CN105942936A

CN105942936A - Ascending and descending adjustable building environment-friendly robot

Info

Publication number: CN105942936A
Application number: CN201610326623.7A
Authority: CN
Inventors: 包凤丹
Original assignee: Individual
Current assignee: Tongxiang Creative Electronic Technology 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: CN108245097A; CN108261152A; CN108245097B; CN105942936B; CN108261152B

Abstract

The invention relates to an ascending and descending adjustable building environment-friendly robot, which comprises a self-stabilizing support device, wherein the self-stabilizing support device has good rigid support performance, stability performance and shock absorption performance; the upper end surface of the self-stabilizing support device is symmetrically provided with four rigid ascending and descending support chains through screws; the rigid ascending and descending support chains have good height ascending and descending adjusting performance; a No.4 hydraulic cylinder is arranged in the middle part of the upper end surface of the self-stabilizing support device; cleaning mechanical hands are arranged on the top ends of the four rigid ascending and descending support chains and the No.4 hydraulic cylinder; the cleaning angle of each cleaning mechanical hand is adjustable; the application range is wide; the functions of automatically cleaning spider webs, dust and the like on a suspended ceiling and a ceiling board can be realized; and the cleaning mechanical hands are driven by the No.4 hydraulic cylinder under the height adjusting effect of the four rigid ascending and descending support chains to perform automatic cleaning on an indoor building. The ascending and descending adjustable building environment-friendly robot can realize has the advantages that the automatic cleaning function on the indoor building can be realized, and a novel path for automatically cleaning the indoor building is provided.

Description

The adjustable building Green Machine people of a kind of lifting

Technical field

The present invention relates to build environmental technology field, specifically one lifts adjustable building Green Machine people.

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 height Automatic lifting can not regulate, need artificial height up and down；3, need constantly repeatedly to clean back and forth due to street cleaner, people Health is different to the stress point of this height auxiliary equipment, rocking or the phenomenon shaken often occurs, rigid support poor performance, Damping performance is poor, and stability is poor, causes street cleaner the most slowly to clean, work efficiency is greatly reduced；4、 Street cleaner needs drop a lot of dust during cleaning, it is therefore desirable to the base plate below artificial wipe clean, the most not yet Having ceiling or the furred ceiling cleaning tool of band absorption function, the burnisher of existing interior architecture generally only has simple function, suitable Little by scope.

Summary of the invention

In order to solve the problems referred to above, the invention provides the adjustable building Green Machine people of a kind of lifting, can solve by existing The cleaning speed that highly auxiliary equipment labor cleaning interior architecture mode exists is slow, labor intensity is big, automaticity is low, 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 work The difficult problems such as inefficiency, it is possible to achieve automatization's clearing function of interior architecture, it is not necessary to manual operation, and have cleaning speed fast, 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 is big and Work efficiency advantages of higher, it is provided that the new way of a kind of automatization cleaning interior architecture.

To achieve these goals, the present invention realizes by the following technical solutions: the adjustable building Green Machine people of a kind of lifting, Including from steady support means, from steady support means there is good rigid support performance, stability and damping performance, described from Steady support means upper surface is symmetrically installed with four rigidity lifting side chains by screw, and rigidity lifting side chain has good height liter Falling tone joint performance, is provided with No. four hydraulic cylinders in the middle part of steady support means upper surface, and four rigidity lift side chains and No. four hydraulic pressure The top of cylinder is provided with cleaning machine hands, and the cleaning adjustable angle of cleaning machine hands, the scope of application is big, it is possible to achieve automatization is clear Manage the functions such as the Aranea on furred ceiling, ceiling, dust, lifted the altitude mixture control of side chains by No. four hydraulic cylinders four rigidity Lower drive cleaning machine hands carries out automatization's cleaning to interior architecture.

As a preferred technical solution of the present invention, described include fixing round platform, the lower end of described fixing round platform from steady support means Face is symmetrically arranged with four universal wheels, and the present invention is moved to cleaning place needed for interior architecture by the present invention by four universal wheels, The upper surface of fixing round platform is the most uniformly provided with four side chains that support in parallel, in the middle part of four support side chain upper surfaces in parallel Being symmetrically installed with four L-type pillars, the end of four L-type pillars is respectively arranged with four and installs disk, installs disk for four and leads to Crossing screw to be separately mounted on four connection sheets, four connect sheets and are symmetrically welded at the lower surface of square erecting bed, by four also Connection supports side chain and plays the effect of stable support square erecting bed, is 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, and location hollow axle can move on main locating shaft vertically, main locating shaft Play spacing effect so that square erecting bed location hollow axle spacing under can only move vertically, without occurring Roll the phenomenon moved, and improves the stability of equipment, and 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 with four upper locating shafts, and four upper locating shafts are arranged with four spacing bullets respectively Spring, four limit spring lower ends are respectively sleeved on four lower locating shafts, and four lower locating shafts are symmetrically welded at the upper of fixing round platform On end face, lower locating shaft and upper locating shaft play the effect limiting limit spring position, and limit spring makes the present invention have well Damping performance；Described support side chain in parallel includes the fixed platform being welded on fixing round platform upper surface, on a fixed platform End face the most uniformly installs three side chains in parallel, and three No. one side chain upper end in parallel is uniformly arranged on a moving platform On, the L-type pillar of correspondence is installed in the middle part of a moving platform upper surface；A described side chain in parallel includes that lower end is welded on No. one An ear mount on fixed platform upper surface, is provided with a hydraulic cylinder, the top of a hydraulic cylinder by bearing pin between an ear mount Being threaded connection connecting cylinder, connecting cylinder has been threaded connection spherical hinge, spherical hinge upper end is by being threadably mounted at triangle On seat, Triangulum is welded on the lower surface of a moving platform.In the present invention, an ear mount defines R pair, a liquid when rotating Define S when defining P pair, spherical hinge work during cylinder pressure motion secondary, thus define a side chain in parallel of RPS type, 3-RPS parallel institution is defined eventually by a fixed platform, a side chain in parallel of three RPS types, a moving platform, this The in parallel side chain that supports in bright is 3-RPS parallel institution, and 3-RPS parallel institution has that dynamic response is good, rigidity is high, carrying energy Power is big, good stability and kinematic accuracy advantages of higher, by the advantage present invention of parallel institution by four 3-RPS parallel institutions Realizing stablizing square erecting bed the function of rigid support, the advantage by parallel institution also makes the present invention have well simultaneously Stability and good damping performance.

As a preferred technical solution of the present invention, described rigidity lifting side chain includes being arranged on square erecting bed 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 cleaning machine hands；Described lower lifting slide plate includes lower end Being welded on bottom the lower plane on lower lifting stator, lower plane two bottom sides is respectively integrally formed with curved under aduncate two Pars convoluta, lower bending section is the spacing sliding position of concave curved on both sides, and in the middle part of two lower bending sections, upper end is respectively arranged with two openings, Two opening parts on two lower bending sections are provided with two upper limit position blocks by fixing bolt, the opening on lower bending section be in order to Being easily installed upper limit position block, owing to lower bending section is aduncate structure, the distance between two lower bending sections is the least, If lower bending section is not provided with opening and is just difficult to be installed by fixing bolt the function of limited block；Described upper limit position block includes Matrix, matrix is symmetrically arranged with two nut bore, two nut bore is separately installed with two fixing nuts, installs spacing The most fixing nut is arranged on nut bore hole before block, because the space between lower lifting slide plate and upper lifting slide plate is the least, Otherwise just it is difficult to fixing nut is installed once install lifting slide plate again, and each fixing nut is through curved under on lower lifting slide plate Pars convoluta is all connected with fixing bolt, is fixed on lower lifting slide plate by upper limit position block by fixing bolt, the lower end, side one of matrix Body formed have shielding plate, and shielding plate plays the effect blocked, and will be blocked when upper lifting slide plate lower end moves to shielding plate position Living, define lifting slide plate sliding distance on lower lifting slide plate, the upper end of matrix hooks post, L-type integrally formed with L-type The upper end hooking post hooks in the lower bending section upper end of lower lifting slide plate；Described upper lifting slide plate includes that upper end is welded on lifting stator On upper planar base, upper planar base is connected by sliding matching mode between bottom the lower plane on lower lifting slide plate, on Planar base both sides are respectively integrally formed with aduncate two upper bending sections, and upper bending section is also the spacing slip of concave curved on both sides Position, the inwall of two upper bending sections respectively and is connected by sliding matching mode between the outer wall of two lower bending sections, upper bending Portion can move at lower bending section, and the bottom of upper planar base is symmetrically arranged with two corresponding with the shielding plate on two upper limit position blocks Individual lower position block, lower position block plays spacing effect, when lower position block moves to the shielding plate of upper limit position block, lower position block The sheet that is blocked blocks, and is now the highest movement position of upper lifting slide plate.During work, when interior architecture required cleaning place height Higher when needing to increase Support Position, now No. four hydraulic cylinders are started working, and No. four hydraulic cylinders drive cleaning machine handss up to work, Four rigidity lifting side chain work of meanwhile cleaning machine hand-motion, the upper bending section of two on upper lifting slide plate is sliding in lower lifting Two lower bending sections on sheet up move, and upper lifting slide plate drives the swallow-tail form traveller motion on upper lifting stator, due under The lifting inclined shape of slide plate is welded on lower lifting stator, so that upper lifting slide plate also moves toward incline direction, thus carries Swallow-tail form traveller on dynamic upper lifting stator moves on swallowtail-shaped slide, if the segment distance that moved is not high enough, just needs Wanting No. four hydraulic cylinders to work on, when lower position block moves to the shielding plate of upper limit position block, the lower position block sheet that is blocked blocks, Upper lifting slide plate can be moved to extreme higher position, and now No. four hydraulic cylinders quit work, and upper lifting slide plate is whole lower lifting slide plate All having lower lifting slide plate and No. four hydraulic cylinders to provide a supporting role during individual lift in height, 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 is high.

As a preferred technical solution of the present invention, described cleaning machine hands includes being arranged on swallowtail-shaped slide and No. four hydraulic cylinders The support round platform on top, supports and is provided with No. five hydraulic cylinders in the middle part of the upper surface of round platform, and the top of No. five hydraulic cylinders is provided with square Regulating block, square regulating block is symmetrically arranged with four spacing holes, supports round platform upper surface and is symmetrically welded with four location round bars, And four location round bars are located on four spacing holes of square regulating block respectively, four location round bars play restriction square regulating block The effect of the direction of motion so that square regulating block stably moves up and down under the drive of No. five hydraulic cylinders；On described support round platform End face is uniformly provided with four cleaning devices by screw in the axial direction, cleaning device can with automated cleaning interior architecture furred ceiling, Aranea on ceiling, dust, collection clearing function and dedusting function and one, and four cleaning devices and square regulating block It is separately installed with four angular transition side chains between four sides, regulates sanitizer cartridge by angular transition side chain and No. five hydraulic cylinders The cleaning angle put；Described angular transition side chain includes No. four ear mount being welded on square regulating block side, between No. four ear mount Being provided with No. six hydraulic cylinders by bearing pin, the top of No. six hydraulic cylinders is arranged in No. five ear mount by bearing pin, No. five ear mount welding On gusset medial surface；Described cleaning device includes being arranged on No. two L-type connecting rods supporting round platform upper surface by screw, No. two L-type connecting rod end is provided with two No. three hangers, is provided with No. four hangers, No. four hangers by bearing pin between two No. three hangers Being arranged in the middle part of the lower surface of connecting plate, 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, are welded with gusset between the lower end of two pieces of supporting vertical plate, gusset plays two pieces of supporting vertical plate support strengths of enhancing Effect, angular transition side chain is installed between the corresponding side surface of gusset medial surface and square regulating block；Described two pieces of supporting vertical plate By bearing, rotary shaft is installed between upper end, rotates the tip of the axis, by shaft coupling, driving motor is installed, drive motor to pass through Motor cabinet is arranged on motor support plate, and motor support plate is welded on the sidewall of corresponding supporting vertical plate；The middle part of described rotary shaft is passed through Key is provided with cylinder, and the two ends up and down of cylinder are the most uniformly provided with cleaning bundle, by driving driven by motor rotary shaft to rotate, rotates Axle drives cylinder to rotate, and cylinder drives the Aranea on cleaning Shu Qingli interior architecture furred ceiling, ceiling, and the upper and lower two ends of cylinder Cleaning bundle on be separately installed with two cleaning arc plates, two cleaning arc plates between by cleaning bolt be connected；Described cleaning arc plate For semicircular structure, the structure of cleaning arc plate is corresponding with roller frame, it is simple to the installation of cleaning arc plate and operation, clears up arc plate It is evenly arranged with on cleaning circular hole, and each cleaning circular hole equal correspondence on outer wall in the axial direction and is equipped with cleaning bundle, clear up circular hole Playing the Aranea effect being wrapped on cleaning bundle that stops, two couple of cleaning arc plate is symmetrically arranged with four mounting ears, and two clear All it is connected by cleaning bolt between the mounting ear of reason arc plate, when being wound with a lot of Aranea on cleaning bundle, it is necessary to carry out clear Reason, first opens fixing cleaning bolt between two cleaning arc plates, and then operator's manual operation cleaning arc plate is up transported Dynamic, owing to each cleaning bundle is located on the corresponding cleaning circular hole of cleaning arc plate, the up motion of cleaning arc plate is by cleaning circle The Aranea being wrapped on cleaning bundle is directly pooled to clear up bunchy top end by the limiting-blocking effect in hole, and then street cleaner is by outward Boundary's cleaning bar processes, and cleaning arc plate moves to after being disposed lower section and is retightened by cleaning bolt；Described two pieces Being welded with dust suction support plate between support riser, the lateral symmetry of dust suction support plate is provided with two dust suction side chains, due to clear at interior architecture Can be dropped during reason Aranea certain dust, and these dusts dropped pass through two timely dust suctions of dust suction side chain, it is therefore prevented that clear The dust produced during reason falls to, on floor, alleviate workload, improves work efficiency；Described dust suction side chain includes being arranged on No. two fixed platforms of dust suction support plate upper surface, No. two fixed platform upper surfaces are the most uniformly provided with four No. two side chains in parallel, Four No. two side chain upper surfaces in parallel are provided with No. two moving platforms, and the upper surface of No. two moving platforms is symmetrically arranged with two snap rings, and two Being provided with micro-cleaner between individual snap ring, micro-cleaner is the dust collection equipment bought on existing market；Described No. two side chains in parallel No. six ear mount being welded on No. two fixed platforms including lower end, are provided with No. seven hydraulic cylinders by bearing pin between No. six ear mount, No. seven The top of hydraulic cylinder is arranged in No. seven ear mount by bearing pin, and No. seven ear mount are arranged on No. two moving platforms.No. six ears in the present invention It is secondary that seat defines R when rotating when defining P pair, No. seven ear mount work when defining R pair, No. seven hydraulic cylinders when rotating, Thus define No. two side chains in parallel of RPR type, eventually through No. two fixed platforms, No. two side chains in parallel of four RPR types, two Number moving platform defines 4-RPR 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, by the advantage of 4-RPR parallel institution make to be arranged between two snap rings miniature Vacuum cleaner can remain plateau during rotating regulation dust suction angle and dust suction, and pick-up performance is good, and work efficiency is high. During work, first regulating the cleaning angle of cleaning device according to the gradient on the local floor relatively of required cleaning, No. five hydraulic cylinders are opened Beginning work, No. five hydraulic cylinders drive square regulating block to move up and down, and the spacing assosting effect by four location round bars makes square Regulating block makees stable up and down motion under the drive of No. five hydraulic cylinders, and meanwhile angular transition side chain is started working, and angle turns Changing No. six hydraulic cylinders on side chain drives the gusset on cleaning device to rotate, and gusset drives connecting plate to rotate on No. two L-type connecting rods, The function of cleaning device cleaning angular adjustment is achieved, clear when on cleaning device by No. five hydraulic cylinders and No. six hydraulic cylinder works Reason bundle No. five hydraulic cylinders and No. six hydraulic cylinders when required cleaning local correct position quit work, and then drive motor to start work Work, drives driven by motor rotary shaft to rotate, and rotary shaft drives cylinder to rotate, cylinder drive cleaning Shu Qingli interior architecture furred ceiling, Aranea on ceiling, two the dust suction side chains being meanwhile positioned at cylinder both sides start working, the miniature suction on dust suction side chain Dirt device constantly absorbs the dust that scale removal 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. four hydraulic cylinders and No. five hydraulic cylinders is multistage hydraulic cylinder, The telescopic extensions of multistage hydraulic cylinder 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, clear needed for interior architecture Clean place is the highest when needing to increase Support Position, and now No. four hydraulic cylinders are started working, and No. four hydraulic cylinders drive cleaning machines Hands up works, four rigidity lifting side chain work of meanwhile cleaning machine hand-motion, the upper bending of two on upper lifting slide plate The portion's two lower bending sections on lower lifting slide plate up move, and upper lifting slide plate drives the swallow-tail form traveller on upper lifting stator Motion, owing to the lower inclined shape of lifting slide plate is welded on lower lifting stator, so that upper lifting slide plate is also toward incline direction Motion, thus drive the swallow-tail form traveller on upper lifting stator to move on swallowtail-shaped slide, if having moved a segment distance not Time the highest, it is necessary to No. four hydraulic cylinders work on, when lower position block moves to the shielding plate of upper limit position block, lower position block quilt Shielding plate blocks, and upper lifting slide plate can be moved to extreme higher position, and now No. four hydraulic cylinders quit work, upper lifting slide plate under All having lower lifting slide plate and No. four hydraulic cylinders to provide a supporting role during the whole lift in height of lifting slide plate, lifting process compares Steadily, non-jitter situation, it is achieved that the lift in height regulatory function that the present invention is stable, work efficiency is high；Then further according to required The gradient on the local floor relatively of cleaning regulates the cleaning angle of cleaning device, and No. five hydraulic cylinders are started working, No. five hydraulic cylinder bands Dynamic square regulating block moves up and down, and the spacing assosting effect by four location round bars makes square regulating block at No. five hydraulic cylinders Making stable up and down motion under drive, meanwhile angular transition side chain is started working, No. six hydraulic cylinders on angular transition side chain Driving the gusset on cleaning device to rotate, gusset drives connecting plate to rotate on No. two L-type connecting rods, by No. five hydraulic cylinders and six Number hydraulic cylinder works achieves the function of cleaning device cleaning angular adjustment, when the cleaning bundle on cleaning device is apart from required cleaning ground During side's correct position, No. five hydraulic cylinders and No. six hydraulic cylinders quit work, and then drive motor to start working, and drive driven by motor rotation Axis of rotation, rotary shaft drives cylinder to rotate, and cylinder drives the Aranea on cleaning Shu Qingli interior architecture furred ceiling, ceiling, When being wound with a lot of Aranea on cleaning bundle, it is necessary to clear up, first by cleaning spiral shell fixing between two cleaning arc plates Bolt is opened, and then operator's manual operation cleaning arc plate up moves, owing to each cleaning bundle is located in the right of cleaning arc plate Should clear up on circular hole, the limiting-blocking effect by cleaning circular hole of up moving of cleaning arc plate directly will be wrapped on cleaning bundle Aranea is pooled to clear up bunchy top end, and then street cleaner is processed by extraneous cleaning bar, will cleaning arc plate after being disposed Moving to lower section retightened by cleaning bolt, two the dust suction side chains being meanwhile positioned at cylinder both sides are started working, dust suction Micro-cleaner on side chain constantly absorbs the dust that scale removal process drops, due to No. two fixed platforms, No. two of four RPR types also Connection side chain, No. two moving platforms define 4-RPR parallel institution, and 4-RPR parallel institution has that dynamic response is good, rigidity is high, holds Loading capability is big, good stability and kinematic accuracy advantages of higher, and the advantage by 4-RPR parallel institution makes to be arranged on two snap rings Between micro-cleaner rotate regulation dust suction angle and dust suction during can remain plateau, pick-up performance is good, Work efficiency is high, it is achieved thereby that the function of automatization of the present invention cleaning interior architecture, and when in the present invention, an ear mount rotates Define S when defining P pair, spherical hinge work when defining R pair, a hydraulic cylinder secondary, thus define RPS type A side chain in parallel, define 3-RPS eventually through a fixed platform, a side chain in parallel of three RPS types, a moving platform Parallel institution, the in parallel side chain that supports in the present invention is 3-RPS parallel institution, 3-RPS parallel institution have dynamic response good, Rigidity is 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 realizes stablizing square erecting bed the function of rigid support, and the advantage by parallel institution also makes simultaneously The present invention has good stability and good damping performance.

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 realizes stablizing square erecting bed the function of rigid support, and the advantage by parallel institution also makes the present invention simultaneously There is good stability and good damping performance；

2, the present invention drives cleaning machine hands to lift by No. four hydraulic cylinders under the lift in height regulation that four rigidity lift side chain Upper lifting slide plate in regulation, and rigidity lifting side chain all has lower lifting slide plate during the whole lift in height of lower lifting slide plate Providing a supporting role with No. four hydraulic cylinders, lifting process is relatively more steady, non-jitter situation, it is achieved that the height liter that the present invention is stable Fall regulatory function, altitude mixture control performance is good, and work efficiency is high；

3, 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；

4, 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；

5, 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 rigid support poor performance, stabilization of equipment performance can poor, equipment damping performance is poor, height adjust Joint poor performance, the scope of application is little and the inferior difficult problem of inefficiency, it is achieved that automatization's clearing function of interior architecture, it is not necessary to people Work operates, and have that cleaning speed is fast, equipment rigid support performance is good, stabilization of equipment performance can good, equipment damping performance is good, high Degree regulation performance is good, the scope of application big and work efficiency advantages of higher, it is provided that the new way of a kind of automatization 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 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；

Figure 11 is the structural representation of cleaning machine hands of the present invention；

Figure 12 is the full sectional view of cleaning machine hands of the present invention；

Figure 13 is the structural representation between rotary shaft of the present invention, cylinder, cleaning bundle, cleaning arc plate and cleaning bolt；

Figure 14 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 Fig. 1 to Figure 14, the adjustable building Green Machine people of a kind of lifting, including from steady support means 1, support from steady Device 1 has good rigid support performance, stability and damping performance, described logical in the middle part of steady support means 1 upper surface Crossing screw and be symmetrically installed with four rigidity lifting side chains 3, rigidity lifting side chain 3 has good lift in height regulation performance, from No. four hydraulic cylinders 4 are installed in the middle part of steady support means 1 upper surface, and four rigidity lift side chains 3 and the top of No. four hydraulic cylinders 4 End is provided with cleaning machine hands 5, the cleaning adjustable angle of cleaning machine hands 5, 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, the height lifting side chains 3 four rigidity by No. four hydraulic cylinders 4 is adjusted Joint is lower drives cleaning machine hands 5 that interior architecture is carried out automatization's cleaning.

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 universal wheels 12, the present invention is moved to cleaning place needed for interior architecture, the upper end of fixing round platform 11 by the present invention by four universal wheels 12 Face is the most uniformly provided with four side chains 13 that support in parallel, and four in parallel supports are symmetrically installed in the middle part of side chain 13 upper surface Having four L-type pillars 14, the end of four L-type pillars 14 is respectively arranged with four and installs disk 14a, installs disk for four 14a is separately mounted to four by screw and connects on sheet 15a, and four connect sheet 15a and are symmetrically welded at square erecting bed 15 times End face, plays the effect of stable support square erecting bed 15, square erecting bed 15 times by four side chains 13 that support in parallel Being welded with location hollow axle 16 in the middle part of end face, hollow axle 16 lower end, location is set on main locating shaft 17, positions hollow axle 16 Can move vertically on main locating shaft 17, main locating shaft 17 plays spacing effect so that square erecting bed 15 is fixed The spacing lower of position hollow axle 16 can only move vertically, without there is the phenomenon moved that rolls, improves equipment Stability, 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 Being symmetrically welded with four upper locating shaft 15b, four upper locating shaft 15b are arranged with four limit spring 18 respectively, four spacing Spring 18 lower end is respectively sleeved on four lower locating shaft 11a, and four lower locating shaft 11a are symmetrically welded at fixing round platform 11 On upper surface, lower locating shaft 11a and upper locating shaft 15b plays the effect limiting limit spring 18 position, and limit spring 18 makes Obtain the present invention and there is good damping performance；Described support side chain 13 in parallel includes be welded on fixing round platform 11 upper surface one Number fixed platform 131, fixed platform 131 upper surface the most uniformly installs three side chains 132 in parallel, three No. one Side chain 132 upper end in parallel is uniformly arranged on a moving platform 133, is provided with correspondence in the middle part of moving platform 133 upper surface L-type pillar 14；A described side chain 132 in parallel includes the ear mount that lower end is welded on fixed platform 131 upper surface 1321, by bearing pin, a number hydraulic cylinder 1322 is installed between an ear mount 1321, spiral shell is passed through on the top of a hydraulic cylinder 1322 Stricture of vagina connects connecting cylinder 1323, and connecting cylinder 1323 has been threaded connection spherical hinge 1324, and spiral shell is passed through in spherical hinge 1324 upper end Stricture of vagina is arranged on Triangulum 1325, and Triangulum 1325 is welded on the lower surface of a moving platform 133.An ear in the present invention Seat 1321 defines R pair when rotating, a hydraulic cylinder 1322 defines P pair when moving, spherical hinge 1324 defines when working S is secondary, thus the side chain 132 in parallel defining RPS type, eventually through No. one of 131, three RPS types of a fixed platform 132, moving platform 133 of side chain in parallel 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 high Etc. advantage, the advantage present invention by parallel institution realizes square erecting bed 15 stable just by four 3-RPS parallel institutions Property the function that supports, simultaneously the advantage by parallel institution also makes the present invention have good stability and good damping property Energy.

Described rigidity lifting side chain 3 includes the lower lifting stator 31 being arranged on square erecting bed 15 upper surface by screw, under The lifting 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 by fixing bolt 33 It is symmetrically installed with two upper limit position blocks 34, lower lifting slide plate 32 is provided with upper lifting slide plate 35 by sliding matching mode, on Lifting 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 solid Being welded with swallow-tail form traveller 37 on stator 36, swallow-tail form traveller 37 is connected with swallowtail-shaped slide 38 by sliding matching mode, Swallow-tail form 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-tail form traveller 37 moves the swallowtail-shaped slide 38 upper end peace in the excessive phenomenon dropped out of floating, and four rigidity lifting side chains 3 Equipped with cleaning machine hands 5；Described lower lifting slide plate 32 includes that lower end is welded on 32a bottom the lower plane on lower lifting stator 31, Bottom lower plane, 32a both sides are respectively integrally formed with aduncate two lower bending section 32b, and lower bending section 32b is both sides The spacing sliding position of concave curved, in the middle part of two lower bending section 32b, upper end is respectively arranged with two openings, on two lower bending section 32b Two opening parts by fixing bolt 33, two upper limit position blocks 34 are installed, the opening on lower bending section 32b be for the ease of Installing limited block 34, owing to lower bending section 32b is aduncate structure, the distance between two lower bending section 32b is the most non- It is the least, if lower bending section 32b is not provided with opening and is just difficult to be installed by fixing bolt 33 function of limited block 34； Described upper limit position block 34 includes matrix 341, matrix 341 is symmetrically arranged with two nut bore 34a, in two nut bore 34a It is separately installed with two fixing nuts 342, before installing limited block 34, the most fixing nut 342 is arranged on nut bore 34a Kong Shang, because the space between lower lifting slide plate 32 and upper lifting slide plate 35 is the least, the most once installs lifting slide plate 35 Just be difficult to fixing nut 342 is installed again, and each fixing nut 342 through the lower bending section 32b on lower lifting slide plate 32 all with Fixing bolt 33 is connected, and is fixed on lower lifting slide plate 32 by upper limit position block 34 by fixing bolt 33, the side of matrix 341 The effect blocked is played, integrally formed with shielding plate 343, shielding plate 343, in lower end, face, when upper lifting slide plate 35 lower end moves to hide Catch 343 position will be blocked, and defines the lifting slide plate 35 sliding distance on lower lifting slide plate 32, matrix 343 Upper end integrally formed with L-type hook post 344, L-type hook post 344 upper end hook on the lower bending section 32b of lower lifting slide plate 32 End；Described upper lifting slide plate 35 includes upper planar base 35a that upper end is welded on lifting stator 36, upper planar base It is connected by sliding matching mode between 35a with 32a bottom the lower plane on lower lifting slide plate 32, upper planar base 35a both sides Also it is the spacing sliding position of concave curved on both sides respectively integrally formed with aduncate two upper bending section 35b, upper bending section 35b, The inwall of two upper bending section 35b respectively and is connected by sliding matching mode between the outer wall of two lower bending section 32b, upper curved Pars convoluta 35b can move at lower bending section 32b, the bottom of upper planar base 35a be symmetrically arranged with on two upper limit position blocks 34 Corresponding two the lower position block 35c, lower position block 35c of shielding plate 343 play spacing effect, when lower position block 35c transports When moving the shielding plate 343 to upper limit position block 34, the lower position block 35c sheet 343 that is blocked blocks, and is now upper lifting slide plate 35 Highest movement position.During work, when interior architecture required cleaning place is the highest need to increase Support Position time, now four Number hydraulic cylinder 4 is started working, and No. four hydraulic cylinders 4 drive cleaning machine hands 5 up to work, and meanwhile cleaning machine hands 5 carries Dynamic four rigidity lifting side chains 3 work, and two on upper lifting slide plate 35 go up bending section 35b two on lower lifting slide plate 32 Individual lower bending section 32b up moves, and upper lifting slide plate 35 drives the swallow-tail form traveller 37 on upper lifting stator 36 to move, by It is welded on lower lifting stator 31 in the lower inclined shape of lifting slide plate 32, so that upper lifting slide plate 35 is also toward incline direction Motion, thus drive the swallow-tail form traveller 37 on upper lifting stator 36 to move on swallowtail-shaped slide 38, if having moved one When segment distance is not high enough, it is necessary to No. four hydraulic cylinders 4 work on, when lower position block 35c moves to blocking of upper limit position block 34 During sheet 343, the lower position block 35c sheet 343 that is blocked blocks, and upper lifting slide plate 35 can be moved to extreme higher position, now No. four Hydraulic cylinder 4 quits work, and upper lifting slide plate 35 all has lower lifting slide plate during the whole lift in height of lower lifting slide plate 32 32 and No. four hydraulic cylinders 4 provide a supporting role, lifting process is relatively steady, non-jitter situation, it is achieved that the height that the present invention is stable Degree lift adjustment function, work efficiency is high.

Described cleaning machine hands 5 includes being arranged on swallowtail-shaped slide 38 and the support round platform 51 on No. four hydraulic cylinder 4 tops, supports Being provided with No. five hydraulic cylinders 52 in the middle part of the upper surface of round platform 51, the top of No. five hydraulic cylinders 52 is provided with square regulating block 53, side It is symmetrically arranged with four spacing holes on type regulating block 53, supports round platform 51 upper surface and be symmetrically welded with four location round bars 54, and Four location round bars 54 are located on four spacing holes of square regulating block 53 respectively, and four location round bars 54 play restriction square The effect of regulating block 53 direction of motion 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 is permissible Aranea on automated cleaning interior architecture furred ceiling, ceiling, dust, collection clearing function and dedusting function and one, and four It is separately installed with four angular transition side chains 56 between cleaning device 55 and four sides of square regulating block 53, is turned by angle Change side chain 56 and No. five hydraulic cylinders 52 to regulate the cleaning angle of cleaning device 55；Described angular transition side chain 56 includes welding No. four ear mount 561 on square regulating block 53 side, are provided with No. six hydraulic cylinders 562 by bearing pin between No. four ear mount 561, The top of No. six hydraulic cylinders 562 is arranged in No. five ear mount 563 by bearing pin, and No. five 563, ears are welded on inside gusset 553a On face；Described cleaning device 55 includes being arranged on No. two L-type connecting rods 551 supporting round platform 51 upper surface, No. two L by screw Type connecting rod 551 end is provided with two No. three hanger 551a, is provided with No. four by bearing pin and hangs between two No. three hanger 551a Ear 552a, No. four hangers 55 are arranged in the middle part of the lower surface of connecting plate 552, and connecting plate 552 can be at No. two L-type connecting rods 551 Upper rotation, the upper surface of connecting plate 552 is symmetrically welded with two pieces of supporting vertical plate 553, between the lower end of two pieces of supporting vertical plate 553 It is welded with gusset 553a, gusset 553a and plays the effect strengthening two pieces of supporting vertical plate 553 support strengths, gusset 553a medial surface And angular transition side chain 56 is installed between the corresponding side surface of square regulating block 53；Between described two pieces of supporting vertical plate 553 upper ends Being provided with rotary shaft 554 by bearing, the end of rotary shaft 554 is provided with driving motor 555 by shaft coupling, drives motor 555 are arranged on motor support plate 556 by motor cabinet, and motor support plate 556 is welded on the sidewall of corresponding supporting vertical plate 553； The middle part of described rotary shaft 554 is provided with cylinder 557 by key, and the two ends up and down of cylinder 557 are the most uniformly provided with cleaning bundle 557a, rotates by driving motor 555 that axle 554 is rotated, and rotary shaft 554 drives cylinder 557 to rotate, and cylinder 557 carries Aranea on dynamic cleaning bundle 557a cleaning interior architecture furred ceiling, ceiling, and the cleaning bundle 557a at cylinder about 557 two ends On be separately installed with two cleaning arc plates 558, two cleaning arc plates 558 between by cleaning bolt 558a be connected；Described cleaning Arc plate 558 is semicircular structure, and the structure of cleaning arc plate 558 is corresponding with cylinder 557 structure, it is simple to cleaning arc plate 558 Install and operation, cleaning arc plate 558 outer wall is evenly arranged with cleaning circular hole 558b, and each cleaning circular hole 558b in the axial direction Upper equal correspondence is equipped with cleaning bundle 557a, and cleaning circular hole 558b plays and stops the Aranea effect being wrapped on cleaning bundle 557a, Two couple of cleaning arc plate 558 is symmetrically arranged with between four mounting ear 558c, and the mounting ear 558c of two cleaning arc plates 558 All it is connected by cleaning bolt 558a, when being wound with a lot of Aranea on cleaning bundle 557a, it is necessary to clear up, first Being opened by fixing cleaning bolt 558a between two cleaning arc plates 558, then operator's manual operation cleaning arc plate 558 is past Upper motion, owing to each cleaning bundle 557a is located on the corresponding cleaning circular hole 558b of cleaning arc plate 558, clears up arc plate 558 Up move by cleaning circular hole 558b limiting-blocking effect directly by be wrapped in cleaning bundle 557a on Aranea be pooled to Cleaning bundle 557a top, then street cleaner is processed by extraneous cleaning bar, is moved by cleaning arc plate 558 after being disposed Retightened to lower section by cleaning bolt 558a；It is welded with dust suction support plate 553b between described two pieces of supporting vertical plate 553, inhales The lateral symmetry of dirt support plate 553b is provided with two dust suction side chains 559, owing to can drop during interior architecture cleaning Aranea Certain dust, these dusts dropped pass through two timely dust suctions of dust suction side chain 559, it is therefore prevented that the dust produced during cleaning falls Drop down onto on floor, alleviate workload, improve work efficiency；Described dust suction side chain 559 includes being arranged on dust suction support plate 553b No. two fixed platforms 5591 of upper surface, No. two fixed platform 5591 upper surfaces are the most uniformly provided with four No. two parallel connections and prop up Chain 5592, four No. two side chain 5592 upper surfaces in parallel are provided with No. two moving platforms 5593, the upper surface of No. two moving platforms 5593 Being symmetrically arranged with two snap rings 5594, be provided with micro-cleaner 5595 between two snap rings 5594, micro-cleaner 5595 is The dust collection equipment bought on existing market；Described No. two side chains 5592 in parallel include six that lower end is welded on No. two fixed platforms 5591 Number ear mount 5592a, is provided with No. seven hydraulic cylinder 5592b by bearing pin between No. six ear mount 5592a, No. seven hydraulic cylinder 5592b's Top is arranged in No. seven ear mount 5592c by bearing pin, and No. seven ear mount 5592c are arranged on No. two moving platforms 5593.The present invention In No. six ear mount 5592a define that R is secondary when rotating, No. seven hydraulic cylinder 5592b motions time define that P is secondary, No. seven ear mount 5592c R is defined secondary when rotating during work, thus No. two side chains 5592 in parallel defining RPR type, eventually through No. two fixed platforms 5591,5592, No. two moving platforms 5593 of No. two of four RPR types side chains in parallel define 4-RPR parallel institution, and 4-RPR is also Online structure also has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, by 4-RPR The advantage of parallel institution makes the micro-cleaner 5595 being arranged between two snap rings 5594 rotate regulation dust suction angle and suction Can remain plateau during dirt, pick-up performance is good, and work efficiency is high.During work, first according to required cleaning ground The gradient on floor relatively, side regulates the cleaning angle of cleaning device 55, and No. five hydraulic cylinders 52 are started working, No. five hydraulic cylinders 52 Driving square regulating block 53 to move up and down, the spacing assosting effect by four location round bars 54 makes square regulating block 53 five Making stable up and down motion under the drive of number hydraulic cylinder 52, meanwhile angular transition side chain 56 is started working, and angular transition is propped up No. six hydraulic cylinders 562 on chain 56 drive the gusset 553a on cleaning device 55 to rotate, and gusset 553a drives connecting plate 552 No. two L-type connecting rods 551 rotate, achieves cleaning device 55 by No. five hydraulic cylinders 52 and No. six hydraulic cylinder 562 work The function of cleaning angular adjustment, No. five liquid when the cleaning bundle 557a on cleaning device 55 is apart from the local correct position of required cleaning Cylinder pressure 52 and No. six hydraulic cylinders 562 quit work, and then drive motor 555 to start working, and drive motor 555 that axle is rotated 554 rotate, and rotary shaft 554 drives cylinder 557 to rotate, and cylinder 557 drives cleaning bundle 557a to clear up interior architecture furred ceiling, sky Aranea on card, two the dust suction side chains 559 being meanwhile positioned at cylinder 557 both sides start working, dust suction side chain 559 On micro-cleaner 5595 constantly absorb the dust that scale removal process drops, it is achieved thereby that automatization of the present invention cleaning interior architecture Function.

The type of described No. four hydraulic cylinders 4 and No. five hydraulic cylinders 52 is multistage hydraulic cylinder, and the telescopic extensions of multistage hydraulic cylinder compares Greatly, it is simple to the work of the present invention.

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 Cleaning machine hands 5 up works, and meanwhile cleaning machine hands 5 drives four rigidity lifting side chains 3 to work, upper lifting slide plate The upper bending section 35b two the lower bending section 32b on lower lifting slide plate 32 of on 35 two up move, upper lifting slide plate 35 The swallow-tail form traveller 37 lifted on stator 36 in drive moves, owing to the lower inclined shape of lifting slide plate 32 is welded on lower lifting admittedly On stator 31, so that upper lifting slide plate 35 also moves toward incline direction, thus drive the dovetail on upper lifting stator 36 Shape 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 continue Continuous work, when lower position block 35c moves to the shielding plate 343 of upper limit position block 34, the lower position block 35c sheet 343 that is blocked keeps off Live, 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 under Lower lifting slide plate 32 and No. four hydraulic cylinders 4 are all had to provide a supporting role during the whole lift in height of lifting slide plate 32, 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, and work efficiency is high；The most again Gradient according to the local floor relatively of required cleaning regulates the cleaning angle of cleaning device 55, and No. five hydraulic cylinders 52 are started working, No. five hydraulic cylinders 52 drive square regulating block 53 to move up and down, and the spacing assosting effect by four location round bars 54 makes square Regulating block 53 makees stable up and down motion under the drive of No. five hydraulic cylinders 52, and meanwhile angular transition side chain 56 is started working, No. six hydraulic cylinders 562 on angular transition side chain 56 drive the gusset 553a on cleaning device 55 to rotate, and gusset 553a drives Connecting plate 552 rotates on No. two L-type connecting rods 551, achieves clear by No. five hydraulic cylinders 52 and No. six hydraulic cylinder 562 work Clean device 55 cleans the function of angular adjustment, when the cleaning bundle 557a on cleaning device 55 is apart from the local correct position of required cleaning Time No. five hydraulic cylinders 52 and No. six hydraulic cylinders 562 quit work, then drive motor 555 start working, drive motor 555 carry Dynamic rotary shaft 554 rotates, and rotary shaft 554 drives cylinder 557 to rotate, and cylinder 557 drives cleaning bundle 557a to clear up interior architecture Aranea on furred ceiling, ceiling, when being wound with a lot of Aranea on cleaning bundle 557a, it is necessary to clear up, first will Between two cleaning arc plates 558, fixing cleaning bolt 558a opens, and then operator's manual operation cleaning arc plate 558 is up Motion, owing to each cleaning bundle 557a is located on the corresponding cleaning circular hole 558b of cleaning arc plate 558, clears up arc plate 558 Up move by cleaning circular hole 558b limiting-blocking effect directly by be wrapped in cleaning bundle 557a on Aranea be pooled to Cleaning bundle 557a top, then street cleaner is processed by extraneous cleaning bar, is moved by cleaning arc plate 558 after being disposed Being retightened to lower section by cleaning bolt 558a, two the dust suction side chains 559 being meanwhile positioned at cylinder 557 both sides start work Make, the micro-cleaner 5595 on dust suction side chain 559 constantly absorbs the dust that scale removal process drops, due to No. two fixed platforms 5591, 5592, No. two moving platforms 5593 of No. two side chains in parallel of four RPR types define 4-RPR parallel institution, 4-RPR parallel institution Have that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, by 4-RPR parallel machine The advantage of structure makes the micro-cleaner 5595 being arranged between two snap rings 5594 rotate regulation dust suction angle and dust suction process In can remain plateau, pick-up performance is good, and work efficiency is high, it is achieved thereby that automatization of the present invention cleaning chamber is built-in The function built, and in the present invention, an ear mount 1321 defines R pair when rotating, a hydraulic cylinder 1322 defines when moving It is secondary that P is secondary, spherical hinge 1324 defines S when working, thus the side chain 132 in parallel defining RPS type, eventually through one 132, moving platform 133 of a side chain in parallel of number 131, three RPS types of fixed platform defines 3-RPS parallel institution, this The in parallel side chain 13 that supports in invention is 3-RPS parallel institution, and 3-RPS parallel institution has that dynamic response is good, rigidity is high, holds Loading capability is big, good stability and kinematic accuracy advantages of higher, by the advantage present invention of parallel institution by four 3-RPS parallel connections Mechanism realizes stablizing square erecting bed 15 function of rigid support, and the advantage by parallel institution also makes the present invention have simultaneously There are good stability and good damping performance, solve by present level auxiliary equipment labor cleaning's interior architecture mode Exist cleaning speed slow, labor intensity is big, automaticity is low, 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, 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. one kind lifts adjustable building Green Machine people, it is characterised in that: include from steady support means (1), described from steady support Device (1) upper surface is symmetrically installed with four rigidity lifting side chain (3) by screw, installs in the middle part of steady support means (1) upper surface There are No. four hydraulic cylinders (4), and the top of four rigidity lifting side chain (3) and No. four hydraulic cylinders (4) is provided with cleaning machine hands (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 square erecting bed (15) 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 cleaning machine hands (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；

Described cleaning machine hands (5) includes being arranged on swallowtail-shaped slide (38) and the support round platform (51) on No. four hydraulic cylinder (4) tops, Supporting and be provided with No. five hydraulic cylinders (52) in the middle part of the upper surface of round platform (51), the top of No. five hydraulic cylinders (52) is provided with square regulation Block (53), square regulating block (53) is symmetrically arranged with four spacing holes, and support round platform (51) upper surface is symmetrically welded with four and determines Circle of position bar (54), and four location round bar (54) be located in respectively on four spacing holes of square regulating block (53)；Described holds round Platform (51) upper surface is uniformly provided with four cleaning devices (55) by screw in the axial direction, and four cleaning devices (55) are with square Four angular transition side chains (56) it are separately installed with between four sides of type regulating block (53)；Described cleaning device (55) includes leading to Crossing screw and be arranged on No. two L-type connecting rods (551) supporting round platform (51) upper surface, No. two L-type connecting rod (551) ends are provided with two Individual No. three hangers (551a), are provided with No. four hangers (552a), No. four hangers (55) by bearing pin between two No. three hangers (551a) Being arranged in the middle part of the lower surface of connecting plate (552), the upper surface of connecting plate (552) is symmetrically welded with two pieces of supporting vertical plate (553), and two Being welded with gusset (553a) between the lower end of block supporting vertical plate (553), gusset (553a) medial surface is corresponding with square regulating block (53) Angular transition side chain (56) is installed between side；By bearing, rotary shaft is installed between described two pieces of supporting vertical plate (553) upper ends (554), the end of rotary shaft (554) is provided with driving motor (555) by shaft coupling, drives motor (555) to be pacified by motor cabinet Being contained on motor support plate (556), motor support plate (556) is welded on the sidewall of corresponding supporting vertical plate (553)；Described rotary shaft (554) Middle part by key, cylinder (557) is installed, the two ends up and down of cylinder (557) are the most uniformly provided with cleaning bundle (557a), and cylinder (557) two cleanings arc plate (558) it are separately installed with on the cleaning bundle (557a) at upper and lower two ends, logical between two cleanings arc plate (558) Cross cleaning bolt (558a) to be connected；It is welded with dust suction support plate (553b), dust suction support plate (553b) between described two pieces of supporting vertical plate (553) Lateral symmetry two dust suction side chains (559) are installed.

The adjustable building Green Machine people of a kind of lifting the most according to claim 1, it is characterised in that: described support in parallel Side chain (13) includes the fixed platform (131) being welded on fixing round platform (11) upper surface, fixed platform (131) edge, upper surface Axis direction uniformly installs three No. one side chain in parallel (132), and three No. one side chain in parallel (132) upper end is uniformly arranged on No. one and moves On platform (133), the L-type pillar (14) of correspondence is installed in the middle part of moving platform (133) upper surface.

The adjustable building Green Machine people of a kind of lifting the most according to claim 2, it is characterised in that: a described parallel connection Side chain (132) includes the ear mount (1321) that lower end is welded on fixed platform (131) upper surface, ear mount (1321) it Between by bearing pin, a number hydraulic cylinder (1322) is installed, the top of a hydraulic cylinder (1322) has been threaded connection connecting cylinder (1323), connecting cylinder (1323) being threaded connection spherical hinge (1324), spherical hinge (1324) upper end is by being threadably mounted at On Triangulum (1325), Triangulum (1325) is welded on the lower surface of a moving platform (133).

The adjustable building Green Machine people of a kind of lifting the most according to claim 1, it is characterised in that: described upper lifting is sliding Sheet (35) includes the upper planar base (35a) that upper end is welded on lifting stator (36), upper planar base (35a) and lower lifting It is connected by sliding matching mode between (32a) bottom lower plane on slide plate (32), upper planar base (35a) both sides one respectively Form aduncate two upper bending sections (35b), the inwall of two upper bending sections (35b) respectively with two lower bending sections (32b) Outer wall between by sliding matching mode be connected, the bottom of upper planar base (35a) is symmetrically arranged with and two upper limit position blocks (34) On corresponding two lower position blocks (35c) of shielding plate (343).

The adjustable building Green Machine people of a kind of lifting 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, passes through bearing pin between No. four ear mount (561) Being provided with No. six hydraulic cylinders (562), the top of No. six hydraulic cylinders (562) is arranged on No. five ear mount (563) by bearing pin, No. five ears (563) seat is welded on gusset (553a) medial surface.

The adjustable building Green Machine people of a kind of lifting the most according to claim 1, it is characterised in that: described cleaning arc plate (558) it is semicircular structure, cleaning arc plate (558) outer wall is evenly arranged with cleaning circular hole (558b) in the axial direction, and each The upper equal correspondence of cleaning circular hole (558b) is equipped with cleaning bundle (557a), and two couple of cleaning arc plate (558) is symmetrically arranged with four mounting ears (558c), and all it is connected by cleaning bolt (558a) between the mounting ear (558c) of two cleanings arc plate (558).

The adjustable building Green Machine people of a kind of lifting the most according to claim 1, it is characterised in that: described dust suction side chain (559) including No. two fixed platforms (5591) being arranged on dust suction support plate (553b) upper surface, No. two fixed platform (5591) upper surfaces are along axle Line direction is uniformly provided with four No. two side chains in parallel (5592), and four No. two side chain in parallel (5592) upper surfaces are provided with No. two and move Platform (5593), the upper surface of No. two moving platforms (5593) is symmetrically arranged with two snap rings (5594), between two snap rings (5594) Micro-cleaner (5595) is installed；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), are provided with No. seven hydraulic cylinders (5592b), No. seven hydraulic cylinders by bearing pin between No. six ear mount (5592a) (5592b) top is arranged on No. seven ear mount (5592c) by bearing pin, and No. seven ear mount (5592c) are arranged on No. two moving platforms (5593) on.

The adjustable building Green Machine people of a kind of lifting the most according to claim 1, it is characterised in that: described No. four hydraulic pressure The type of cylinder (4) and No. five hydraulic cylinders (52) is multistage hydraulic cylinder.