement continuous up and down, clearly The upper end for washing cavity plate 977 is provided with cleaning side chain 979, and the middle part for cleaning side chain 979 is arranged on two support hangers by screw Between 971b, the bottom of cleaning side chain 979 is welded in corresponding mounting post 93, drives cleaning to turn by cleaning regulation motor 976 Axle 975 works, and cleaning rotating shaft 975 drives cleaning cavity plate 977 to rotate so that the face of tooth form cleaning sheet 978 in cleaning cavity plate 977 In required cleaning guardrail, cleaning speed and cleaning performance greatly strengthen;The cleaning side chain 979 includes being welded on corresponding installation Cleaning support plate 9791 in the side wall of post 93, the upper surface of cleaning support plate 9791 are provided with high-pressure hydraulic pump 9792, high pressure by screw The import of water pump 9792 is connected by water inlet pipe 9793 with cleaning water tank 96, and the outlet of high-pressure hydraulic pump 9792 is connected with outlet pipe 9794, the middle part of outlet pipe 9794 is provided with magnetic valve 9795, passes through the water yield of the adjusting water outlet pipe 9794 of magnetic valve 9795, electricity For magnet valve 9795 by screw between two support hanger 971b, the end of outlet pipe 9794 is provided with shower nozzle 9796, spray First 9796 middle part is fixed on the upper end of cleaning cavity plate 977, and the present invention is extracted in cleaning water tank 96 by high-pressure hydraulic pump 9792 Rinse water, rinse water are entered in shower nozzle 9796 by outlet pipe 9794, shower nozzle 9796 by high-pressure hydraulic pump 9792 high pressure Come to required cleaning guardrail water spray.

The central axis of the central axis and upper mounting plate 3 of the lower platform 1 coincides, by the firm of 6-SPS parallel institutions The advantages that degree height and good stability, can make lower platform 1 and the keeping parallelism of upper mounting plate 3 all the time, so that cleaning manipulator 9 It can remain steady in automatic cleaning process lift, eliminate and shake shape present in equipment lifting cleaning process Condition, cleaning stability is good, and cleaning performance is good, and operating efficiency is high.

During work, can arbitrarily it be moved to of the invention on required cleaning guardrail side by four universal wheel 1b first, first According to required cleaning guardrail height regulation cleaning height, band is moved by six No.1 hydraulic cylinders 24 on six side chains 2 in parallel The cleaning manipulator 9 of dynamic upper mounting plate 3 makees oscilaltion campaign, realizes the present invention and cleans adjustable for height function, when required clear Wash guardrail height it is too high when without excessively flexible, improve operating efficiency, the No.1 liquid when the present invention reaches suitable cleaning height Cylinder pressure 24 is stopped;Then the cleaning diameter of the present invention is directly adjusted according to required cleaning guardrail, on angular adjustment side chain 974 No. four hydraulic cylinders 9742 start working, No. four hydraulic cylinders 9742 adjust No. two connecting poles 972 relative to No.1 connecting pole 971 Angle of inclination, so as to directly have adjusted the distance between two cleaning devices 97 so that the present invention is applied to different-diameter guardrail Cleaning, realize the guardrail of the present invention cleaning adjustable function of diameter, the scope of application is big, after suitable guardrail cleaning diameter is reached No. four hydraulic cylinders 9742 are stopped;Subsequently cleaning regulation motor 976 is started working, and is driven by cleaning regulation motor 976 Cleaning rotating shaft 975 works, and cleaning rotating shaft 975 drives cleaning cavity plate 977 to rotate so that the tooth form cleaning sheet in cleaning cavity plate 977 978 are right against required cleaning guardrail, greatly strengthen cleaning speed and cleaning performance;Finally cleaning side chain 979 is started working, first By the water yield of the adjusting water outlet pipe 9794 of magnetic valve 9795, then extracted by high-pressure hydraulic pump 9792 clear in cleaning water tank 96 Wash water, rinse water are entered in shower nozzle 9796 by outlet pipe 9794, and shower nozzle 9796 comes by the high pressure of high-pressure hydraulic pump 9792 To required cleaning guardrail water spray, at the same time six No.1 hydraulic cylinders 24 on six side chains 2 in parallel, which start simultaneously at, makees to rise up and down Drop motion, so that the tooth form cleaning sheet 978 in cleaning cavity plate 977 realizes the stable automation lifting cleaning of interior divider Function;And because the lower platform 1 in the present invention is used as fixed platform, six SPS parallel connections side chains 2, upper mounting plate 3 to be formed as moving platform 6-SPS parallel institutions, 6-SPS parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and motion The advantages that precision is high, 6-SPS parallel institutions have six degree of freedom, and the present invention is by the excellent of six degree of freedom 6-SPS parallel institutions Performance eliminates equipment liter so that cleaning manipulator 9 can remain steady in automatic cleaning process lift Situation is shaken present in drop cleaning process, cleaning stability is good, and cleaning performance is good, and operating efficiency is high, solves existing people The problems such as labor intensity is big, cleaning speed is slow, cleaning performance is poor and operating efficiency is low existing for work cleaning interior divider mode, Also solve that the existing cleaning height adjustment range of existing hand-held interior divider cleaning equipment is small, equipment in lifting cleaning process In the presence of shake situation, cleaning stability is poor, cleaning performance is poor, rigid support poor performance, operating efficiency are low, cleans diameter not The problems such as the scope of application that can reconcile is small, have reached purpose.

The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent Define.

Claims (2)

  1. A kind of 1. building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism, it is characterised in that:Including lower platform (1), Lower platform (1) lower surface is provided with bottom plate (1a), and the lower surface of bottom plate (1a) is symmetrically arranged with four universal wheels (1b), under Six side chains (2) in parallel are separately installed with platform (1), the upper end of six side chains (2) in parallel is uniformly arranged on upper mounting plate (3) On;Cleaning manipulator (9) is welded with the middle part of the upper surface of the upper mounting plate (3);
    The side chain in parallel (2) includes the hollow lower thread spindle (21) that lower end is welded on lower platform (1), hollow lower thread spindle (21) mode is connected through a screw thread on No.1 ball pivot (22) is installed, the upper end of No.1 ball pivot (22) is connected through a screw thread mode and pacified Equipped with No.1 sleeve (23), the upper end of No.1 sleeve (23) is connected through a screw thread mode and is provided with No.1 hydraulic cylinder (24), No.1 The upper end of hydraulic cylinder (24) is connected through a screw thread mode and is provided with No. two sleeves (25), and the upper end of No. two sleeves (25) passes through screw thread Connected mode is provided with No. two ball pivots (26), and the upper end of No. two ball pivots (26) is connected through a screw thread mode and is provided with hollow upper screw thread Axle (27), hollow upper thread spindle (27) are welded on the lower surface of upper mounting plate (3);
    The cleaning manipulator (9) includes being welded on the cleaning pillar (91) in the middle part of upper mounting plate (3) upper surface, cleaning pillar (91) End be welded with plate (92) be fixedly mounted, be fixedly mounted on plate (92) and be symmetrically welded with four mounting posts (93), four installations The end of post (93) is welded with cleaning installing plate (94), is symmetrically welded with four angle steel (95) between four mounting posts (93), and four The lower end of root angle steel (95) is integrally formed with four triangle closure plates (95a), and four triangles of four angle steel (95) are closed Cleaning water tank (96) is installed, the surrounding of cleaning water tank (96) is born against on four angle steel (95) inwalls on piece (95a);Institute State and be symmetrically welded with two cleaning devices (97) on cleaning installing plate (94);
    The cleaning device (97) includes the No.1 connecting pole (971) being welded on cleaning installing plate (94), No.1 connecting pole (971) end is provided with two No.1 engaging lugs (971a), and two are welded with the middle part lateral wall of No.1 connecting pole (971) Hanger (971b) is supported, No. two engaging lugs (972a), No. two companies are provided with by bearing pin between two No.1 engaging lugs (971a) No. two connecting poles (972) are welded with lug (972a), the end of No. two connecting poles (972) is welded with cleaning panel (973), and Angular adjustment side chain (974) is installed between No. two connecting pole (972) inwalls and No.1 connecting pole (971) inwall;The cleaning Two cleaning hangers (973a) are welded with the inwall of panel (973), are installed between two cleaning hangers (973a) by bearing There is cleaning rotating shaft (975), cleaning rotating shaft (975) upper end is provided with cleaning regulation motor (976), cleaning regulation electricity by shaft coupling Machine (976) is arranged on cleaning panel (973) by motor cabinet;Two fixations are installed with the cleaning rotating shaft (975) Hanger (977a), the end of two fixed hangers (977a) are welded with cleaning cavity plate (977), and cleaning cavity plate (977) is circular arc Structure, clean on the inwall of cavity plate (977) and be evenly arranged with tooth form cleaning sheet (978) from top to bottom, tooth form cleaning sheet (978) Material is flexible rubber material, and tooth form cleaning sheet (978) includes the arc teeth portion being arranged on cleaning cavity plate (977) inwall (978a), column rack (978b) is evenly arranged with arc teeth portion (978a), and the upper end of cleaning cavity plate (977) is provided with cleaning Side chain between two support hangers (971b), is cleaned in side chain (979), the middle part of cleaning side chain (979) by screw (979) bottom is welded on corresponding mounting post (93);
    The angular adjustment side chain (974) includes the No.1 ear mount (9741) being welded on No.1 connecting pole (971) inwall, No.1 No. four hydraulic cylinders (9742) are provided with by bearing pin between ear mount (9741), the top of No. four hydraulic cylinders (9742) is pacified by bearing pin On No. two ear mounts (9743), No. two ear mounts (9743) are welded on the inwall of No. two connecting poles (972);
    The cleaning side chain (979) includes the cleaning support plate (9791) being welded in corresponding mounting post (93) side wall, cleans support plate (9791) upper surface is provided with high-pressure hydraulic pump (9792) by screw, and the import of high-pressure hydraulic pump (9792) passes through water inlet pipe (9793) it is connected with cleaning water tank (96), the outlet of high-pressure hydraulic pump (9792) is connected with outlet pipe (9794), outlet pipe (9794) Middle part magnetic valve (9795) is installed, between magnetic valve (9795) is arranged on two support hangers (971b) by screw, go out The end of water pipe (9794) is provided with shower nozzle (9796), and the upper end of cleaning cavity plate (977) is fixed in the middle part of shower nozzle (9796).
  2. 2. a kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism according to claim 1, its feature It is:The central axis of the central axis and upper mounting plate (3) of the lower platform (1) coincides.
CN201610343413.9A 2016-05-22 2016-05-22 A kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism CN105798006B (en)

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CN106513341A (en) * 2016-09-29 2017-03-22 张赛 Device for automatically cleaning adlets on surfaces of utility poles
CN106583312B (en) * 2016-12-27 2019-04-02 潘学勇 A kind of dedicated orientation automatic cleaning equipment of electric car stereo garage
CN106891322A (en) * 2016-12-27 2017-06-27 中国科学院长春光学精密机械与物理研究所 A kind of novel six freedom parallel connection platform
CN106760818B (en) * 2016-12-27 2019-03-29 潘学勇 A kind of electric car stereo garage with positioning and directing cleaning function
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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CN104802151A (en) * 2015-04-28 2015-07-29 上海大学 Robot for carrying, assembling and moving heavy loads
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CN2315139Y (en) * 1997-12-09 1999-04-21 王福海 Multifunctional cleaning vehicle for road isolation rail
EP1880702A2 (en) * 2006-07-20 2008-01-23 Universita'Degli Studi di Roma "La Sapienza" Motorized platform for the therapeutic treatment of patients
CN200995201Y (en) * 2006-09-26 2007-12-26 游谊生 Traffic sweeper for guarding rail
CN201388979Y (en) * 2009-03-28 2010-01-27 李新民 High-rise building cleaning device
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