CN105942935A

CN105942935A - Fixed-angle adjustable indoor building cleaning robot

Info

Publication number: CN105942935A
Application number: CN201610324118.9A
Authority: CN
Inventors: 王葱芽
Original assignee: Individual
Current assignee: Tongxiang Tengfei Home Textile Co ltd
Priority date: 2016-05-17
Filing date: 2016-05-17
Publication date: 2016-09-21
Anticipated expiration: 2036-05-17
Also published as: CN108324199A; CN108294702A; CN108324199B; CN108294702B; CN105942935B

Abstract

The invention relates to a fixed-angle adjustable indoor building cleaning robot, which comprises a locking adjusting device, wherein the locking adjusting device is adjustable in fixed angle and rotating angle; cleaning manipulators are arranged at the upper end face of the locking adjusting device; the cleaning manipulators are adjustable in cleaning angle and broad in application scope, and the cleaning manipulators are capable of achieving a function of automatically removing spider webs, dust and the like on suspended roofs and ceilings; the locking adjusting device comprises a lower locking round platform; a rotating motor is arranged in the middle of the lower locking round platform by virtue of a motor base; a locking mounting platform is fixedly connected to an output shaft of the rotating shaft; four L-shaped limiting rods are uniformly arranged on the lower end face of the locking mounting platform in an axial direction; the four L-shaped limiting rods are connected to an annular flange in a mode of sliding fit; and the lower end of the annular flange is welded on the lower locking round platform. The cleaning robot disclosed by the invention can achieve a function of automatically cleaning indoor buildings; and a new way is provided for the automatic cleaning of the indoor buildings.

Description

A kind of fixed angle adjustable indoor building clean robot

Technical field

The present invention relates to build environmental technology field, a kind of fixed angle adjustable indoor building clean 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., existing market has a lot of sweeping robots and window wiping robot, floor and glass window can have been solved Cleaning problems, it is not necessary to manually clean, but the dust on furring tile, furred ceiling, ceiling and Aranea be required for manually entering Row periodically processes, and not yet has exploitation automatization cleaning equipment, by the dust on labor cleaning's ceramic tile, furred ceiling, ceiling and spider There is following defect in the mode of spider web: 1, labor cleaning's speed is slow, and labor intensity is big, and work efficiency is low, and automaticity is low； 2, when ceramic tile, furred ceiling, ceiling height higher time, it usually needs double ladder auxiliary cleaning, this height auxiliary equipment is put Angle is fixed, and fixed angle is unadjustable, and equipment does not possess spinfunction, thus causes manually needing continuous walking about up and down to adjust Joint angle；3, street cleaner needs drop a lot of dust during cleaning, it is therefore desirable to the base plate below artificial wipe clean, Not yet having ceiling or the furred ceiling cleaning tool of band absorption function at present, the burnisher of existing interior architecture is the most single Function, 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 fixed angle adjustable indoor building clean robot, can solve The cleaning speed existed by present level auxiliary equipment labor cleaning's interior architecture mode is slow, labor intensity big, automaticity Low, equipment fixed angle is unadjustable, rotation angle of equipment is unadjustable, the scope of application is little and the inferior difficult problem of inefficiency, Automatization's clearing function of interior architecture can be realized, it is not necessary to manual operation, and have that cleaning speed is fast, equipment fixed angle can Adjust, rotation angle of equipment is adjustable, the scope of application is big and work efficiency advantages of higher, it is provided that a kind of automatization cleaning interior architecture New way.

To achieve these goals, the present invention realizes by the following technical solutions: a kind of fixed angle adjustable indoor building is clear Clean robot, including locking and regulating device, fixed angle and the anglec of rotation of described locking and regulating device are adjustable, locking and regulating device Upper surface is provided with cleaning machine hands, the cleaning adjustable angle of cleaning machine hands, and the scope of application is big, it is possible to achieve automatization clears up The functions such as Aranea on furred ceiling, ceiling, dust, carry out automatization's cleaning by cleaning machine hands to interior architecture；Described Locking and regulating device includes lower locking round platform, is provided with electric rotating machine by motor cabinet in the middle part of lower locking round platform, electric rotating machine defeated Being fixedly connected with on shaft on locking erecting bed, it is spacing that the lower surface of locking erecting bed is evenly arranged with four L-types in the axial direction Bar, four L-type gag lever posts are all connected by sliding matching mode with between convex annular edge, and the lower end on convex annular edge is welded on lower lock On tight round platform, four L-type gag lever posts and the spaced motion on convex annular edge make locking erecting bed permissible under the drive of electric rotating machine Stably being rotated, so that the present invention has the function rotating regulation, cleaning workman is without manually regulation when operating Operating angle, easy and simple to handle, work efficiency is high；Described locking erecting bed upper surface is symmetrically installed with four No. two hydraulic cylinders, and four The middle part of individual No. two hydraulic cylinders is separately fixed at four Z-types and fixes on seat, and the bottom that four Z-types fix seat is pacified by screw symmetry It is contained on locking erecting bed；The top of described 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 all by regulation side chain be connected, by tune The fixing locking angle of joint side chain regulation correspondence locking side chain, the support zone local when required cleaning is skewed or irregular During shape, it is only necessary to by regulation side chain, locking side chain is adjusted to suitable fixing locking angle, fixes and prevent this afterwards The situation of arbitrarily movement in the work process of invention, what cleanup crew can be bold is cleaned function, improves work efficiency；Institute Stating the straight connecting rod that locking side chain includes being welded in rhombus elevator corresponding side surface, the top of straight connecting rod is provided with two hangers, Being provided with No. two hangers by bearing pin between two hangers, No. two hangers are welded on a L-type connecting rod, and a L-type is even The top of bar is welded with square installation sheet, and square installation sheet is symmetrically arranged with four installing holes, by four installing holes by this The bright support zone being movably fixed to required cleaning place；Described regulation side chain includes No. two ear mount being welded on locking erecting bed, Being provided with No. three hydraulic cylinders by bearing pin between No. two ear mount, the top of No. three hydraulic cylinders is arranged between No. three ear mount by bearing pin, No. three ear mount are welded on the sidewall of a L-type connecting rod；Described rhombus elevator upper surface is symmetrically welded with four fore-sets, four Fore-set upper end is provided with cleaning machine hands, and four fore-sets play the effect of rigid support cleaning machine hands.During work, first basis Practical 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 The spacing assisted movement on edge makes to lock erecting bed and can stably be rotated under the drive of electric rotating machine, locks erecting bed Synchronizing to drive four locking side chains to rotate, when the present invention arrives the operating angle of suitable cleaning, electric rotating machine quits work； Then lock the fixing locking angle of side chain according to the support zone shape adjustment that required cleaning is local, have only to according to nearby principle Regulating the locking side chain of required fixed-direction, No. three hydraulic cylinders on corresponding regulation side chain are started working, and No. three hydraulic cylinders lead to Crossing No. three ear mount drives a L-type connecting rod to rotate on straight connecting rod, when in the square installation sheet being welded on a L-type connecting rod top When side is parallel to the support zone in required cleaning place, No. three hydraulic cylinders quit work, finally by four installing holes by the present invention It is movably fixed to the support zone that required cleaning is local, fixes the shape of random movement in the work process preventing the present invention afterwards Condition, what cleanup crew can be bold is cleaned function, improves work efficiency.

As a preferred technical solution of the present invention, described cleaning machine hands includes the support round platform being arranged on four fore-set upper ends, Supporting and be provided with No. five hydraulic cylinders in the middle part of the upper surface of round platform, the top of No. five hydraulic cylinders is provided with square regulating block, and square regulates It is symmetrically arranged with four spacing holes on block, supports round platform upper surface and be symmetrically welded with four location round bars, and four location round bars divide Not being located on four spacing holes of square regulating block, four location round bars play the effect limiting the square regulating block direction of motion, Square regulating block is stably moved up and down under the drive of No. five hydraulic cylinders；Described support round platform upper surface leads in the axial direction Cross screw and four cleaning devices be uniformly installed, cleaning device can with the Aranea on automated cleaning interior architecture furred ceiling, ceiling, Dust, collection clearing function and dedusting function and one, and pacify respectively between four cleaning devices and four sides of square regulating block Equipped with four angular transition side chains, regulated the cleaning angle of cleaning device by angular transition side chain and No. five hydraulic cylinders；Described Angular transition side chain includes No. four ear mount being welded on square regulating block side, is provided with No. six by bearing pin between No. four ear mount Hydraulic cylinder, the top of No. six hydraulic cylinders is arranged in No. five ear mount by bearing pin, and No. five ear mount are welded on gusset medial surface；Institute Stating cleaning device to include being arranged on No. two L-type connecting rods supporting round platform upper surface by screw, No. two L-type connecting rod ends are provided with Two No. three hangers, are provided with No. four hangers by bearing pin between two No. three hangers, and No. four hangers are arranged on the lower end of connecting plate Middle face, connecting plate can rotate on No. two L-type connecting rods, and the upper surface of connecting plate is symmetrically welded with two pieces of supporting vertical plate, two pieces Being welded with gusset between the lower end of supporting vertical plate, gusset plays the effect strengthening two pieces of supporting vertical plate support strengths, gusset medial surface And angular transition side chain is installed between the corresponding side surface of square regulating block；Pacified by bearing between described two pieces of supporting vertical plate upper ends Equipped with rotary shaft, rotate the tip of the axis, by shaft coupling, driving motor is installed, drive motor to be arranged on motor by motor cabinet and prop up On plate, motor support plate is welded on the sidewall of corresponding supporting vertical plate；The middle part of described rotary shaft is provided with cylinder, cylinder by key Two ends up and down the most uniformly be provided with cleaning bundle, by drive driven by motor rotary shaft rotate, rotary shaft drive cylinder rotate, rolling Cylinder drives the Aranea on cleaning Shu Qingli interior architecture furred ceiling, ceiling, and is respectively mounted on the cleaning bundle at the upper and lower two ends of cylinder There are two cleaning arc plates, are connected by cleaning bolt between two cleaning arc plates；Described cleaning arc plate is semicircular structure, cleaning The structure of arc plate is corresponding with roller frame, it is simple to the installation of cleaning arc plate and operation, the most equal on cleaning arc plate outer wall The even cleaning circular hole that is provided with, and on each cleaning circular hole, equal correspondence is equipped with cleaning bundle, cleaning circular hole plays obstruction and is wrapped in cleaning Aranea effect on bundle, two couple of cleaning arc plate is symmetrically arranged with between four mounting ears, and the mounting ear of two cleaning arc plates All it is connected by cleaning bolt, when being wound with a lot of Aranea on cleaning bundle, it is necessary to clear up, first by two cleanings Cleaning bolt fixing between arc plate is opened, and then operator's manual operation cleaning arc plate up moves, due to each cleaning bundle All being located on the corresponding cleaning circular hole of cleaning arc plate, the limiting-blocking effect by cleaning circular hole of up moving of cleaning arc plate is straight Connecing and be pooled to clear up bunchy top end by the Aranea being wrapped on cleaning bundle, then street cleaner is processed by extraneous cleaning bar, Cleaning arc plate moves to after being disposed lower section retightened by cleaning bolt；It is welded with suction between described two pieces of supporting vertical plate Dirt support plate, the lateral symmetry of dust suction support plate is provided with two dust suction side chains, owing to can fall during interior architecture cleaning Aranea Fall certain dust, and these dusts dropped pass through two timely dust suctions of dust suction side chain, it is therefore prevented that the dust produced during cleaning drops To floor, alleviate workload, improve work efficiency；Described dust suction side chain includes being arranged on the two of dust suction support plate upper surface Number fixed platform, No. two fixed platform upper surfaces are the most uniformly provided with four No. two side chains in parallel, four No. two side chains in parallel Upper surface is provided with No. two moving platforms, and the upper surface of No. two moving platforms is symmetrically arranged with two snap rings, is provided with between two snap rings Micro-cleaner, micro-cleaner is the dust collection equipment bought on existing market；Described No. two side chains in parallel include that lower end is welded on two No. six ear mount on number fixed platform, are provided with No. seven hydraulic cylinders by bearing pin between No. six ear mount, and the top of No. seven hydraulic cylinders is passed through Bearing pin is arranged in No. seven ear mount, and No. seven ear mount are arranged on No. two moving platforms.In the present invention, No. six ear mount define R when rotating Define R when rotating when defining P pair, No. seven ear mount work when pair, No. seven hydraulic cylinders secondary, thus define RPR type No. two side chains in parallel, define 4-RPR eventually through No. two fixed platforms, No. two side chains in parallel of four RPR types, No. two moving platforms Parallel institution, 4-RPR parallel institution also has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy Advantages of higher, the advantage by 4-RPR parallel institution makes the micro-cleaner being arranged between two snap rings rotate regulation suction Can remain plateau during dirt angle and dust suction, pick-up performance is good, and work efficiency is high.During work, first basis The gradient on the local floor relatively of required cleaning regulates the cleaning angle of cleaning device, and No. five hydraulic cylinders are started working, No. five hydraulic pressure Cylinder drives square regulating block to move up and down, and the spacing assosting effect by four location round bars makes square regulating block at No. five hydraulic pressure Making stable up and down motion under the drive of cylinder, meanwhile angular transition side chain is started working, No. six liquid on angular transition side chain Cylinder pressure drives the gusset on cleaning device to rotate, and gusset drives connecting plate to rotate on No. two L-type connecting rods, by No. five hydraulic cylinders With No. six hydraulic cylinder works achieve cleaning device cleaning angular adjustment function, when the cleaning bundle on cleaning device apart from required clearly During the local correct position of reason, No. five hydraulic cylinders and No. six hydraulic cylinders quit work, and then drive motor to start working, drive motor belt motor Dynamic rotary shaft rotates, and rotary shaft drives cylinder to rotate, and cylinder drives the Aranea on cleaning Shu Qingli interior architecture furred ceiling, ceiling Net, two the dust suction side chains being meanwhile positioned at cylinder both sides start working, and the micro-cleaner on dust suction side chain constantly absorbs clearly The dust that reason process drops, it is achieved thereby that the function of automatization of the present invention cleaning interior architecture.

As a preferred technical solution of the present invention, the type of described No. five 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 the present invention is arranged in existing mobile device, by existing mobile device, the present invention is moved to indoor Building required cleaning place, determines suitable operating angle further according to practical situation street cleaner, and electric rotating machine is started working, by Spacing assisted movement in four L-type gag lever posts with convex annular edge makes to lock erecting bed and can stablize under the drive of electric rotating machine Being rotated, locking erecting bed synchronizes to drive four locking side chains to rotate, when the present invention arrives the work of suitable cleaning When making angle, electric rotating machine quits work；Then the fixing lock of side chain is locked according to the support zone shape adjustment that required cleaning is local Tight angle, has only to regulate the locking side chain of required fixed-direction, No. three liquid on corresponding regulation side chain according to nearby principle Cylinder pressure is started working, and No. three hydraulic cylinders drive a L-type connecting rod to rotate on straight connecting rod, when being welded on No. one by No. three ear mount When the square installation sheet medial surface on L-type connecting rod top is parallel to the support zone in required cleaning place, No. three hydraulic cylinders quit work, Finally by four installing holes, the present invention is movably fixed to the support zone that required cleaning is local, fixes and prevent this afterwards The situation of random movement in bright work process, what cleanup crew can be bold is cleaned function, improves work efficiency；So Regulate the cleaning angle of cleaning device afterwards according to the gradient on the local floor relatively of required cleaning, No. five hydraulic cylinders are started working, and five Number hydraulic cylinder drives square regulating block to move up and down, and the spacing assosting effects by four location round bars make square regulating block five Making stable up and down motion under the drive of number hydraulic cylinder, meanwhile angular transition side chain is started working, on angular transition side chain No. six hydraulic cylinders drive the gusset on cleaning device to rotate, and gusset drives connecting plate to rotate on No. two L-type connecting rods, by No. five Hydraulic cylinder and No. six hydraulic cylinder works achieve cleaning device and clean the function of angular adjustment, when the cleaning bundle distance on cleaning device During the local correct position of required cleaning, No. five hydraulic cylinders and No. six hydraulic cylinders quit work, and then drive motor to start working, drive Driven by motor rotary shaft rotates, and rotary shaft drives cylinder to rotate, and cylinder drives on cleaning Shu Qingli interior architecture furred ceiling, ceiling Aranea, when being wound with a lot of Aranea on cleaning bundle, it is necessary to clear up, first by solid between two cleaning arc plates Fixed cleaning bolt is opened, and then operator's manual operation cleaning arc plate up moves, owing to each cleaning bundle is located in clear On the corresponding cleaning circular hole of reason arc plate, the limiting-blocking effect by cleaning circular hole of up moving of cleaning arc plate directly will be wrapped in Aranea on cleaning bundle is pooled to clear up bunchy top end, and then street cleaner is processed, after being disposed by extraneous cleaning bar Cleaning arc plate moving to lower section retightened by cleaning bolt, two the dust suction side chains being meanwhile positioned at cylinder both sides start Work, the micro-cleaner on dust suction side chain constantly absorbs the dust that scale removal process drops, due to No. two fixed platforms, four RPR No. two side chains in parallel of type, No. two moving platforms define 4-RPR parallel institution, 4-RPR parallel institution have dynamic response good, Rigidity is high, bearing capacity big, good stability and kinematic accuracy advantages of higher, and the advantage by 4-RPR parallel institution makes to install Micro-cleaner between two snap rings can remain plateau during rotating regulation dust suction angle and dust suction, inhales Dirt is effective, and work efficiency is high, it is achieved thereby that the function of automatization of the present invention cleaning interior architecture.

The invention has the beneficial effects as follows:

1, the present invention makes to lock erecting bed in the spacing assisted movement of four L-type gag lever posts Yu convex annular edge by electric rotating machine The cleaning machine hands of top can make stable rotary motion, it is achieved that anglec of rotation adjustable function of the present invention, and the present invention passes through No. three hydraulic cylinders on regulation side chain drive the square installation sheet on a L-type connecting rod to rotate on straight connecting rod, thus effectively regulate The fixing locking angle of locking side chain, it is achieved fixed angle of the present invention adjustable function, fixes and prevents the present invention's afterwards The situation of random movement in work process, what cleanup crew can be bold is cleaned function, improves work efficiency；

2, the present invention achieves cleaning device cleaning angle by the work of No. six hydraulic cylinders on No. five hydraulic cylinders and angular transition side chain The function of regulation, so that present invention achieves the function of cleaning adjustable angle, the scope of application is big, and work efficiency is high；

3, the present invention is by driving the cleaning Shu Qingli interior architecture furred ceiling on driven by motor cylinder, the Aranea on ceiling, and And the Aranea being wrapped on cleaning bundle can be pooled to top quickly process by two cleaning arc plate street cleaners, cleared up The dust produced in journey is constantly absorbed by the micro-cleaner on dust suction side chain so that the present invention collect clearing function and dedusting function with Integrally, the scope of application is big, and work efficiency is high, and No. two fixed platforms in the present invention, No. two side chains in parallel of four RPR types, two Number moving platform defines 4-RPR parallel institution, by the advantage of 4-RPR parallel institution make to be arranged between two snap rings micro- Type vacuum cleaner can remain plateau during rotating regulation dust suction angle and dust suction, and pick-up performance is good, clears up speed Hurry up, work efficiency is high；

4, the present invention solves that the cleaning speed existed by present level auxiliary equipment labor cleaning's interior architecture mode is slow, work Intensity is big, automaticity is low, equipment fixed angle is unadjustable, rotation angle of equipment is unadjustable, the scope of application is little and work Make the difficult problems such as inefficiency, it is achieved that automatization's clearing function of interior architecture, it is not necessary to manual operation, and have cleaning speed fast, Equipment fixed angle is adjustable, rotation angle of equipment is adjustable, the scope of application is big and work efficiency advantages of higher, it is provided that a kind of automatic Change the new way of cleaning interior architecture.

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 locking and regulating device of the present invention and the structural representation supporting platform；

Fig. 3 is locking and regulating device of the present invention and the full sectional view supporting platform；

Fig. 4 is the structural representation of cleaning machine hands of the present invention；

Fig. 5 is the full sectional view of cleaning machine hands of the present invention；

Fig. 6 is the structural representation between rotary shaft of the present invention, cylinder, cleaning bundle, cleaning arc plate and cleaning bolt；

Fig. 7 is the structural representation that the present invention clears up arc plate.

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 7, a kind of fixed angle adjustable indoor building clean robot, including locking and regulating device 2, institute Fixed angle and the anglec of rotation of stating locking and regulating device 2 are adjustable, and locking and regulating device 2 upper surface is provided with cleaning machine hands 5, The cleaning adjustable angle of cleaning machine hands 5, the scope of application is big, it is possible to achieve automatization cleaning furred ceiling, ceiling on Aranea, The functions such as dust, carry out automatization's cleaning by cleaning machine hands 5 to interior architecture；Described locking and regulating device 2 includes lower lock Tight round platform 21, is provided with electric rotating machine 22 by motor cabinet in the middle part of lower locking round platform 21, fixing on the output shaft of electric rotating machine 22 Connecting and have on locking erecting bed 23, the lower surface of locking erecting bed 23 is evenly arranged with four L-type gag lever post 23a in the axial direction, Four L-type gag lever post 23a are all connected by sliding matching mode between 24 with convex annular, and convex annular is welded along the lower end of 24 On lower locking round platform 21, four L-type gag lever post 23a and convex annular make to lock erecting bed 23 in rotation along the spaced motion of 24 Can stably be rotated under the drive of rotating motor 22, so that the present invention has the function rotating regulation, when operating Workman is without manually regulating operating angle in cleaning, easy and simple to handle, and work efficiency is high；Described locking erecting bed 23 upper surface symmetry peace Equipped with four No. two hydraulic cylinders 25, the middle part of four No. two hydraulic cylinders 25 is separately fixed at four Z-types and fixes on seat 26, four Z-type is fixed the bottom of seat 26 and is symmetrically mounted on locking erecting bed 23 by screw；The top of described four No. two hydraulic cylinders 25 Rhombus elevator 27 is installed, four sides of rhombus elevator 27 are symmetrically welded with four locking side chains 28, four lockings All it is connected by regulation side chain 29 between side chain 28 with locking erecting bed 23, regulates corresponding locking side chain by regulation side chain 29 The fixing locking angle of 28, when the support zone that required cleaning is local is skewed or irregular, it is only necessary to by regulation Locking side chain 28 is adjusted to suitable fixing locking angle by side chain 29, fixes the work process preventing the present invention afterwards In the situation of random movement, what cleanup crew can be bold is cleaned function, improves work efficiency；Described locking side chain 28 include the straight connecting rod 281 being welded in rhombus elevator 27 corresponding side surface, and the top of straight connecting rod 281 is provided with two No. one and hangs Ear 281a, is provided with No. two hanger 282a, No. two hanger 282a by bearing pin between two hanger 281a and is welded on No. one On L-type connecting rod 282, the top of a L-type connecting rod 282 is welded with square installation sheet 283, and on square installation sheet 283, symmetry sets It is equipped with four installing holes, by four installing holes, the present invention is movably fixed to the support zone in required cleaning place；Described regulation Side chain 29 includes No. two ear mount 291 being welded on locking erecting bed 23, is provided with three by bearing pin between No. two ear mount 291 Number hydraulic cylinder 292, the top of No. three hydraulic cylinders 292 is arranged between No. three ear mount 293 by bearing pin, and No. three ear mount 293 are welded It is connected on the sidewall of a L-type connecting rod 282；Described rhombus elevator 27 upper surface is symmetrically welded with four fore-sets 210, four Fore-set 210 upper end is provided with cleaning machine hands 5, and four fore-sets 210 play the effect of rigid support cleaning machine hands 5 round platform. During work, first determine that suitable operating angle, electric rotating machine 22 are started working according to practical situation street cleaner, due to four The spacing assisted movement along 24 of L-type gag lever post 23a and convex annular makes to lock erecting bed 23 can under the drive of electric rotating machine 22 To be stably rotated, locking erecting bed 23 synchronizes to drive four locking side chains 28 to rotate, when the present invention arrives During the operating angle properly cleaned, electric rotating machine 22 quits work；Then according to the support zone shape adjustment lock that required cleaning is local The fixing locking angle of tight side chain 28, has only to regulate the locking side chain 28 of required fixed-direction according to nearby principle, right Should regulate on side chain 29 No. three hydraulic cylinders 292 to start working, No. three hydraulic cylinders 292 drive a L by No. three ear mount 293 Type connecting rod 282 rotates on straight connecting rod 281, when square installation sheet 283 medial surface being welded on L-type connecting rod 282 top When being parallel to the support zone in required cleaning place, No. three hydraulic cylinders 292 quit work, finally by four installing holes by the present invention It is movably fixed to the support zone that required cleaning is local, fixes the shape of random movement in the work process preventing the present invention afterwards Condition, what cleanup crew can be bold is cleaned function, improves work efficiency.

Described cleaning machine hands 5 includes the support round platform 51 being arranged on four fore-set 210 upper ends, supports the upper surface of round platform 51 Middle part is provided with No. five hydraulic cylinders 52, and the top of No. five hydraulic cylinders 52 is provided with square regulating block 53, right on square regulating block 53 Claim to be provided with four spacing holes, support round platform 51 upper surface and be symmetrically welded with four location round bars 54, and four location round bars 54 Being located in respectively on four spacing holes of square regulating block 53, four location round bars 54 play restriction square regulating block 53 side of moving To effect so that square regulating block 53 stably moves up and down under the drive of No. five hydraulic cylinders 52；Described support round platform 51 Upper surface is uniformly provided with four cleaning devices 55 by screw in the axial direction, and cleaning device 55 can be built with automated cleaning indoor Build the Aranea on furred ceiling, ceiling, dust, collection clearing function and dedusting function and one, and four cleaning devices 55 are with square It is separately installed with four angular transition side chains 56, by angular transition side chain 56 and No. five between four sides of type regulating block 53 Hydraulic cylinder 52 regulates the cleaning angle of cleaning device 55；Described angular transition side chain 56 includes being welded on square regulating block 53 No. four ear mount 561 on side, are provided with No. six hydraulic cylinders 562, No. six hydraulic cylinders 562 by bearing pin between No. four ear mount 561 Top be arranged in No. five ear mount 563 by bearing pin, No. five 563, ears are welded on gusset 553a medial surface；Described cleaning Device 55 includes being arranged on No. two L-type connecting rods 551 supporting round platform 51 upper surface by screw, No. two L-type connecting rod 551 ends End is provided with two No. three hanger 551a, is provided with No. four hanger 552a by bearing pin between two No. three hanger 551a, No. four Hanger 55 is arranged in the middle part of the lower surface of connecting plate 552, and connecting plate 552 can rotate on No. two L-type connecting rods 551, connecting plate The upper surface of 552 is symmetrically welded with two pieces of supporting vertical plate 553, is welded with gusset 553a between the lower end of two pieces of supporting vertical plate 553, Gusset 553a plays the effect strengthening two pieces of supporting vertical plate 553 support strengths, gusset 553a medial surface and square regulating block 53 Angular transition side chain 56 is installed between corresponding side surface；By bearing, rotation is installed between described two pieces of supporting vertical plate 553 upper ends Axle 554, the end of rotary shaft 554 is provided with driving motor 555 by shaft coupling, drives motor 555 to be arranged on by motor cabinet On motor support plate 556, motor support plate 556 is welded on the sidewall of corresponding supporting vertical plate 553；The middle part of described rotary shaft 554 Being provided with cylinder 557 by key, the two ends up and down of cylinder 557 are the most uniformly provided with cleaning bundle 557a, by driving motor 555 Axle 554 being rotated rotate, rotary shaft 554 drives cylinder 557 to rotate, and cylinder 557 drives cleaning bundle 557a cleaning chamber built-in Build and on the Aranea on furred ceiling, ceiling, and the cleaning bundle 557a at cylinder about 557 two ends, be separately installed with two cleaning arc plates 558, it is connected by cleaning bolt 558a between two cleaning arc plates 558；Described cleaning arc plate 558 is semicircular structure, clearly The structure of reason arc plate 558 is corresponding with cylinder 557 structure, it is simple to the installation of cleaning arc plate 558 and operation, clears up arc plate 558 It is evenly arranged with equal correspondence on cleaning circular hole 558b, and each cleaning circular hole 558b on outer wall in the axial direction and is equipped with cleaning bundle 557a, cleaning circular hole 558b play and stop the Aranea effect being wrapped on cleaning bundle 557a, and two couple of cleaning arc plate 558 is right Claim to be provided with between four mounting ear 558c, and the mounting ear 558c of two cleaning arc plates 558 all by cleaning bolt 558a phase Even, when being wound with a lot of Aranea on cleaning bundle 557a, it is necessary to clear up, first by between two cleaning arc plates 558 Fixing cleaning bolt 558a opens, and then operator's manual operation cleaning arc plate 558 up moves, due to each cleaning bundle 557a is located on the corresponding cleaning circular hole 558b of cleaning arc plate 558, and the up motion of cleaning arc plate 558 is by cleaning circle The Aranea being wrapped on cleaning bundle 557a is directly pooled to cleaning bundle 557a top by the limiting-blocking effect of hole 558b, then Street cleaner is processed by extraneous cleaning bar, cleaning arc plate 558 moves to lower section by cleaning bolt after being disposed 558a retightens；Dust suction support plate 553b, the both sides pair of dust suction support plate 553b it are welded with between described two pieces of supporting vertical plate 553 Claiming to be provided with two dust suction side chains 559, due to certain dust that can drop during interior architecture cleaning Aranea, these fall The dust fallen passes through two timely dust suctions of dust suction side chain 559, it is therefore prevented that the dust produced during cleaning falls to, on floor, alleviate Workload, improves work efficiency；Described dust suction side chain 559 includes No. two fixed platforms being arranged on dust suction support plate 553b upper surface 5591, No. two fixed platform 5591 upper surfaces are the most uniformly provided with four No. two side chains 5592 in parallel, and four No. two also Connection side chain 5592 upper surface is provided with No. two moving platforms 5593, and the upper surface of No. two moving platforms 5593 is symmetrically arranged with two snap rings 5594, micro-cleaner 5595 is installed between two snap rings 5594, micro-cleaner 5595 is the dust suction bought on existing market Equipment；Described No. two side chains 5592 in parallel include No. six ear mount 5592a that lower end is welded on No. two fixed platforms 5591, No. six Being provided with No. seven hydraulic cylinder 5592b by bearing pin between ear mount 5592a, the top of No. seven hydraulic cylinder 5592b is installed by bearing pin In No. seven ear mount 5592c, No. seven ear mount 5592c are arranged on No. two moving platforms 5593.No. six ear mount 5592a in the present invention Shape when rotating when defining P pair, No. seven ear mount 5592c work when defining R pair, No. seven hydraulic cylinder 5592b motions during rotation Become R secondary, thus No. two side chains 5592 in parallel defining RPR type, eventually through 5591, four RPR types of No. two fixed platforms 5592, No. two moving platforms 5593 of No. two side chains in parallel define 4-RPR parallel institution, 4-RPR parallel institution also has dynamically Respond, rigidity is high, bearing capacity big, good stability and kinematic accuracy advantages of higher, by the advantage of 4-RPR parallel institution The micro-cleaner 5595 being arranged between two snap rings 5594 can be begun during rotating regulation dust suction angle and dust suction Whole held stationary state, pick-up performance is good, and work efficiency is high.During work, first inclining according to the local floor relatively of required cleaning The cleaning angle of pitch adjustment cleaning device 55, No. five hydraulic cylinders 52 start working, and No. five hydraulic cylinders 52 drive square regulating block 53 move up and down, and the spacing assosting effect by four location round bars 54 makes square regulating block 53 at No. five hydraulic cylinders 52 Making stable up and down motion under drive, meanwhile angular transition side chain 56 is started working, No. six on angular transition side chain 56 Hydraulic cylinder 562 drives the gusset 553a on cleaning device 55 to rotate, and gusset 553a drives connecting plate 552 at No. two L-type connecting rods Rotate on 551, achieve cleaning device 55 clean angular adjustment by No. five hydraulic cylinders 52 and No. six hydraulic cylinder 562 work Function, No. five hydraulic cylinders 52 and No. six liquid when the cleaning bundle 557a on cleaning device 55 is apart from the local correct position of required cleaning Cylinder pressure 562 quits work, and then drives motor 555 to start working, and drives motor 555 that axle 554 is rotated and rotates, rotates Axle 554 drives cylinder 557 to rotate, and cylinder 557 drives the Aranea on cleaning bundle 557a cleaning interior architecture furred ceiling, ceiling, Two the dust suction side chains 559 being meanwhile positioned at cylinder 557 both sides are started working, the micro-cleaner 5595 on dust suction side chain 559 Constantly absorb the dust that scale removal process drops, it is achieved thereby that the function of automatization of the present invention cleaning interior architecture.

The type of described No. five hydraulic cylinders 52 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 the present invention is arranged in existing mobile device, by existing mobile device, the present invention is moved to indoor Further according to practical situation street cleaner, building required cleaning place, determines that suitable operating angle, electric rotating machine 22 are started working, Owing to the spacing assisted movement along 24 of four L-type gag lever post 23a and convex annular makes to lock erecting bed 23 at electric rotating machine 22 Can stably be rotated under Dai Donging, locking erecting bed 23 synchronizes to drive four locking side chains 28 to rotate, when this When invention arrives the operating angle of suitable cleaning, electric rotating machine 22 quits work；Then according to the support zone shape that required cleaning is local The fixing locking angle of shape regulation locking side chain 28, has only to regulate the locking side chain 28 of required fixed-direction according to nearby principle , No. three hydraulic cylinders 292 on corresponding regulation side chain 29 start working, and No. three hydraulic cylinders 292 are carried by No. three ear mount 293 A dynamic L-type connecting rod 282 rotates, when the square installation sheet 283 being welded on L-type connecting rod 282 top on straight connecting rod 281 When medial surface is parallel to the support zone in required cleaning place, No. three hydraulic cylinders 292 quit work, will finally by four installing holes The present invention is movably fixed to the support zone that required cleaning is local, fixes in the work process preventing the present invention afterwards and arbitrarily moves Dynamic situation, what cleanup crew can be bold is cleaned function, improves work efficiency；Then according to the local phase of required cleaning Gradient to floor regulates the cleaning angle of cleaning device 55, and No. five hydraulic cylinders 52 are started working, and No. five hydraulic cylinders 52 drive Square regulating block 53 moves up and down, and the spacing assosting effect by four location round bars 54 makes square regulating block 53 at No. five liquid Making stable up and down motion under the drive of cylinder pressure 52, meanwhile angular transition side chain 56 is started working, angular transition side chain 56 On No. six hydraulic cylinders 562 drive the gusset 553a on cleaning device 55 to rotate, gusset 553a drive connecting plate 552 at No. two Rotate on L-type connecting rod 551, achieve cleaning device 55 clean angle by No. five hydraulic cylinders 52 and No. six hydraulic cylinder 562 work The function of degree regulation, No. five hydraulic cylinders 52 when the cleaning bundle 557a on cleaning device 55 is apart from the local correct position of required cleaning Quit work with No. six hydraulic cylinders 562, then drive motor 555 to start working, drive motor 555 that axle 554 turn is rotated Dynamic, rotary shaft 554 drives cylinder 557 to rotate, and cylinder 557 drives on cleaning bundle 557a cleaning interior architecture furred ceiling, ceiling Aranea, when cleaning bundle 557a on be wound with a lot of Aranea time, it is necessary to clear up, first by two cleaning arc plates Cleaning bolt 558a fixing between 558 opens, and then operator's manual operation cleaning arc plate 558 up moves, due to often Individual cleaning bundle 557a is located on the corresponding cleaning circular hole 558b of cleaning arc plate 558, and the up motion of cleaning arc plate 558 is borrowed The Aranea being wrapped on cleaning bundle 557a is directly pooled to cleaning bundle 557a top by the limiting-blocking effect helping cleaning circular hole 558b End, then street cleaner is processed by extraneous cleaning bar, cleaning arc plate 558 moves to lower section by clear after being disposed Reason bolt 558a retightens, and two the dust suction side chains 559 being meanwhile positioned at cylinder 557 both sides are started working, dust suction side chain Micro-cleaner 5595 on 559 constantly absorbs the dust that scale removal process drops, due to 5591, four RPR types of No. two fixed platforms 5592, No. two moving platforms 5593 of No. two side chains in parallel define 4-RPR parallel institution, 4-RPR parallel institution has and dynamically rings Ying Hao, rigidity are high, bearing capacity big, good stability and kinematic accuracy advantages of higher, and the advantage by 4-RPR parallel institution makes The micro-cleaner 5595 must being arranged between two snap rings 5594 can be all the time during rotating regulation dust suction angle and dust suction Held stationary state, pick-up performance is good, and work efficiency is high, it is achieved thereby that the function of automatization of the present invention cleaning interior architecture, The cleaning speed solving to be existed by present level auxiliary equipment labor cleaning's interior architecture mode is slow, labor intensity big, automatization Degree is low, equipment fixed angle is unadjustable, rotation angle of equipment is unadjustable, the scope of application is little and the inferior difficulty of inefficiency Topic, has reached 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

1. a fixed angle adjustable indoor building clean robot, it is characterised in that: include locking and regulating device (2), described Locking and regulating device (2) upper surface is provided with cleaning machine hands (5)；Described locking and regulating device (2) includes lower locking round platform (21), Lower locking round platform (21) middle part is provided with electric rotating machine (22) by motor cabinet, and the output shaft of electric rotating machine (22) is fixedly connected with In locking erecting bed (23), the lower surface of locking erecting bed (23) is evenly arranged with four L-type gag lever posts (23a) in the axial direction, Four L-type gag lever posts (23a) are all connected by sliding matching mode between (24) with convex annular, and convex annular is along the lower end weldering of (24) 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 The middle part of No. two hydraulic cylinders (25) is separately fixed at four Z-types and fixes on seat (26), and the bottom that four Z-types fix seat (26) is passed through Screw is symmetrically mounted in locking erecting bed (23)；The top of described four No. two hydraulic cylinders (25) is provided with rhombus elevator (27), Being symmetrically welded with four lockings side chain (28) on four sides of rhombus elevator (27), four lockings side chain (28) are installed with locking All it is connected by regulation side chain (29) between platform (23)；Described rhombus elevator (27) upper surface is symmetrically welded with four fore-sets (210), four fore-set (210) upper ends are provided with cleaning machine hands (5)；

Described cleaning machine hands (5) includes the support round platform (51) being arranged on four fore-set (210) upper ends, supports the upper of round platform (51) Being provided with No. five hydraulic cylinders (52) in the middle part of end face, the top of No. five hydraulic cylinders (52) is provided with square regulating block (53), and square regulates It is symmetrically arranged with four spacing holes on block (53), supports round platform (51) upper surface and be symmetrically welded with four location round bar (54), and four Root location round bar (54) is located on four spacing holes of square regulating block (53) respectively；Described support round platform (51) upper surface is along axle Line direction is uniformly provided with four cleaning devices (55), and four cleaning devices (55) and the four of square regulating block (53) by screw Four angular transition side chains (56) it are separately installed with between individual side；Described cleaning device (55) includes being arranged on support by screw No. two L-type connecting rods (551) of round platform (51) upper surface, No. two L-type connecting rod (551) ends are provided with two No. three hangers (551a), Being provided with No. four hangers (552a) by bearing pin between two No. three hangers (551a), No. four hangers (55) are arranged on connecting plate (552) Lower surface in the middle part of, the upper surface of connecting plate (552) is symmetrically welded with two pieces of supporting vertical plate (553), two pieces of supporting vertical plate (553) Lower end between be welded with gusset (553a), be provided with between the corresponding side surface of gusset (553a) medial surface and square regulating block (53) Angular transition side chain (56)；By bearing, rotary shaft (554), rotary shaft are installed between described two pieces of supporting vertical plate (553) upper ends (554) end is provided with driving motor (555) by shaft coupling, drives motor (555) to be arranged on motor support plate by motor cabinet (556), on, motor support plate (556) is welded on the sidewall of corresponding supporting vertical plate (553)；The middle part of described rotary shaft (554) is passed through Key is provided with cylinder (557), and the two ends up and down of cylinder (557) are the most uniformly provided with cleaning bundle (557a), and cylinder (557) upper and lower two Two cleanings arc plate (558) it are separately installed with, by cleaning bolt between two cleanings arc plate (558) on the cleaning bundle (557a) of end (558a) it is connected；It is welded with dust suction support plate (553b), the both sides pair of dust suction support plate (553b) between described two pieces of supporting vertical plate (553) Claim two dust suction side chains (559) are installed.

A kind of fixed angle adjustable indoor building clean robot the most according to claim 1, it is characterised in that: described Locking side chain (28) includes the straight connecting rod (281) being welded in rhombus elevator (27) corresponding side surface, and the top of straight connecting rod (281) sets It is equipped with two No. one hanger (281a), between two No. one hanger (281a), by bearing pin No. two hangers (282a) is installed, No. two Hanger (282a) is welded on a L-type connecting rod (282), and the top of a L-type connecting rod (282) is welded with square installation sheet (283), Four installing holes it are symmetrically arranged with on square installation sheet (283).

A kind of fixed angle adjustable indoor building clean robot the most according to claim 1, it is characterised in that: described Regulation side chain (29) includes No. two ear mount (291) being welded in locking erecting bed (23), passes through bearing pin between No. two ear mount (291) Being provided with No. three hydraulic cylinders (292), the top of No. three hydraulic cylinders (292) is arranged between No. three ear mount (293) by bearing pin, No. three Ear mount (293) is welded on the sidewall of a L-type connecting rod (282).

A kind of fixed angle adjustable indoor building clean robot the most according to claim 1, it is characterised in that: described Angular transition side chain (56) includes No. four ear mount (561) being welded on square regulating block (53) side, between No. four ear mount (561) Being provided with No. six hydraulic cylinders (562) by bearing pin, the top of No. six hydraulic cylinders (562) is arranged on No. five ear mount (563) by bearing pin On, No. five ear (563) seats are welded on gusset (553a) medial surface.

A kind of fixed angle adjustable indoor building clean robot the most according to claim 1, it is characterised in that: described Cleaning arc plate (558) is semicircular structure, and cleaning arc plate (558) outer wall is evenly arranged with cleaning circular hole (558b) in the axial direction, And the upper equal correspondence of each cleaning circular hole (558b) is equipped with cleaning bundle (557a), two couple of cleaning arc plate (558) is symmetrically arranged with four All it is connected by cleaning bolt (558a) between mounting ear (558c), and the mounting ear (558c) of two cleanings arc plate (558).

A kind of fixed angle adjustable indoor building clean robot the most according to claim 1, it is characterised in that: described Dust suction side chain (559) includes No. two fixed platforms (5591) being arranged on dust suction support plate (553b) upper surface, No. two fixed platforms (5591) Upper surface is the most uniformly provided with four No. two side chains in parallel (5592), four No. two side chain in parallel (5592) upper surface peaces Equipped with No. two moving platforms (5593), the upper surface of No. two moving platforms (5593) is symmetrically arranged with two snap rings (5594), two snap rings (5594) micro-cleaner (5595) is installed between；Described No. two side chains in parallel (5592) include that lower end is welded on No. two fixed platforms (5591) No. six ear mount (5592a) on, are provided with No. seven hydraulic cylinders (5592b) by bearing pin between No. six ear mount (5592a), and seven The top of number hydraulic cylinder (5592b) is arranged on No. seven ear mount (5592c) by bearing pin, and No. seven ear mount (5592c) are arranged on No. two and move On platform (5593).

A kind of fixed angle adjustable indoor building clean robot the most according to claim 1, it is characterised in that: described The type of No. five hydraulic cylinders (52) is multistage hydraulic cylinder.