CN105798872B - A kind of stainless steel building guardrail cleaning robot - Google Patents

A kind of stainless steel building guardrail cleaning robot Download PDF

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Publication number
CN105798872B
CN105798872B CN201610343655.8A CN201610343655A CN105798872B CN 105798872 B CN105798872 B CN 105798872B CN 201610343655 A CN201610343655 A CN 201610343655A CN 105798872 B CN105798872 B CN 105798872B
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China
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cleaning
welded
platform
mounting plate
plate
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CN105798872A (en
Inventor
程岚
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Hakda robotics group (Guangzhou) intellectual property Klc Holdings Ltd, Harbin branch
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Hakda Robotics Group (guangzhou) Intellectual Property Klc Holdings Ltd Harbin Branch
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Priority to CN201610343655.8A priority Critical patent/CN105798872B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02Cleaning by the force of jets or sprays

Abstract

The present invention relates to a kind of stainless steel building guardrail cleaning robots, including lower platform, the lower platform lower face is provided with bottom plate, and the lower face of bottom plate is symmetrical arranged that there are four universal wheels, six branches in parallel are separately installed on lower platform, the upper end of six branches in parallel is uniformly mounted on upper mounting plate;Electric rotating machine is equipped with by motor cabinet in the middle part of the upper surface of the upper mounting plate, it is installed with rotating platform on the output end of electric rotating machine, there are four support pylon for uniform welding in the axial direction for the upper surface of upper mounting plate, it is separately installed with the first swivel bearing and the second swivel bearing on four support pylons, four swinging struts are uniformly installed, the top of four swinging struts is symmetrically mounted on the lower face of rotating platform between the first swivel bearing and the second swivel bearing.The automation lifting cleaning function of interior divider stabilization may be implemented in the present invention, provides a kind of new way of automation cleaning guardrail.

Description

A kind of stainless steel building guardrail cleaning robot
Technical field
The present invention relates to building cleaning equipment, specifically a kind of stainless steel building guardrail cleaning 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 safety of user Stainless steel guard rail generally can be all loaded onto before high-rise indoor glass, stainless steel guard rail is required for periodically being wiped and being cleaned, But since the existing stainless steel guard rail in interior is large number of, to greatly increase the workload of cleaning personnel, and it is artificial In purge chamber stainless steel guard rail mode there are cleaning speeds it is slow, cleaning performance is poor and working efficiency is low the defects of;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, have the following defects:1, it needs artificial auxiliary Help adjusting that could complete cleaning, the degree of automation is low;2, when the interior divider height for encountering required cleaning is relatively high, just It needs to lengthen equipment cleaning length, but long causes to reduce there are shake situation in cleaning process since equipment is stretched The stability of cleaning also reduces cleaning performance, and the rigid support intensity of equipment is low, and working efficiency is low;3, diameter is cleaned It is unadjustable, it is suitble to the interior divider diameter range of cleaning small, the scope of application is small.
Invention content
To solve the above-mentioned problems, it the present invention provides a kind of stainless steel building guardrail cleaning robot, can solve existing There is in artificial purge chamber labor intensity existing for guardrail mode is big, cleaning speed is slow, cleaning performance is poor and working efficiency is low etc. Problem, can also solve to need existing for existing hand-held interior divider cleaning equipment human assistance cleaning, the degree of automation it is low, Clean height adjustment range it is small, lifting cleaning process in equipment there are shake situation, cleaning stability it is poor, cleaning performance is poor, The problems such as rigid support poor performance, working efficiency are low, the cleaning irreconcilable scope of application of diameter is small, may be implemented interior divider Stable automation lifts cleaning function, and with without human intervention, high degree of automation, cleaning speed be fast, cleaning height Adjustable range is big, cleaning diameter adjustment range is big, the scope of application is big, lifting cleaning process non-jitter phenomenon, cleaning stability are good, The advantages that rigid support performance is good, cleaning performance is good and work efficiency is high provides a kind of new way of automation cleaning guardrail.
To achieve the goals above, the present invention is realized using following technical scheme:A kind of stainless steel building guardrail cleaning Robot, including lower platform, the lower platform lower face are provided with bottom plate, and the lower face of bottom plate is symmetrical arranged that there are four universal Wheel can be arbitrarily moved to of the invention on required cleaning guardrail side by four universal wheels, easy to operate, on lower platform respectively There are six branch in parallel, the upper ends of six branches in parallel to be uniformly mounted on upper mounting plate for installation;The parallel connection branch includes lower end The hollow lower thread spindle being welded on lower platform, the mode that is connected through a screw thread on hollow lower thread spindle are equipped with No.1 flexural pivot, and one The upper end of number flexural pivot is connected through a screw thread mode and is equipped with No.1 sleeve, and the upper end of No.1 sleeve is connected through a screw thread mode and installs There are No.1 hydraulic cylinder, the upper end of No.1 hydraulic cylinder to be connected through a screw thread mode and No. two sleeves are installed, the upper end of No. two sleeves is logical It crosses thread connecting mode and No. two flexural pivots is installed, the upper end of No. two flexural pivots is connected through a screw thread mode and is equipped with hollow upper screw thread Axis, hollow upper thread spindle are welded on the lower face of upper mounting plate, pass through six No.1 hydraulic cylinders on six branches in parallel It drives upper mounting plate to make oscilaltion campaign, realizes the present invention and clean adjustable for height function, when required cleaning guardrail height mistake It without excessively flexible when high, improves work efficiency, spherical pair S that the present invention is formed when being worked by No.1 flexural pivot, No.1 liquid Prismatic pair P that cylinder pressure the is formed when flexible and spherical pair S that when No. two flexural pivots work is formed constitutes SPS parallel connection branches, and this hair Lower platform in bright constitutes 6-SPS parallel institutions, 6- as fixed platform, six SPS parallel connections branches, upper mounting plates as moving platform SPS parallel institutions have many advantages, such as that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, pass through 6- The advantages of SPS parallel institutions, this invention removes situation is shaken present in equipment lifting cleaning process, to clean stability Can be good, cleaning performance is good, and work efficiency is high;Electric rotating machine is equipped with by motor cabinet in the middle part of the upper surface of the upper mounting plate, is revolved Rotating platform is installed on the output end of rotating motor, there are four supports for uniform welding in the axial direction for the upper surface of upper mounting plate Pylon is separately installed with the first swivel bearing and the second swivel bearing on four support pylons, and the first swivel bearing is revolved with second Shaft is uniformly equipped with four swinging struts between holding, the top of four swinging struts is symmetrically mounted on the lower end of rotating platform Face;The support pylon includes the column for being welded on upper mounting plate upper surface, integrally formed with limit recess portion on the outside of the upper end of the column face, The madial wall of limit recess portion is tightly attached on the first swivel bearing, and limit recess portion is inside concave arc structure so that limit is recessed Portion can be tightly attached on the first swivel bearing, increased the first swivel bearing and limited the tightness of recess portion, the upper end of the column face Inside is tightly attached to integrally formed with stopper protrusion, the madial wall of stopper protrusion on the second swivel bearing, and stopper protrusion is outside inside Convex arc structure so that stopper protrusion can be tightly attached on the second swivel bearing, increase the second swivel bearing and limit convex The tightness in portion makes four swinging struts in the first swivel bearing and the second rotary shaft by limiting recess portion with stopper protrusion The rotation stablized between holding;It is welded with riser on the left of the upper surface of the rotating platform, is symmetrically installed on the madial wall of riser Four No. two hydraulic cylinders, the tops of four No. two hydraulic cylinders are equipped with fixed disc, the middle part of four No. two hydraulic cylinders and support It is connected by sliding matching mode between disk, supports and be symmetrically welded on the left side wall of disk on two L-types fixation pillars, The lower end that two L-types fix pillar is symmetrically mounted on two No. two line slide rails, and two No. two line slide rails are equal by screw Mounted on the upper surface of rotating platform, two L-types are driven to fix pillar movement by two No. two line slide rails, two L-types are solid Determine pillar and drive support disk movement, support disk plays the work for simultaneously supporting four No. two hydraulic cylinders, so as to adjust The supporting point position of four No. two hydraulic cylinders of the present invention couple;Support there are two being symmetrically welded on the left of the upper surface of the rotating platform Panel is separately installed with two No. three hydraulic cylinders on two support panels, the middle part fixed symmetrical installation of two No. three hydraulic cylinders On riser, riser plays the role of supporting two No. three hydraulic cylinders, and the top of two No. three hydraulic cylinders is separately mounted to two L Type is fixed on pillar, drives two L-types to fix pillar movement respectively by two No. three hydraulic cylinders;It is welded on the fixed disc There is cleaning manipulator.
In use, the interior divider present position due to required cleaning is different, it is therefore desirable to adjust cleaning angle, electric rotating Machine start to work, electric rotating machine drive rotating platform rotation, rotating platform by four swinging struts the first swivel bearing with The rotation stablized between second swivel bearing drives the cleaning manipulator of top to adjust cleaning angle, so as to realize the present invention Clean adjustable angle function, when clean angle be suitble to when electric rotating machine be stopped, then adjust cleaning manipulator with it is required The distance of guardrail is cleaned, at this time four No. two hydraulic cylinder setting in motions, four No. two hydraulic cylinders drive the cleaning on fixed disc Manipulator makees stretching motion, so as to realize that present invention cleaning apart from adjustable work, operates, automation without human assistance Degree is high, and work efficiency is high, and No. two hydraulic cylinders are stopped until cleaning manipulator moves to suitable position, and due to clear The cleaning positions for washing manipulator become, therefore No. two hydraulic cylinder force positions become, according to the new forced position tune of No. two hydraulic cylinders The Support Position of section support disk, at this time two No. three hydraulic cylinders start-up operations, two No. three hydraulic cylinders drive two L-types to fix Pillar moves, and two L-types fix pillar and drive support disk movement, to have adjusted branch of the present invention to four No. two hydraulic cylinders Support point position, further increases rigid support performance, also further increases the cleaning stability of the present invention, cleaning efficiency Height, work efficiency is high.
As a preferred technical solution of the present invention, the cleaning manipulator includes the cleaning being welded on fixed disc Pillar, the end for cleaning pillar are welded with fixed mounting plate, and four mounting posts, four installations are symmetrically welded in fixed mounting plate The end of column is welded with cleaning mounting plate, and four angle steel are symmetrically welded between four mounting posts, and the lower end of four angle steel is uniform Body formed there are four triangle closure plates, and cleaning water tank is equipped on four triangle closure plates of four angle steel, clean in water tank It is contained with ejected wash water, the surrounding for cleaning water tank is born against on four angle steel inner walls, and four angle steel play support cleaning water tank Effect;Cleaning device there are two being symmetrically welded on the cleaning mounting plate;The cleaning device includes being welded on cleaning installation No.1 connecting pole on plate, there are two No.1 engaging lug, the middle part lateral walls of No.1 connecting pole for the end setting of No.1 connecting pole On be welded with two support lifting lugs, No. two engaging lugs are equipped with by axis pin between two No.1 engaging lugs, on No. two engaging lugs No. two connecting poles are welded with, the end of No. two connecting poles is welded with cleaning panel, and No. two connection column walls and No.1 connecting pole Angular adjustment branch is installed between inner wall;The angular adjustment branch includes the No.1 ear being welded on No.1 connection column wall , No. four hydraulic cylinders are equipped with by axis pin between No.1 ear mount, the top of No. four hydraulic cylinders is mounted on No. two ears by axis pin On seat, No. two ear mounts are welded on the inner wall of No. two connecting poles, and No. two are adjusted by No. four hydraulic cylinders on angular adjustment branch Angle of inclination of the connecting pole relative to No.1 connecting pole, to directly have adjusted the distance between two cleaning devices so that this Cleaning of the invention suitable for different-diameter guardrail, realizes the guardrail cleaning adjustable function of diameter of the present invention, and the scope of application is big;Institute It states and is welded with two cleaning lifting lugs on the inner wall of cleaning panel, cleaning shaft is equipped with by bearing between two cleaning lifting lugs, Cleaning shaft upper end is equipped with cleaning regulation motor by shaft coupling, and cleaning regulation motor is mounted on cleaning panel by motor cabinet On;It is fixedly mounted in the cleaning shaft there are two fixed lifting lug, the end of two fixed lifting lugs is welded with cleaning cavity plate, cleans Cavity plate is arc-shaped structure, cleans and is evenly arranged with tooth form cleaning sheet on the inner wall of cavity plate from top to bottom, the material of tooth form cleaning sheet Matter is flexible rubber material, and flexible rubber material long lifespan, usage time is long, and tooth form cleaning sheet includes setting in cleaning cavity plate Arc teeth portion on wall is evenly arranged with column rack in arc teeth portion, by the elevating movement continuous up and down of column rack come Realize that the automation of the present invention lifts cleaning function, the upper end for cleaning cavity plate is equipped with cleaning branch, and the middle part for cleaning branch is logical Screw is crossed between two support lifting lugs, the bottom for cleaning branch is welded in corresponding mounting post, and electricity is adjusted by cleaning Machine drives cleaning shaft work, cleaning shaft to drive cleaning cavity plate rotation so that the tooth form cleaning sheet in cleaning cavity plate is right against Required cleaning guardrail, greatly strengthens cleaning speed and cleaning performance;The cleaning branch includes being welded on corresponding mounting post side Cleaning support plate on wall, the upper surface for cleaning support plate are equipped with high-pressure hydraulic pump by screw, and the import of high-pressure hydraulic pump passes through water inlet Pipe is connected with cleaning water tank, and the outlet of high-pressure hydraulic pump is connected with outlet pipe, is equipped with solenoid valve in the middle part of outlet pipe, passes through electromagnetism The water yield of valve regulation outlet pipe, by screw between two support lifting lugs, the end of outlet pipe is equipped with solenoid valve Nozzle is fixed on the upper end of cleaning cavity plate in the middle part of nozzle, and the present invention extracts the ejected wash water in cleaning water tank by high-pressure hydraulic pump, Ejected wash water is entered by outlet pipe in nozzle, and nozzle sprays water to required cleaning guardrail by the high pressure of high-pressure hydraulic pump.
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 good by the rigidity height and stability of 6-SPS parallel institutions the advantages that lower platform and upper mounting plate can be made to keep always It is parallel, so that cleaning manipulator can remain steady in lift automatic cleaning process, eliminate equipment liter Situation is shaken present in drop cleaning process, cleaning stability is good, and cleaning performance is good, and work efficiency is high.
When work, can arbitrarily it be moved to of the invention on required cleaning guardrail side by four universal wheels first, first root Cleaning height is adjusted according to required cleaning guardrail height, is driven and is put down by six No.1 hydraulic cylinders on six branches in parallel The cleaning manipulator of platform makees oscilaltion campaign, realizes the present invention and cleans adjustable for height function, when required cleaning guardrail height Without excessively stretching when spending high, improve work efficiency, when the present invention reaches suitable cleaning height, No.1 hydraulic cylinder stops Work;Cleaning angle is adjusted further according to the interior divider present position of required cleaning, electric rotating machine is first started to work, electric rotating machine Rotating platform rotation, rotating platform is driven to stablize between the first swivel bearing and the second swivel bearing by four swinging struts Rotation drive top cleaning manipulator adjust cleaning angle, so as to realize the present invention cleaning adjustable angle function, When cleaning angle and being suitble to, electric rotating machine is stopped;Then cleaning manipulator is adjusted at a distance from required cleaning guardrail, at this time Four No. two hydraulic cylinder setting in motions, four No. two hydraulic cylinders drive the cleaning manipulator on fixed disc to make stretching motion, from And present invention cleaning may be implemented apart from adjustable work, and it being operated without human assistance, high degree of automation, work efficiency is high, No. two hydraulic cylinders are stopped until cleaning manipulator moves to suitable position, and due to the cleaning positions of cleaning manipulator Become, therefore No. two hydraulic cylinder force positions become, the support level of support disk is adjusted according to the new forced position of No. two hydraulic cylinders It sets, two No. three hydraulic cylinders are started to work at this time, and two No. three hydraulic cylinders drive two L-types to fix pillar movement, and two L-types are solid Determining pillar drives support disk movement to be increased just to have adjusted supporting point position of the present invention to four No. two hydraulic cylinders Property support performance, increase the cleaning stability of the present invention, cleaning efficiency is high, and work efficiency is high;Subsequently according to required clear The cleaning diameter that guardrail directly adjusts the present invention is washed, No. four hydraulic cylinders on angular adjustment branch are started to work, No. four hydraulic cylinders Adjust angle of inclination of No. two connecting poles relative to No.1 connecting pole, to directly have adjusted between two cleaning devices away from From so that the present invention is suitable for the cleaning of different-diameter guardrail, realizes the guardrail cleaning adjustable function of diameter of the present invention, is applicable in Range is big, and No. four hydraulic cylinders are stopped after reaching suitable guardrail and cleaning diameter;Subsequently cleaning regulation motor is started to work, Cleaning shaft work, cleaning shaft is driven to drive cleaning cavity plate rotation by cleaning regulation motor so that the tooth in cleaning cavity plate Shape cleaning sheet cleans guardrail needed for being right against, and greatly strengthens cleaning speed and cleaning performance;Finally cleaning branch is started to work, The water yield of solenoid valve adjusting water outlet pipe is first passed through, the ejected wash water in cleaning water tank, ejected wash water are then extracted by high-pressure hydraulic pump It is entered in nozzle by outlet pipe, nozzle sprays water to required cleaning guardrail by the high pressure of high-pressure hydraulic pump, at the same time Six No.1 hydraulic cylinders on six branches in parallel, which start simultaneously at, makees oscilaltion campaign, so that the tooth form in cleaning cavity plate Cleaning sheet realizes the automation lifting cleaning function of interior divider stabilization;And it is allocated since the lower platform in the present invention is used as Platform, six SPS parallel connections branches, upper mounting plate constitute 6-SPS parallel institutions as moving platform, and 6-SPS parallel institutions have dynamic Respond, rigidity height, large carrying capacity, the advantages that stability is good and kinematic accuracy is high, the present invention is by 6-SPS parallel institutions Excellent performance eliminates equipment so that cleaning manipulator can remain steady in lift automatic cleaning process Situation is shaken present in lifting cleaning process, cleaning stability is good, and cleaning performance is good, and work efficiency is high.
The beneficial effects of the invention are as follows:
1, the present invention drives the cleaning manipulator of upper mounting plate by six No.1 hydraulic cylinders on six branches in parallel Make oscilaltion campaign, realizes the present invention and clean adjustable for height function, be not necessarily to when required cleaning guardrail height is excessively high Degree is flexible, improves work efficiency;
2, the lower platform in the present invention constitutes 6- as fixed platform, six SPS parallel connections branches, upper mounting plates as moving platform SPS parallel institutions, by the excellent performance of 6-SPS parallel institutions so that cleaning manipulator was cleaned automatically lift It can remain steady in journey, eliminate and shake situation present in equipment lifting cleaning process, cleaning stability is good, clearly It is good to wash effect, work efficiency is high;
3, electric rotating machine of the present invention drives the cleaning manipulator above rotating platform to adjust cleaning angle, so as to realize The present invention cleans the function of adjustable angle;
4, the present invention adjusts cleaning manipulator at a distance from required cleaning guardrail by No. two hydraulic cylinders, is not necessarily to human assistance Operation, high degree of automation, work efficiency is high, and when No. two hydraulic cylinders change to cleaning manipulator forced position, this Invention can drive support disk movement by No. three hydraulic cylinders, to have adjusted support of the present invention to four No. two hydraulic cylinders Point position, further increases rigid support performance, also further increases the cleaning stability of the present invention, cleaning efficiency Height, work efficiency is high;
5, the present invention adjusts angle of inclination of No. two connecting poles relative to No.1 connecting pole by No. four hydraulic cylinders, to straight It connects and has adjusted the distance between two cleaning devices so that the present invention is suitable for the cleaning of different-diameter guardrail, realizes this hair Bright guardrail cleans the adjustable function of diameter, and the scope of application is big;
6, the present invention extracts the ejected wash water of cleaning water tank by high-pressure hydraulic pump, passes through nozzle by the high pressure of high-pressure hydraulic pump It sprays water to required cleaning guardrail, and drives the tooth form in cleaning cavity plate clear by six No.1 hydraulic cylinders on six branches in parallel It develops a film to realize that the automation that interior divider is stablized lifts cleaning function;
7, the present invention solves existing for existing artificial cleaning interior divider mode that labor intensity is big, cleaning speed is slow, clear Wash the problems such as effect difference and working efficiency be low, also solve needed existing for existing hand-held interior divider cleaning equipment it is artificial Auxiliary cleaning, the degree of automation is low, cleaning height adjustment range is small, there are shake situation, cleanings for equipment in lifting cleaning process Stability is poor, cleaning performance is poor, rigid support poor performance, working efficiency are low, the cleaning irreconcilable scope of application of diameter is small Etc. problems, realize interior divider stabilization automation lifting cleaning function, and with without human intervention, the degree of automation It is high, cleaning speed is fast, cleaning height adjustment range is big, cleaning diameter adjustment range is big, the scope of application is big, lifting cleaning process without Jitter phenomenon cleans the advantages that stability is good, rigid support performance is good, cleaning performance is good and work efficiency is high, provides one kind The new way of automation cleaning guardrail.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the present invention;
Fig. 2 is the structural schematic diagram after present invention removal lower platform, branch in parallel and cleaning manipulator;
Fig. 3 is the full sectional view after present invention removal lower platform, branch in parallel and cleaning manipulator;
Fig. 4 is the structural schematic diagram of cleaning manipulator of the present invention;
Fig. 5 is the vertical view of cleaning manipulator of the present invention;
Fig. 6 is the structural schematic diagram between fixed mounting plate of the present invention, mounting post and angle steel;
Fig. 7 is the structural schematic diagram between present invention cleaning cavity plate, tooth form cleaning sheet and nozzle.
Specific embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 7, a kind of stainless steel building guardrail cleaning robot, including lower platform 1, under the lower platform 1 End face is provided with bottom plate 1a, and the lower face of bottom plate 1a is symmetrical arranged there are four universal wheel 1b, can be incited somebody to action by four universal wheel 1b The present invention be arbitrarily moved to needed on cleaning guardrail side, it is easy to operate, be separately installed with six branches 2 in parallel on lower platform 1, six The upper end of a parallel connection branch 2 is uniformly mounted on upper mounting plate 3;The parallel connection branch 2 is welded on the sky on lower platform 1 including lower end Thread spindle 21 under the heart, the mode that is connected through a screw thread on hollow lower thread spindle 21 are equipped with No.1 flexural pivot 22, No.1 flexural pivot 22 it is upper End is connected through a screw thread mode and is equipped with No.1 sleeve 23, and the upper end of No.1 sleeve 23 is connected through a screw thread mode and is equipped with No.1 Hydraulic cylinder 24, the upper end of No.1 hydraulic cylinder 24 are connected through a screw thread mode and are equipped with No. two sleeves 25, the upper end of No. two sleeves 25 The mode of being connected through a screw thread is equipped with No. two flexural pivots 26, and the upper end of No. two flexural pivots 26 is connected through a screw thread mode and is equipped on hollow Thread spindle 27, hollow upper thread spindle 27 are welded on the lower face of upper mounting plate 3, pass through six No.1s on six branches 2 in parallel The movement of hydraulic cylinder 24 drives upper mounting plate 3 to make oscilaltion campaign, realizes the present invention and cleans adjustable for height function, when required clear Wash guardrail height it is excessively high when without excessively flexible, improve work efficiency, what the present invention was formed when being worked by No.1 flexural pivot 22 The spherical pair S that the prismatic pair P and No. two flexural pivots 26 that spherical pair S, No.1 hydraulic cylinder 24 are formed when stretching are formed when working is constituted SPS parallel connections branch 2, and the lower platform 1 in the present invention is used as moving platform as fixed platform, six SPS parallel connections branches 2, upper mounting plate 3 Constitute 6-SPS parallel institutions, 6-SPS parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and The advantages that kinematic accuracy is high to lift in cleaning process this invention removes equipment and deposit by the advantages of 6-SPS parallel institutions Shake situation, cleaning stability it is good, cleaning performance is good, and work efficiency is high;Pass through in the middle part of the upper surface of the upper mounting plate 3 Motor cabinet is equipped with electric rotating machine 4, and rotating platform 5, the upper surface of upper mounting plate 3 are installed on the output end of electric rotating machine 4 Uniform welding is separately installed with the first swivel bearing 6a and the there are four pylon 6 is supported on four support pylons 6 in the axial direction Two swivel bearing 6b, are uniformly equipped with four swinging strut 5a between the first swivel bearing 6a and the second swivel bearing 6b, four The top of swinging strut 5a is symmetrically mounted on the lower face of rotating platform 5;The support pylon 6 includes being welded on upper mounting plate 3 The column 61 of end face, integrally formed with limit recess portion 62 on the outside of 61 upper surface of column, the madial wall of limit recess portion 62 is tightly attached to the On one swivel bearing 6a, limit recess portion 62 is inside concave arc structure so that limit recess portion 62 can be tightly attached to the first rotation Shaft is held on 6a, is increased the first swivel bearing 6a and is limited the tightness of recess portion 62, on the inside of 61 upper surface of column one at Type has stopper protrusion 63, the madial wall of stopper protrusion 63 to be tightly attached on the second swivel bearing 6b, and stopper protrusion 63 is inner arcuate Arc structure so that stopper protrusion 63 can be tightly attached on the second swivel bearing 6b, increase the second swivel bearing 6b with limit The tightness of position protrusion 63, by limiting recess portion 62 with stopper protrusion 63 so that four swinging strut 5a are in the first swivel bearing The rotation stablized between 6a and the second swivel bearing 6b;It is welded with riser 5b, riser 5b on the left of the upper surface of the rotating platform 5 Madial wall on be symmetrically installed there are four No. two hydraulic cylinders 7, the tops of four No. two hydraulic cylinders 7 is equipped with fixed disc 8, four It is connected by sliding matching mode between the middle part of No. two hydraulic cylinders 7 and support disk 5c, on the left side wall of support disk 5c It is symmetrically welded with two L-types to fix on pillar 5d, the lower end that two L-types fix pillar 5d is symmetrically mounted on two No. two straight lines and slides On rail 5e, two No. two line slide rail 5e are installed in the upper surface of rotating platform 5 by screw, are slided by two No. two straight lines Rail 5e drives two L-types to fix pillar 5d movements, and two L-types fix pillar 5d and drive the 5c movements of support disk, support disk 5c The work for simultaneously supporting four No. two hydraulic cylinders 7 is played, so as to adjust supporting point of the present invention to four No. two hydraulic cylinders 7 Position;Pacify respectively on support panel 5f there are two being symmetrically welded on the left of the upper surface of the rotating platform 5, two support panel 5f There are two the middle part fixed symmetricals of No. three hydraulic cylinders 5g, two No. three hydraulic cylinder 5g to be mounted on riser 5b for dress, and riser 5b is played The effect of two No. three hydraulic cylinder 5g, the top of two No. three hydraulic cylinder 5g is supported to be separately mounted to two L-types and fix pillar 5d On, drive two L-types to fix pillar 5d movements respectively by two No. three hydraulic cylinder 5g;It is welded on the fixed disc 8 clear Wash manipulator 9.
In use, the interior divider present position due to required cleaning is different, it is therefore desirable to adjust cleaning angle, electric rotating Machine 4 is started to work, and electric rotating machine 4 drives rotating platform 5 to rotate, and rotating platform 5 is by four swinging strut 5a in the first rotation The rotation stablized between bearing 6a and the second swivel bearing 6b drives the cleaning manipulator 9 of top to adjust cleaning angle, so as to To realize the function of present invention cleaning adjustable angle, when cleaning angle and being suitble to, electric rotating machine 4 is stopped, and then adjusts cleaning Manipulator 9 is at a distance from required cleaning guardrail, and four No. two 7 setting in motions of hydraulic cylinder, four No. two hydraulic cylinders 7 drive solid at this time Cleaning manipulator 9 on fixed disk 8 makees stretching motion, so as to realize that present invention cleaning apart from adjustable work, is not necessarily to people Work auxiliary operation, high degree of automation, work efficiency is high, No. two hydraulic pressure until cleaning manipulator 9 moves to suitable position Cylinder 7 is stopped, and since the cleaning positions of cleaning manipulator 9 become, and No. two 7 forced positions of hydraulic cylinder become, according to No. two 7 new forced positions of hydraulic cylinder adjust the Support Position of support disk 5c, and two No. three hydraulic cylinder 5g start to work at this time, and two A No. three hydraulic cylinders 5g drives two L-types to fix pillar 5d movements, and two L-types fix pillar 5d and drive the 5c movements of support disk, To have adjusted the present invention to the supporting point position of four No. two hydraulic cylinders 7, rigid support performance is further increased, also into one Step increases the cleaning stability of the present invention, and cleaning efficiency is high, and work efficiency is high.
The cleaning manipulator 9 includes the cleaning pillar 91 being welded on fixed disc 8, the end welding of cleaning pillar 91 There is fixed mounting plate 92, four mounting posts 93 are symmetrically welded in fixed mounting plate 92, the end of four mounting posts 93 is welded with Mounting plate 94 is cleaned, is symmetrically welded with four angle steel 95 between four mounting posts 93, the lower end of four angle steel 95 is integrally formed There are four triangle closure plate 95a, and cleaning water tank 96, ejected wash water are equipped on four triangle closure plate 95a of four angle steel 95 Ejected wash water is contained in case 96, the surrounding of cleaning water tank 96 is born against on four 95 inner walls of angle steel, and four angle steel 95 play The effect of support cleaning water tank 96;Cleaning device 97 there are two being symmetrically welded on the cleaning mounting plate 94;The cleaning device 97 include the No.1 connecting pole 971 being welded on cleaning mounting plate 94, and there are two No.1s to connect for the end setting of No.1 connecting pole 971 Lug 971a is welded with two support lifting lugs 971b, two No.1 engaging lug 971a on the middle part lateral wall of No.1 connecting pole 971 Between be equipped on No. two engaging lugs 972a, No. two engaging lug 972a by axis pin and be welded with No. two connecting poles 972, No. two connections The end of column 972 is welded with cleaning panel 973, and is equipped between No. two 972 inner walls of connecting pole and 971 inner wall of No.1 connecting pole Angular adjustment branch 974;The angular adjustment branch 974 includes the No.1 ear mount being welded on 971 inner wall of No.1 connecting pole 9741, No. four hydraulic cylinders 9742 are equipped with by axis pin between No.1 ear mount 9741, the top of No. four hydraulic cylinders 9742 passes through pin Axis is mounted in No. two ear mounts 9743, and No. two ear mounts 9743 are welded on the inner wall of No. two connecting poles 972, pass through angular adjustment branch No. four hydraulic cylinders 9742 on chain 974 adjust angle of inclination of No. two connecting poles 972 relative to No.1 connecting pole 971, to straight It connects and has adjusted the distance between two cleaning devices 97 so that the present invention is suitable for the cleaning of different-diameter guardrail, realizes this Invention guardrail cleans the adjustable function of diameter, and the scope of application is big;Two cleanings are welded on the inner wall of the cleaning panel 973 to hang Cleaning shaft 975 is equipped with by bearing between ear 973a, two cleaning lifting lug 973a, 975 upper end of cleaning shaft passes through shaft coupling Device is equipped with cleaning regulation motor 976, and cleaning regulation motor 976 is mounted on by motor cabinet on cleaning panel 973;The cleaning The end of fixed lifting lug 977a, two fixed lifting lug 977a are welded with cleaning cavity plate 977 there are two being fixedly mounted in shaft 975, Cleaning cavity plate 977 is arc-shaped structure, cleans on the inner wall of cavity plate 977 and is evenly arranged with tooth form cleaning sheet 978, tooth from top to bottom The material of shape cleaning sheet 978 is flexible rubber material, and flexible rubber material long lifespan, usage time is long, and tooth form cleaning sheet 978 wraps The arc teeth portion 978a being arranged on cleaning 977 inner wall of cavity plate is included, column rack 978b is evenly arranged on arc teeth portion 978a, It realizes that the automation of the present invention lifts cleaning function by the elevating movement continuous up and down of column rack 978b, cleans cavity plate 977 upper end is equipped with cleaning branch 979, clean the middle part of branch 979 by screw be mounted on two support lifting lug 971b it Between, the bottom of cleaning branch 979 is welded in corresponding mounting post 93, and cleaning 975 work of shaft is driven by cleaning regulation motor 976 Make, cleaning shaft 975 drives cleaning cavity plate 977 to rotate so that needed for the tooth form cleaning sheet 978 in cleaning cavity plate 977 is right against Guardrail is cleaned, cleaning speed and cleaning performance are greatly strengthened;The cleaning branch 979 includes being welded on 93 side of corresponding mounting post The upper surface of cleaning support plate 9791 on wall, cleaning support plate 9791 is equipped with high-pressure hydraulic pump 9792, high-pressure hydraulic pump by screw 9792 import 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 equipped with solenoid valve 9795, passes through the water yield of 9795 adjusting water outlet pipe 9794 of solenoid valve, solenoid valve Between 9795 are mounted on two support lifting lug 971b by screw, the end of outlet pipe 9794 is equipped with nozzle 9796, nozzle 9796 middle part is fixed on the upper end of cleaning cavity plate 977, and the present invention is extracted clear in cleaning water tank 96 by high-pressure hydraulic pump 9792 Wash water, ejected wash water are entered by outlet pipe 9794 in nozzle 9796, and nozzle 9796 comes by the high pressure of high-pressure hydraulic pump 9792 It sprays water to required cleaning guardrail.
The central axis of the lower platform 1 and the central axis of upper mounting plate 3 coincide, by the rigid of 6-SPS parallel institutions The advantages that degree is high and stability is good can make lower platform 1 and 3 keeping parallelism of upper mounting plate always, so that cleaning manipulator 9 It can remain steady in lift automatic cleaning process, eliminate and shake shape present in equipment lifting cleaning process Condition, cleaning stability is good, and cleaning performance is good, and work efficiency is high.
When work, can arbitrarily it be moved to of the invention on required cleaning guardrail side by four universal wheel 1b first, first Cleaning height is adjusted according to required cleaning guardrail height, band is moved by six No.1 hydraulic cylinders 24 on six branches 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 excessively high when without excessively flexible, improve work efficiency, the No.1 liquid when the present invention reaches suitable cleaning height Cylinder pressure 24 is stopped;Cleaning angle is adjusted further according to the interior divider present position of required cleaning, electric rotating machine 4 first starts work Make, electric rotating machine 4 drives rotating platform 5 to rotate, and rotating platform 5 is by four swinging strut 5a in the first swivel bearing 6a and the The rotation stablized between two swivel bearing 6b drives the cleaning manipulator 9 of top to adjust cleaning angle, so as to realize this hair Ming and Qing washes the function of adjustable angle, and when cleaning angle and being suitble to, electric rotating machine 4 is stopped;Then adjust cleaning manipulator 9 with The distance of required cleaning guardrail, four No. two 7 setting in motions of hydraulic cylinder, four No. two hydraulic cylinders 7 drive on fixed disc 8 at this time Cleaning manipulator 9 make stretching motion, so as to realize that present invention cleaning apart from adjustable work, is grasped without human assistance Make, high degree of automation, work efficiency is high, and No. two hydraulic cylinders 7 stop work until cleaning manipulator 9 moves to suitable position Make, and since the cleaning positions of cleaning manipulator 9 become, No. two 7 forced positions of hydraulic cylinder become, according to No. two hydraulic cylinders 7 new forced positions adjust the Support Position of support disk 5c, and two No. three hydraulic cylinder 5g start to work at this time, two No. three hydraulic pressure Cylinder 5g drives two L-types to fix pillar 5d movements, and two L-types fix pillar 5d and drive the 5c movements of support disk, to have adjusted The supporting point position of four No. two hydraulic cylinders 7 of the present invention couple, increases rigid support performance, and the cleaning for increasing the present invention is stablized Performance, cleaning efficiency is high, and work efficiency is high;The cleaning diameter of the present invention, angle are subsequently directly adjusted according to required cleaning guardrail Degree adjusts No. four hydraulic cylinders 9742 on branch 974 and starts to work, No. four hydraulic cylinders 9742 adjust No. two connecting poles 972 relative to The angle of inclination of No.1 connecting pole 971, to directly have adjusted the distance between two cleaning devices 97 so that the present invention is applicable in In the cleaning of different-diameter guardrail, the guardrail cleaning adjustable function of diameter of the present invention is realized, the scope of application is big, suitable when reaching No. four hydraulic cylinders 9742 are stopped after guardrail cleaning diameter;Subsequently cleaning regulation motor 976 is started to work, and is adjusted by cleaning Saving motor 976 drives cleaning shaft 975 to work, and cleaning shaft 975 drives cleaning cavity plate 977 to rotate so that in cleaning cavity plate 977 Tooth form cleaning sheet 978 be right against needed for clean guardrail, greatly strengthen cleaning speed and cleaning performance;Finally clean branch 979 start to work, and first pass through the water yield of 9795 adjusting water outlet pipe 9794 of solenoid valve, are then extracted clearly by high-pressure hydraulic pump 9792 Ejected wash water in water tank 96, ejected wash water are entered by outlet pipe 9794 in nozzle 9796, and nozzle 9796 is by high-pressure hydraulic pump 9792 high pressure is sprayed water to required cleaning guardrail, and at the same time six No.1 hydraulic cylinders 24 on six branches 2 in parallel are same When start to make oscilaltion campaign so that cleaning cavity plate 977 on tooth form cleaning sheet 978 realize interior divider stabilization Automation lifting cleaning function;And since the lower platform 1 in the present invention is as fixed platform, six SPS parallel connections branches 2, upper mounting plates 3 Constitute 6-SPS parallel institutions as moving platform, 6-SPS parallel institutions have dynamic response is good, rigidity is high, large carrying capacity, The advantages that stability is good and kinematic accuracy is high, the present invention is by the excellent performance of 6-SPS parallel institutions so that cleaning machinery Hand 9 can remain steady in lift automatic cleaning process, eliminate and trembled present in equipment lifting cleaning process Dynamic situation, cleaning stability is good, and cleaning performance is good, and work efficiency is high, solves existing artificial cleaning interior divider mode and deposits Labor intensity is big, the problems such as cleaning speed is slow, cleaning performance is poor and working efficiency is low, also solve existing hand-held room Human assistance is needed to clean existing for interior guardrail cleaning equipment, the degree of automation is low, cleaning height adjustment range is small, lifting cleaning In the process equipment there are shake situation, cleaning stability it is poor, cleaning performance is poor, rigid support poor performance, working efficiency lowly, The problems such as the irreconcilable scope of application of diameter is small are cleaned, purpose has been reached.
The basic principles, main features and advantages of the 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 embodiments and description only illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent It defines.

Claims (4)

1. a kind of stainless steel building guardrail cleaning robot, including lower platform (1), it is characterised in that:Lower platform (1) lower end Face is provided with bottom plate (1a), and the lower face of bottom plate (1a) is symmetrical arranged there are four universal wheel (1b), and lower platform is installed respectively on (1) There are six branch (2) in parallel, the upper end of six branches (2) in parallel is uniformly mounted on upper mounting plate (3);The upper mounting plate (3) Electric rotating machine (4) is equipped with by motor cabinet in the middle part of upper surface, rotating platform is installed on the output end of electric rotating machine (4) (5), uniform welding divides there are four pylon (6) is supported on four support pylons (6) in the axial direction for the upper surface of upper mounting plate (3) First swivel bearing (6a) and the second swivel bearing (6b), the first swivel bearing (6a) and the second swivel bearing (6b) are not installed Between four swinging struts (5a) are uniformly installed, the top of four swinging struts (5a) is symmetrically mounted on rotating platform (5) Lower face;It is welded with riser (5b) on the left of the upper surface of the rotating platform (5), is symmetrically installed on the madial wall of riser (5b) The top of four No. two hydraulic cylinders (7), four No. two hydraulic cylinders (7) is equipped with fixed disc (8), four No. two hydraulic cylinders (7) Middle part and support disk (5c) between be connected by sliding matching mode, support and be symmetrically welded on the left side wall of disk (5c) There are two L-types to fix on pillar (5d), the lower end that two L-types fix pillar (5d) is symmetrically mounted on two No. two line slide rails On (5e), two No. two line slide rails (5e) are installed in the upper surface of rotating platform (5) by screw;The rotating platform (5) it is symmetrically welded on the left of upper surface there are two panel (5f) is supported, two three is separately installed on two support panels (5f) The middle part fixed symmetrical of number hydraulic cylinder (5g), two No. three hydraulic cylinders (5g) is mounted on riser (5b), two No. three hydraulic cylinders The top of (5g) is separately mounted to two L-types and fixes on pillar (5d);It is welded with cleaning manipulator on the fixed disc (8) (9);
The parallel connection branch (2) includes the hollow lower thread spindle (21) that lower end is welded on lower platform (1), hollow lower thread spindle (21) it is connected through a screw thread mode on, No.1 flexural pivot (22) is installed, the upper end of No.1 flexural pivot (22) is connected through a screw thread mode and pacifies Equipped with No.1 sleeve (23), the upper end of No.1 sleeve (23) is connected through a screw thread mode and is equipped with No.1 hydraulic cylinder (24), No.1 The upper end of hydraulic cylinder (24) is connected through a screw thread mode and is equipped with No. two sleeves (25), and the upper end of No. two sleeves (25) passes through screw thread Connection type is equipped with No. two flexural pivots (26), and the upper end of No. two flexural pivots (26) is connected through a screw thread mode and is equipped with hollow upper screw thread Axis (27), hollow upper thread spindle (27) are welded on the lower face of upper mounting plate (3);
The cleaning manipulator (9) includes the cleaning pillar (91) being welded on fixed disc (8), the end of cleaning pillar (91) It is welded with fixed mounting plate (92), four mounting posts (93), four mounting posts (93) are symmetrically welded in fixed mounting plate (92) End be welded with cleaning mounting plate (94), be symmetrically welded with four angle steel (95), four angle steel between four mounting posts (93) (95) lower end is integrally formed there are four triangle closure plate (95a), and four triangle closure plates (95a) of four angle steel (95) On be equipped with cleaning water tank (96), cleaning water tank (96) surrounding bear against on four angle steel (95) inner walls;The cleaning Cleaning device (97) there are two being symmetrically welded on mounting plate (94);
The cleaning device (97) includes the No.1 connecting pole (971) being welded on cleaning mounting plate (94), No.1 connecting pole (971) end setting is welded with two there are two No.1 engaging lug (971a) on the middle part lateral wall of No.1 connecting pole (971) Lifting lug (971b) is supported, No. two engaging lugs (972a), No. two companies are equipped with by axis pin between two No.1 engaging lugs (971a) No. two connecting poles (972) are welded on lug (972a), the end of No. two connecting poles (972) is welded with cleaning panel (973), and Angular adjustment branch (974) is installed between No. two connecting pole (972) inner walls and No.1 connecting pole (971) inner wall;The cleaning It is welded with two cleaning lifting lugs (973a) on the inner wall of panel (973), is installed by bearing between two cleaning lifting lugs (973a) There are cleaning shaft (975), cleaning shaft (975) upper end that cleaning regulation motor (976) is installed by shaft coupling, cleaning adjusts electricity Machine (976) is mounted on by motor cabinet on cleaning panel (973);It is fixed there are two being fixedly mounted on the cleaning shaft (975) The end of lifting lug (977a), two fixed lifting lugs (977a) is welded with cleaning cavity plate (977), and cleaning cavity plate (977) is arc-shaped Structure cleans on the inner wall of cavity plate (977) and is evenly arranged with tooth form cleaning sheet (978) from top to bottom, cleans the upper of cavity plate (977) End be equipped with cleaning branch (979), cleaning branch (979) middle part by screw be mounted on two support lifting lugs (971b) it Between, the bottom of cleaning branch (979) is welded in corresponding mounting post (93);
The cleaning branch (979) includes the cleaning support plate (9791) being welded on corresponding mounting post (93) side wall, cleans support plate (9791) upper surface is equipped 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 solenoid valve (9795) is installed, between solenoid valve (9795) is mounted on two support lifting lugs (971b) by screw, go out The end of water pipe (9794) is equipped with nozzle (9796), and the upper end of cleaning cavity plate (977) is fixed in the middle part of nozzle (9796);
The material of the tooth form cleaning sheet (978) is flexible rubber material, and tooth form cleaning sheet (978) includes setting in cleaning cavity plate (977) the arc teeth portion (978a) on inner wall is evenly arranged with column rack (978b) in arc teeth portion (978a).
2. a kind of stainless steel building guardrail cleaning robot according to claim 1, it is characterised in that:The support pylon (6) include the column (61) for being welded on upper mounting plate (3) upper surface, column (61) upper surface outside is integrally formed with limit recess portion (62), the madial wall of limit recess portion (62) is tightly attached on the first swivel bearing (6a), is integrally formed on the inside of column (61) upper surface There are stopper protrusion (63), the madial wall of stopper protrusion (63) to be tightly attached on the second swivel bearing (6b).
3. a kind of stainless steel building guardrail cleaning robot according to claim 1, it is characterised in that:The lower platform (1) central axis and the central axis of upper mounting plate (3) coincide.
4. a kind of stainless steel building guardrail cleaning robot according to claim 1, it is characterised in that:The angular adjustment Branch (974) includes the No.1 ear mount (9741) being welded on No.1 connecting pole (971) inner wall, is led between No.1 ear mount (9741) It crosses axis pin and No. four hydraulic cylinders (9742) is installed, the top of No. four hydraulic cylinders (9742) is mounted on No. two ear mounts by axis pin (9743) on, No. two ear mounts (9743) are welded on the inner wall of No. two connecting poles (972).
CN201610343655.8A 2016-05-22 2016-05-22 A kind of stainless steel building guardrail cleaning robot Active CN105798872B (en)

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CN106217346B (en) * 2016-07-29 2018-08-31 哈工大机器人集团(广州)知识产权投资控股有限公司哈尔滨分公司 A kind of intelligence for indoor air purification absorbs robot
CN106195104B (en) * 2016-07-29 2018-06-26 黄俊龙 A kind of rotation vibration-free tables for indoor air purification smart machine
WO2018072165A1 (en) * 2016-10-20 2018-04-26 李良学 Spray rinsing apparatus for construction column and method for using same
CN106996088B (en) * 2017-03-29 2018-09-04 骆伟坤 A kind of Cleaning vehicle for guardrail with efficient prompting function
CN108996240B (en) * 2018-09-27 2020-03-17 苏州托玛斯机器人集团有限公司 Combined steel plate carrying robot

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CN2315139Y (en) * 1997-12-09 1999-04-21 王福海 Multifunctional cleaning vehicle for road isolation rail
CN201388979Y (en) * 2009-03-28 2010-01-27 李新民 High-rise building cleaning device
CN201800035U (en) * 2010-08-20 2011-04-20 上海电机学院 Multiple-degree-of-freedom robot
CN202045507U (en) * 2011-04-07 2011-11-23 朱建彬 Multifunctional numerical-control basic operation platform
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CN104802151A (en) * 2015-04-28 2015-07-29 上海大学 Robot for carrying, assembling and moving heavy loads
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