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 PDFInfo
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- 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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- 238000004140 cleaning Methods 0.000 title claims abstract description 293
- 230000007246 mechanism Effects 0.000 title claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 47
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 230000033228 biological regulation Effects 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 8
- 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
- 238000009434 installation Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 17
- 230000008901 benefit Effects 0.000 description 11
- 239000007921 spray Substances 0.000 description 6
- 229910001220 stainless steel Inorganic materials 0.000 description 5
- 239000010935 stainless steel Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004540 process dynamic Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000005406 washing Methods 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- 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
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- Cleaning By Liquid Or Steam (AREA)
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
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)
- 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. 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.
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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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| 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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| CN106513341A (en) * | 2016-09-29 | 2017-03-22 | 张赛 | Device for automatically cleaning adlets on surfaces of utility poles |
| CN106760818B (en) * | 2016-12-27 | 2019-03-29 | 潘学勇 | A kind of electric car stereo garage with positioning and directing cleaning function |
| 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 |
| 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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