CN105996885B - A movable and fixed building window cleaning support robot - Google Patents

Abstract

The invention relates to a building window-cleaning supporting robot with a movable and fixed position, which comprises a self-stabilizing walking device, wherein the self-stabilizing walking device has good fixing performance and stability, eliminates the shaking condition in the working process and improves the working efficiency, a detachable fixing device is arranged in the middle of the upper end surface of the self-stabilizing walking device, the detachable fixing device has the function of convenient detachment and installation, when the damage occurs and needs to be maintained, the invention can be manually disassembled by the detachable fixing device, only the damaged part needs to be taken for maintenance, the operation is simple and convenient, the transportation and maintenance cost is saved, the upper end of the detachable fixing device is provided with a directional conversion device which has the function of accurately adjusting the rotating support angle, when high-altitude glass with different angles appears, the supporting position does not need to be adjusted back and forth manually, and the application range is wide. The invention can realize the stable detachable rigid supporting function.

Description

A movable and fixed building window cleaning support robot

technical field

The invention relates to the technical field of building support equipment, in particular to a building window cleaning support robot whose position can be moved and fixed.

Background technique

With the continuous development of our country's economy, high-rise buildings such as office buildings and office buildings have sprung up everywhere. Usually, in order to increase the openness of the office buildings and office buildings and reduce costs, a large amount of glass will be installed, which greatly increases the beauty of the high-rise buildings. At the same time It also increases the difficulty of cleaning high-rise building glass. Although there are a large number of window cleaning robots on the market, they are basically suitable for home use. Therefore, high-altitude glass is basically wiped manually. Because high-altitude glass is relatively high, it usually requires operators. Standing on the existing building support equipment to wipe, but the operators encountered the following problems standing on the existing building support equipment: 1. Due to the relatively large area of high-altitude glass, the wiping position needs to be adjusted frequently, so the current building support equipment needs to be moved back and forth frequently , the operation is complicated; 2. Since these current building support equipment are not equipped with self-stabilizing devices, there will be vibrations during the glass wiping process, poor fixation performance, and poor stability performance. Efficiency; 3. These existing building support equipment are fixedly installed and cannot be disassembled. When damage occurs, the entire equipment needs to be taken out for maintenance, and the cost of transportation and maintenance is high; 4. These existing building support equipment do not have rotating supports For the angle adjustment function, when glass with different angles appears, the operator must manually adjust the position of the existing building support equipment, which is complicated to operate and low in work efficiency.

Contents of the invention

In order to solve the above problems, the present invention provides a building window-cleaning support robot whose position can be moved and fixed, which can solve the problems of existing building support equipment, such as the need for manual transportation back and forth, cumbersome operation, vibration of the equipment during the working process, and poor fixation performance of the equipment. , Low stability of equipment, non-removable installation of equipment, non-adjustable rotation support angle of equipment and low work efficiency, etc., can realize stable detachable rigid support function, eliminate the jitter existing in the working process, and have good fixed performance of equipment. Good stability, easy operation, no need to carry back and forth, convenient disassembly and installation, adjustable equipment rotation support angle and high work efficiency.

In order to achieve the above object, the present invention adopts the following technical solutions: a building window cleaning support robot whose position can be moved and fixed, including a self-stabilizing walking device. The self-stabilizing walking device has good fixing and stabilizing performance, and eliminates the The vibration condition existing in the environment improves the work efficiency. The middle part of the upper end face of the self-stabilizing walking device is equipped with a detachable fixing device. The detachable fixing device has the function of easy disassembly and installation. The device can manually disassemble the present invention, and only need to take the damaged part for maintenance. It is easy to operate and saves the cost of handling and maintenance. The upper end of the detachable fixing device is equipped with an orientable conversion device, which has the ability to rotate With the function of precise and adjustable support angle, when high-altitude glass with different angles appears, there is no need to manually adjust the support position back and forth, and the scope of application is wide. The self-stabilizing walking device includes a walking installation platform, four parallel support mechanisms are symmetrically installed on the lower end surface of the walking installation platform, and a universal wheel is respectively installed on the lower end surfaces of the four parallel support mechanisms. The invention is moved to the bottom of the required wiping glass by the wheel, no manual handling is required, only need to be pushed, and the operation is simple; the parallel support mechanism includes a fixed platform welded on the lower end surface of the walking installation platform, and the lower end surface of the fixed platform is along the Three parallel branch chains are evenly installed in the circumferential direction, the tops of the three parallel branch chains are installed on the moving platform, and the lower end surface of the moving platform is equipped with universal wheels; the parallel branch chains include welding on the lower end surface of the fixed platform. Ear seat, a No. 1 hydraulic cylinder is installed on the ear seat through a pin shaft, and the No. 1 hydraulic cylinder can rotate on the ear seat. A connecting cylinder is installed on the top of the No. 1 hydraulic cylinder through threads, and a threaded column is installed on the connecting cylinder through threads. The end of the column is welded on the moving cylinder, and the moving cylinder is sleeved on the moving shaft. The moving cylinder can rotate or move on the moving shaft. The two ends of the moving shaft are respectively fixed on two fixed ears, and the two fixed ears They are all welded on the upper end surface of the moving platform. In the present invention, the rotating pair R formed by the No. 1 hydraulic cylinder on the lug seat, the moving pair P formed when the No. 1 hydraulic cylinder moves, and the cylindrical pair C formed by the moving cylinder on the moving shaft An RPC-type parallel branch chain is formed, and the fixed platform, three RPC-type parallel branch chains and the moving platform in the present invention form a 3-RPC parallel mechanism, and the 3-RPC parallel mechanism has good dynamic response, high rigidity, and load-carrying With the advantages of large capacity, good stability and high motion precision, the present invention makes it possible for the operator to stand on it and maintain a stable state during the glass wiping process by virtue of the advantages of the 3-RPC parallel mechanism, eliminating the vibration of the equipment during the working process. The stability of the equipment is good. The middle part of the lower end face of the walking installation platform is welded with a No. 1 positioning shaft. The lower end of the No. 1 positioning shaft is installed on the inner wall of the No. 1 positioning cylinder by sliding fit. The positioning shaft performs up-and-down telescopic movement, and the outer wall of the No. 1 positioning shaft is provided with a limit spring. On the upper end surface of the barrel, the limit spring limits the maximum movement of the No. 1 positioning cylinder in the No. 1 positioning shaft; two limit posts are welded symmetrically on both sides of the middle part of the lower end face of the walking installation platform, and the two limit posts The middle and lower ends of the column are respectively provided with a square limit hole; two limit blocks are symmetrically welded on the two side walls of the No. 1 positioning cylinder, and the two limit blocks are respectively located at the ends of the two square limit holes. Internally, since the limit block is welded on the No. 1 positioning cylinder, the up and down movement distance of the limit block is the up and down telescopic distance of the No. 1 positioning cylinder, so the movement distance of the limit block in the square limit hole is the No. 1 positioning The expansion and contraction range of the cylinder in the No. 1 positioning shaft, the limit block plays the role of limiting the movement distance, the lower end of the No. 1 positioning cylinder is welded on the installation block, the installation block is a square structure, and the four sides of the installation block are respectively There is an L-shaped fixed support plate welded, and a fixed piece is welded at the ends of the four L-shaped fixed support plates respectively. The No. 1 positioning cylinder The up and down movement of the four L-shaped fixed supports on the mounting block synchronously drives the four L-shaped fixed supports to move up and down the four fixed plates. The movement distance is the up and down movement distance of the four fixed pieces, which prevents the excessive movement of the present invention; a hydraulic fixed branch chain is respectively installed between the four L-shaped fixed support plates and the lower end surface of the walking installation platform, through four One hydraulic fixed branch chain drives four L-shaped fixed support plates to move, and four L-shaped fixed support plates drive four fixed pieces to move. The fixed performance of the equipment is good, and the stability of the equipment is further increased; the hydraulic fixed branch chain includes the No. 2 hydraulic cylinder welded on the walking installation platform, and the top of the No. 2 hydraulic cylinder is installed on the fixed flange through threads , the fixed flange is installed on the corresponding L-shaped fixed support plate through screws, and the fixed flange plays the role of connecting the No. 2 hydraulic cylinder and the L-shaped fixed support plate. When working, at first the present invention is moved to the bottom of the required wiping glass through four universal wheels. After the position is determined, four No. 2 hydraulic cylinders on the four hydraulically fixed branch chains start working simultaneously, and No. 2 hydraulic cylinders drive Four L-shaped fixed support plates move, and the four L-shaped fixed support plates drive the upper installation block to move. The installation block drives the No. 1 positioning cylinder to move telescopically on the No. 1 positioning shaft, and drives the No. 1 positioning under the action of the limit spring. Everything below the cylinder moves, thereby driving the four fixed pieces to move. When the four fixed pieces are just in contact with each other on the operating floor, the No. 2 hydraulic cylinder stops working, which increases the fixing performance of the present invention on the operating floor and prevents the present invention from The phenomenon of running around, the fixed performance of the equipment is good, and the stability of the equipment is also increased. When the present invention needs to adjust the position, the No. 2 hydraulic cylinder drives the four fixed pieces upward and shrinks the universal wheel to move anywhere. The operation is simple and no need The position is manually moved back and forth to adjust the position, which is easy to operate and high in work efficiency. At the same time, the invention forms the rotating pair R formed on the ear seat by the No. 1 hydraulic cylinder, the moving pair P formed when the No. 1 hydraulic cylinder moves, and the moving cylinder on the moving shaft. The cylinder pairs C form the RPC-type parallel branch chain, and the fixed platform, three RPC-type parallel branch chains and the moving platform in the present invention form a 3-RPC parallel mechanism, and the 3-RPC parallel mechanism has good dynamic response, With the advantages of high rigidity, large load-bearing capacity, good stability and high motion precision, the present invention makes it possible for the operator to stand on it and maintain a stable state during the glass wiping process by virtue of the advantages of the 3-RPC parallel mechanism, eliminating the need for equipment in the working process. Jitter conditions, equipment stability is good.

As a preferred technical solution of the present invention, the detachable fixing device includes a fixed disk welded on the upper end surface of the walking installation platform, and the middle part of the upper end surface of the fixed disk is evenly welded with four No. There are four adjustable locking mechanisms installed symmetrically on the upper end of the fixed disc, and a movable fixed platform is installed between the four adjustable locking mechanisms, and the movable fixed platform is locked by four adjustable locking mechanisms The four sides of the movable fixed table are symmetrically provided with four positioning circular holes, and a No. On the plate, the height of the positioning hole is greater than the height of the No. 2 positioning shaft, which ensures that the No. 2 positioning shaft can be completely located inside the positioning hole so that the lower end surface of the movable fixed table is completely attached to the fixed disc, and the No. 2 positioning shaft plays a role The role of the lower end surface of the movable positioning movable fixed platform; a limit groove is respectively arranged on the four side walls of the movable fixed platform, and a curved fixed block is respectively welded on the upper ends of the four side walls of the movable fixed platform, each There are two threaded holes on the curved fixed block, and a fixed bolt is installed on each of the eight threaded holes. Eight fixed nuts are symmetrically welded on the upper end of the movable fixed table, and the lower end of each fixed bolt is installed correspondingly. On a fixed nut, the fixed bolt can be installed in a movable manner, which is convenient for disassembly and installation; the adjustable locking mechanism includes a limit pressure plate installed on the upper end surface of the fixed disc through a hinge, and the inner wall of the limit pressure plate is welded with three The No. 3 positioning shaft and the No. 3 positioning shaft are located inside the corresponding limit groove of the movable fixed table. The No. 3 positioning shaft plays the role of movable positioning on the side wall of the movable fixed table. The outer wall of the limit plate is inclined to the upper surface of the fixed disc Installed with a hydraulically driven branch chain, the hydraulically driven branch chain drives the limit pressure plate to rotate on the fixed disc, thereby driving the No. 3 positioning shaft to rotate slowly to the corresponding limit groove, and can move again after the lower end surface of the movable fixed table is moved and positioned Positioning the four side walls of the movable fixed table has poor positioning effect, so that the movable fixed table can be disassembled and installed up and down, which is convenient for maintenance after damage; the hydraulic drive branch chain includes a horn seat welded on the upper end surface of the fixed disc, a The No. 3 hydraulic cylinder is installed on the horn seat through the pin shaft, the top of the No. 3 hydraulic cylinder is installed on the No. 2 horn seat through the pin shaft, and the No. 2 horn seat is welded on the outer wall of the limiting pressure plate. When the present invention is damaged, it only needs to be disassembled through the fixing nut for maintenance and inspection, and the operation is simple and convenient. When the movable fixed table in the middle is damaged, the four hydraulic cylinders on the four adjustable locking mechanisms will start Work, the No. 3 hydraulic cylinder drives the limit plate to rotate on the fixed disc, thereby driving the No. 3 positioning shaft to slowly turn out of the corresponding limit groove. When the No. 3 positioning shaft completely turns out of the corresponding limit groove, the No. 3 hydraulic cylinder stops Work, eliminating the positioning of the four side walls of the movable fixed table, and then the operator can manually take the movable fixed table out of the No. 2 positioning shaft, which realizes the function of convenient disassembly and installation of the present invention, and saves the cost of handling and maintenance.

As a preferred technical solution of the present invention, the orientable conversion device includes a conversion platform installed on the upper end surfaces of four curved fixed blocks through eight fixing bolts, and the middle part of the upper end surface of the conversion platform is welded with a No. 2 positioning circle The inner wall of the No. 2 positioning cylinder is equipped with a conversion shaft through two limit bearings. The top end of the conversion shaft is welded with a conversion disc. The conversion disc is used for standing operators. There are four manual adjustment rods evenly welded, and a manual adjustment ball is welded at the end of the four manual adjustment rods. When the support angle needs to be adjusted, the operator only needs to hold the manual adjustment ball on any manual adjustment rod to drive The conversion shaft rotates on the No. 2 positioning cylinder; the middle part of the conversion shaft is welded with an angle adjustment disc, and the outer side of the upper end surface of the angle adjustment disc is evenly provided with square card slots along the circumferential direction. The number of square card slots is twenty Four, the angle of two adjacent square draw-in slots relative to the central axis of the angle adjustment disc is fifteen degrees, so that the present invention rotates a support angle of fifteen degrees every time a square draw-in slot is turned, so that the present invention The rotation angle can be precisely controlled, and the lower end surface of the angle adjustment plate is evenly welded with four T-shaped limit rods along the circumferential direction, and the lower ends of the four T-shaped limit rods are respectively provided with an upper limit hole; The middle part of the upper end surface is welded with an annular flange, and the upper end surface of the annular flange is evenly provided with lower limit holes along the circumferential direction. The number of lower limit holes on the annular flange is the same as the number of square card slots, so that two adjacent lower limit holes The angle of the central axis of the hole relative to the central axis of the annular flange is also fifteen degrees, just corresponding to the square card slot, and the upper limit hole on each T-shaped limit rod and the corresponding lower limit hole on the annular flange There is a T-shaped limit pin shaft in between. When the square slot on the angle adjustment plate is adjusted, the operator only needs to extend the T-shaped limit pin shaft into the upper limit hole and the corresponding lower limit hole. , thereby limiting the lower end of the angle adjustment disc; four conversion locking branch chains are symmetrically installed on the outer side of the upper end surface of the conversion table, and the four conversion locking branch chains are respectively installed on the four corresponding square clips of the angle adjustment disc On the groove, the function of limiting the upper end of the angle adjustment plate is realized through four conversion locking branch chains; the conversion locking branch chain includes a square pad welded on the upper end of the conversion table, and two square pads are installed on the upper end. The end of the fixed chute is in a closed state. The fixed chute is installed with an L-shaped fixed slide bar through a sliding fit. The upper end of the L-shaped fixed slide bar is welded with a bar-shaped clamp. on the corresponding square card slot of the disc; the end of the L-shaped fixed slide bar is equipped with a rubber handle, and the operator drives the L-shaped fixed slide bar to move on the fixed chute by holding the rubber handle, thereby driving the upper part of the L-shaped fixed slide bar The bar clamps move synchronously until the end of the bar clamps just enters the corresponding square slot of the angle adjustment disc, and the upper end of the angle adjustment disc is limited by the bar clamps. When working, when the high-altitude glass with different angles needs to adjust the supporting position of the present invention, the operator only needs to hold the manual adjustment ball on the nearest manual adjustment lever to drive the conversion shaft to rotate on the second positioning cylinder, and the conversion shaft Drive the angle adjustment disc welded in the middle to rotate synchronously, and then determine the number of square card slots that are rotated relative to the central axis of the angle adjustment disc according to the required high-altitude glass angle. Turning one square card slot is equivalent to turning fifteen degrees. Support angle, after the angle adjustment disc is rotated, the operator first puts the four T-shaped limit pins into the upper limit hole and the lower limit hole, so as to limit the lower end of the angle adjustment disc, at the same time, the operator Hold the rubber handle to drive the L-shaped fixed slide bar to move on the fixed chute, thereby driving the bar-shaped clamps above the L-shaped fixed slide bar to move synchronously until the ends of the four bar-shaped clamps just enter the angle adjustment plate. Up to the top of the four corresponding square card slots, the upper end of the angle adjustment plate is limited by the bar card column, thus realizing the function of the precise adjustment of the rotating support angle of the present invention, and no manual back and forth adjustment is required when high-altitude glass with different angles appears Support position, the support position can be moved and fixed, and the application range is wide.

As a preferred technical solution of the present invention, the upper end surface of the limiting groove is an arc-shaped structure, the width of the limiting groove is greater than the diameter of the No. 3 positioning shaft, and the movement track of the No. 3 positioning shaft is an arc. The arc-shaped structure on the upper end surface of the limiting groove just corresponds to the motion trajectory of the No. 3 positioning axis, thereby preventing the No. 3 positioning axis from touching the inner wall of the limiting groove when moving, and improving work efficiency.

When in use, first move the present invention to the bottom of the required wiping glass through four universal wheels. After the position is determined, four No. 2 hydraulic cylinders on the four hydraulically fixed branch chains start working simultaneously, and No. 2 hydraulic cylinders drive Four L-shaped fixed support plates move, and the four L-shaped fixed support plates drive the upper installation block to move. The installation block drives the No. 1 positioning cylinder to move telescopically on the No. 1 positioning shaft, and drives the No. 1 positioning under the action of the limit spring. Everything below the cylinder moves, thereby driving the four fixed pieces to move. When the four fixed pieces are just in contact with each other on the operation floor, the No. 2 hydraulic cylinder stops working, which increases the equipment fixing performance on the operation floor and prevents the present invention from being everywhere. The phenomenon of running around, the fixed performance of the equipment is good, and the stability of the equipment is also increased. When the present invention needs to adjust the position, the No. 2 hydraulic cylinder drives the four fixed pieces upward and shrinks the universal wheel to move anywhere. It is easy to operate and does not require manual labor. Moving back and forth to adjust the position is easy to operate and high in work efficiency; when there is a need to adjust the support position of the present invention when high-altitude glass with different angles appears, the operator only needs to hold the manual adjustment ball on the nearest manual adjustment lever to drive the conversion shaft in The No. 2 positioning cylinder rotates, and the conversion shaft drives the angle adjustment plate welded in the middle to rotate synchronously, and then determines the number of square card slots rotated relative to the central axis of the angle adjustment plate according to the required high-altitude glass angle, and turns a square card The slot is equivalent to the support angle turned by fifteen degrees. After the angle adjustment disc is rotated, the operator first puts the four T-shaped limit pins into the upper limit hole and the lower limit hole, so as to adjust the lower end of the angle adjustment disc. At the same time, the operator drives the L-shaped fixed slide bar to move on the fixed chute by holding the rubber handle, thereby driving the bar-shaped clamping columns above the L-shaped fixed slide bar to move synchronously until the four bar-shaped clamping columns The end of the angle adjustment plate just enters the four corresponding square slots of the angle adjustment plate, and the upper end of the angle adjustment plate is limited by the bar-shaped clamping column, thereby realizing the function of the rotation support angle of the present invention that can be precisely adjusted. There is no need to manually adjust the support position back and forth when the high-altitude glass is at an angle, the support position can be moved and fixed, and the scope of application is wide. At this time, the operator standing on the conversion circular plate can wipe the high-altitude glass stably. At the same time, the invention uses the No. 1 hydraulic cylinder The revolving pair R formed by the lug seat, the moving pair P formed when the No. 1 hydraulic cylinder moves, and the cylindrical pair C formed by the moving cylinder on the moving shaft form an RPC type parallel branch chain, and the fixed platform, Three RPC-type parallel branch chains and a moving platform form a 3-RPC parallel mechanism. The 3-RPC parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability and high motion precision. The advantages of the RPC parallel mechanism enable the operator to stand on it and maintain a stable state during the glass wiping process, which eliminates the vibration of the equipment during the working process, and the equipment has good stability; but when the present invention is damaged, it only needs to be fixed by The nut can be disassembled to repair the detection interface, which is easy to operate, but if the movable fixed table in the middle is damaged, the four No. 3 hydraulic cylinders on the four adjustable locking mechanisms Start working at the same time, the No. 3 hydraulic cylinder drives the limit plate to rotate on the fixed disc, thereby driving the No. 3 positioning shaft to slowly rotate out of the corresponding limit groove. When the No. 3 positioning shaft completely rotates out of the corresponding limit groove The cylinder stops working, eliminating the positioning of the four side walls of the movable fixed table, and then the operator manually takes the movable fixed table out of the No. Invented a stable detachable rigid support function.

The beneficial effects of the present invention are:

1. The fixed platform, three RPC-type parallel branch chains and the moving platform in the present invention form a 3-RPC parallel mechanism. The 3-RPC parallel mechanism has good dynamic response, high rigidity, large bearing capacity, good stability and movement With the advantages of high precision, the invention makes the operator stand on it and keep a stable state during the glass wiping process by virtue of the advantages of the 3-RPC parallel mechanism. Invent a stable rigid support function;

2. The No. 2 hydraulic cylinder of the present invention drives the fixing piece to just stick to the operating floor, which increases the equipment fixing performance of the present invention on the operating floor and prevents the phenomenon of the present invention from running around. The equipment has good fixing performance and further increases the operating floor. Invented device stability performance;

3. The present invention uses the No. 3 hydraulic cylinder to drive the movement of the limit pressure plate to position the four side walls of the movable fixed table. When the present invention is damaged after wiping for a period of time, the present invention can be used to conveniently carry out the operation through the No. 3 hydraulic cylinder and the fixing bolts. Disassembly and installation are easy to operate, realizing the convenient disassembly and installation function of the present invention, saving transportation and maintenance costs;

4. The present invention manually drives the conversion shaft to rotate on the No. 2 positioning cylinder, and the conversion shaft drives the angle adjustment disc to rotate through the precise number of square card slots. Turning over a square card slot means that the support angle of fifteen degrees has been adjusted. Moreover, the lower end of the angle adjustment plate is limited by the T-shaped limit pin shaft and the upper end of the angle adjustment plate is limited by the bar-shaped clamping column, which realizes the function of precise adjustment of the rotation support angle of the present invention, and does not require manual labor when there are high-altitude glass with different angles. Adjust the support position back and forth, the support position can be moved and fixed, the scope of application is wide, and the work efficiency is high;

5. The present invention solves the problems of existing building support equipment that require manual back and forth handling, cumbersome operation, equipment vibration during the working process, poor equipment fixability, low equipment stability, non-detachable installation of equipment, and non-adjustable rotational support angle of the equipment. Low working efficiency and other problems, realize the stable detachable rigid support function of the present invention, eliminate the shaking condition existing in the working process, the equipment has good fixing performance, good equipment stability, easy operation, no need to carry back and forth, and can be easily disassembled and installed , The angle of equipment rotation support can be adjusted and the work efficiency is high.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the first structural representation of self-stabilizing walking device of the present invention;

Fig. 3 is the second structural representation of self-stabilizing walking device of the present invention;

Fig. 4 is a partial enlarged view along the direction I of Fig. 3 of the present invention.

Figure 5 is a full sectional view of the self-stabilizing walking device of the present invention;

Fig. 6 is a schematic structural view of the detachable fixing device of the present invention;

Figure 7 is a full sectional view of the detachable fixing device of the present invention;

Fig. 8 is a schematic structural view of the present invention after removing the movable fixing platform, fixing bolts and fixing nuts;

Fig. 9 is a schematic diagram of the first structure between the movable fixed table, the fixed bolt and the fixed nut of the present invention;

Fig. 10 is a schematic diagram of the second structure between the movable fixed table, the fixed bolt and the fixed nut of the present invention;

Fig. 11 is a schematic structural view of an orientable conversion device of the present invention;

Fig. 12 is a full sectional view of the orientable conversion device of the present invention;

Fig. 13 is a sectional view along the line A-A of Fig. 12 of the present invention.

specific embodiment

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

As shown in Figures 1 to 13, a building window-cleaning support robot with movable and fixed positions includes a self-stabilizing walking device 1. The self-stabilizing walking device 1 has good fixing and stabilizing performance, and eliminates the problems existing in the working process. The vibration condition improves the work efficiency. The self-stabilizing walking device 1 is equipped with a detachable fixing device 2 in the middle of the upper end surface. The detachable fixing device 2 has the function of easy disassembly and installation. The device can manually disassemble the present invention, and only need to take the damaged part for maintenance, which is easy to operate and saves the cost of handling and maintenance. The upper end of the detachable fixing device 2 is equipped with an orientable conversion device 3, which can 3. It has the function of precise and adjustable rotation support angle. When high-altitude glass with different angles appears, there is no need to manually adjust the support position back and forth, and the scope of application is wide. The self-stabilizing walking device 1 includes a walking installation platform 11, four parallel support mechanisms 12 are symmetrically installed on the lower end surface of the walking installation platform 11, and a universal wheel is respectively installed on the lower end surfaces of the four parallel support mechanisms 12. 13. The present invention is moved to the bottom of the required wiping glass through four universal wheels 13, no manual handling is required, only need to be pushed, and the operation is simple; the parallel support mechanism 12 includes a The fixed platform 121, the lower end surface of the fixed platform 121 is evenly installed with three parallel branch chains 122 along the circumferential direction, the tops of the three parallel branch chains 122 are all installed on the moving platform 123, and the lower end surface of the moving platform 123 is equipped with universal wheels 13. The parallel branch chain 122 includes an ear seat 1221 welded on the lower end surface of the fixed platform 121, and a No. 1 hydraulic cylinder 1222 is installed on the ear seat 1221 through a pin shaft. The No. 1 hydraulic cylinder 1222 can rotate on the ear seat 1221. The top of No. 1 hydraulic cylinder 1222 is threaded with a connecting cylinder 1223, and the connecting cylinder 1223 is threaded with a threaded column 1224. The end of the threaded column 1224 is welded on the moving cylinder 1225, and the moving cylinder 1225 is sleeved on the moving shaft 1226. , the moving cylinder 1225 can rotate or move on the moving shaft 1226, and the two ends of the moving shaft 1226 are respectively fixed on two fixing ears 1227, and the two fixing ears 1227 are welded on the upper end surface of the moving platform 123. The rotation pair R formed by the No. 1 hydraulic cylinder 1222 on the ear seat 1221, the moving pair P formed when the No. 1 hydraulic cylinder 1222 moves, and the cylinder pair C formed by the moving cylinder 1225 on the moving shaft 1226 form an RPC type parallel branch chain 122, and the fixed platform 121, three RPC-type parallel branch chains 122 and the moving platform 123 in the present invention form a 3-RPC parallel mechanism, and the 3-RPC parallel mechanism has good dynamic response, high rigidity, large bearing capacity, and stable With the advantages of good performance and high motion precision, the invention makes the operator stand on it and keep a stable state during the glass wiping process by virtue of the advantages of the 3-RPC parallel mechanism, eliminating the vibration of the equipment during the working process, and the equipment has good stability , the middle part of the lower end surface of the walking mounting table 11 is welded with a No. 1 positioning shaft 14, and the lower end of the No. 1 positioning shaft 14 is installed on the inner wall of the No. 1 positioning cylinder 15 by sliding fit. The No. 1 positioning cylinder 15 can be placed on a The No. 1 positioning shaft 14 performs up-and-down telescopic movement, and the outer wall of the No. 1 positioning shaft 14 is covered with a limit spring 16. Abutting against the upper end surface of the No. 1 positioning cylinder 15, the limit spring 16 limits the maximum movement amount of the No. 1 positioning cylinder 15 in the No. 1 positioning shaft 14; the middle part of the lower end surface of the walking installation platform 11 is symmetrical on both sides Two limit posts 11a are welded, and the middle and lower ends of the two limit posts 11a are respectively provided with a square limit hole; two limit blocks 15a are symmetrically welded on the two side walls of the No. 1 positioning cylinder 15 , the two limiting blocks 15a are respectively located inside the two square limiting holes. Since the limiting blocks 15a are welded on the No. 1 positioning cylinder 15, the up and down movement distance of the limiting blocks 15a is exactly Up and down telescopic distance, so the movement distance of the limit block 15a in the square limit hole is the expansion and contraction range of the No. 1 positioning cylinder 15 in the No. 1 positioning shaft 14, and the limit block 15a plays the role of limiting the movement distance. The lower end of the positioning cylinder 15 is welded on the mounting block 17, the mounting block 17 is a square structure, an L-shaped fixed support plate 18 is respectively welded on the four sides of the mounting block 17, and the ends of the four L-shaped fixed support plates 18 are respectively There is a fixed piece 18a welded, the up and down movement of No. 1 positioning cylinder 15 synchronously drives the four L-shaped fixed support plates 18 on the installation block 17 to move, and the four L-shaped fixed support plates 18 then drive the four fixed pieces 18a to move up and down , the movement distance of the limit block 15a of the present invention on the square limit hole of the limit post 11a is exactly the up and down movement distance of the four fixed pieces 18a, which prevents the excessive movement of the present invention; the four L-shaped fixed supports A hydraulic fixed branch chain 19 is respectively installed between the plate 18 and the lower end surface of the walking installation platform 11, and the four hydraulic fixed branch chains 19 drive the four L-shaped fixed support plates 18 to move, and the four L-shaped fixed support plates 18 drive the four The four fixing pieces 18a move, and the present invention increases the fixing performance of the present invention on the operating floor by sticking the four fixing pieces 18a on the operating floor. The equipment fixing performance is good, and the equipment stability performance is further increased; the hydraulic fixing support The chain 19 includes the No. 2 hydraulic cylinder 193 welded on the walking installation platform 11, the top of the No. 2 hydraulic cylinder 193 is installed on the fixed flange 192 through threads, and the fixed flange 192 is installed on the corresponding L-shaped fixed support plate 18 through screws , the fixed flange 192 plays the role of connecting the No. 2 hydraulic cylinder 193 and the L-shaped fixed support plate 18 . During work, at first the present invention is moved to below required wiping glass by four universal wheels 13, after the position is determined, four No. 2 hydraulic cylinders 193 on the four hydraulically fixed branch chains 19 start working simultaneously, No. 2 The hydraulic cylinder 193 drives four L-shaped fixed support plates 18 to move, and the four L-shaped fixed support plates 18 drive the upper mounting block 17 to move, and the mounting block 17 drives the No. 1 positioning cylinder 15 to move telescopically on the No. 1 positioning shaft 14. Under the action of the limit spring 16, everything under the No. 1 positioning cylinder 15 is driven to move, thereby driving the four fixed pieces 18a to move. When the four fixed pieces 18a are just attached to the operating floor, the No. 2 hydraulic cylinder 193 stops working , increase the fixing performance of the present invention on the operating floor, prevent the phenomenon of the present invention running around, the equipment has good fixing performance, and also increases the stability of the equipment. When the present invention needs to adjust the position, the second hydraulic cylinder 193 drives four fixing pieces 18a can be moved anywhere by contracting the universal wheel 13 slightly upwards. It is easy to operate and does not need to be manually moved back and forth to adjust the position. The mobile pair P formed when the No. 1 hydraulic cylinder 1222 moves, the cylinder pair C formed by the mobile cylinder 1225 on the mobile shaft 1226 form the parallel branch chain 122 of the RPC type, and the fixed platform 121 in the present invention, three RPC type The parallel branch chain 122 and the moving platform 123 form a 3-RPC parallel mechanism. The 3-RPC parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability and high motion precision. The present invention relies on the 3-RPC parallel The advantages of the mechanism enable the operator to stand on it and maintain a stable state during the glass wiping process, eliminating the vibration of the equipment during the work process, and the equipment has good stability.

The detachable fixing device 2 includes a fixed disc 21 welded on the upper end surface of the walking installation platform 11. The middle part of the upper end surface of the fixed disc 21 is uniformly welded with four No. 2 positioning shafts 22 along the circumferential direction. Four adjustable locking mechanisms 23 are installed symmetrically on the upper end surface of 21, and movable fixed platforms 24 are installed between the four adjustable locking mechanisms 23, and the movable fixed platforms are locked by four adjustable locking mechanisms 23 24 four sides; the lower end of the movable fixed table 24 is symmetrically provided with four positioning circular holes 24a, and the inside of the four positioning circular holes 24a is respectively equipped with a No. 2 positioning shaft 22 through clearance fit, and the movable fixed table 24 The lower end surface is placed on the fixed disc 21, and the height of the positioning circular hole 24a is greater than the height of the No. 2 positioning shaft 22, which ensures that the No. 2 positioning shaft 22 can all be located inside the positioning circular hole 24a so that the lower end surface of the movable fixed table 24 is completely attached. On the fixed disc 21, the No. 2 positioning shaft 22 plays the role of the lower end face of the movable positioning movable fixed table 24; the four side walls of the movable fixed table 24 are respectively provided with a limit groove 24b, and the movable fixed table The upper ends of the four side walls of 24 are respectively welded with a curved fixed block 24c, and each curved fixed block 24c is respectively provided with two threaded holes, and two fixed bolts 25 are installed on each threaded hole, and the movable fixed platform Eight fixing nuts 26 are symmetrically welded on the upper end surface of 24, and the lower end of each fixing bolt 25 is installed on a fixing nut 26 respectively, and the mode that the fixing bolts 25 can be movably installed is convenient for disassembly and installation of the present invention; The adjustable locking mechanism 23 includes a position-limiting plate 231 mounted on the upper end surface of the fixed disk 21 through a hinge. The inner wall of the position-limiting plate 231 is welded with a No. 3 positioning shaft 232 . Corresponding to the inside of the limit groove 24b, the No. 3 positioning shaft 232 plays the role of the side wall of the movable positioning movable fixed table 24, and a hydraulically driven branch chain 27 is installed obliquely between the outer wall of the limit plate 231 and the upper end surface of the fixed disc 21, The hydraulically driven branch chain 27 drives the limit plate 231 to rotate on the fixed disc 21, thereby driving the No. 3 positioning shaft 232 to rotate slowly to the inside of the corresponding limit groove 24b, and then the lower end surface of the movable fixed table 24 can be moved and positioned after being moved. The four side walls of the movable fixed table 24 have poor positioning effect, so that the movable fixed table 24 can be disassembled and installed up and down, which is convenient for maintenance after damage; Seat 271, the No. 3 hydraulic cylinder 272 is installed on the first horn seat 271 by the pin shaft, the top of the No. 3 hydraulic cylinder 272 is installed on the second horn seat 273 by the pin shaft, and the second horn seat 273 is welded on the outer wall of the limit pressure plate 231, When the present invention is damaged, it only needs to be disassembled by the fixing nut 26 for maintenance and inspection, and the operation is simple and convenient. When the movable fixed table 24 in the middle is damaged, the four No. Cylinder 272 starts to work simultaneously, and No. 3 hydraulic cylinder 272 drives limit pressing plate 231 When the fixed disk 21 rotates, the No. 3 positioning shaft 232 is slowly rotated out of the corresponding limit groove 24b. When the No. 3 positioning shaft 232 completely rotates out of the corresponding limit groove 24b, the No. 3 hydraulic cylinder 272 stops working, eliminating For the positioning of the four side walls of the movable fixed table 24, the operator manually takes the movable fixed table 24 out of the No. 2 positioning shaft 22, which realizes the convenient disassembly and installation function of the present invention, and saves the cost of handling and maintenance.

The orientable conversion device 3 includes a conversion table 31 installed on the upper end surfaces of four curved fixed blocks 24c through eight fixing bolts 25, and the middle part of the upper end surface of the conversion table 31 is welded with No. 2 positioning cylinder 32, No. 2 The inner wall of the positioning cylinder 32 is equipped with a conversion shaft 34 through two limit bearings 33. The top end of the conversion shaft 34 is welded with a conversion disc 35. The conversion disc 35 is used for standing operators. Four manual adjustment rods 34a are evenly welded in the circumferential direction, and a manual adjustment ball 34b is respectively welded on the ends of the four manual adjustment rods 34a. When the support angle needs to be adjusted, the operator only needs to hold any manual adjustment rod 34a on the The manual adjustment ball 34b can drive the conversion shaft 34 to rotate in the No. 2 positioning cylinder 32; the middle part of the conversion shaft 34 is welded with an angle adjustment disc 36, and the outer side of the upper end surface of the angle adjustment disc 36 is uniformly arranged with a direction along the circumferential direction. Type draw-in slot 36a, the number of square draw-in slot 36a is twenty-four, and the angle of two adjacent square draw-in slots 36a relative to the central axis of angle adjustment disc 36 is fifteen degrees, so that the present invention turns over a square draw-in slot every time. Type card groove 36a has just rotated the support angle of 15 degrees, thereby makes the rotation angle of the present invention can be accurately controlled, and the lower end surface of angle adjustment disc 36 is evenly welded with four T-shaped limit rods 36b along the circumferential direction, four The lower ends of the root T-shaped limit rods 36b are respectively provided with an upper limit hole; the middle part of the upper end surface of the transfer table 31 is welded with an annular flange 37, and the upper end surface of the annular flange 37 is uniformly provided with a lower limit hole 37a along the circumferential direction. The number of the lower limit holes 37a on the annular flange 37 is the same as the number of the square draw-in grooves 36a, so that the angle between the central axis of the two adjacent lower limit holes 37a relative to the central axis of the annular flange 37 is also fifteen degrees, which is just in line with The square draw-in groove 36a corresponds, and a T-shaped limiting pin 38 is perforated between the upper limit hole on each T-shaped limit rod 36b and the corresponding lower limit hole 37a on the annular flange 37, when the angle When the square slot 36a on the adjustment disc 36 is adjusted to a good position, the operator only needs to insert the T-shaped limit pin 38 into the upper limit hole and the corresponding lower limit hole 37a, thereby limiting the lower end of the angle adjustment disc 36. ; The outer side of the upper end face of the conversion table 31 is symmetrically equipped with four conversion locking branch chains 39, and the four conversion locking branch chains 39 are respectively installed on the four corresponding square draw-in grooves 36a of the angle adjustment disc 36, through four A conversion locking branch chain 39 realizes the function of limiting the upper end of the angle adjustment plate 36; the conversion locking branch chain 39 includes a square pad 391 welded on the upper end surface of the conversion table 31, and the upper end of the square pad 391 is installed with a square pad 391. Two ends are the fixed chute 392 of closed state, on the fixed chute 392, an L-shaped fixed slide bar 393 is installed by a sliding fit mode, and the upper end surface of the L-shaped fixed slide bar 393 is welded with a bar-shaped post 394, and the bar-shaped post The end of 394 is installed on the corresponding square draw-in groove 36a of angle adjustment plate 36; The end of described L-shaped fixed slide bar 393 is equipped with rubber handle 395, and the operator holds the rubber handle 395 by hand. The rubber handle 395 drives the L-shaped fixed sliding bar 393 to move on the fixed chute 392, thereby driving the bar-shaped clamping column 394 above the L-shaped fixed sliding bar 393 to move synchronously until the end of the bar-shaped clamping column 394 just enters the angle adjustment disk 36, the upper end of the angle adjustment disc 36 is limited by the bar-shaped clamping post 394. During work, when there is a need to adjust the supporting position of the present invention when high-altitude glass with different angles appears, the operator only needs to hold the manual adjustment ball 34b on the nearest manual adjustment lever 34a to drive the conversion shaft 34 on the second positioning cylinder 32 Rotate, the conversion shaft 34 drives the angle adjustment disc 36 welded in the middle to rotate synchronously, and then determine the number of square card slots 36a that have been rotated relative to the central axis of the angle adjustment disc 36 according to the required high altitude glass angle, and turn one square card slot 36a is equivalent to turning over fifteen degrees of support angle. After the angle adjustment disc 36 is rotated, the operator first puts four T-shaped limit pin shafts 38 into the upper limit hole and the lower limit hole 37a to adjust the angle. The lower end of the disc 36 is limited, and at the same time, the operator drives the L-shaped fixed slide bar 393 to move on the fixed chute 392 by holding the rubber handle 395, thereby driving the bar-shaped clamping column 394 above the L-shaped fixed slide bar 393 to synchronize Move until the ends of the four bar-shaped posts 394 just enter the four corresponding square-shaped slots 36a of the angle-adjusting disc 36, the upper end of the angle-adjusting disc 36 is limited by the bar-shaped posts 394, thereby realizing The invention has the function that the angle of the rotating support can be precisely adjusted. When there are high-altitude glass with different angles, there is no need to manually adjust the supporting position back and forth, and the supporting position can be moved and fixed, and the application range is large.

The upper end surface of the limiting groove 24b is an arc-shaped structure, the width of the limiting groove 24b is greater than the diameter of the No. 3 positioning shaft 232, and the movement track of the No. 3 positioning shaft 232 is an arc. The arc-shaped structure of the end surface just corresponds to the motion track of the No. 3 positioning shaft 232 , thus preventing the No. 3 positioning shaft 232 from touching the inner wall of the limiting groove 24b when moving, and improving the working efficiency.

During use, at first the present invention is moved to below required wiping glass by four universal wheels 13, after the position is determined, four No. 2 hydraulic cylinders 193 on the four hydraulically fixed branch chains 19 start working simultaneously, No. 2 The hydraulic cylinder 193 drives four L-shaped fixed support plates 18 to move, and the four L-shaped fixed support plates 18 drive the upper mounting block 17 to move, and the mounting block 17 drives the No. 1 positioning cylinder 15 to move telescopically on the No. 1 positioning shaft 14. Under the action of the limit spring 16, everything under the No. 1 positioning cylinder 15 is driven to move, thereby driving the four fixed pieces 18a to move. When the four fixed pieces 18a are just attached to the operating floor, the No. 2 hydraulic cylinder 193 stops working , increase the equipment fixing performance on the operating floor, prevent the phenomenon of the present invention from running around, the equipment fixing performance is good, and the equipment stability performance is also increased. When the present invention needs to adjust the position, the second hydraulic cylinder 193 drives the four fixing pieces 18a Slightly retract the universal wheel 13 to move anywhere, easy to operate, no need to manually carry back and forth to adjust the position, easy to operate, high work efficiency; when there is a need to adjust the supporting position of the present invention when there are high-altitude glass with different angles, the operator only needs to Hold the manual adjustment ball 34b on the nearest manual adjustment lever 34a to drive the conversion shaft 34 to rotate on the second positioning cylinder 32. The conversion shaft 34 drives the angle adjustment disc 36 welded in the middle to rotate synchronously, and then adjust the height of the high-altitude glass according to the required height. The angle determines the number of square draw-in slots 36a rotated relative to the central axis of the angle adjustment disc 36. Turning over a square draw-in slot 36a is equivalent to turning over a support angle of fifteen degrees. After the angle adjustment disc 36 is rotated, the operator First put four T-shaped limit pins 38 into the upper limit hole and the lower limit hole 37a, thereby limiting the lower end of the angle adjustment disc 36. At the same time, the operator drives the L-shaped fixed position by holding the rubber handle 395. The slide bar 393 moves on the fixed chute 392, thereby driving the bar-shaped posts 394 above the L-shaped fixed slide bar 393 to move synchronously until the ends of the four bar-shaped posts 394 just enter the four corresponding positions of the angle adjustment disc 36. Up to the top of the square card slot 36a, the upper end of the angle adjustment plate 36 is limited by the bar card column 394, thereby realizing the function of the precise adjustment of the rotation support angle of the present invention, and no manual adjustment is required when high-altitude glass with different angles appears The supporting position, the supporting position can be moved and fixed, and the scope of application is wide. At this time, the operator standing on the conversion circular plate 35 can wipe the high-altitude glass stably. The pair R, the movable pair P formed when the No. 1 hydraulic cylinder 1222 moves, the cylinder pair C formed by the moving cylinder 1225 on the moving shaft 1226 form the parallel branch chain 122 of the RPC type, and the fixed platform 121, three An RPC-type parallel branch chain 122 and a moving platform 123 form a 3-RPC parallel mechanism. The 3-RPC parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability and high motion precision. The present invention relies on 3 -RP The advantage of the C parallel mechanism makes the operator stand on it and can always maintain a stable state during the glass wiping process, eliminating the vibration of the equipment during the work process, and the equipment has good stability. However, if the present invention is damaged, it only needs to be fixed by Nut 26 can be disassembled and repaired detection interface, easy to operate, but if the movable fixed table 24 in the middle is damaged, four No. 3 hydraulic cylinders 272 on the four adjustable locking mechanisms 23 start working simultaneously, No. 3 hydraulic cylinders 272 drives the limit plate 231 to rotate on the fixed disc 21, thereby driving the No. 3 positioning shaft 232 to slowly rotate out of the corresponding limit groove 24b. When the No. 3 positioning shaft 232 completely rotates out of the corresponding limit groove 24b, the No. 3 hydraulic cylinder 272 stops working, eliminating the positioning of the four side walls of the movable fixed table 24, and then the operator manually removes the movable fixed table 24 from the No. 2 positioning shaft 22 to facilitate disassembly and installation, which is easy to operate and saves the cost of handling and maintenance. The stable detachable rigid support function of the present invention is realized, and the existing building support equipment needs to be manually transported back and forth, the operation is cumbersome, the equipment shakes during the working process, the equipment has poor fixing performance, the equipment has low stability, and the equipment cannot be disassembled and installed. , The angle of equipment rotation support cannot be adjusted and the work efficiency is low, etc., and the goal has been achieved.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the specification only illustrate the principles of the present invention, and without departing from the spirit and scope of the present invention, the present invention will also There are various changes and improvements which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (7)

1. A building window cleaning support robot whose position can be moved and fixed, characterized in that it includes a self-stabilizing walking device (1), and a detachable fixing device (2) is installed in the middle of the upper end surface of the self-stabilizing walking device (1), The upper end of the detachable fixing device (2) is equipped with an orientable conversion device (3); the self-stabilizing walking device (1) includes a walking installation platform (11), and the lower end surface of the walking installation platform (11) is symmetrically installed There are four parallel support mechanisms (12), and a universal wheel (13) is respectively installed on the lower end surfaces of the four parallel support mechanisms (12); the middle part of the lower end surface of the walking installation platform (11) is welded with a No. 1 positioning shaft (14), the lower end of the No. 1 positioning shaft (14) is installed on the inner wall of the No. 1 positioning cylinder (15) by sliding fit, and the outer wall of the No. 1 positioning shaft (14) is sleeved with a limit spring (16), The upper end of the limit spring (16) leans against the lower end face of the walking installation platform (11), and the lower end face of the limit spring (16) leans against the upper end face of the No. 1 positioning cylinder (15); Two limit columns (11a) are welded symmetrically on both sides of the lower end surface of the mounting table (11), and a square limit hole is respectively arranged at the middle and lower ends of the two limit columns (11a); the No. 1 positioning circle Two limit blocks (15a) are symmetrically welded on the two side walls of the cylinder (15), and the two limit blocks (15a) are respectively located in the insides of the two square limit holes. The lower end is welded on the mounting block (17), the mounting block (17) is a square structure, and an L-shaped fixed support plate (18) is welded respectively on the four sides of the mounting block (17), four L-shaped fixed support plates ( 18) are respectively welded with a fixed piece (18a); a hydraulic fixed branch chain (19) is respectively installed between the four L-shaped fixed support plates (18) and the lower end surface of the walking installation platform (11); The detachable fixing device (2) includes a fixed disk (21) welded on the upper end surface of the walking installation platform (11), and the middle part of the upper end surface of the fixed disk (21) is evenly welded with four No. positioning shaft (22), four adjustable locking mechanisms (23) are installed symmetrically on the upper end face of the fixed disc (21), and a movable fixed table (23) is installed between the four adjustable locking mechanisms (23) 24); the lower end of the movable fixed table (24) is symmetrically provided with four positioning round holes (24a), and a No. 2 positioning shaft (22) is respectively installed in the inside of the four positioning round holes (24a) through clearance fit. The height of the positioning circular hole (24a) is greater than the height of the No. 2 positioning shaft (22), and the lower end surface of the movable fixed table (24) is placed on the fixed disc (21); the four sides of the movable fixed table (24) A limit groove (24b) is respectively arranged on the wall, and a curved fixed block (24c) is respectively welded on the upper ends of the four side walls of the movable fixed table (24), and each curved fixed block (24c) is provided with There are two threaded holes, and a fixed bolt (25) is respectively installed on the eight threaded holes, and eight fixed nuts (26) are welded symmetrically on the upper end face of the movable fixed table (24), and each fixed bolt (25) The lower ends of the lower ends are installed on a fixed nut (26) correspondingly; the adjustable locking mechanism (23) includes a limit pressing plate (231) installed on the upper end surface of the fixed disc (21) through a hinge, and the limit pressing plate (231 No. 3 positioning shaft (232) is welded on the inner wall of ), the No. 3 positioning shaft (232) is located in the corresponding limit groove (24b) inside of the movable fixed table (24), and the outer wall of the limit pressing plate (231) and the fixed disc (21) A hydraulically driven branch chain (27) is obliquely installed between the upper end faces; The orientable conversion device (3) includes a conversion table (31) installed on the upper end surfaces of four curved fixed blocks (24c) through eight fixing bolts (25), and the middle part of the upper end surface of the conversion table (31) is welded There is No. 2 positioning cylinder (32), the inner wall of No. 2 positioning cylinder (32) is equipped with conversion shaft (34) through two limit bearings (33), and the top of conversion shaft (34) is welded with conversion disc (35), four manual adjustment rods (34a) are evenly welded along the circumferential direction on the upper end outer wall of the conversion shaft (34), and a manual adjustment ball (34b) is welded with the ends of the four manual adjustment rods (34a) respectively; The middle part of the conversion shaft (34) is welded with an angle adjustment disc (36), and the outer side of the upper end surface of the angle adjustment disc (36) is uniformly provided with a square draw-in groove (36a) along the circumferential direction, and the angle adjustment disc (36) Four T-shaped limit rods (36b) are evenly welded on the lower end surface along the circumferential direction, and the lower ends of the four T-shaped limit rods (36b) are respectively provided with an upper limit hole; the middle part of the upper end surface of the conversion table (31) An annular flange (37) is welded, and the upper end surface of the annular flange (37) is evenly provided with a lower limit hole (37a) along the circumferential direction, and the upper limit hole on each T-shaped limit rod (36b) is connected with the annular A T-shaped limit pin shaft (38) is pierced between the corresponding lower limit holes (37a) on the flange (37); four conversion locking supports are installed symmetrically on the outer side of the upper end surface of the conversion table (31). Chain (39), four conversion locking branch chains (39) are respectively installed on the four corresponding square draw-in slots (36a) of angle adjustment disc (36). 2. A building window-cleaning support robot with movable and fixed positions according to claim 1, characterized in that: said parallel support mechanism (12) comprises a fixed platform ( 121), the lower end surface of the fixed platform (121) is evenly installed with three parallel branch chains (122) along the circumferential direction, and the tops of the three parallel branch chains (122) are all installed on the moving platform (123), and the moving platform (123) Universal wheels (13) are installed on the lower end surface of the fixed platform (121); the parallel branch chain (122) includes an ear seat (1221) welded on the lower end surface of the fixed platform (121), and a number one is installed on the ear seat (1221) through a pin Hydraulic cylinder (1222), the top of No. 1 hydraulic cylinder (1222) is provided with connecting cylinder (1223) by thread, threaded column (1224) is installed by thread on the connecting cylinder (1223), and the end of threaded column (1224) is welded on On the moving cylinder (1225), the moving cylinder (1225) is sleeved on the moving shaft (1226), and the two ends of the moving shaft (1226) are respectively fixed on two fixed ears (1227), and the two fixed ears (1227 ) are all welded on the upper end face of the moving platform (123). 3. A building window cleaning support robot whose position can be moved and fixed according to claim 1, characterized in that: the hydraulically fixed branch chain (19) includes the No. 2 hydraulic cylinder welded on the walking installation platform (11) (191), the top of No. two hydraulic cylinders (191) is installed on the fixed flange (192) by threads, and the fixed flange (192) is installed on the corresponding L-type fixed support plate (18) by screws. 4. A building window cleaning support robot whose position can be moved and fixed according to claim 1, characterized in that: the upper end surface of the limiting groove (24b) is an arc-shaped structure, and the limiting groove (24b ) is greater than the diameter of the No. 3 positioning shaft (232). 5. A building window cleaning support robot whose position can be moved and fixed according to claim 1, characterized in that: said hydraulically driven branch chain (27) includes a horn seat welded on the upper end surface of the fixed disc (21) (271), the No. 3 hydraulic cylinder (272) is installed on the first horn seat (271) by the pin shaft, and the top of the No. 3 hydraulic cylinder (272) is installed on the second horn seat (273) by the pin shaft, and the second horn seat (273 ) is welded on the outer wall of the limiting pressure plate (231). 6. A building window-cleaning support robot whose position can be moved and fixed according to claim 1, characterized in that: the number of the square-shaped slots (36a) is twenty-four; the annular flange (37a) ) on the lower limit hole (37a) number is the same as the square draw slot (36a) number. 7. A building window-cleaning support robot whose position can be moved and fixed according to claim 1, characterized in that: the conversion locking branch chain (39) includes a square pad welded on the upper end surface of the conversion table (31) Block (391), the fixed chute (392) that two ends are closed state is installed on the square pad (391) upper end, on the fixed chute (392) is installed with L-shaped fixed slide bar (393) by sliding fit mode, The upper end face of the L-shaped fixed slide bar (393) is welded with a bar-shaped post (394), and the end of the bar-shaped post (394) is installed on the corresponding square draw-in groove (36a) of the angle adjustment disc (36); A rubber handle (395) is installed at the end of the L-shaped fixed slide bar (393).