CN105798007A - Moving type cleaning robot for high-altitude indoor building balustrade - Google Patents
Moving type cleaning robot for high-altitude indoor building balustrade Download PDFInfo
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- CN105798007A CN105798007A CN201610344125.5A CN201610344125A CN105798007A CN 105798007 A CN105798007 A CN 105798007A CN 201610344125 A CN201610344125 A CN 201610344125A CN 105798007 A CN105798007 A CN 105798007A
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- sensation
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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
Abstract
The invention relates to a moving type cleaning robot for a high-altitude indoor building balustrade. The moving type cleaning robot for the high-altitude indoor building balustrade comprises a fixed rack, a bottom plate is arranged on the lower end face of the fixed rack, four universal wheels are symmetrically arranged on the lower end face of the bottom plate, six parallel-connection branched chains are mounted on the fixed rack, and the upper ends of the six parallel-connection branched chains are evenly mounted on an upper platform; and a cleaning mechanical arm is welded to the middle of the upper end face of the upper platform. According to the optimization technical scheme, the cleaning mechanical arm comprises a cleaning supporting column welded to the middle of the upper end face of the upper platform, and a fixed mounting plate is welded to the tail end of the cleaning supporting column; and four mounting columns are symmetrically welded to the fixed mounting plate, a cleaning mounting plate is welded to the tail ends of the four mounting columns, four pieces of angle steel are symmetrically welded among the four mounting columns, and four triangular closing pieces are integrally formed at the lower ends of the four pieces of angle steel. A stable and automatic lifting cleaning function of an indoor balustrade can be achieved, and the new path of balustrade automatic cleaning is provided.
Description
Technical field
The present invention relates to building cleaning equipment, specifically a kind of movable altitude interior architecture guard rail cleaning machine device people.
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 movable altitude interior architecture guard rail cleaning machine device people，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 movable altitude interior architecture guard rail cleaning machine device people, including fixed frame, described fixed frame 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 fixed frame, the upper end of six side chains in parallel is uniformly arranged on upper mounting plate；nullDescribed fixed frame includes lower platform，By bearing, power transmission shaft is installed in the middle part of the upper surface of described lower platform，The middle part of power transmission shaft is provided with travelling gear by key，Travelling gear is in axial direction meshed with six transmission branch chain respectively，The mode simultaneously rotated with nutating gear from six angles by six transmission branch chain adds transmission twisting resistance，Improve the stationarity of transmission，Transmission branch chain includes the driving motor that bottom is arranged on lower platform by motor cabinet，The outfan of driving motor is connected with driving axle by shaft coupling，The middle part driving axle is provided with driving gear by key，Gear is driven to be meshed with travelling gear，And six in six transmission branch chain drive axle upper end to be all connected with support platform by bearing，Driving motor drives drive shaft turns，Drive axle to drive and drive pinion rotation，Thus constituting by six planetary gear mechanisms driving gear driven travelling gear to rotate，Improve the stationarity of transmission；The middle part of described support platform is connected with power transmission shaft by bearing, there is the six roots of sensation support column lower surface supporting platform along the square uniform welding of axis, the lower surface of six roots of sensation support column is installed on lower platform, six roots of sensation support column plays the uniformly fixing function supporting platform, so that what power transmission shaft can be stable under the drive of planetary gear mechanism is supporting rotation on platform；The upper end of described power transmission shaft is connected with turn-screw by shaft coupling, the middle part of turn-screw is threaded connection mode and is provided with driving block, driving block is regular hexagon structure, six end faces of driving block are respectively welded the six roots of sensation and move post, the six roots of sensation moves the end of post and is separately mounted on six line slide rails, make the six roots of sensation being welded on driving block move post by the regular hexagon structure of driving block and can do stable elevating movement on six line slide rails under the drive of turn-screw, six line slide rails are separately mounted in six pieces of gripper shoes by screw, six pieces of lower ends supported are respectively welded on lower platform, six pieces of gripper shoes play the fixing effect supporting six line slide rails, add the mobile post stability at a corresponding line slide rail；The upper end inwall of described six pieces of gripper shoes is respectively welded the spacing pillar of the six roots of sensation, the middle part of six roots of sensation limited post offers six square limited mouths respectively, the end of the spacing pillar of the six roots of sensation is respectively welded on fixed station, and the middle part of fixed station is connected with the upper end of turn-screw by bearing；The described six roots of sensation moves the upper surface of post and is separately installed with six side chains in parallel, and the middle part of each side chain in parallel is all located in the square limited mouth of corresponding spacing pillar, the square limited mouth of spacing pillar plays the effect limiting side chain range of movement in parallel, moving post by the six roots of sensation drives six side chains in parallel to do elevating movement respectively, six side chains in parallel synchronize to drive upper mounting plate to do elevating movement, stable drive performance by planetary gear mechanism, improve the stability in lifting process, so that the present invention can realize cleaning adjustable for height function, when required cleaning guardrail height is too high without excessively flexible, improve work efficiency；nullDescribed side chain in parallel includes the hollow lower thread spindle that lower end is welded on mobile post，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，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 fixed frame 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，Owing to the advantage of 6-SPS parallel institution makes 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, adopt interlaced mode to be arranged on lower platform between described six transmission branch chain and six roots of sensation support column, both added the stationary performance of transmission, too increase the support column even support performance to supporting platform.
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.
nullDuring 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，Six driving motors in six transmission branch chain start simultaneously at work，Six driving motors drive six drive shaft turns respectively，Six drive axle to drive six to drive pinion rotation，Six drive the motion of gear driven travelling gear，Travelling gear drives drive axis，Power transmission shaft drives turn-screw to rotate，Turn-screw drives driving block motion，Stable elevating movement can be done on six line slide rails under the drive of turn-screw owing to the regular hexagon structure of driving block makes the six roots of sensation being welded on driving block move post，The six roots of sensation moves post and drives six side chains in parallel to do elevating movement respectively，Six side chains in parallel synchronize to drive the cleaning manipulator on upper mounting plate to do elevating movement，Stable drive performance by planetary gear mechanism，Improve the stability in lifting cleaning process，So that the present invention can realize cleaning 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, driving motor quits work；The cleaning diameter of the present invention is subsequently 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 fixed frame 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 that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, the present invention by the premium properties of 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.
The invention has the beneficial effects as follows:
1, the present invention is by six planetary gear mechanisms driving gear to rotate with nutating gear simultaneously, thus driving six side chains in parallel to move stable moving up and down on post in the six roots of sensation, so that the present invention can realize cleaning adjustable for height function, when required cleaning guardrail height is too high without excessively flexible, improve work efficiency；
2, the fixed frame in the present invention constitutes 6-SPS parallel institution as fixed platform, six SPS parallel connection side chains, upper mounting plates as moving platform, by the premium properties of 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 fixed frame of the present invention, full sectional view between side chain in parallel and upper mounting plate；
Fig. 3 is that the A-A of Fig. 2 of the present invention is to sectional view；
Fig. 4 is that the B-B of Fig. 2 of the present invention is to sectional view.
Fig. 5 is the structural representation of cleaning manipulator of the present invention；
Fig. 6 is the top view of cleaning manipulator of the present invention；
Fig. 7 is the structural representation that the present invention fixedly mounts between plate, mounting post and angle steel；
Fig. 8 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 8, a kind of movable altitude interior architecture guard rail cleaning machine device people, including fixed frame 1, described fixed frame 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 fixed frame 1, the upper end of six side chains 2 in parallel is uniformly arranged on upper mounting plate 3；nullDescribed fixed frame 1 includes lower platform 11，By bearing, power transmission shaft 12 is installed in the middle part of the upper surface of described lower platform 11，The middle part of power transmission shaft 12 is provided with travelling gear 13 by key，Travelling gear 13 is in axial direction meshed with six transmission branch chain 14 respectively，The mode simultaneously rotated with nutating gear 13 from six angles by six transmission branch chain 14 adds transmission twisting resistance，Improve the stationarity of transmission，Transmission branch chain 14 includes the driving motor 141 that bottom is arranged on lower platform 11 by motor cabinet，The outfan of driving motor 141 is connected with driving axle 142 by shaft coupling，The middle part driving axle 142 is provided with driving gear 143 by key，Gear 143 is driven to be meshed with travelling gear 13，And six in six transmission branch chain 14 drive axle 142 upper end to be all connected with support platform 15 by bearing，Driving motor 41 drives and drives axle 142 to rotate，Driving axle 142 to drive drives gear 143 to rotate，Thus constituting by six planetary gear mechanisms driving gear 143 to rotate with nutating gear 13，Improve the stationarity of transmission；The middle part of described support platform 15 is connected with power transmission shaft 12 by bearing, there is six roots of sensation support column 16 lower surface supporting platform 15 along the square uniform welding of axis, the lower surface of six roots of sensation support column 16 is installed on lower platform 11, six roots of sensation support column 16 plays the uniformly fixing function supporting platform 15, so that what power transmission shaft 12 can be stable under the drive of planetary gear mechanism is supporting rotation on platform 15；nullThe upper end of described power transmission shaft 12 is connected with turn-screw 17 by shaft coupling，The middle part of turn-screw 17 is threaded connection mode and is provided with driving block 18，Driving block 18 is regular hexagon structure，Six end faces of driving block 18 are respectively welded the six roots of sensation and move post 19，The six roots of sensation moves the end of post 19 and is separately mounted on six line slide rails 110，Make the six roots of sensation being welded on driving block 18 move post 19 by the regular hexagon structure of driving block 18 and can do stable elevating movement on six line slide rails 110 under the drive of turn-screw 17，Six line slide rails 110 are separately mounted in six pieces of gripper shoes 111 by screw，Six pieces of lower ends supporting 111 are respectively welded on lower platform 11，Six pieces of gripper shoes 111 play the fixing effect supporting six line slide rails 110，Add the mobile post 19 stability at a corresponding line slide rail 110；The upper end inwall of described six pieces of gripper shoes 111 is respectively welded the spacing pillar 112 of the six roots of sensation, the middle part of six roots of sensation limited post 112 offers six square limited mouths respectively, the end of the spacing pillar 112 of the six roots of sensation is respectively welded on fixed station 113, and the middle part of fixed station 113 is connected with the upper end of turn-screw 17 by bearing；The described six roots of sensation moves the upper surface of post 19 and is separately installed with six side chains 2 in parallel, and the middle part of each side chain 2 in parallel is all located in the square limited mouth of corresponding spacing pillar 112, the square limited mouth of spacing pillar 112 plays the effect limiting side chain 2 range of movement in parallel, moving post 19 by the six roots of sensation drives six side chains 2 in parallel to do elevating movement respectively, six side chains 2 in parallel synchronize to drive upper mounting plate 3 to do elevating movement, stable drive performance by planetary gear mechanism, improve the stability in lifting process, so that the present invention can realize cleaning adjustable for height function, when required cleaning guardrail height is too high without excessively flexible, improve work efficiency；nullDescribed side chain 2 in parallel includes the hollow lower thread spindle 21 that lower end is welded on mobile post 19，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，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 fixed frame 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，Owing to the advantage of 6-SPS parallel institution makes 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.
Adopt interlaced mode to be arranged on lower platform 11 between described six transmission branch chain 14 and six roots of sensation support column 16, both added the stationary performance of transmission, too increase the support column 16 even support performance to supporting platform 15.
The central axis of described lower platform 11 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 11 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.
nullDuring 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，Six driving motors 141 in six transmission branch chain 14 start simultaneously at work，Six driving motors 141 drive six to drive axle 142 to rotate respectively，Six drive axle 142 to drive six to drive gear 143 to rotate，Six drive gear 143 band nutating gear 13 to move，Travelling gear 13 drives power transmission shaft 12 to rotate，Power transmission shaft 12 drives turn-screw 17 to rotate，Turn-screw 17 drives driving block 18 to move，Stable elevating movement can be done on six line slide rails 110 under the drive of turn-screw 17 owing to the regular hexagon structure of driving block 18 makes the six roots of sensation being welded on driving block 18 move post 19，The six roots of sensation moves post 19 and drives six side chains 2 in parallel to do elevating movement respectively，Six side chains 2 in parallel synchronize to drive the cleaning manipulator 9 on upper mounting plate 3 to do elevating movement，Stable drive performance by planetary gear mechanism，Improve the stability in lifting cleaning process，So that the present invention can realize cleaning 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, driving motor 141 quits work；The cleaning diameter of the present invention is subsequently 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 fixed frame 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，The present invention by the premium properties of 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 (7)
1. a movable altitude interior architecture guard rail cleaning machine device people, it is characterized in that: include fixed frame (1), described fixed frame (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 fixed frame (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)；
nullDescribed fixed frame (1) includes lower platform (11)，By bearing, power transmission shaft (12) is installed in the middle part of the upper surface of lower platform (11)，The middle part of power transmission shaft (12) is provided with travelling gear (13) by key，Travelling gear (13) is in axial direction meshed with six transmission branch chain (14) respectively，Transmission branch chain (14) includes the driving motor (141) that bottom is arranged on lower platform (11) by motor cabinet，The outfan of driving motor (141) is connected with driving axle (142) by shaft coupling，The middle part driving axle (142) is provided with driving gear (143) by key，Gear (143) is driven to be meshed with travelling gear (13)，And six on six transmission branch chain (14) drive axle (142) upper end to be all connected with support platform (15) by bearing；The middle part of described support platform (15) is connected with power transmission shaft (12) by bearing, there is six roots of sensation support column (16) lower surface supporting platform (15) along the square uniform welding of axis, and the lower surface of six roots of sensation support column (16) is installed on lower platform (11)；The upper end of described power transmission shaft (12) is connected with turn-screw (17) by shaft coupling, the middle part of turn-screw (17) is threaded connection mode and is provided with driving block (18), driving block (18) is regular hexagon structure, six end faces of driving block (18) are respectively welded the six roots of sensation and move post (19), the six roots of sensation moves the end of post (19) and is separately mounted on six No. one line slide rail (110), six No. one line slide rail (110) is separately mounted on six pieces of gripper shoes (111) by screw, the lower end of six pieces of gripper shoes (111) is respectively welded on lower platform (11)；The upper end inwall of described six pieces of gripper shoes (111) is respectively welded the spacing pillar of the six roots of sensation (112), the middle part of six roots of sensation limited post (112) offers six square limited mouths respectively, the end of the spacing pillar of the six roots of sensation (112) is respectively welded on fixed station (113), and the middle part of fixed station (113) is connected with the upper end of turn-screw (17) by bearing；The described six roots of sensation moves the upper surface of post (19) and is separately installed with six side chains in parallel (2), and the middle part of each side chain (2) in parallel is all located in the square limited mouth of corresponding spacing pillar (112)；
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；Described 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 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).
2. a kind of movable altitude interior architecture guard rail cleaning machine device people according to claim 1, it is characterised in that: adopt interlaced mode to be arranged on lower platform (11) between described six transmission branch chain (14) and six roots of sensation support column (16).
3. a kind of architecture indoor guard rail cleaning machine device people according to claim 1, it is characterised in that: the central axis of the central axis of described lower platform (11) and upper mounting plate (3) coincides.
null4. a kind of movable altitude interior architecture guard rail cleaning machine device people according to claim 1，It is characterized in that: described side chain (2) in parallel includes the hollow lower thread spindle (21) that lower end is welded on mobile post (19)，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).
5. a kind of movable altitude interior architecture guard rail cleaning machine device people according to claim 1, it is characterized in that: 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).
null6. a kind of movable altitude interior architecture guard rail cleaning machine device people 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).
7. a kind of movable altitude interior architecture guard rail cleaning machine device people according to claim 1, it is characterized in that: the material of described 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, and arc teeth portion (978a) is evenly arranged with column tooth bar (978b).
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| CN112110374A (en) * | 2020-10-16 | 2020-12-22 | 河南中烟工业有限责任公司 | Moving lifting type full-automatic cleaning method for conveying belt |
| CN112942879A (en) * | 2021-02-03 | 2021-06-11 | 陈林 | High-pressure cleaning vehicle with high-altitude operation platform |
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