CN105922239A - Building cleaning supporting robot with rigid lifting adjusting function - Google Patents
Building cleaning supporting robot with rigid lifting adjusting function Download PDFInfo
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- CN105922239A CN105922239A CN201610326742.2A CN201610326742A CN105922239A CN 105922239 A CN105922239 A CN 105922239A CN 201610326742 A CN201610326742 A CN 201610326742A CN 105922239 A CN105922239 A CN 105922239A
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- round platform
- lifting
- slide plate
- welded
- side chain
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- 238000004140 cleaning Methods 0.000 title claims abstract description 29
- 238000005452 bending Methods 0.000 claims description 47
- 238000009434 installation Methods 0.000 claims description 24
- 241000397426 Centroberyx lineatus Species 0.000 claims description 18
- 239000011159 matrix material Substances 0.000 claims description 12
- 238000011105 stabilization Methods 0.000 abstract description 10
- 230000006641 stabilisation Effects 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 description 17
- 238000013016 damping Methods 0.000 description 15
- 230000006870 function Effects 0.000 description 14
- 230000000694 effects Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 239000000203 mixture Substances 0.000 description 5
- 230000009711 regulatory function Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 239000000919 ceramic Substances 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000011521 glass Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 241001442589 Convoluta Species 0.000 description 1
- 208000001203 Smallpox Diseases 0.000 description 1
- 241000870995 Variola Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
- A47L13/50—Auxiliary implements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention relates to a building cleaning supporting robot with a rigid lifting adjusting function. The building cleaning supporting robot comprises a self-stabilization supporting device. The self-stabilization supporting device has good rigid supporting performance, stabilization performance and vibration reducing performance. A lower mounting round platform is mounted in the middle of the upper end face of the self-stabilization supporting device. Four rigid lifting branch chains are symmetrically mounted on the upper end face of the lower mounting round platform through screws. The rigid lifting branch chains have good height lifting adjusting performance. A fourth hydraulic cylinder is mounted in the middle of the upper end face of the lower mounting round platform. An upper mounting round platform is mounted at the top ends of the four rigid lifting branch chains and the top end of the fourth hydraulic cylinder. The self-stabilization supporting device comprises a fixed round platform, and four universal wheels are symmetrically arranged on the lower end face of the fixed round platform. The building cleaning supporting robot is moved to the place, needing to be cleaned, of an indoor building through the four universal wheels, and four parallel supporting branch chains are evenly mounted on the upper end face of the fixed round platform in the axis direction. The building cleaning supporting robot can achieve the stable rigid supporting function when the indoor building is cleaned.
Description
Technical field
The present invention relates to build field of environment protection equipment, a kind of building cleaning with rigidity lift adjustment function supports
Robot.
Background technology
Along with socioeconomic development, high building miscellaneous stands in great numbers and rises, but is as the continuous growth of high building quantity,
Safeguarding that the street cleaner of high building environmentally-friendly sanitary gets more and more, the scope of cleaning includes floor, glass window, furring tile, furred ceiling
Or ceiling etc., although there is a lot of clean robot on market, but only possess cleaning base plate and the function of glass window automatically,
Indoor wall ceramic tile, furred ceiling or ceiling etc. need nonetheless remain for the most periodically processing, and not yet have exploitation automatization cleaning equipment,
When the height residing for ceramic tile, furred ceiling, ceiling is higher, it usually needs double ladder auxiliary cleaning, this height auxiliary equipment is high
Degree can not automatic lifting regulate, and needs artificial height up and down, and owing to street cleaner needs constantly repeatedly to clean back and forth, people
Health different to the stress point of this height auxiliary equipment, rocking or the phenomenon shaken, rigid support performance often occur
Difference, damping performance is poor, and stability is poor, causes street cleaner the most slowly to clean, and work effect is greatly reduced
Rate, the scope of application is little.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of building cleaning with rigidity lift adjustment function and support robot,
Can solve the equipment rigid support poor performance of existing Clean-height auxiliary equipment existence, stabilization of equipment performance can poor, equipment damping
Poor performance, altitude mixture control poor performance, the scope of application is little and the inferior difficult problem of inefficiency, it is possible to achieve steady during interior architecture cleaning
Fixed rigid support function, have that equipment rigid support performance is good, stabilization of equipment performance can good, equipment damping performance is good, height is adjusted
Joint performance is good, the scope of application big and work efficiency advantages of higher.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of have building of rigidity lift adjustment function
Build cleaning and support robot, including from steady support means, from steady support means have good rigid support performance, stability and
Damping performance, described is provided with lower installation round platform in the middle part of steady support means upper surface, and screw pair is passed through in lower installation round platform upper surface
Claiming to be provided with four rigidity lifting side chains, rigidity lifting side chain has good lift in height regulation performance, lower installation round platform upper end
Middle face is provided with No. four hydraulic cylinders, and the top of four rigidity lifting side chains and No. four hydraulic cylinders is provided with installation round platform；Institute
Stating and include fixing round platform from steady support means, the lower surface of described fixing round platform is symmetrically arranged with four universal wheels, and the present invention passes through
The present invention is moved by four universal wheels clears up place needed for interior architecture, and the upper surface of fixing round platform is the most uniformly installed
Having four side chains that support in parallel, four in parallel supports to be symmetrically installed with four L-type pillars in the middle part of side chain upper surface, four L-types are propped up
The end of post is respectively arranged with four and installs disk, installs disk for four and is separately mounted on four connection sheets by screw, four
Connect sheet and be symmetrically welded at the lower surface of square erecting bed, play stable support square erecting bed by four side chains that support in parallel
Effect, be welded with location hollow axle in the middle part of the lower surface of square erecting bed, hollow axle lower end, location is set on main locating shaft,
Location hollow axle can move on main locating shaft vertically, and main locating shaft plays spacing effect so that square erecting bed exists
The spacing lower of location hollow axle can only move vertically, without there is the phenomenon moved that rolls, improves equipment
Stability, main locating shaft bottom is welded in the middle part of the upper surface of fixing round platform；The lower surface of described square erecting bed is symmetrically welded
Having four upper locating shafts, four upper locating shafts are arranged with four limit spring respectively, four limit spring lower ends are respectively sleeved at
On four lower locating shafts, four lower locating shafts are symmetrically welded on the upper surface of fixing round platform, and lower locating shaft and upper locating shaft play
Limiting the effect of limit spring position, limit spring makes the present invention have good damping performance；Described support side chain bag in parallel
Including the fixed platform being welded on fixing round platform upper surface, a fixed platform upper surface the most uniformly installs three No. one
Side chain in parallel, three No. one side chain upper end in parallel is uniformly arranged on a moving platform, is provided with in the middle part of a moving platform upper surface
Corresponding L-type pillar；A described side chain in parallel includes the ear mount that lower end is welded on a fixed platform upper surface, No. one
Being provided with a hydraulic cylinder by bearing pin between ear mount, the top of a hydraulic cylinder has been threaded connection connecting cylinder, on connecting cylinder
Being threaded connection spherical hinge, spherical hinge upper end is by being threadably mounted on Triangulum, and Triangulum is welded on a moving platform
On lower surface.In the present invention, an ear mount defines P pair, spherical hinge work when defining R pair, a hydraulic cylinder when rotating
As time to define S secondary, thus define a side chain in parallel of RPS type, eventually through a fixed platform, three RPS types
Number side chain in parallel, a moving platform define 3-RPS parallel institution, and the side chain that supports in parallel in the present invention is that 3-RPS is in parallel
Mechanism, 3-RPS parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy high etc. excellent
Point, the advantage present invention by parallel institution carrys out rigid support stable when interior architecture cleans by four 3-RPS parallel institutions
Function, the advantage by parallel institution also makes the present invention have good stability and good damping performance simultaneously.
As a preferred technical solution of the present invention, described rigidity lifting side chain includes being arranged on lower installation round platform by screw
The lower lifting stator of end face, the lower inclined shape of lifting stator is welded with lower lifting slide plate, and the upper end, middle part of lower lifting slide plate leads to
Cross fixing bolt and be symmetrically installed with two upper limit position blocks, lower lifting slide plate is provided with upper lifting slide plate by sliding matching mode,
Upper lifting slide plate can move on lower lifting slide plate, and upper lifting slide plate is welded with lifting stator, and upper lifting stator welds
Having swallow-tail form traveller, swallow-tail form traveller is connected with swallowtail-shaped slide by sliding matching mode, and swallow-tail form traveller can be sliding in swallow-tail form
Moving back and forth on groove, swallowtail-shaped slide two ends are closed, closed avoid swallow-tail form traveller move float excessive drop out show
As, and the swallowtail-shaped slide upper end on four rigidity lifting side chains is provided with installation round platform, cleaning that upper installation round platform has been stood
Workman；Described lower lifting slide plate includes that lower end is welded on bottom the lower plane on lower lifting stator, and lower plane two bottom sides is respectively
Integrally formed with aduncate two lower bending sections, lower bending section is the spacing sliding position of concave curved on both sides, two lower bending sections
Upper end, middle part is respectively arranged with two openings, and two opening parts on two lower bending sections are provided with two upper limits by fixing bolt
Position block, the opening on lower bending section is for the ease of installing limited block, owing to lower bending section is aduncate structure, two
Distance between lower bending section is the least, if lower bending section is not provided with opening and is just difficult to install the upper limit by fixing bolt
The function of position block；Described upper limit position block includes matrix, matrix is symmetrically arranged with two nut bore, two nut bore are pacified respectively
Equipped with two fixing nuts, the most fixing nut is arranged on nut bore hole before installing limited block, because lower lifting slide plate
And the space between upper lifting slide plate is the least, otherwise just it is difficult to fixing nut is installed again once install lifting slide plate, and each
Fixing nut is all connected with fixing bolt through the lower bending section on lower lifting slide plate, is fixed on by upper limit position block by fixing bolt
On lower lifting slide plate, the lower end, side of matrix is integrally formed with shielding plate, and shielding plate plays the effect blocked, when upper lifting slide plate
Lower end moves to shielding plate position and will be blocked, and defines lifting slide plate sliding distance on lower lifting slide plate, matrix
Upper end hook post integrally formed with L-type, L-type hooks the upper end of post and hooks in the lower bending section upper end of lower lifting slide plate；Described upper lifting
Slide plate includes at the bottom of the lower plane on the upper planar base that upper end is welded on lifting stator, upper planar base and lower lifting slide plate
Being connected by sliding matching mode between portion, bending sections are gone up integrally formed with aduncate two respectively in upper planar base both sides,
Upper bending section is also the spacing sliding position of concave curved on both sides, the inwall of two upper bending sections respectively with the outer wall of two lower bending sections it
Between be connected by sliding matching mode, upper bending section can move at lower bending section, and the bottom of upper planar base is symmetrically arranged with two
Two lower position blocks that shielding plate on individual upper limit position block is corresponding, lower position block plays spacing effect, when lower position block moves
During to the shielding plate of upper limit position block, the lower position block sheet that is blocked blocks, and is now the highest movement position of upper lifting slide plate.Work
Time, when interior architecture required cleaning place is the highest need to increase Support Position time, now No. four hydraulic cylinders are started working, four
Number hydraulic cylinder drives upper to be installed the street cleaner stood on round platform and up works, and meanwhile upper round platform of installing drives four rigidity liters
Descending branch chain works, and the upper bending section two the lower bending sections on lower lifting slide plate of two on upper lifting slide plate up move, and rise
Fall slide plate drives the swallow-tail form traveller motion on upper lifting stator, fixes owing to the lower inclined shape of lifting slide plate is welded on lower lifting
On sheet, so that upper lifting slide plate also moves toward incline direction, thus drive the swallow-tail form traveller on upper lifting stator swallow
Move on tail shape chute, if the segment distance that moved is not high enough, it is necessary to No. four hydraulic cylinders work on, and work as lower position block
When moving to the shielding plate of upper limit position block, the lower position block sheet that is blocked blocks, and upper lifting slide plate can be moved to extreme higher position, this
Time No. four hydraulic cylinders quit work, upper lifting slide plate all have during the whole lift in height of lower lifting slide plate lower lifting slide plate and
No. four hydraulic cylinders provide a supporting role, and lifting process is relatively more steady, non-jitter situation, it is achieved that the lift in height that the present invention is stable
Regulatory function, work efficiency is high.
As a preferred technical solution of the present invention, the type of described No. four hydraulic cylinders is multistage hydraulic cylinder, multistage hydraulic cylinder
Telescopic extensions is bigger, it is simple to the work of the present invention.
During use, first pass through four universal wheels and the present invention is moved to cleaning place needed for interior architecture, needed for interior architecture
Place is the highest for cleaning when needing to increase Support Position, and now No. four hydraulic cylinders are started working, and No. four hydraulic cylinders drive upper installation
The street cleaner stood on round platform up works, and meanwhile upper round platform of installing drives four rigidity lifting side chain work, upper lifting
The upper bending section two the lower bending sections on lower lifting slide plate of on slide plate two up move, and upper lifting slide plate drives upper lifting solid
Swallow-tail form traveller motion on stator, owing to the lower inclined shape of lifting slide plate is welded on lower lifting stator, so that rise
Fall slide plate also moves toward incline direction, thus drives the swallow-tail form traveller on upper lifting stator to move on swallowtail-shaped slide, as
When the segment distance that really moved is not high enough, it is necessary to No. four hydraulic cylinders work on, when lower position block moves to the screening of upper limit position block
During catch, the lower position block sheet that is blocked blocks, and upper lifting slide plate can be moved to extreme higher position, and now No. four hydraulic cylinders stop work
Making, upper lifting slide plate all has lower lifting slide plate and No. four hydraulic cylinders to provide and support during the whole lift in height of lower lifting slide plate
Effect, lifting process is relatively more steady, non-jitter situation, it is achieved that the lift in height regulatory function that the present invention is stable, work efficiency
Height, after regulating, cleanup crew stands in and quickly clears up interior architecture ceramic tile, furred ceiling or ceiling on installation round platform, and
In the present invention, an ear mount defines when defining P pair, spherical hinge work when defining R pair, a hydraulic cylinder when rotating
S is secondary, thus defines a side chain in parallel of RPS type, and a parallel connection eventually through a fixed platform, three RPS types is propped up
Chain, a moving platform define 3-RPS parallel institution, and the side chain that supports in parallel in the present invention is 3-RPS parallel institution, 3-RPS
Parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, by parallel connection
The advantage present invention of mechanism realizes rigid support merit stable when interior architecture of the present invention cleans by four 3-RPS parallel institutions
Can, the advantage by parallel institution also makes the present invention have good stability and good damping performance simultaneously.
The invention has the beneficial effects as follows:
1, the in parallel side chain that supports in the present invention is 3-RPS parallel institution, and 3-RPS parallel institution has that dynamic response is good, rigidity
High, bearing capacity big, good stability and kinematic accuracy advantages of higher, by the advantage present invention of parallel institution by four 3-RPS
Parallel institution carrys out rigid support function stable during interior architecture of the present invention cleaning, and the advantage by parallel institution also makes this simultaneously
Invention has good stability and good damping performance；
2, the present invention drives to install under the lift in height regulation that four rigidity lift side chain by No. four hydraulic cylinders and stands on round platform
Street cleaner make lift adjustment, and the upper lifting slide plate on rigidity lifting side chain is in the whole lift in height process of lower lifting slide plate
In all have lower lifting slide plate and No. four hydraulic cylinders to provide a supporting role, lifting process is relatively steady, non-jitter situation, it is achieved that this
Inventing stable lift in height regulatory function, altitude mixture control performance is good, and work efficiency is high；
3, the present invention solve existing Clean-height auxiliary equipment exist equipment rigid support poor performance, stabilization of equipment performance can poor,
Equipment damping performance is poor, altitude mixture control poor performance, the scope of application are little and the inferior difficult problem of inefficiency, it is achieved that interior architecture is clear
Rigid support function stable time clean, have that equipment rigid support performance is good, stabilization of equipment performance can good, equipment damping performance is good,
Altitude mixture control performance is good, the scope of application big and work efficiency advantages of higher.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the present invention structural representation from steady support means；
Fig. 3 is the present invention full sectional view from steady support means；
Fig. 4 is the structural representation of rigidity of the present invention lifting side chain；
Fig. 5 is the left view of rigidity of the present invention lifting side chain；
Fig. 6 is that the A-A of Fig. 5 of the present invention is to sectional view；
Fig. 7 is that the B-B of Fig. 5 of the present invention is to sectional view；
Fig. 8 is to lift stator, lower lifting slide plate, fixing structural representation between bolt and upper limit position block under the present invention；
Fig. 9 is the structural representation of upper limit position block of the present invention；
Figure 10 is to lift the perspective view between slide plate and upper lifting stator in the present invention.
Specific embodiment
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 10, a kind of building cleaning with rigidity lift adjustment function supports robot, supports including from steady
Device 1, has good rigid support performance, stability and damping performance from steady support means 1, described from surely supporting dress
Putting and be provided with lower installation round platform 2 in the middle part of 1 upper surface, lower installation round platform 2 upper surface is symmetrically installed with four rigidity liters by screw
Descending branch chain 3, rigidity lifting side chain 3 has good lift in height regulation performance, is provided with in the middle part of lower installation round platform 2 upper surface
No. four hydraulic cylinders 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 from steady
Support means 1 includes fixing round platform 11, and the lower surface of described fixing round platform 11 is symmetrically arranged with four universal wheels 12, the present invention
The present invention being moved to cleaning place needed for interior architecture by four universal wheels 12, the upper surface of fixing round platform 11 is along axis side
To being uniformly provided with four side chains 13 that support in parallel, four in parallel supports are symmetrically installed with four L-types in the middle part of side chain 13 upper surface
Pillar 14, the end of four L-type pillars 14 is respectively arranged with four and installs disk 14a, installs disk 14a for four and pass through screw
Being separately mounted to four and connect on sheet 15a, four connect sheet 15a and are symmetrically welded at the lower surface of square erecting bed 15, by four
The individual side chain 13 that supports in parallel plays the effect of stable support square erecting bed 15, welds in the middle part of the lower surface of square erecting bed 15
Having location hollow axle 16, hollow axle 16 lower end, location to be set on main locating shaft 17, location hollow axle 16 can be in main location
Moving vertically on axle 17, main locating shaft 17 plays spacing effect so that square erecting bed 15 is at location hollow axle 16
Spacing under can only move vertically, without the phenomenon of the motion that occurs rolling, improve the stability of equipment,
Main locating shaft 17 bottom is welded in the middle part of the upper surface of fixing round platform 11；The lower surface of described square erecting bed 15 is symmetrically welded with
Four upper locating shaft 15b, four upper locating shaft 15b are arranged with four limit spring 18, four limit spring 18 lower ends respectively
Being respectively sleeved on four lower locating shaft 11a, four lower locating shaft 11a are symmetrically welded on the upper surface of fixing round platform 11, under
Locating shaft 11a and upper locating shaft 15b plays the effect limiting limit spring 18 position, and limit spring 18 makes the present invention have
Good damping performance；Described support side chain 13 in parallel includes the fixed platform 131 being welded on fixing round platform 11 upper surface,
Three side chains 132 in parallel, three side chains 132 in parallel are the most uniformly installed in number fixed platform 131 upper surface
Upper end is uniformly arranged on a moving platform 133, is provided with the L-type pillar 14 of correspondence in the middle part of moving platform 133 upper surface；
A described side chain 132 in parallel includes the ear mount 1321 that lower end is welded on fixed platform 131 upper surface, an ear mount
Being provided with a hydraulic cylinder 1322 by bearing pin between 1321, the top of a hydraulic cylinder 1322 has been threaded connection connecting cylinder
1323, connecting cylinder 1323 has been threaded connection spherical hinge 1324, spherical hinge 1324 upper end is by being threadably mounted at Triangulum
On 1325, Triangulum 1325 is welded on the lower surface of a moving platform 133.A shape when ear mount 1321 rotates in the present invention
Become R pair, a hydraulic cylinder 1322 to define P pair when moving, spherical hinge 1324 defines S pair, thus is formed when working
A number side chain 132 in parallel of RPS type, eventually through 131, three RPS types of a fixed platform a side chain 132 in parallel,
A number moving platform 133 defines 3-RPS parallel institution, and the side chain 13 that supports in parallel in the present invention is 3-RPS parallel institution, 3-RPS
Parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, by parallel connection
The advantage present invention of mechanism realizes rigid support function stable when interior architecture cleans by four 3-RPS parallel institutions, with
Time also make the present invention have good stability and good damping performance by the advantage of parallel institution.
Described rigidity lifting side chain 3 includes the lower lifting stator 31 being arranged on lower installation round platform 2 upper surface by screw, lower liter
The fall inclined shape of stator 31 is welded with lower lifting slide plate 32, and the upper end, middle part of lower lifting slide plate 32 is right by fixing bolt 33
Claim two upper limit position blocks 34 are installed, lower lifting slide plate 32 is provided with upper lifting slide plate 35 by sliding matching mode, rise
Fall slide plate 35 can move on lower lifting slide plate 32, and upper lifting slide plate 35 is welded with lifting stator 36, and upper lifting is fixed
Being welded with swallow-tail form traveller 37 on sheet 36, swallow-tail form traveller 37 is connected with swallowtail-shaped slide 38 by sliding matching mode, swallow
Tail shape traveller 37 can move back and forth on swallowtail-shaped slide 38, and swallowtail-shaped slide 38 two ends are closed, and closed avoids swallow
Swallowtail-shaped slide 38 upper end that tail shape traveller 37 moves in the excessive phenomenon dropped out of floating, and four rigidity lifting side chains 3 is installed
Having upper installation round platform 5, upper installation round platform 5 has been stood street cleaner；Described lower lifting slide plate 32 includes that lower end is welded on lower liter
32a bottom lower plane on fall stator 31, bottom lower plane, 32a both sides are respectively integrally formed with curved under aduncate two
Pars convoluta 32b, lower bending section 32b are the spacing sliding position of concave curved on both sides, and in the middle part of two lower bending section 32b, upper end is respectively provided with
There are two openings, two opening parts on two lower bending section 32b, by fixing bolt 33, two upper limit position blocks 34 are installed,
Opening on lower bending section 32b is for the ease of installing limited block 34, owing to lower bending section 32b is aduncate structure,
Distance between two lower bending section 32b is the least, if lower bending section 32b is not provided with opening and is just difficult to by fixing
The function of limited block 34 installed by bolt 33；Described upper limit position block 34 includes matrix 341, and matrix 341 is symmetrically arranged with two
Individual nut bore 34a, two nut bore 34a are separately installed with two fixing nuts 342, the most first before installing limited block 34
Fixing nut 342 is arranged on nut bore 34a hole, because the space between lower lifting slide plate 32 and upper lifting slide plate 35 is non-
The least, otherwise just it is difficult to fixing nut 342 is installed again once install lifting slide plate 35, and each fixing nut 342 passes down
Lower bending section 32b on lifting slide plate 32 is all connected with fixing bolt 33, is fixed by upper limit position block 34 by fixing bolt 33
On lower lifting slide plate 32, the work blocked is played, integrally formed with shielding plate 343, shielding plate 343, in the lower end, side of matrix 341
With, will be blocked when upper lifting slide plate 35 lower end moves to shielding plate 343 position, define lifting slide plate 35 under
Sliding distance on lifting slide plate 32, the upper end of matrix 343 hooks post 344 integrally formed with L-type, and L-type hooks the upper end of post 344
Hook in the lower bending section 32b upper end of lower lifting slide plate 32；Described upper lifting slide plate 35 includes that upper end is welded on lifting stator
By sliding between 32a bottom lower plane on upper planar base 35a on 36, upper planar base 35a and lower lifting slide plate 32
Fit system is connected, and upper planar base 35a both sides are respectively integrally formed with aduncate two upper bending section 35b, upper bending
Portion 35b is also the spacing sliding position of concave curved on both sides, and the inwall of two upper bending section 35b is respectively with two lower bending section 32b's
Being connected by sliding matching mode between outer wall, upper bending section 35b can move at lower bending section 32b, upper planar base 35a
Bottom is symmetrically arranged with two the lower position block 35cs, lower position block 35c corresponding with the shielding plate 343 on two upper limit position blocks 34
Playing spacing effect, when lower position block 35c moves to the shielding plate 343 of upper limit position block 34, lower position block 35c is blocked
Sheet 343 blocks, and is now the highest movement position of upper lifting slide plate 35.During work, when interior architecture required cleaning place height
Higher when needing to increase Support Position, now No. four hydraulic cylinders 4 are started working, and No. four hydraulic cylinders 4 drive upper installation on round platforms 5
The street cleaner stood up works, and meanwhile upper round platform 5 of installing drives four rigidity lifting side chains 3 to work, and upper lifting is sliding
The upper bending section 35b two the lower bending section 32b on lower lifting slide plate 32 of on sheet 35 two up move, upper lifting slide plate
35 drive the swallow-tail form traveller 37 on upper lifting stator 36 to move, owing to the lower inclined shape of lifting slide plate 32 is welded on lower liter
On fall stator 31, so that upper lifting slide plate 35 also moves toward incline direction, thus drive on upper lifting stator 36
Swallow-tail form traveller 37 moves on swallowtail-shaped slide 38, if the segment distance that moved is not high enough, it is necessary to No. four hydraulic cylinders
4 work on, and when lower position block 35c moves to the shielding plate 343 of upper limit position block 34, lower position block 35c is blocked sheet 343
Blocking, upper lifting slide plate 35 can be moved to extreme higher position, and now No. four hydraulic cylinders 4 quit work, and upper lifting slide plate 35 exists
All there are lower lifting slide plate 32 and No. four hydraulic cylinders 4 to provide a supporting role during the whole lift in height of lower lifting slide plate 32, rise
Fall process is relatively more steady, non-jitter situation, it is achieved that the lift in height regulatory function that the present invention is stable, and work efficiency is high.
The type of described No. four hydraulic cylinders 4 is multistage hydraulic cylinder, and the telescopic extensions of multistage hydraulic cylinder is bigger, it is simple to the present invention's
Work.
During use, first pass through four universal wheels 12 and the present invention is moved to cleaning place needed for interior architecture, when interior architecture institute
When need to clean that place is the highest needs to increase Support Position, now No. four hydraulic cylinders 4 are started working, and No. four hydraulic cylinders 4 drive
The street cleaner stood on upper installation round platform 5 up works, and meanwhile upper round platform 5 of installing drives four rigidity lifting side chains 3
Work, the upper bending section 35b two the lower bending section 32b on lower lifting slide plate 32 of two on upper lifting slide plate 35 up transport
Dynamic, upper lifting slide plate 35 drives the swallow-tail form traveller 37 on upper lifting stator 36 to move, owing to lower lifting slide plate 32 is in inclining
Ramp-like it is welded on lower lifting stator 31, so that upper lifting slide plate 35 also moves toward incline direction, thus drives rising
Swallow-tail form traveller 37 on fall stator 36 moves, if the segment distance that moved is not high enough, just on swallowtail-shaped slide 38
No. four hydraulic cylinders 4 are needed to work on, when lower position block 35c moves to the shielding plate 343 of upper limit position block 34, lower position block
The 35c sheet 343 that is blocked blocks, and upper lifting slide plate 35 can be moved to extreme higher position, and now No. four hydraulic cylinders 4 quit work,
Upper lifting slide plate 35 all has lower lifting slide plate 32 and No. four hydraulic cylinders 4 to carry during the whole lift in height of lower lifting slide plate 32
For supporting role, lifting process is relatively more steady, non-jitter situation, it is achieved that the lift in height regulatory function that the present invention is stable, work
Making efficiency high, after regulating, cleanup crew stands in and quickly clears up interior architecture ceramic tile, furred ceiling or variola on installation round platform 5
In plate, and the present invention, an ear mount 1321 defines R pair when rotating, a hydraulic cylinder 1322 defines P pair when moving,
Spherical hinge 1324 defines S when working secondary, thus the side chain 132 in parallel defining RPS type, allocate eventually through No. one
132, moving platform 133 of a side chain in parallel of 131, three RPS types of platform defines 3-RPS parallel institution, in the present invention
The in parallel side chain 13 that supports be 3-RPS parallel institution, 3-RPS parallel institution has that dynamic response is good, rigidity is high, bearing capacity
Greatly, good stability and kinematic accuracy advantages of higher, the advantage present invention by parallel institution is come by four 3-RPS parallel institutions
Realizing rigid support function stable during interior architecture cleaning, the advantage by parallel institution also makes the present invention have well simultaneously
Stability and good damping performance, solve existing Clean-height auxiliary equipment exist equipment rigid support poor performance,
Stabilization of equipment performance can poor, equipment damping performance is poor, altitude mixture control poor performance, the scope of application are little and the inferior difficult problem of inefficiency,
Reach purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (5)
1. a building cleaning with rigidity lift adjustment function supports robot, it is characterised in that: include from steady support means
(1), described being provided with (2) in the middle part of steady support means (1) upper surface, lower installation round platform (2) upper surface is symmetrically installed by screw
There are four rigidity lifting side chain (3), No. four hydraulic cylinders (4), and four rigidity liftings are installed in the middle part of lower installation round platform (2) upper surface
The top of side chain (3) and No. four hydraulic cylinders (4) is provided with installation round platform (5)；
Described including fixing round platform (11) from steady support means (1), the lower surface of described fixing round platform (11) is symmetrically arranged with four ten thousand
To wheel (12), the upper surface of fixing round platform (11) is the most uniformly provided with four supports side chain (13) in parallel, four parallel connections
Supporting and be symmetrically installed with four L-type pillars (14) in the middle part of side chain (13) upper surface, the end of four L-type pillars (14) is respectively provided with
There are four disk (14a) is installed, four disk (14a) are installed and are separately mounted on four connections sheet (15a) by screw, four companies
Contact pin (15a) is symmetrically welded at the lower surface of square erecting bed (15), is welded with location sky in the middle part of the lower surface of square erecting bed (15)
Mandrel (16), hollow axle (16) lower end, location is set on main locating shaft (17), and main locating shaft (17) bottom is welded on fixing round platform
(11) in the middle part of upper surface；The lower surface of described square erecting bed (15) is symmetrically welded with four upper locating shafts (15b), and four upper fixed
Being arranged with four limit spring (18) respectively on position axle (15b), four limit spring (18) lower ends are respectively sleeved at four lower locating shafts
(11a), on, four lower locating shafts (11a) are symmetrically welded on the upper surface of fixing round platform (11)；
Described rigidity lifting side chain (3) includes the lower lifting stator (31) being arranged on lower installation round platform (2) upper surface by screw,
The inclined shape of lower lifting stator (31) is welded with lower lifting slide plate (32), and the upper end, middle part of lower lifting slide plate (32) is by fixing spiral shell
Bolt (33) is symmetrically installed with two upper limit position blocks (34), lower lifting slide plate (32) is provided with upper lifting by sliding matching mode sliding
Sheet (35), upper lifting slide plate (35) is welded with lifting stator (36), upper lifting stator (36) is welded with swallow-tail form traveller
(37), swallow-tail form traveller (37) is connected with swallowtail-shaped slide (38) by sliding matching mode, and swallowtail-shaped slide (38) two ends are envelope
Swallowtail-shaped slide (38) upper end closed on shape, and four rigidity lifting side chain (3) is provided with installation round platform (5)；Described lower lifting
Slide plate (32) includes that lower end is welded on bottom the lower plane on lower lifting stator (31) (32a), and bottom lower plane, (32a) both sides are divided
Not integrally formed with aduncate two lower bending sections (32b), upper end, two lower bending section (32b) middle parts is respectively arranged with two
Opening, two opening parts on two lower bending sections (32b) are provided with two upper limit position blocks (34) by fixing bolt (33)；Described
Upper limit position block (34) includes matrix (341), and matrix (341) is symmetrically arranged with two nut bore (34a), two nut bore (34a)
On be separately installed with two fixing nuts (342), and each fixing nut (342) is through the lower bending section on lower lifting slide plate (32)
(32b) be all connected with fixing bolt (33), the lower end, side of matrix (341) integrally formed with shielding plate (343), matrix (343)
Upper end hooks post (344) integrally formed with L-type, and L-type hooks the upper end of post (344) and hooks the lower bending section (32b) lower lifting slide plate (32)
Upper end.
A kind of building cleaning with rigidity lift adjustment function the most according to claim 1 supports robot, and its feature exists
In: described support side chain (13) in parallel includes the fixed platform (131) being welded on fixing round platform (11) upper surface, and No. one allocates
Three No. one side chain in parallel (132) is the most uniformly installed in platform (131) upper surface, and three No. one side chain in parallel (132) upper end is equal
Even it is arranged on a moving platform (133), the L-type pillar (14) of correspondence is installed in the middle part of moving platform (133) upper surface.
A kind of building cleaning with rigidity lift adjustment function the most according to claim 2 supports robot, and its feature exists
In: a described side chain in parallel (132) includes the ear mount (1321) that lower end is welded on fixed platform (131) upper surface,
Being provided with a hydraulic cylinder (1322) by bearing pin between a number ear mount (1321), screw thread is passed through on the top of a hydraulic cylinder (1322)
Connecting and have connecting cylinder (1323), connecting cylinder (1323) has been threaded connection spherical hinge (1324), spherical hinge (1324) upper end leads to
Crossing and be threadably mounted on Triangulum (1325), Triangulum (1325) is welded on the lower surface of a moving platform (133).
A kind of building cleaning with rigidity lift adjustment function the most according to claim 1 supports robot, and its feature exists
In: described upper lifting slide plate (35) includes the upper planar base (35a) that upper end is welded on upper lifting stator (36), at the bottom of upper plane
It is connected by sliding matching mode between portion (35a) with (32a) bottom the lower plane on lower lifting slide plate (32), upper planar base
(35a) both sides are respectively integrally formed with aduncate two upper bending sections (35b), the inwall of two upper bending sections (35b) respectively with
Being connected by sliding matching mode between the outer wall of two lower bending sections (32b), the bottom of upper planar base (35a) is symmetrically arranged with
Two lower position blocks (35c) corresponding with the shielding plate (343) on two upper limit position blocks (34).
A kind of building cleaning with rigidity lift adjustment function the most according to claim 1 supports robot, and its feature exists
In: the type of described No. four hydraulic cylinders (4) is multistage hydraulic cylinder.
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| CN201610326742.2A CN105922239B (en) | 2016-05-17 | 2016-05-17 | A kind of building cleaning with rigid lift adjustment function supports robot |
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| CN201610326742.2A CN105922239B (en) | 2016-05-17 | 2016-05-17 | A kind of building cleaning with rigid lift adjustment function supports robot |
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| CN108340981A (en) * | 2018-03-16 | 2018-07-31 | 安徽工程大学 | A kind of full landform Multipurpose mobile robot |
| CN112677181A (en) * | 2020-12-16 | 2021-04-20 | 青岛海德马克智能装备有限公司 | Moving mechanism of heavy-load robot |
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| CN114084600A (en) * | 2021-10-29 | 2022-02-25 | 尔智机器人(珠海)有限公司 | Top storage table and mobile robot trolley with same |
| CN114084600B (en) * | 2021-10-29 | 2024-01-02 | 尔智机器人(珠海)有限公司 | Top end object placing table and mobile robot trolley with same |
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