CN105881506B - A kind of interior architecture parallel connection support robot with angle regulating function - Google Patents
A kind of interior architecture parallel connection support robot with angle regulating function Download PDFInfo
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- CN105881506B CN105881506B CN201610330060.9A CN201610330060A CN105881506B CN 105881506 B CN105881506 B CN 105881506B CN 201610330060 A CN201610330060 A CN 201610330060A CN 105881506 B CN105881506 B CN 105881506B
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- 230000001105 regulatory effect Effects 0.000 title claims abstract description 34
- 230000033228 biological regulation Effects 0.000 claims abstract description 24
- 238000009434 installation Methods 0.000 claims abstract description 24
- 238000005452 bending Methods 0.000 claims description 44
- 241000397426 Centroberyx lineatus Species 0.000 claims description 19
- 239000011159 matrix material Substances 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 abstract description 36
- 238000013016 damping Methods 0.000 abstract description 16
- 230000006870 function Effects 0.000 description 25
- 230000008901 benefit Effects 0.000 description 19
- 230000033001 locomotion Effects 0.000 description 14
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000006641 stabilisation Effects 0.000 description 6
- 238000011105 stabilization Methods 0.000 description 6
- 230000009711 regulatory function Effects 0.000 description 5
- 239000000919 ceramic Substances 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 241001442589 Convoluta Species 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000700647 Variola virus Species 0.000 description 1
- 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
- 230000007246 mechanism Effects 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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- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention relates to a kind of interior architecture parallel connection support robot with angle regulating function, including from steady support meanss, there is good rigid support performance from steady support meanss, stability and damping performance, it is described that locking and regulating device is installed from the middle part of steady support meanss upper surface, the fixed angle and the anglec of rotation of locking and regulating device are adjustable, locking and regulating device upper surface is symmetrically installed with four rigidity lifting side chains by screw, rigidity lifting side chain has good lift in height regulation performance, No. four hydraulic cylinders are installed in the middle part of locking and regulating device upper surface, and the top of four rigidity lifting side chains and No. four hydraulic cylinders is provided with installation round platform；Described to include fixed round platform from steady support meanss, the upper surface of fixed round platform is uniformly provided with the middle part of four support side chains in parallel, four support side chain upper surfaces in parallel in the axial direction is symmetrically installed with four L-type pillars.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 interior architecture with angle regulating function is simultaneously
Connection 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 height can not automatic lifting regulation, it is necessary to artificial height up and down, and this height auxiliary equipment angles are fixed, Gu
Determine angle unadjustable, equipment does not possess spinfunction, thus cause artificial needs constantly above and below walk about to adjust angle, and by
Need constantly to clean repeatedly back and forth in street cleaner, people's body is different to the stress point of this height auxiliary equipment, often
There is the phenomenon rocked or shaken, rigid support poor performance, damping performance is poor, and stability is poor, causes street cleaner can only
Meticulously slowly clean, operating efficiency greatly reduces, the scope of application is small.
The content of the invention
In order to solve the above problems, the invention provides a kind of interior architecture with angle regulating function support machine in parallel
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, height regulation performance is poor, the scope of application is small and work
Make the problems such as inefficiency, it is possible to achieve stable rigid support function when interior architecture is cleaned, with equipment rigid support
Energy is good, good, the equipment damping performance of stabilization of equipment performance energy is good, fixed angle is adjustable, the anglec of rotation is adjustable, height regulation performance is good,
The advantages of scope of application is greatly and operating efficiency is high.
To achieve these goals, the present invention is realized using following technical scheme：It is a kind of with angle regulating function
Interior architecture parallel connection support robot, 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, and locking and regulating device upper surface is symmetrically installed with four rigidity lifting side chains by screw,
Rigidity lifting side chain has is provided with No. four hydraulic pressure in the middle part of good lift in height regulation performance, locking and regulating device upper surface
Cylinder, and the top of four rigidity lifting side chains and No. four hydraulic cylinders is provided with installation round platform.
It is described to include fixed round platform, the fixed circle from steady support meanss as a preferred technical solution of the present invention
The lower surface of platform is symmetrically arranged with four universal wheels, and the present invention is moved to needed for interior architecture by the present invention by four universal wheels
Cleaning place, the upper surface of fixed round platform is uniformly provided with four support side chains in parallel, four support branch in parallel in the axial direction
Four L-type pillars are symmetrically installed with the middle part of chain upper surface, the end of four L-type pillars is respectively arranged with four installation disks, four
Individual installation disk is separately mounted in four connection sheets by screw, and four connection sheets are symmetrically welded at the lower end of square erecting bed
Face, is played a part of by four support side chains in parallel in the middle part of stable support square erecting bed, the lower surface of square erecting bed
Positioning hollow shaft is welded with, positioning hollow shaft lower end is set on main locating shaft, and positioning hollow shaft can hang down on main locating shaft
Directly move up and down, main locating shaft plays spacing effect so that square erecting bed positioning hollow shaft it is spacing under can only hang down
Directly move up and down, without the phenomenon for motion of rolling, improve the stability of equipment, main locating shaft bottom welding
In the middle part of the upper surface of fixed round platform；The lower surface of the square erecting bed is symmetrically welded with four upper locating shafts, and four upper fixed
Four limit springs are arranged with respectively on the axle of position, and four limit spring lower ends are respectively sleeved on four lower locating shafts, under four
Locating shaft is symmetrically welded on the upper surface of fixed round platform, and lower locating shaft and upper locating shaft play the work for limiting limit spring position
With limit spring causes the present invention to have good damping performance；The support side chain in parallel includes being welded on fixed round platform
A fixed platform on end face, a fixed platform upper surface is uniformly installed by three No. one side chain in parallel, three one in the axial direction
Number side chain upper end in parallel is uniformly arranged on a moving platform, and corresponding L-type pillar is provided with the middle part of a moving platform upper surface；
Described No. one side chain in parallel includes passing through pin between the ear mount that lower end is welded on a fixed platform upper surface, an ear mount
Axle is provided with a hydraulic cylinder, and the top of a hydraulic cylinder, which has been connected through a screw thread on connecting cylinder, connecting cylinder, to be connected through a screw thread
There is 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.This
S is formd when P secondary, spherical hinge work are formd when R secondary, a hydraulic cylinder are formd when an ear mount is rotated in invention
Pair, so as to form No. one of RPS types side chain in parallel, eventually through a fixed platform, a side chain in parallel of three RPS types,
The support side chain in parallel that a number moving platform is formd in 3-RPS parallel institutions, the present invention is 3-RPS parallel institutions, and 3-RPS is in parallel
Mechanism has the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by parallel institution
Rigid support function of advantage present invention when clean by four 3-RPS parallel institutions come interior architecture stably, while by
The advantage of parallel institution also causes the present invention to have 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
The effect of upper locking round platform round platform.During work, suitable operating angle, electric rotating are determined according to actual conditions street cleaner first
Machine is started working, because the spacing synkinesia on four L-type gag lever posts and convex annular edge causes locking erecting bed in electric rotating machine
Drive under can stablize be rotated, locking erecting bed synchronously drive four locking side chains rotate, when this hair
Electric rotating machine is stopped during the operating angle that bright arrival is properly cleaned；Then according to the support zone shape in required cleaning place
The fixed locking angle of regulation locking side chain, the locking side chain of fixed-direction needed for adjusting is only needed to according to nearby principle,
No. three hydraulic cylinders on correspondence regulation side chain are started working, and No. three hydraulic cylinders drive a L-type connecting rod straight by No. three ear mounts
Rotated on connecting rod, when support of the square installation sheet medial surface parallel to required cleaning place for being welded on a L-type connecting rod top
No. three hydraulic cylinders are stopped during position, the branch in cleaning place needed for the present invention is movably fixed to finally by four mounting holes
Support part position, prevents the situation that arbitrarily moves in the course of work of the present invention after fixing, cleanup crew station is above can be with
Bold carry out cleaning function, improves operating efficiency.
As a preferred technical solution of the present invention, the rigidity lifting side chain includes being arranged on upper locking by screw
The lower lifting stator of round platform upper surface, lower lifting stator is obliquely welded with lower lifting slide plate, lower lifting slide plate
Portion upper end is symmetrically installed with two upper limit position blocks, lower lifting slide plate by fixing bolt and is provided with by sliding matching mode
Slide plate is lifted, upper lifting slide plate can be moved on lower lifting slide plate, and lifting stator, upper lifting are welded with upper lifting slide plate
Swallow-tail form traveller is welded with stator, swallow-tail form traveller is connected by sliding matching mode with swallowtail-shaped slide, swallow-tail form is slided
Post can move back and forth on swallowtail-shaped slide, and swallowtail-shaped slide two ends are in closed, and closed avoids the movement of swallow-tail form traveller
The swallowtail-shaped slide upper end floated in the excessive phenomenon dropped out, and four rigidity lifting side chains is provided with installation round platform, installs circle
Being stood on platform has street cleaner；The lower lifting slide plate includes the lower plane bottom that lower end is welded on lower lifting stator, under
Planar base both sides are respectively integrally formed with aduncate two lower bending sections, and lower bending section is the spacing slip of concave curved on both sides
Upper end is respectively arranged with two openings on two openings, two lower bending sections by solid in the middle part of position, two lower bending sections
It is for the ease of installing upper limit position block, due to lower bending section to determine the opening that bolt is provided with two upper limit position blocks, lower bending section
For aduncate structure, the distance between two lower bending sections are again very small, are difficult to if lower bending section is not provided with opening
Realize the function that upper limit position block is installed by fixing bolt；The upper limit position block includes being symmetrically arranged with two on matrix, matrix
Two fixing nuts are separately installed with nut bore, two nut bores, just first fixing nut is installed before upper limit position block is installed
On nut bore hole, because the space between lower lifting slide plate and upper lifting slide plate is very small, otherwise slided once installing lifting
Piece is just difficult to install fixing nut again, and each fixing nut through the lower bending section on lower lifting slide plate with fixing bolt phase
Even, upper limit position block is fixed on lower lifting slide plate by fixing bolt, the side lower end of matrix hides integrally formed with shielding plate
Catch plays a part of blocking, and will be blocked when upper lifting slide plate lower end moves to shielding plate position, define lifting
Sliding distance of the slide plate on lower lifting slide plate, the upper end of matrix hooks post integrally formed with L-type, and the upper end that L-type hooks post is hooked under
Lift the lower bending section upper end of slide plate；The upper lifting slide plate includes the upper plane bottom that upper end is welded on lifting stator
Portion, is connected between upper planar base and the lower plane bottom on lower lifting slide plate by sliding matching mode, upper planar base two
Side is respectively integrally formed with aduncate two upper bending sections, and upper bending section is also the spacing sliding position of concave curved on both sides, two
The inwall of individual upper bending section is connected between the outer wall of two lower bending sections by sliding matching mode respectively, and upper bending section can be
Lower bending section movement, the bottom of upper planar base is symmetrically arranged with two corresponding with the shielding plate on two upper limit position blocks
Limited block, lower position block plays spacing effect, and when lower position block moves to the shielding plate of upper limit position block, lower position block is hidden
Catch is blocked, and is now the highest movement position of upper lifting slide plate.During work, place height is cleaned needed for interior architecture higher
When needing to increase Support Position, now No. four hydraulic cylinders are started working, and No. four hydraulic cylinders drive the cleaning installed and stood on round platform
Workman up works, and at the same time installs round platform and drives four rigidity lifting side chains to work, two on upper lifting slide plate are upper curved
Two lower bending sections of the pars convoluta on lower lifting slide plate are up moved, and upper lifting slide plate drives the swallow-tail form on lifting stator
Traveller is moved, and because lower lifting slide plate is obliquely welded on lower lifting stator, is inclined so that upper lifting slide plate is also past
Diagonal crossing, so as to drive the swallow-tail form traveller on lifting stator to be moved on swallowtail-shaped slide, if having moved one
When segment distance is not high enough, it is necessary to which No. four hydraulic cylinders work on, when lower position block moves to the shielding plate of upper limit position block, under
The limited block piece that is blocked is blocked, and upper lifting slide plate can be moved to extreme higher position, and now No. four hydraulic cylinders are stopped, upper lifting
Slide plate has lower lifting slide plate and No. four hydraulic cylinders to provide a supporting role during the whole lift in height of lower lifting slide plate, rises
Drop process is more steady, non-jitter situation, realizes the stable lift in height regulatory function of the present invention, and operating efficiency is high.
As a preferred technical solution of the present invention, the type of No. four hydraulic cylinders is multistage hydraulic cylinder, multistage liquid
The telescopic extensions of cylinder pressure are easy to the work of the present invention than larger.
Place is cleared up in use, the present invention is moved to needed for interior architecture by four universal wheels first, further according to reality
Border situation street cleaner determines suitable operating angle, and electric rotating machine is started working, due to four L-type gag lever posts and convex annular edge
Spacing synkinesia cause locking erecting bed under the drive of electric rotating machine can stablize be rotated, lock erecting bed
Synchronous to drive four locking side chains to rotate, when the operating angle that present invention arrival is properly cleaned, electric rotating machine stops work
Make；Then according to the fixed locking angle of the support zone shape adjustment locking side chain in required cleaning place, according to nearby principle
No. three hydraulic cylinders only needed on the locking side chain of fixed-direction needed for adjusting, correspondence regulation side chain are started working, No. three
Hydraulic cylinder drives a L-type connecting rod to be rotated on straight connecting rod by No. three ear mounts, when the square for being welded on a L-type connecting rod top
No. three hydraulic cylinders are stopped when installation sheet medial surface is parallel to required cleaning local support zone, finally by four installations
In the support zone in cleaning place, the course of work that the present invention is prevented after fixing needed for the present invention is movably fixed to by hole
The situation arbitrarily moved, the carry out cleaning function that cleanup crew can be bold, improves operating efficiency；It is clear needed for interior architecture
Clean place height is higher, and now No. four hydraulic cylinders are started working when needing to increase Support Position, and No. four hydraulic cylinders, which drive, installs circle
The street cleaner stood on platform up works, and at the same time installs round platform and drives four rigidity lifting side chain work, upper lifting is slided
Two lower bending sections of two upper bending sections on lower lifting slide plate on piece are up moved, and upper lifting slide plate drives lifting solid
Swallow-tail form traveller motion on stator, because lower lifting slide plate is obliquely welded on lower lifting stator, so that on
Lift slide plate also to move toward incline direction, so as to drive the swallow-tail form traveller on lifting stator to transport on swallowtail-shaped slide
It is dynamic, if moved a segment distance it is not high enough when, it is necessary to No. four hydraulic cylinders work on, when lower position block moves to upper limit
During the shielding plate of block, the lower position block piece that is blocked is blocked, and upper lifting slide plate can be moved to extreme higher position, now No. four hydraulic cylinders
It is stopped, upper lifting slide plate has lower lifting slide plate and No. four hydraulic cylinders during the whole lift in height of lower lifting slide plate
Provide a supporting role, lifting process is more steady, non-jitter situation, realize the stable lift in height regulatory function of the present invention,
Operating efficiency is high, and cleanup crew quickly clears up interior architecture ceramic tile, furred ceiling or smallpox in station on round platform is installed after regulating
When P secondary, spherical hinge work are formd when R secondary, a hydraulic cylinder are formd when an ear mount is rotated in plate, and the present invention
Form S pairs, so as to form No. one of RPS types side chain in parallel, eventually through a fixed platform, No. one of three RPS types simultaneously
The support side chain in parallel that connection side chain, a moving platform are formd in 3-RPS parallel institutions, the present invention is 3-RPS parallel institutions, 3-
RPS parallel institutions have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by simultaneously
The advantage present invention of online structure realizes rigidity branch stable during interior architecture cleaning of the present invention by four 3-RPS parallel institutions
Function is supportted, while the advantage by parallel institution also causes the present invention to have 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
3-RPS parallel institutions carry out rigid support function stable during interior architecture cleaning of the present invention, while by the advantage of parallel institution
Also so that the present invention has 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 is driven under the lift in height regulation that four rigidity lift side chain by No. four hydraulic cylinders and installs round platform
The street cleaner of upper standing makees whole height of the upper lifting slide plate in lift adjustment, and rigidity lifting side chain in lower lifting slide plate
There are lower lifting slide plate and No. four hydraulic cylinders to provide a supporting role in lifting process, lifting process is more steady, non-jitter situation,
The stable lift in height regulatory function of the present invention is realized, height regulation performance is good, and operating efficiency is high；
4th, 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, height regulation performance is poor, be applicable model
The small and inferior problem of inefficiency is enclosed, rigid support function stable during interior architecture cleaning is realized, with equipment rigidity
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, height modulability
Can the good, scope of application be big and the advantages of high operating efficiency.
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；
Fig. 6 is the structural representation of rigidity lifting side chain of the invention；
Fig. 7 is the left view of rigidity lifting side chain of the invention；
Fig. 8 is Fig. 7 of the present invention A-A to sectional view；
Fig. 9 is Fig. 7 of the present invention B-B direction sectional view；
Figure 10 is the structural representation between lifting stator, lower lifting slide plate, fixing bolt and upper limit position block under the present invention
Figure；
Figure 11 is the structural representation of upper limit position block of the present invention；
Figure 12 is that the perspective view between slide plate and upper lifting stator is lifted in 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 12, a kind of interior architecture parallel connection support robot with angle regulating function, 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, locking
The upper surface of adjusting means 2 is symmetrically installed with four rigidity lifting side chains 3 by screw, and rigidity lifting side chain 3 has good height
Spend and No. four hydraulic cylinders 4 are installed in the middle part of lift adjustment performance, the upper surface of locking and regulating device 2, and four rigidity lifting Hes of side chain 3
The top of No. four hydraulic cylinders 4 is provided with installation round platform 5.
Described to include fixed round platform 11 from steady support meanss 1, the lower surface of the fixed round platform 11 is symmetrically arranged with four
The present invention is moved to needed for interior architecture and clears up place by universal wheel 12, the present invention by four universal wheels 12, fixed round platform 11
Upper surface be uniformly provided with the axial direction it is right in the middle part of four support side chains 13 in parallel, four support side chain 13 upper surfaces in parallel
Title is provided with four L-type pillars 14, and the end of four L-type pillars 14 is respectively arranged with four and installs disk 14a, and four are installed circle
Piece 14a is separately mounted on four connection sheet 15a by screw, and four connection sheet 15a are symmetrically welded at square erecting bed 15
Lower surface, plays a part of stable support square erecting bed 15 by four support side chains 13 in parallel, square erecting bed 15
Positioning hollow shaft 16 is welded with the middle part of lower surface, positioning hollow shaft 16 lower end is set on main locating shaft 17, positions hollow shaft 16
Can vertically it be moved on main locating shaft 17, main locating shaft 17 plays spacing effect so that square erecting bed 15 is fixed
Position hollow shaft 16 it is spacing under can only vertically move, without the phenomenon for motion of rolling, improve equipment
Stability, the main bottom of locating shaft 17 is welded in the middle part of the upper surface of fixed round platform 11；The lower end of the square erecting bed 15
Face is symmetrically welded with four upper locating shaft 15b, four upper locating shaft 15b and is arranged with four limit springs 18, four limits respectively
The position lower end of spring 18 is respectively sleeved on four lower locating shaft 11a, and four lower locating shaft 11a are symmetrically welded at fixed round platform 11
On upper surface, lower locating shaft 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 has good damping performance；The support side chain 13 in parallel includes No. one be welded on the fixed upper surface of round platform 11
Three No. one side chain 132 in parallel is uniformly installed in fixed platform 131 a, upper surface of fixed platform 131 in the axial direction, and three No. one simultaneously
Join the upper end of side chain 132 to be uniformly arranged on a moving platform 133, corresponding L-type is installed in the middle part of a upper surface of moving platform 133
Pillar 14；Described No. one side chain 132 in parallel includes the ear mount 1321 that lower end is welded on a upper surface of fixed platform 131,
A hydraulic cylinder 1322 is provided with by bearing pin between a number ear mount 1321, the top of a hydraulic cylinder 1322 is connected through a screw thread
Have and spherical hinge 1324 has been connected through a screw thread on connecting cylinder 1323, connecting cylinder 1323, the upper end of spherical hinge 1324 is installed by screw thread
On Triangulum 1325, Triangulum 1325 is welded on the lower surface of a moving platform 133.1321 turns of an ear mount in the present invention
Form to form when R is secondary, a hydraulic cylinder 1322 is moved when P is secondary, spherical hinge 1324 works when dynamic and form S pairs, so that shape
Into No. one of RPS types side chain 132 in parallel, eventually through a fixed platform 131, a side chain 132 in parallel of three RPS types,
The support side chain 13 in parallel that a number moving platform 133 is formd in 3-RPS parallel institutions, the present invention is 3-RPS parallel institutions, 3-
RPS parallel institutions have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by simultaneously
The advantage present invention of online structure realizes rigid support work(stable during interior architecture cleaning by four 3-RPS parallel institutions
Can, while the advantage by parallel institution 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 in rigid support.During work, first
Suitable operating angle is determined according to actual conditions street cleaner, electric rotating machine 22 is started working, due to four L-type gag lever posts
23a causes locking erecting bed 23 can be stablized under the drive of electric rotating machine 22 to carry out with convex annular along 24 spacing synkinesia
Rotary motion, locking erecting bed 23 is synchronous to drive four locking side chains 28 to rotate, and is properly cleaned when present invention arrival
Electric rotating machine 22 is stopped during operating angle；Then according to the support zone shape adjustment locking side chain 28 in required cleaning place
Fixed locking angle, the locking side chain 28 of fixed-direction regulation needed for, correspondence regulation are only needed to according to nearby principle
No. three hydraulic cylinders 292 on chain 29 are started working, and No. three hydraulic cylinders 292 drive a L-type connecting rod 282 by No. three ear mounts 293
Rotated on straight connecting rod 281, when being welded on the medial surface of square installation sheet 283 on a top of L-type connecting rod 282 parallel to required clear
No. three hydraulic cylinders 292 are stopped when managing the support zone in place, are movably fixed to the present invention finally by four mounting holes
The situation arbitrarily moved in the support zone in required cleaning place, the course of work that the present invention is prevented after fixing, cleaning
Personnel station improves operating efficiency in carry out cleaning function that above can be bold.
The rigidity lifting side chain 3 includes the lower lifting stator that upper locking round platform 211 upper surface is arranged on by screw
31, lower lifting stator 31 is obliquely welded with lower lifting slide plate 32, and the middle part upper end of lower lifting slide plate 32 passes through fixed spiral shell
Bolt 33 is symmetrically installed with two upper limit position blocks 34, lower lifting slide plate 32 and is provided with upper lifting slide plate by sliding matching mode
35, upper lifting slide plate 35 can be moved on lower lifting slide plate 32, be welded with lifting stator 36 on upper lifting slide plate 35, risen
Swallow-tail form traveller 37 is welded with drop stator 36, swallow-tail form traveller 37 passes through sliding matching mode and the phase of swallowtail-shaped slide 38
Even, swallow-tail form traveller 37 can move back and forth on swallowtail-shaped slide 38, and the two ends of swallowtail-shaped slide 38 are in closed, and closed is avoided
Swallowtail-shaped slide 38 upper ends that the movement of swallow-tail form traveller 37 is floated in the excessive phenomenon dropped out, and four rigidity lifting side chains 3
Installation round platform 5 is installed, installing to stand on round platform 5 has street cleaner；The lower lifting slide plate 32 is welded on lower liter including lower end
Lower plane bottom 32a on stator 31 drops, and lower plane bottom 32a both sides are respectively integrally formed with curved under aduncate two
Pars convoluta 32b, lower bending section 32b are that upper end is respectively arranged with the middle part of the spacing sliding position of concave curved on both sides, two lower bending section 32b
Two upper limit position blocks 34 are provided with by fixing bolt 33 at two openings, two openings on two lower bending section 32b, under it is curved
Opening on pars convoluta 32b is for the ease of installing upper limit position block 34, because lower bending section 32b is aduncate structure, two
The distance between lower bending section 32b is again very small, is difficult to if lower bending section 32b is not provided with opening by fixing bolt
33 install the function of upper limit position block 34；The upper limit position block 34 includes being symmetrically arranged with two nuts on matrix 341, matrix 341
Two fixing nuts 342 are separately installed with hole 34a, two nut bore 34a, just first fixed spiral shell before installing upper limit position block 34
Mother 342 is arranged on nut bore 34a holes, because the space between lower lifting slide plate 32 and upper lifting slide plate 35 is very small, otherwise
It is difficult to fixing nut 342 is installed again once lifting slide plate 35 is installed, and each fixing nut 342 lifts slide plate 32 through lower
On lower bending section 32b be connected with fixing bolt 33, upper limit position block 34 is fixed on by lower lifting slide plate by fixing bolt 33
On 32, the side lower end of matrix 341 is integrally formed with shielding plate 343, and shielding plate 343 plays a part of blocking, when upper lifting is slided
The lower end of piece 35 moves to the position of shielding plate 343 and will be blocked, and defines lifting slide plate 35 on lower lifting slide plate 32
Sliding distance, the upper end of matrix 341 hooks post 344 integrally formed with L-type, and the upper end that L-type hooks post 344 is hooked in lower lifting slide plate 32
Lower bending section 32b upper ends；The upper lifting slide plate 35 includes the upper planar base that upper end is welded on lifting stator 36
It is connected between 35a, upper planar base 35a and the lower plane bottom 32a on lower lifting slide plate 32 by sliding matching mode, it is upper flat
Face bottom 35a both sides are respectively integrally formed with aduncate two upper bending section 35b, and upper bending section 35b is also the recessed of both sides
Bent spacing sliding position, two upper bending section 35b inwall is matched somebody with somebody between two lower bending section 32b outer wall by sliding respectively
Conjunction mode is connected, and upper bending section 35b can be moved in lower bending section 32b, and upper planar base 35a bottom is symmetrically arranged with and two
Shielding plate 343 on upper limit position block 34 two corresponding lower position block 35c, lower position block 35c play spacing effect, instantly
When limited block 35c moves to the shielding plate 343 of upper limit position block 34, the lower position block 35c pieces 343 that are blocked are blocked, and are now to rise
The highest movement position of slide plate 35 drops.During work, cleaning place height is higher needed for interior architecture needs to increase Support Position
When, now No. four hydraulic cylinders 4 are started working, and No. four hydraulic cylinders 4 drive the street cleaner stood on installation round platform 5 up to work,
At the same time installing round platform 5 drives four rigidity lifting side chains 3 to work, and two upper bending section 35b on upper lifting slide plate 35 exist
Two lower bending section 32b on lower lifting slide plate 32 are up moved, and upper lifting slide plate 35 drives the swallow on lifting stator 36
Tail shape traveller 37 is moved, because lower lifting slide plate 32 is obliquely welded on lower lifting stator 31, so that upper lifting
Slide plate 35 is also moved toward incline direction, so as to drive the swallow-tail form traveller 37 on lifting stator 36 on swallowtail-shaped slide 38
Motion, if moved a segment distance it is not high enough when, it is necessary to No. four hydraulic cylinders 4 work on, when lower position block 35c is moved to
During the shielding plate 343 of upper limit position block 34, the lower position block 35c pieces 343 that are blocked are blocked, and upper lifting slide plate 35 can be moved to highest
Position, now No. four hydraulic cylinders 4 be stopped, it is upper lifting slide plate 35 it is lower lifting slide plate 32 whole lift in height during
There are lower lifting slide plate 32 and No. four hydraulic cylinders 4 to provide a supporting role, lifting process is more steady, non-jitter situation, realize this
Stable lift in height regulatory function is invented, operating efficiency is high.
The type of No. four hydraulic cylinders 4 is multistage hydraulic cylinder, and the telescopic extensions of multistage hydraulic cylinder are easy to this to send out than larger
Bright work.
Place is cleared up in use, the present invention is moved to needed for interior architecture by four universal wheels 12 first, further 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 with
Convex annular causes locking erecting bed 23 can be stablized under the drive of electric rotating machine 22 to be rotated along 24 spacing synkinesia
Motion, locking erecting bed 23 is synchronous to drive four locking side chains 28 to rotate, the work properly cleaned when present invention arrival
Electric rotating machine 22 is stopped during angle；Then consolidating for side chain 28 is locked according to the support zone shape adjustment in required cleaning place
The tight angle of lock, the locking side chain 28 of fixed-direction needed for adjusting, correspondence regulation side chain 29 are only needed to according to nearby principle
On No. three hydraulic cylinders 292 start working, No. three hydraulic cylinders 292 drive a L-type connecting rods 282 straight by No. three ear mounts 293
Rotated on connecting rod 281, when being welded on the medial surface of square installation sheet 283 on a top of L-type connecting rod 282 parallel to required cleaning ground
No. three hydraulic cylinders 292 are stopped during the support zone of side, needed for finally by four mounting holes, the present invention is movably fixed to
The support zone in place is cleared up, the situation arbitrarily moved in the course of work that the present invention is prevented after fixing, cleanup crew
Carry out cleaning function that can be bold, improves operating efficiency；Height higher needs in place are cleaned needed for interior architecture to increase
During Support Position, now No. four hydraulic cylinders 4 are started working, and No. four hydraulic cylinders 4 drive the street cleaner stood on installation round platform 5 past
Upper work, at the same time installs round platform 5 and drives four rigidity lifting side chains 3 to work, two on upper lifting slide plate 35 are upper to be bent
Two lower bending section 32bs of the portion 35b on lower lifting slide plate 32 are up moved, and upper lifting slide plate 35, which drives, lifts stator 36
On swallow-tail form traveller 37 move, due to it is lower lifting slide plate 32 be obliquely welded on it is lower lifting stator 31 on so that
Upper lifting slide plate 35 is also moved toward incline direction, so as to drive the swallow-tail form traveller 37 on lifting stator 36 to be slided in swallow-tail form
On groove 38 move, if moved a segment distance it is not high enough when, it is necessary to No. four hydraulic cylinders 4 work on, as lower position block 35c
When moving to the shielding plate 343 of upper limit position block 34, the lower position block 35c pieces 343 that are blocked are blocked, and upper lifting slide plate 35 can be moved to
Extreme higher position, now No. four hydraulic cylinders 4 be stopped, whole lift in height mistake of the upper lifting slide plate 35 in lower lifting slide plate 32
There are lower lifting slide plate 32 and No. four hydraulic cylinders 4 to provide a supporting role in journey, lifting process is more steady, non-jitter situation, it is real
The lift in height regulatory function of stabilization of the present invention is showed, operating efficiency is high；Cleanup crew station is on round platform 5 is installed after regulating
Formd when quickly an ear mount 1321 is rotated in cleaning interior architecture ceramic tile, furred ceiling or ceiling, and 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, solves existing Clean- highly auxiliary
Help equipment rigid support poor performance that equipment is present, stabilization of equipment performance can poor, equipment damping performance be poor, fixed angle is non-adjustable
Save, the anglec of rotation is unadjustable, height regulation performance is poor, the scope of application is small and the 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 (6)
1. a kind of interior architecture parallel connection support robot with angle regulating function, it is characterised in that：Including being filled from steady support
Put (1), it is described that locking and regulating device (2), locking and regulating device (2) upper end are installed from the middle part of steady support meanss (1) upper surface
Face is symmetrically installed with the middle part of four rigidity lifting side chains (3), locking and regulating device (2) upper surface by screw and is provided with No. four liquid
Cylinder pressure (4), and the top of four rigidity lifting side chains (3) and No. four hydraulic cylinders (4) is provided with installation round platform (5)；
Described to include fixed round platform (11) from steady support meanss (1), the lower surface of the fixed round platform (11) is symmetrically arranged with four
Individual universal wheel (12), the upper surface of fixed round platform (11) is uniformly provided with four support side chains (13) in parallel, four in the axial direction
Four L-type pillars (14), the end point of four L-type pillars (14) are symmetrically installed with the middle part of individual support side chain (13) upper surface in parallel
Four are not provided with disk (14a) is installed, disk (14a) is installed four four connection sheets (15a) are separately mounted to by screw
On, four connection sheets (15a) are symmetrically welded in the middle part of the lower surface of square erecting bed (15), the lower surface of square erecting bed (15)
Positioning hollow shaft (16) is welded with, positioning hollow shaft (16) lower end is set on main locating shaft (17), main locating shaft (17) bottom
In the middle part of the upper surface for being welded on fixed round platform (11)；The lower surface of the square erecting bed (15) is symmetrically welded with four upper positioning
Four limit springs (18), four limit spring (18) lower ends point are arranged with respectively on axle (15b), four upper locating shafts (15b)
It is not set on four lower locating shafts (11a), four lower locating shafts (11a) are symmetrically welded at the upper surface of fixed round platform (11)
On；
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)；
The rigidity lifting side chain (3) includes being arranged on the lower lifting stator of upper locking round platform (211) upper surface by screw
(31), lower lifting stator (31) is obliquely welded with lower lifting slide plate (32), and the middle part upper end of lower lifting slide plate (32) leads to
Cross fixing bolt (33) and be symmetrically installed with two upper limit position blocks (34), lower lift is installed on slide plate (32) by sliding matching mode
Have to be welded with upper lifting slide plate (35), upper lifting slide plate (35) on lifting stator (36), upper lifting stator (36) and weld
Swallow-tail form traveller (37) is connected to, swallow-tail form traveller (37) is connected by sliding matching mode with swallowtail-shaped slide (38), swallow-tail form
Chute (38) two ends are in that swallowtail-shaped slide (38) upper end on closed, and four rigidity lifting side chains (3) is provided with installation circle
Platform (5)；The lower lifting slide plate (32) includes the lower plane bottom (32a) that lower end is welded on lower lifting stator (31), under
Planar base (32a) both sides are respectively integrally formed with aduncate two lower bending sections (32b), two lower bending sections (32b)
Middle part upper end is respectively arranged with two openings on two openings, two lower bending sections (32b) is pacified by fixing bolt (33)
Equipped with two upper limit position blocks (34)；The upper limit position block (34) includes matrix (341), and matrix is symmetrically arranged with two on (341)
Two fixing nuts (342), and each fixing nut (342) are separately installed with nut bore (34a), two nut bores (34a)
It is connected through the lower bending section (32b) on lower lifting slide plate (32) with fixing bolt (33), the side lower end one of matrix (341)
Body formed to have shielding plate (343), the upper end of matrix (341) hooks post (344) integrally formed with L-type, and L-type hooks the upper end of post (344)
Hook in lower bending section (32b) upper end of lower lifting slide plate (32).
2. a kind of interior architecture parallel connection support robot with angle regulating function 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 interior architecture parallel connection support robot with angle regulating function 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 interior architecture parallel connection support robot with angle regulating function 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).
5. a kind of interior architecture parallel connection support robot with angle regulating function according to claim 1, its feature
It is：The upper lifting slide plate (35) includes the upper planar base (35a) that upper end is welded on lifting stator (36), upper flat
It is connected between face bottom (35a) and the lower plane bottom (32a) on lower lifting slide plate (32) by sliding matching mode, upper plane
Bottom (35a) both sides are respectively integrally formed with aduncate two upper bending section (35b), and two upper bending section (35b's) is interior
Wall is connected between the outer wall of two lower bending sections (32b) by sliding matching mode respectively, the bottom of upper planar base (35a)
It is symmetrically arranged with two lower position blocks (35c) corresponding with the shielding plate (343) on two upper limit position blocks (34).
6. a kind of interior architecture parallel connection support robot with angle regulating function according to claim 1, its feature
It is：The type of No. four hydraulic cylinders (4) is multistage hydraulic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610330060.9A CN105881506B (en) | 2016-05-17 | 2016-05-17 | A kind of interior architecture parallel connection support robot with angle regulating function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610330060.9A CN105881506B (en) | 2016-05-17 | 2016-05-17 | A kind of interior architecture parallel connection support robot with angle regulating function |
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| CN105881506A CN105881506A (en) | 2016-08-24 |
| CN105881506B true CN105881506B (en) | 2017-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610330060.9A Active CN105881506B (en) | 2016-05-17 | 2016-05-17 | A kind of interior architecture parallel connection support robot with angle regulating function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106965177A (en) * | 2017-03-31 | 2017-07-21 | 厦门理工学院 | A kind of robot for being used to assemble damper |
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| CA2285978A1 (en) * | 1997-04-15 | 1998-10-22 | Dornier Technologie Gmbh & Co. Kg | Cleaning head of an automatic cleaning device |
| CN101284277A (en) * | 2008-06-03 | 2008-10-15 | 云南昆船设计研究院 | Robot flexibility clean-up paw |
| CN101693368A (en) * | 2009-10-09 | 2010-04-14 | 河北工业大学 | Large plate installation mechanical arm |
| CN103340542A (en) * | 2013-07-10 | 2013-10-09 | 安徽理工大学 | Movable type four-freedom-degree display platform |
| CN104929234A (en) * | 2015-06-16 | 2015-09-23 | 安庆市华鑫重工股份有限公司 | Sewer sewage treatment device |
| WO2016026337A1 (en) * | 2014-08-19 | 2016-02-25 | 安徽理工大学 | Three-degree-of-freedom series-parallel vibration damping pantograph |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2285978A1 (en) * | 1997-04-15 | 1998-10-22 | Dornier Technologie Gmbh & Co. Kg | Cleaning head of an automatic cleaning device |
| CN101284277A (en) * | 2008-06-03 | 2008-10-15 | 云南昆船设计研究院 | Robot flexibility clean-up paw |
| CN101693368A (en) * | 2009-10-09 | 2010-04-14 | 河北工业大学 | Large plate installation mechanical arm |
| CN103340542A (en) * | 2013-07-10 | 2013-10-09 | 安徽理工大学 | Movable type four-freedom-degree display platform |
| WO2016026337A1 (en) * | 2014-08-19 | 2016-02-25 | 安徽理工大学 | Three-degree-of-freedom series-parallel vibration damping pantograph |
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