CN105798885B - A kind of building decoration support robot based on 3-freedom parallel mechanism - Google Patents
A kind of building decoration support robot based on 3-freedom parallel mechanism Download PDFInfo
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- CN105798885B CN105798885B CN201610327891.0A CN201610327891A CN105798885B CN 105798885 B CN105798885 B CN 105798885B CN 201610327891 A CN201610327891 A CN 201610327891A CN 105798885 B CN105798885 B CN 105798885B
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- side chain
- erecting bed
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- 238000005034 decoration Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 title claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 15
- 230000001105 regulatory effect Effects 0.000 claims abstract description 13
- 230000033228 biological regulation Effects 0.000 claims description 12
- 238000003466 welding Methods 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 36
- 238000013016 damping Methods 0.000 abstract description 16
- 230000008901 benefit Effects 0.000 description 19
- 230000006641 stabilisation Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 5
- 239000000919 ceramic Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 239000011521 glass Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
- Manipulator (AREA)
Abstract
Robot is supported the present invention relates to a kind of building decoration based on 3-freedom parallel mechanism, including from steady support meanss, there is good rigid support performance, stability and damping performance from steady support meanss, it is described that locking and regulating device is installed from the middle part of steady support meanss upper surface；It is described to include fixed round platform from steady support meanss, the lower surface of the fixed round platform is symmetrically arranged with four universal wheels, the present invention is moved to needed for interior architecture and clears up place by the present invention by four universal wheels, the upper surface of fixed round platform is uniformly provided with four support side chains in parallel in the axial direction, four L-type pillars are symmetrically installed with the middle part of four support side chain upper surfaces in parallel, the end of four L-type pillars is respectively arranged with four installation disks, disk is installed four to be separately mounted in four connection sheets by screw, four connection sheets are symmetrically welded at the lower surface of square erecting bed.The present invention can realize rigid support function stable during interior architecture cleaning.
Description
Technical field
The present invention relates to building field of environment protection equipment, specifically a kind of building dress based on 3-freedom parallel mechanism
Decorations support robot.
Background technology
With the continuous social and economic development, miscellaneous high building stands in great numbers and risen, but continuous with high building quantity
Increase, safeguard that the street cleaner of high building environmentally-friendly sanitary is more and more, the scope of cleaning include floor, glass window, furring tile,
Furred ceiling or ceiling etc., although in the market has many clean robots, but only possess automatic cleaning bottom plate and glass window
Function, indoor wall ceramic tile, furred ceiling or ceiling etc., which still need, manually periodically to be handled, and not yet has exploitation automation cleaning
Equipment, when the height residing for ceramic tile, furred ceiling, ceiling is higher, it usually needs double ladder auxiliary cleaning, this height auxiliary is set
Standby angles are fixed, and fixed angle is unadjustable, and equipment does not possess spinfunction, so as to cause artificial needs constantly to be walked up and down
Move to adjust angle, and because street cleaner needs constantly to clean repeatedly back and forth, people's body is to this height auxiliary equipment
Stress point is different, the phenomenon rocked or shaken often occurs, rigid support poor performance, damping performance is poor, and stability is poor,
Cause street cleaner meticulously can only slowly clean, operating efficiency greatly reduces, the scope of application is small.
The content of the invention
In order to solve the above problems, machine is supported the invention provides a kind of building decoration based on 3-freedom parallel mechanism
Device people, can solve the equipment rigid support poor performance of existing Clean- height auxiliary equipment presence, stabilization of equipment performance energy is poor, set
It is standby that damping performance is poor, fixed angle is unadjustable, the anglec of rotation is unadjustable, the scope of application is small and the inferior difficulty of inefficiency
Topic, it is possible to achieve interior architecture rigid support function stable when cleaning, with equipment rigid support performance is good, stabilization of equipment performance
Can good, equipment damping performance be good, fixed angle is adjustable, the anglec of rotation is adjustable, the scope of application is big and the advantages of high operating efficiency.
To achieve these goals, the present invention is realized using following technical scheme：One kind is based on three-freedom parallel
The building decoration support robot of structure, including from steady support meanss, there is good rigid support performance from steady support meanss, it is steady
Qualitative energy and damping performance, it is described that locking and regulating device is installed from the middle part of steady support meanss upper surface, locking and regulating device
Fixed angle and the anglec of rotation are adjustable；Described to include fixed round platform from steady support meanss, the lower surface of the fixed round platform is symmetrical
Four universal wheels are provided with, the present invention is moved to needed for interior architecture and clears up place by the present invention by four universal wheels, fixed
The upper surface of round platform is uniformly provided with right in the middle part of four support side chains in parallel, four support side chain upper surfaces in parallel in the axial direction
Title is provided with four L-type pillars, and the end of four L-type pillars is respectively arranged with four installation disks, installs disk for four and pass through
Screw is separately mounted in four connection sheets, and four connection sheets are symmetrically welded at the lower surface of square erecting bed, by four simultaneously
Connection support side chain is hollow to play a part of being welded with positioning in the middle part of stable support square erecting bed, the lower surface of square erecting bed
Axle, positioning hollow shaft lower end is set on main locating shaft, and positioning hollow shaft can vertically be moved on main locating shaft, main fixed
Position axle play spacing effect so that square erecting bed positioning hollow shaft it is spacing under can only vertically move, without
The phenomenon for motion of rolling occurs, the stability of equipment is improved, main locating shaft bottom is welded on the upper of fixed round platform
In the middle part of end face；The lower surface of the square erecting bed is symmetrically welded with four upper locating shafts, four upper locating shafts and is arranged respectively
There are four limit springs, four limit spring lower ends are respectively sleeved on four lower locating shafts, and four lower locating shafts are symmetrically welded
On the upper surface of fixed round platform, lower locating shaft and upper locating shaft play a part of limiting limit spring position, and limit spring makes
Obtain of the invention with good damping performance；Described No. one that supports side chain to include being welded on fixed round platform upper surface in parallel fixed
Platform, a fixed platform upper surface is uniformly installed by three No. one side chain in parallel, three No. one side chain upper end in parallel in the axial direction
It is uniform to be arranged on a moving platform, corresponding L-type pillar is installed in the middle part of a moving platform upper surface；Described No. one branch in parallel
Chain includes being provided with a liquid by bearing pin between the ear mount that lower end is welded on a fixed platform upper surface, an ear mount
Cylinder pressure, the top of a hydraulic cylinder, which has been connected through a screw thread on connecting cylinder, connecting cylinder, has been connected through a screw thread spherical hinge, spherical hinge
Upper end is by being threadably mounted on Triangulum, and Triangulum is welded on the lower surface of a moving platform.An ear mount in the present invention
S pairs are formd when P secondary, spherical hinge work are formd when R secondary, a hydraulic cylinder are formd during rotation, so as to form RPS
The side chain in parallel of No. one of type, is formd eventually through side chain in parallel, a moving platform of a fixed platform, three RPS types
Support side chain in parallel in 3-RPS parallel institutions, the present invention is 3-RPS parallel institutions, and 3-RPS parallel institutions have dynamic response
The advantages of good, rigidity height, large carrying capacity, good stability and high kinematic accuracy, pass through by the advantage present invention of parallel institution
Four 3-RPS parallel institutions carry out rigid support function stable during interior architecture cleaning, while by the advantage of parallel institution
So that the present invention has good stability and good damping performance.
As a preferred technical solution of the present invention, the locking and regulating device is welded on square including lower surface and installed
It is provided with the middle part of lower locking round platform on platform, lower locking round platform by motor cabinet on electric rotating machine, the output shaft of electric rotating machine admittedly
Surely locking erecting bed is connected with, the lower surface of locking erecting bed is evenly arranged with four L-type gag lever posts, four L in the axial direction
Type gag lever post is connected with convex annular between by sliding matching mode, and the lower end on convex annular edge is welded on lower locking round platform
On, the spaced motion on four L-type gag lever posts and convex annular edge causes locking erecting bed to stablize under the drive of electric rotating machine
It is rotated, so that the present invention has the function of rotation regulation, workman is cleared up when operating without adjusting work manually
Make angle, easy to operate, operating efficiency is high；The locking erecting bed upper surface is symmetrically installed with four No. two hydraulic cylinders, four
It is separately fixed in the middle part of No. two hydraulic cylinders in four Z-type fixed seats, the bottom of four Z-type fixed seats is symmetrically installed by screw
On locking erecting bed；The top of four No. two hydraulic cylinders is provided with rhombus elevator, four sides of rhombus elevator
On be symmetrically welded with four locking side chains, four locking side chains and locking erecting bed between be connected by adjusting side chain, pass through
The fixed locking angle of side chain regulation correspondence locking side chain is adjusted, when the support zone in required cleaning place is skewed or not
During regular shape, it is only necessary to side chain regulation will be locked to suitable fixed locking angle by adjusting side chain, the rear defence fixed
Stopped the situation that arbitrarily moves in the course of work of the present invention, cleanup crew station above can be bold carry out cleaning function,
Improve operating efficiency；The locking side chain includes the straight connecting rod being welded in rhombus elevator corresponding side surface, the top of straight connecting rod
End is provided between two hangers, two hangers is provided with No. two hangers by bearing pin, and No. two hangers are welded on one
On number L-type connecting rod, the top of a L-type connecting rod, which is welded with square installation sheet, square installation sheet, is symmetrically arranged with four installations
Hole, the support zone in cleaning place needed for the present invention is movably fixed to by four mounting holes；The regulation side chain includes weldering
No. two ear mounts on locking erecting bed are connected on, No. three hydraulic cylinders are provided with by bearing pin between No. two ear mounts, No. three hydraulic cylinders
Top is arranged between No. three ear mounts by bearing pin, and No. three ear mounts are welded on the side wall of a L-type connecting rod；The rhombus lifting
Block upper surface is symmetrically welded with four fore-sets, and four fore-set upper ends are provided with locking round platform, and four fore-sets play rigid support
Being stood on the effect of upper locking round platform round platform, upper locking round platform 211 has street cleaner.During work, street cleaner stands first
On upper locking round platform 211, suitable operating angle is then determined according to actual conditions street cleaner, electric rotating machine is started working,
Because the spacing synkinesia on four L-type gag lever posts and convex annular edge causes locking erecting bed can be with the drive of electric rotating machine
Stable to be rotated, locking erecting bed synchronously drives four locking side chains to rotate, when the present invention reaches suitable clear
Electric rotating machine is stopped during clean operating angle；Then according to the support zone shape adjustment locking side chain in required cleaning place
Fixed locking angle, the locking side chain of fixed-direction regulation needed for is only needed to according to nearby principle, correspondence adjusts side chain
On No. three hydraulic cylinders start working, No. three hydraulic cylinders drive a L-type connecting rods to be rotated on straight connecting rod by No. three ear mounts, when
No. three hydraulic pressure when being welded on the square installation sheet medial surface on a L-type connecting rod top parallel to the local support zone of required cleaning
Cylinder is stopped, and the support zone in cleaning place, is fixed needed for finally by four mounting holes, the present invention is movably fixed to
The situation arbitrarily moved in the course of work for preventing the present invention afterwards, cleanup crew station can be bold on upper locking round platform
Carry out cleaning function, improve operating efficiency.
Place is cleared up in use, the present invention is moved to needed for interior architecture by four universal wheels first, is then cleaned
Workman stands on upper locking round platform, determines suitable operating angle further according to actual conditions street cleaner, electric rotating machine starts
Work, because the spacing synkinesia on four L-type gag lever posts and convex annular edge to lock drive of the erecting bed in electric rotating machine
Under can stablize be rotated, locking erecting bed synchronously drive four locking side chains rotate, when the present invention arrival
Electric rotating machine is stopped during the operating angle properly cleaned；Then according to the support zone shape adjustment lock in required cleaning place
The fixed locking angle of tight side chain, the locking side chain of fixed-direction needed for adjusting is only needed to according to nearby principle, correspondence is adjusted
No. three hydraulic cylinders saved on side chain are started working, and No. three hydraulic cylinders drive a L-type connecting rod on straight connecting rod by No. three ear mounts
Rotate, when being welded on the square installation sheet medial surface on a L-type connecting rod top parallel to the local support zone of required cleaning
No. three hydraulic cylinders are stopped, the supporting part in cleaning place needed for the present invention is movably fixed to finally by four mounting holes
The situation arbitrarily moved in position, the course of work that the present invention is prevented after fixing, cleanup crew station is on upper locking round platform
Face can be bold carry out cleaning function, improve operating efficiency, after regulating cleanup crew station it is upper locking round platform above
Formd when quickly an ear mount is rotated in cleaning interior architecture ceramic tile, furred ceiling or ceiling, and the present invention R it is secondary, No. one
S pairs are formd when P secondary, spherical hinge work are formd during hydraulic cylinder, so that the side chain in parallel of form RPS types No. one, most
3-RPS parallel institutions are formd by side chain in parallel, a moving platform of a fixed platform, three RPS types eventually, the present invention
In support side chain in parallel be 3-RPS parallel institutions, 3-RPS parallel institutions have that dynamic response is good, rigidity is high, bearing capacity
Greatly, stability is good and the advantages of high kinematic accuracy, by parallel institution the advantage present invention by four 3-RPS parallel institutions come
Rigid support function stable during interior architecture cleaning of the present invention is realized, while also causing the present invention by the advantage of parallel institution
With good stability and good damping performance.
The beneficial effects of the invention are as follows：
1st, the support side chain in parallel in the present invention is 3-RPS parallel institutions, 3-RPS parallel institutions have dynamic response it is good,
Rigidity height, large carrying capacity, stability is good and the advantages of high kinematic accuracy, four are passed through by the advantage present invention of parallel institution
The rigid support function of stabilization when 3-RPS parallel institutions are to realize interior architecture cleaning of the present invention, while by parallel institution
Advantage also causes the present invention to have good stability and good damping performance；
2nd, spacing synkinesia of the present invention by electric rotating machine on four L-type gag lever posts and convex annular edge causes locking to pacify
Street cleaner above dress platform can make stable rotary motion, realize anglec of rotation adjustable function of the present invention, and the present invention
The square installation sheet on a L-type connecting rod is driven to be rotated on straight connecting rod by adjusting No. three hydraulic cylinders on side chain, so as to have
Effect have adjusted the fixed locking angle of locking side chain, realizes the adjustable function of fixed angle of the present invention, is prevented after fixing
Improved in carry out cleaning function that above can be bold at the situation arbitrarily moved in the course of work of the present invention, cleanup crew station
Operating efficiency；
3rd, the present invention solves equipment rigid support poor performance, the equipment stabilization that existing Clean- height auxiliary equipment is present
Poor performance, equipment damping performance are poor, fixed angle is unadjustable, the anglec of rotation is unadjustable, the scope of application is small and operating efficiency
The problem such as low, realizes rigid support function stable during interior architecture cleaning, with equipment rigid support performance is good, equipment
Stability is good, equipment damping performance is good, fixed angle is adjustable, the anglec of rotation is adjustable, the scope of application is big and operating efficiency is high etc.
Advantage.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is structural representation of the present invention from steady support meanss；
Fig. 3 is full sectional view of the present invention from steady support meanss；
Fig. 4 is the structural representation of locking and regulating device of the present invention；
Fig. 5 is the full sectional view of locking and regulating device of the present invention.
Specific embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 5, a kind of building decoration support robot based on 3-freedom parallel mechanism, including from surely
Support meanss 1, have good rigid support performance, stability and damping performance from steady support meanss 1, described from steady support
Locking and regulating device 2 is installed in the middle part of the upper surface of device 1, the fixed angle and the anglec of rotation of locking and regulating device 2 are adjustable, described
Include fixed round platform 11 from steady support meanss 1, the lower surface of the fixed round platform 11 is symmetrically arranged with four universal wheels 12, this hair
The bright present invention is moved to needed for interior architecture by four universal wheels 12 clears up place, and the upper surface of fixed round platform 11 is along axis
Direction is uniformly provided with the middle part of four support side chains 13 in parallel, four support side chain 13 upper surfaces in parallel and is symmetrically installed with four L
T shore 14, the end of four L-type pillars 14 is respectively arranged with four and installs disk 14a, installs disk 14a for four and passes through screw
It is separately mounted on four connection sheet 15a, four connection sheet 15a are symmetrically welded at the lower surface of square erecting bed 15, pass through four
Individual support side chain 13 in parallel welds to play a part of stable support in the middle part of square erecting bed 15, the lower surface of square erecting bed 15
There is positioning hollow shaft 16, positioning hollow shaft 16 lower end is set on main locating shaft 17, and positioning hollow shaft 16 can be in main locating shaft
Vertically moved on 17, main locating shaft 17 plays spacing effect so that limit of the square erecting bed 15 in positioning hollow shaft 16
It can only vertically be moved under position, without the phenomenon for motion of rolling, improve the stability of equipment, it is main fixed
The position bottom of axle 17 is welded in the middle part of the upper surface of fixed round platform 11；The lower surface of the square erecting bed 15 is symmetrically welded with four
Four limit springs 18, four lower end of limit spring 18 difference are arranged with respectively on upper locating shaft 15b, four upper locating shaft 15b
It is set on four lower locating shaft 11a, four lower locating shaft 11a are symmetrically welded on the upper surface of fixed round platform 11, lower positioning
Axle 11a and upper locating shaft 15b play a part of limiting the position of limit spring 18, and limit spring 18 causes the present invention to have well
Damping performance；The support side chain 13 in parallel includes a fixed platform 131 being welded on the fixed upper surface of round platform 11, and No. one fixed
Three No. one side chain 132 in parallel is uniformly installed in the upper surface of platform 131 in the axial direction, and three No. one upper end of side chain 132 in parallel is equal
It is even to be arranged on a moving platform 133, corresponding L-type pillar 14 is installed in the middle part of a upper surface of moving platform 133；Described No. one
Side chain 132 in parallel is included between the ear mount 1321 that lower end is welded on a upper surface of fixed platform 131, an ear mount 1321
A number hydraulic cylinder 1322 is provided with by bearing pin, the top of a hydraulic cylinder 1322 has been connected through a screw thread connecting cylinder 1323, even
Connect and spherical hinge 1324 be connected through a screw thread on cylinder 1323, the upper end of spherical hinge 1324 by being threadably mounted on Triangulum 1325,
Triangulum 1325 is welded on the lower surface of a moving platform 133.Formd when ear mount 1321 is rotated in the present invention R it is secondary,
A number hydraulic cylinder 1322 forms when moving and forms S pairs when P is secondary, spherical hinge 1324 works, so as to form No. one of RPS types
Side chain 132 in parallel, eventually through side chain 132 in parallel, the shape of moving platform 133 of a fixed platform 131, three RPS types
Into 3-RPS parallel institutions, the support side chain 13 in parallel in the present invention is 3-RPS parallel institutions, and 3-RPS parallel institutions have dynamic
State is responded, rigidity height, large carrying capacity, good stability and the advantages of high kinematic accuracy, by this hair of the advantage of parallel institution
It is bright that rigid support function stable during interior architecture cleaning is realized by four 3-RPS parallel institutions, while by parallel machine
The advantage of structure also causes the present invention to have good stability and good damping performance.
The locking and regulating device 2 includes the lower locking round platform 21 that lower surface is welded on square erecting bed 15, lower locking
The middle part of round platform 21 is provided with electric rotating machine 22, the output shaft of electric rotating machine 22 by motor cabinet is fixedly connected with locking erecting bed
23, the lower surface of locking erecting bed 23 is evenly arranged with four L-type gag lever posts 23a, four L-type gag lever post 23a in the axial direction
It is connected with convex annular along between 24 by sliding matching mode, convex annular is welded on lower locking round platform 21 along 24 lower end,
Four L-type gag lever post 23a make it that locking erecting bed 23 can under the drive of electric rotating machine 22 with convex annular along 24 spaced motion
It is rotated with stable, so that the present invention has the function of rotation regulation, workman is cleared up when operating without manually
Adjustment work angle, easy to operate, operating efficiency is high；Locking erecting bed 23 upper surface is symmetrically installed with four No. two hydraulic pressure
Cylinder 25, the middle part of four No. two hydraulic cylinders 25 is separately fixed in four Z-type fixed seats 26, the bottom of four Z-type fixed seats 26
It is symmetrically mounted on by screw on locking erecting bed 23；The top of four No. two hydraulic cylinders 25 is provided with rhombus elevator
27, four locking side chains 28 are symmetrically welded with four sides of rhombus elevator 27, four locking side chains 28 are installed with locking
It is connected between platform 23 by adjusting side chain 29, by adjusting the fixed locking angle of the regulation correspondence locking side chain 28 of side chain 29,
When the support zone in required cleaning place is skewed or irregular, it is only necessary to will lock side chain by adjusting side chain 29
28 regulations are to suitable fixed locking angle, the shape arbitrarily moved in the course of work that the present invention is prevented after fixing
Condition, cleanup crew station improves operating efficiency in carry out cleaning function that above can be bold；The locking side chain 28 includes weldering
The straight connecting rod 281 in the corresponding side surface of rhombus elevator 27 is connected on, the top of straight connecting rod 281 is provided with two hanger 281a,
No. two hangers 282a, No. two hanger 282a are provided with by bearing pin between two hanger 281a and are welded on a L-type connecting rod
On 282, the top of a L-type connecting rod 282, which is welded with square installation sheet 283, square installation sheet 283, is symmetrically arranged with four peaces
Hole is filled, the support zone in cleaning place needed for the present invention is movably fixed to by four mounting holes；The regulation side chain 29 is wrapped
Include and No. three hydraulic cylinders are provided with by bearing pin between No. two ear mounts 291 being welded on locking erecting bed 23, No. two ear mounts 291
292, the top of No. three hydraulic cylinders 292 is arranged between No. three ear mounts 293 by bearing pin, and No. three ear mounts 293 are welded on a L-type
On the side wall of connecting rod 282；The upper surface of rhombus elevator 27 is symmetrically welded with four fore-sets 210, four upper end of fore-set 210 peaces
Equipped with upper locking round platform 211, four fore-sets 210 play a part of locking the round platform of round platform 211, upper locking round platform in rigid support
Being stood on 211 has street cleaner.During work, street cleaner stands on upper locking round platform 211 first, then according to actual conditions
Street cleaner determines suitable operating angle, and electric rotating machine 22 is started working, due to four L-type gag lever post 23a and convex annular edge
24 spacing synkinesia causes locking erecting bed 23 can be stablized under the drive of electric rotating machine 22 to be rotated, and locks
Erecting bed 23 is synchronous to drive four locking side chains 28 to rotate, and is rotated when the operating angle that present invention arrival is properly cleaned
Motor 22 is stopped；Then the fixation lock corner of side chain 28 is locked according to the support zone shape adjustment in required cleaning place
Degree, No. three on the locking side chain 28 of fixed-direction needed for adjusting, correspondence regulation side chain 29 are only needed to according to nearby principle
Hydraulic cylinder 292 is started working, and No. three hydraulic cylinders 292 drive a L-type connecting rod 282 on straight connecting rod 281 by No. three ear mounts 293
Rotate, when support of the medial surface of square installation sheet 283 parallel to required cleaning place for being welded on a top of L-type connecting rod 282
No. three hydraulic cylinders 292 are stopped during position, cleaning place needed for the present invention is movably fixed to finally by four mounting holes
Support zone, the situation that arbitrarily moves in the course of work of the present invention is prevented after fixing, cleanup crew is locking at station
The carry out cleaning function that tightly round platform 211 above can be bold, improves operating efficiency.
Place, Ran Houqing are cleared up in use, the present invention is moved to needed for interior architecture by four universal wheels 12 first
Clean workman is stood on upper locking round platform 211, and suitable operating angle, electric rotating machine are determined further according to actual conditions street cleaner
22 start working, because four L-type gag lever post 23a and convex annular along 24 spacing synkinesia cause locking erecting bed 23 in rotation
It can stablize under the drive of rotating motor 22 and be rotated, locking erecting bed 23 is synchronous to drive four locking side chains 28 to rotate
Motion, when the operating angle that present invention arrival is properly cleaned, electric rotating machine 22 is stopped；Then according to required cleaning place
Support zone shape adjustment locking side chain 28 fixed locking angle, only needed to adjust required fixed-direction according to nearby principle
Locking side chain 28, correspondence regulation side chain 29 on No. three hydraulic cylinders 292 start working, No. three hydraulic cylinders 292 pass through three
Number ear mount 293 drives a L-type connecting rod 282 to be rotated on straight connecting rod 281, when the square for being welded on a top of L-type connecting rod 282
No. three hydraulic cylinders 292 are stopped when the medial surface of installation sheet 283 is parallel to required cleaning local support zone, finally by four
The support zone in cleaning place, prevents the work of the present invention needed for the present invention is movably fixed to by individual mounting hole after fixing
During the situation that arbitrarily moves, the carry out cleaning function that cleanup crew station can be bold on upper locking round platform 211 improves
Operating efficiency, interior architecture ceramic tile, furred ceiling are quickly cleared up in cleanup crew station above in upper locking round platform 211 after regulating
Or formd in ceiling, and the present invention when ear mount 1321 is rotated and form P when R is secondary, a hydraulic cylinder 1322 is moved
Secondary, spherical hinge 1324 forms S pairs when working, so that the side chain 132 in parallel of form RPS types No. one, fixed eventually through No. one
Platform 131, a side chain 132 in parallel, the moving platform 133 of three RPS types are formd in 3-RPS parallel institutions, the present invention
Support side chain 13 in parallel be 3-RPS parallel institutions, 3-RPS parallel institutions have that dynamic response is good, rigidity is high, bearing capacity
Greatly, stability is good and the advantages of high kinematic accuracy, by parallel institution the advantage present invention by four 3-RPS parallel institutions come
Rigid support function stable during interior architecture cleaning is realized, while the advantage by parallel institution also causes the present invention has good
Good stability and good damping performance, solves the equipment rigid support that existing Clean- height auxiliary equipment is present
Energy is poor, stabilization of equipment performance can poor, equipment damping performance be poor, fixed angle is unadjustable, the anglec of rotation is unadjustable, the scope of application
The small and inferior problem of inefficiency, has reached purpose.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the simply explanation present invention of the description in above-described embodiment and specification
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed
Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (4)
1. a kind of building decoration support robot based on 3-freedom parallel mechanism, it is characterised in that：Including being filled from steady support
Put (1), it is described that locking and regulating device (2) is installed from the middle part of steady support meanss (1) upper surface；It is described from steady support meanss (1)
Including fixed round platform (11), the lower surface of the fixed round platform (11) is symmetrically arranged with four universal wheels (12), fixed round platform
(11) upper surface is uniformly provided with four support side chains (13) in parallel, four support side chain (13) upper ends in parallel in the axial direction
Middle face is symmetrically installed with four L-type pillars (14), and the end of four L-type pillars (14) is respectively arranged with four installation disks
(14a), installs disk (14a) for four and is separately mounted to by screw on four connection sheets (15a), four connection sheets (15a) are right
Claim to be welded with positioning hollow shaft in the middle part of the lower surface for being welded on square erecting bed (15), the lower surface of square erecting bed (15)
(16), positioning hollow shaft (16) lower end is set on main locating shaft (17), and main locating shaft (17) bottom is welded on fixed round platform
(11) in the middle part of upper surface；The lower surface of the square erecting bed (15) is symmetrically welded with four upper locating shafts (15b), four
Four limit springs (18) are arranged with locating shaft (15b) respectively, four limit spring (18) lower ends are respectively sleeved under four
On locating shaft (11a), four lower locating shafts (11a) are symmetrically welded on the upper surface of fixed round platform (11)；
The support side chain (13) in parallel includes a fixed platform (131) being welded on fixed round platform (11) upper surface, No. one
Fixed platform (131) upper surface is uniformly installed by three No. one side chain (132) in parallel, three No. one side chain in parallel in the axial direction
(132) upper end is uniformly arranged on a moving platform (133), and corresponding L-type is provided with the middle part of moving platform (133) upper surface
Pillar (14)；
The locking and regulating device (2) includes the lower locking round platform (21) that lower surface is welded on square erecting bed (15), lower lock
It is provided with the middle part of tight round platform (21) by motor cabinet on electric rotating machine (22), the output shaft of electric rotating machine (22) and is fixedly connected with lock
Tight erecting bed (23), the lower surface of locking erecting bed (23) is evenly arranged with four L-type gag lever posts (23a), four in the axial direction
Individual L-type gag lever post (23a) is connected with convex annular along between (24) by sliding matching mode, and lower end of the convex annular along (24) is welded
It is connected on lower locking round platform (21)；Described locking erecting bed (23) upper surface is symmetrically installed with four No. two hydraulic cylinders (25), four
It is separately fixed in the middle part of individual No. two hydraulic cylinders (25) on four Z-type fixed seats (26), the bottom of four Z-type fixed seats (26) leads to
Screw is crossed to be symmetrically mounted on locking erecting bed (23)；The top of four No. two hydraulic cylinders (25) is provided with rhombus elevator
(27), be symmetrically welded with four sides of rhombus elevator (27) four locking side chains (28), four locking side chains (28) with
It is connected between locking erecting bed (23) by adjusting side chain (29)；Rhombus elevator (27) upper surface is symmetrically welded with four
Root fore-set (210), four fore-set (210) upper ends are provided with locking round platform (211).
2. a kind of building decoration support robot based on 3-freedom parallel mechanism according to claim 1, its feature
It is：Described No. one side chain (132) in parallel includes the ear mount that lower end is welded on fixed platform (131) upper surface
(1321) hydraulic cylinder (1322), the top of a hydraulic cylinder (1322), are provided with by bearing pin between an ear mount (1321)
End, which has been connected through a screw thread on connecting cylinder (1323), connecting cylinder (1323), has been connected through a screw thread spherical hinge (1324), spherical hinge
(1324) upper end is by being threadably mounted on Triangulum (1325), and Triangulum (1325) is welded under a moving platform (133)
On end face.
3. a kind of building decoration support robot based on 3-freedom parallel mechanism according to claim 1, its feature
It is：The locking side chain (28) includes the straight connecting rod (281) being welded in rhombus elevator (27) corresponding side surface, straight connecting rod
(281) top is provided between two hangers (281a), two hangers (281a) and is provided with No. two by bearing pin
Hanger (282a), No. two hangers (282a) are welded on a L-type connecting rod (282), the top welding of a L-type connecting rod (282)
Have and be symmetrically arranged with four mounting holes on square installation sheet (283), square installation sheet (283).
4. a kind of building decoration support robot based on 3-freedom parallel mechanism according to claim 1, its feature
It is：The regulation side chain (29) includes No. two ear mounts (291) being welded on locking erecting bed (23), No. two ear mounts (291)
Between No. three hydraulic cylinders (292) are provided with by bearing pin, the top of No. three hydraulic cylinders (292) is arranged on No. three ear mounts by bearing pin
(293) between, No. three ear mounts (293) are welded on the side wall of a L-type connecting rod (282).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610327891.0A CN105798885B (en) | 2016-05-17 | 2016-05-17 | A kind of building decoration support robot based on 3-freedom parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610327891.0A CN105798885B (en) | 2016-05-17 | 2016-05-17 | A kind of building decoration support robot based on 3-freedom parallel mechanism |
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| Publication Number | Publication Date |
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| CN105798885A CN105798885A (en) | 2016-07-27 |
| CN105798885B true CN105798885B (en) | 2017-07-25 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108592375A (en) * | 2016-07-29 | 2018-09-28 | 高锦 | A kind of rotation vibration-free tables for indoor air purification smart machine |
| 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 |
| CN108644234B (en) * | 2016-08-23 | 2021-03-19 | 苏州讯如电子科技有限公司 | Bearing outer surface processor capable of moving stably |
| CN108581594B (en) * | 2016-08-23 | 2020-12-08 | 嘉兴市龙锋市政建设有限公司 | Movable base |
| CN107152587A (en) * | 2017-05-22 | 2017-09-12 | 刘旭玲 | A kind of base of dyeing and printing process equipment |
| CN109278020B (en) * | 2018-09-28 | 2021-11-12 | 临澧金华天机械制造有限公司 | High-end equipment manufacturing mechanical arm bracket |
| CN112320190A (en) * | 2020-12-04 | 2021-02-05 | 芜湖哈特机器人产业技术研究院有限公司 | Parallel lifting mechanism type mini AGV |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103340542B (en) * | 2013-07-10 | 2015-12-02 | 安徽理工大学 | Portable type four-freedom-degree display platform |
| CN103899343B (en) * | 2014-04-21 | 2015-10-07 | 安徽理工大学 | Freedom degree parallel connection hydraulic support |
| CN104029711B (en) * | 2014-06-25 | 2017-06-06 | 玄春花 | A kind of multidimensional shock absorption babies ' barrow |
| CN204030825U (en) * | 2014-08-11 | 2014-12-17 | 郑修志 | A kind of shock-absorbing motor cover in parallel |
| CN104149632B (en) * | 2014-08-19 | 2016-03-16 | 安徽理工大学 | Three-freedom-degree hybrid vibration damping pantograph |
| CN104129307B (en) * | 2014-08-19 | 2016-02-10 | 安徽理工大学 | Based on the Three-freedom-degree hybrid pantograph of two-in-parallel mechanism |
| CN104929234B (en) * | 2015-06-16 | 2017-01-18 | 青岛科融新能源有限公司 | Sewer sewage treatment device |
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Effective date of registration: 20181210 Address after: 233010 Pioneering Building 316, Huineng Small and Micro Enterprises Pioneering Center, 1750 Shengli West Road, Yuhui District, Bengbu City, Anhui Province Patentee after: Bengbu Dingrong Science and Technology Information Consulting Co., Ltd. Address before: 321035 No. 66 Cross Street, Hou Lou Xia Village, Xiaoshun Town, Jindong District, Jinhua City, Zhejiang Province Patentee before: Zhuang Wei |
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Effective date of registration: 20190301 Address after: 362011 Wanyuan Huayuan A Block 202, Luojiang District, Quanzhou City, Fujian Province Patentee after: China Construction Fulin Group Limited Address before: 233010 Pioneering Building 316, Huineng Small and Micro Enterprises Pioneering Center, 1750 Shengli West Road, Yuhui District, Bengbu City, Anhui Province Patentee before: Bengbu Dingrong Science and Technology Information Consulting Co., Ltd. |