CN105996915B

CN105996915B - A kind of interior architecture automatic cleaning robot

Info

Publication number: CN105996915B
Application number: CN201610327979.2A
Authority: CN
Inventors: 朱振
Original assignee: Individual
Current assignee: Tongxiang Tengfei Home Textile Co ltd
Priority date: 2016-05-17
Filing date: 2016-05-17
Publication date: 2018-03-09
Anticipated expiration: 2036-05-17
Also published as: CN108272403B; CN108261153B; CN105996915A; CN108272403A; CN108261153A

Abstract

The present invention relates to a kind of interior architecture automatic cleaning robot, including installing round platform, the installation round platform upper surface is symmetrically installed with four rigidity lifting side chains by screw, rigidity lifting side chain has good lift in height regulation performance, installation round platform is provided with No. four hydraulic cylinders in the middle part of upper surface, and the top of four rigidity lifting side chains and No. four hydraulic cylinders is provided with cleaning machine hand, the cleaning adjustable angle of cleaning machine hand, the scope of application is big, it is possible to achieve the function such as automation cleaning furred ceiling, the cobweb on ceiling, dust；The rigidity lifting side chain includes the lower lifting stator that installation round platform upper surface is arranged on by screw, and lower lifting stator is obliquely welded with lower lifting slide plate, and the middle part upper end of lower lifting slide plate is symmetrically installed with two upper limit position blocks by fixing bolt.The present invention can realize the automation clearing function of interior architecture, there is provided a kind of new way for automating cleaning interior architecture.

Description

A kind of interior architecture automatic cleaning robot

Technical field

The present invention relates to building environmental technology field, specifically a kind of interior architecture automatic cleaning robot.

Background technology

With the continuous social and economic development, miscellaneous high building stands in great numbers and risen, but continuous with high building quantity Increase, safeguard that the street cleaner of high building environmentally-friendly sanitary is more and more, the scope of cleaning include floor, glass window, furring tile, Furred ceiling or ceiling etc., there are many sweeping robot and window wiping robot on existing market, can solve floor and glass The cleaning problems of glass window, without artificial cleaning, but the dust and cobweb on furring tile, furred ceiling, ceiling are required for Manually periodically handled, there has been no exploitation to automate cleaning equipment, passes through the ash on manual cleaning ceramic tile, furred ceiling, ceiling Following defect be present in the mode of dirt and cobweb：1st, manual cleaning speed is slow, and labor intensity is big, and operating efficiency is low, automation Degree is low；2nd, when the height of ceramic tile, furred ceiling, ceiling is higher, it usually needs double ladder auxiliary cleaning, this height auxiliary are set Standby height can not automatic lifting regulation, it is necessary to artificial height up and down；3rd, street cleaner needs to drop during cleaning Many dusts, it is therefore desirable to which the bottom plate below artificial wipe clean, there has been no the ceiling with absorption function or furred ceiling at present Cleaning tool, generally only simple function, the scope of application are small for the burnisher of existing interior architecture.

The content of the invention

In order to solve the above problems, the invention provides a kind of interior architecture automatic cleaning robot, can solve to pass through The existing cleaning speed of present level auxiliary equipment manual cleaning interior architecture mode is slow, labor intensity is big, automaticity is low, The problems such as device height regulation performance is poor, the scope of application is small and operating efficiency is low, it is possible to achieve the automation of interior architecture is clear Function is managed, without manual operation, and with cleaning speed is fast, device height regulation performance is good, the scope of application is big and operating efficiency A kind of the advantages that high, there is provided new way for automating cleaning interior architecture.

To achieve these goals, the present invention is realized using following technical scheme：A kind of interior architecture auto-cleaner Device people, including installation round platform, the installation round platform upper surface are symmetrically installed with four rigidity lifting side chains by screw, and rigidity rises Descending branch chain has good lift in height regulation performance, No. four hydraulic cylinders is provided with the middle part of installation round platform upper surface, and four firm Property lifting side chain and the tops of No. four hydraulic cylinders cleaning machine hand is installed, the cleaning adjustable angle of cleaning machine hand, be applicable model Enclose big, it is possible to achieve the function such as automation cleaning furred ceiling, the cobweb on ceiling, dust, by No. four hydraulic cylinders at four The height regulation of rigidity lifting side chain is lower to drive cleaning machine hand to carry out automation cleaning to interior architecture；The rigidity lifting branch Chain includes the lower lifting stator that installation round platform upper surface is arranged on by screw, and lower lifting stator is obliquely welded with down Slide plate is lifted, the middle part upper end of lower lifting slide plate is symmetrically installed with two upper limit position blocks by fixing bolt, lower to lift on slide plate Upper lifting slide plate is provided with by sliding matching mode, upper lifting slide plate can move on lower lifting slide plate, on upper lifting slide plate Lifting stator is welded with, is welded with swallow-tail form traveller on upper lifting stator, swallow-tail form traveller passes through sliding matching mode It is connected with swallowtail-shaped slide, swallow-tail form traveller can move back and forth on swallowtail-shaped slide, and swallowtail-shaped slide both ends are in closed, envelope Close shape and avoid the excessive phenomenon dropped out of swallow-tail form traveller movement floating, and on the swallowtail-shaped slides on four rigidity lifting side chains End is provided with cleaning machine hand；The lower lifting slide plate includes the lower plane bottom that lower end is welded on lower lifting stator, under Respectively integrally formed with aduncate two lower bending sections, lower bending section is the spacing slip of concave curved on both sides for planar base both sides Position, upper end is respectively arranged with two openings in the middle part of two lower bending sections, and two openings on two lower bending sections, which pass through, to be consolidated Determine bolt and two upper limit position blocks are installed, the opening on lower bending section is for the ease of installing upper limit position block, due to lower bending section For aduncate structure, the distance between two lower bending sections are again very small, are difficult to if lower bending section is not provided with opening Realize the function that upper limit position block is installed by fixing bolt；The upper limit position block includes matrix, and two are symmetrically arranged with matrix Nut bore, two fixing nuts are separately installed with two nut bores, just first fixing nut is installed before installation upper limit position block On nut bore hole, because the space between lower lifting slide plate and upper lifting slide plate is very small, otherwise slided once installing lifting Piece is just difficult to install fixing nut again, and each fixing nut through the lower bending section on lower lifting slide plate with fixing bolt phase Even, upper limit position block is fixed on lower lifting slide plate by fixing bolt, the side lower end of matrix hides integrally formed with shielding plate Catch plays a part of blocking, and will be blocked when upper lifting slide plate lower end moves to shielding plate position, define lifting Sliding distance of the slide plate on lower lifting slide plate, the upper end of matrix hook post integrally formed with L-type, and the upper end that L-type hooks post is hooked under Lift the lower bending section upper end of slide plate；The upper lifting slide plate includes the upper plane bottom that upper end is welded on lifting stator Portion, it is connected between upper planar base and the lower plane bottom on lower lifting slide plate by sliding matching mode, upper planar base two Side is also respectively the spacing sliding position of concave curved on both sides integrally formed with aduncate two upper bending sections, upper bending section, two The inwall of individual upper bending section is connected between the outer wall of two lower bending sections by sliding matching mode respectively, and upper bending section can be Lower bending section movement, the bottom of upper planar base is symmetrically arranged with two corresponding with the shielding plate on two upper limit position blocks Limited block, lower position block play spacing effect, and when lower position block moves to the shielding plate of upper limit position block, lower position block is hidden Catch blocks, and is now the highest movement position of upper lifting slide plate.During work, when being cleaned needed for interior architecture, place height is higher When needing to increase Support Position, now No. four hydraulic cylinders are started working, and No. four hydraulic cylinders drive cleaning machine hand up to work, with Four rigidity lifting side chain work of this cleaning machine hand-motion simultaneously, the upper two upper bending sections lifted on slide plate are slided in lower lifting Two lower bending sections on piece are up moved, and upper lifting slide plate drives the swallow-tail form traveller motion lifted on stator, due to Lower lifting slide plate is obliquely welded on lower lifting stator, so that upper lifting slide plate also moves toward incline direction, from And the swallow-tail form traveller lifted on driving on stator moves on swallowtail-shaped slide, if it is not high enough to have moved a segment distance When, it is necessary to No. four hydraulic cylinders work on, and when lower position block moves to the shielding plate of upper limit position block, lower position block is blocked Piece blocks, and upper lifting slide plate can be moved to extreme higher position, and now No. four hydraulic cylinders are stopped, and upper lifting slide plate is in lower lifting There are lower lifting slide plate and No. four hydraulic cylinders to provide a supporting role during the whole lift in height of slide plate, lifting process is relatively more flat Surely, non-jitter situation, realizes the stable lift in height regulatory function of the present invention, and operating efficiency is high.

As a preferred technical solution of the present invention, the cleaning machine hand includes being arranged on swallowtail-shaped slide and No. four The support round platform on hydraulic cylinder top, support and No. five hydraulic cylinders are installed in the middle part of the upper surface of round platform, the top peace of No. five hydraulic cylinders Equipped with square regulating block, four spacing holes are symmetrically arranged with square regulating block, support round platform upper surface is symmetrically welded with four Round bar is positioned, and four positioning round bars are located on four spacing holes of square regulating block respectively, four positioning round bars play limit Determine the effect of the square regulating block direction of motion so that square regulating block stably moves up and down under the drive of No. five hydraulic cylinders； The support round platform upper surface is uniformly provided with four cleaning devices by screw in the axial direction, and cleaning device can be automatically clear Clean interior architecture furred ceiling, the cobweb on ceiling, dust, collect clearing function and dedusting function and one, and four sanitizer cartridges Put and four angular transition side chains are separately installed between four sides of square regulating block, pass through angular transition side chain and No. five Hydraulic cylinder adjusts the cleaning angle of cleaning device；The angular transition side chain includes four be welded on square regulating block side Number ear mount, No. six hydraulic cylinders are provided with by bearing pin between No. four ear mounts, the top of No. six hydraulic cylinders is arranged on five by bearing pin In number ear mount, No. five ear mounts are welded on gusset medial surface；The cleaning device includes being arranged on support round platform by screw No. two L-type connecting rods of end face, No. two L-type connecting rod ends are provided with two No. three hangers, pass through bearing pin between two No. three hangers No. four hangers are installed, No. four hangers are arranged in the middle part of the lower surface of connecting plate, and connecting plate can rotate on No. two L-type connecting rods, The upper surface of connecting plate is symmetrically welded with two pieces of supporting vertical plates, and gusset is welded between the lower end of two pieces of supporting vertical plates, and gusset rises To the effect of two pieces of supporting vertical plate support strengths of enhancing, angle is installed between gusset medial surface and the corresponding side surface of square regulating block Degree conversion side chain；Rotary shaft is provided with by bearing between two pieces of supporting vertical plate upper ends, rotation the tip of the axis passes through shaft coupling Device is provided with motor, and motor is arranged on motor support plate by motor cabinet, and it is vertical that motor support plate is welded on corresponding support In the side wall of plate；The middle part of the rotary shaft is provided with roller by key, and the upper and lower ends of roller are all uniformly provided with cleaning beam, Rotary shaft is driven to rotate by motor, rotary shaft drives roller to rotate, roller drive cleaning Shu Qingli interior architectures furred ceiling, Cobweb on ceiling, and cleaning arc plate is separately installed with the cleaning beam of roller upper and lower ends, between two cleaning arc plates It is connected by clearing up bolt；The cleaning arc plate is semicircular structure, and the structure of cleaning arc plate is corresponding with roller frame, is easy to The installation and operation of arc plate are cleared up, clears up on arc plate outer wall and is evenly arranged with cleaning circular hole in the axial direction, and each cleaning circle Kong Shangjun is correspondingly equipped with cleaning beam, and cleaning circular hole plays the cobweb effect for stopping and being wrapped on cleaning beam, cleaning arc plate Both sides are symmetrically arranged with four mounting ears, and are connected between the mounting ear of two cleaning arc plates by clearing up bolt, work as cleaning When many cobwebs are wound with beam, it is necessary to cleared up, clear up between arc plate the cleaning bolt fixed by two first and beat Open, then the manually operated cleaning arc plate of operator up moves, because each cleaning beam is located in the correspondence of cleaning arc plate Clear up on circular hole, up moving for cleaning arc plate will be directly wrapped on cleaning beam by the limiting-blocking effect of cleaning circular hole Cobweb is pooled to cleaning bunchy top end, and then street cleaner is handled by extraneous cleaning bar, and arc will be cleared up after being disposed Plate moves to lower section and retightened by clearing up bolt；Dust suction support plate, dust suction support plate are welded between two pieces of supporting vertical plates Both sides be symmetrically installed with two dust suction side chains, can be dropped certain dust during cleaning cobweb due to building indoors, These dusts to drop pass through two timely dust suctions of dust suction side chain, it is therefore prevented that dust is fallen on floor caused by cleaning, is subtracted Light workload, improves operating efficiency；No. two fixed platforms of the dust suction side chain including being arranged on dust suction support plate upper surface, two Number fixed platform upper surface is uniformly provided with four No. two side chains in parallel, four No. two side chain upper surfaces installations in parallel in the axial direction There are No. two moving platforms, the upper surface of No. two moving platforms is symmetrically arranged with two snap rings, miniature dust absorption is provided between two snap rings Device, micro-cleaner are the dust collection equipment bought on existing market；No. two side chains in parallel are welded on No. two including lower end and allocated No. six ear mounts on platform, No. six ear mounts are provided with No. seven hydraulic cylinders by bearing pin, and the top of No. seven hydraulic cylinders is installed by bearing pin In No. seven ear mounts, No. seven ear mounts are arranged on No. two moving platforms.Formd when No. six ear mounts rotate in the present invention R it is secondary, No. seven R pairs are formd when being rotated when P secondary, No. seven ear mount work are formd during hydraulic cylinder, so as to form RPR types No. two parallel connections Side chain, 4-RPR parallel machines are formd eventually through No. two fixed platforms, No. two of four RPR types side chains in parallel, No. two moving platforms Structure, 4-RPR parallel institutions also have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy height etc. is excellent Point, regulation dust suction angle is being rotated by the micro-cleaner that the advantages of 4-RPR parallel institutions to be arranged between two snap rings Plateau can be remained during degree and dust suction, pick-up performance is good, and operating efficiency is high.During work, first needed for The cleaning angle of the gradient regulation cleaning device on the relative floor in cleaning place, No. five hydraulic cylinders are started working, No. five hydraulic cylinders Square regulating block is driven to move up and down, the spacing booster action by four positioning round bars causes square regulating block in No. five hydraulic pressure Make stable up and down motion under the drive of cylinder, at the same time angular transition side chain is started working, No. six on angular transition side chain Hydraulic cylinder drives the gusset on cleaning device to rotate, and gusset drives connecting plate to be rotated on No. two L-type connecting rods, passes through No. five hydraulic pressure Cylinder and No. six hydraulic cylinder works realize the function of cleaning device cleaning angular adjustment, when the cleaning beam on cleaning device is apart from institute No. five hydraulic cylinders and No. six hydraulic cylinders are stopped when need to clear up local correct position, and then motor is started working, driving Motor driven rotary shaft rotates, and rotary shaft drives roller to rotate, on roller drive cleaning Shu Qingli interior architectures furred ceiling, ceiling Cobweb, at the same time two dust suction side chains positioned at roller both sides start working, the micro-cleaner on dust suction side chain is not The disconnected dust for absorbing scale removal process and dropping, it is achieved thereby that the function of present invention automation cleaning interior architecture.

As a preferred technical solution of the present invention, the type of No. four hydraulic cylinders and No. five hydraulic cylinders is multistage Hydraulic cylinder, the telescopic extensions of multistage hydraulic cylinder are bigger, are easy to the work of the present invention.

In use, the present invention is arranged on existing mobile device first, it is by existing mobile device that the present invention is mobile It is local to cleaning needed for interior architecture, when cleaning place height is higher needed for interior architecture needs to increase Support Position, now No. four hydraulic cylinders are started working, and No. four hydraulic cylinders drive cleaning machine hand up to work, at the same time cleaning machine hand-motion four Individual rigidity lifting side chain work, two lower bending sections of the upper two upper bending sections lifted on slide plate on lower lifting slide plate are up Motion, upper lifting slide plate drive the swallow-tail form traveller motion lifted on stator, because lower lifting slide plate obliquely welds On lower lifting stator, so that upper lifting slide plate also moves toward incline direction, so as to drive on upper lifting stator Swallow-tail form traveller moves on swallowtail-shaped slide, if moved a segment distance it is not high enough when, it is necessary to No. four hydraulic cylinders continue Work, when lower position block moves to the shielding plate of upper limit position block, the lower position block piece that is blocked blocks, and upper lifting slide plate just moves Extreme higher position is arrived, now No. four hydraulic cylinders are stopped, whole lift in height process of the upper lifting slide plate in lower lifting slide plate In there are lower lifting slide plate and No. four hydraulic cylinders to provide a supporting role, lifting process is more steady, non-jitter situation, realizes this Stable lift in height regulatory function is invented, operating efficiency is high；Then further according to the gradient on the relative floor in required cleaning place The cleaning angle of cleaning device is adjusted, No. five hydraulic cylinders are started working, and No. five hydraulic cylinders drive square regulating block to move up and down, and borrow The spacing booster action of four positioning round bars is helped to cause square regulating block to make stable fortune up and down under the drive of No. five hydraulic cylinders Dynamic, at the same time angular transition side chain is started working, and No. six hydraulic cylinders on angular transition side chain drive the muscle on cleaning device Plate rotates, and gusset drives connecting plate to be rotated on No. two L-type connecting rods, is realized by No. five hydraulic cylinders and No. six hydraulic cylinder works Cleaning device cleans the function of angular adjustment, when the cleaning beam distance on cleaning device is required clears up local correct position No. five Hydraulic cylinder and No. six hydraulic cylinders are stopped, and then motor is started working, and motor drives rotary shaft to rotate, rotary shaft Drive roller to rotate, the cobweb on roller drive cleaning Shu Qingli interior architectures furred ceiling, ceiling, be wound with when on cleaning beam During many cobwebs, it is necessary to cleared up, clear up between arc plate the cleaning bolt fixed by two first and open, then operate The manually operated cleaning arc plate of worker up moves, because each cleaning beam is located on the corresponding cleaning circular hole of cleaning arc plate, Up moving for cleaning arc plate directly collects the cobweb being wrapped on cleaning beam by the limiting-blocking effect of cleaning circular hole To bunchy top end is cleared up, then street cleaner is handled by extraneous cleaning bar, moves to down cleaning arc plate after being disposed Side is retightened by clearing up bolt, and at the same time two dust suction side chains positioned at roller both sides are started working, on dust suction side chain Micro-cleaner constantly absorb the dust that scale removal process drops, due to No. two branch in parallel of No. two fixed platforms, four RPR types Chain, No. two moving platforms form 4-RPR parallel institutions, and 4-RPR parallel institutions have that dynamic response is good, rigidity is high, bearing capacity Greatly, stability is good and the advantages that kinematic accuracy is high, to be arranged between two snap rings by the advantages of 4-RPR parallel institutions Micro-cleaner can remain plateau during regulation dust suction angle and dust suction is rotated, and pick-up performance is good, work Efficiency high, it is achieved thereby that the function of present invention automation cleaning interior architecture.

The beneficial effects of the invention are as follows：

1st, the present invention drives cleaning machine by No. four hydraulic cylinders under the lift in height regulation of four rigidity lifting side chains Hand makees lift adjustment, and the upper lifting slide plate on rigidity lifting side chain has during the whole lift in height of lower lifting slide plate Lower lifting slide plate and No. four hydraulic cylinders provide a supporting role, and lifting process is more steady, non-jitter situation, realize of the invention steady Fixed lift in height regulatory function, height regulation performance is good, and operating efficiency is high；

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

3rd, the present invention drives the cleaning Shu Qingli interior architectures furred ceiling on roller, the spider on ceiling by motor Net, and the cobweb being wrapped on cleaning beam can be pooled to top by two cleaning arc plate street cleaners and quickly located Manage, caused dust is constantly absorbed by the micro-cleaner on dust suction side chain in scale removal process so that present invention collection clearing function With dedusting function and one, the scope of application is big, and operating efficiency is high, and No. two of No. two fixed platforms in the present invention, four RPR types are simultaneously Connection side chain, No. two moving platforms form 4-RPR parallel institutions, cause to be arranged on two cards by the advantages of 4-RPR parallel institutions Micro-cleaner between ring can remain plateau, pick-up performance during regulation dust suction angle and dust suction is rotated Good, cleaning speed is fast, and operating efficiency is high；

4th, the present invention is solved by clearing up speed existing for present level auxiliary equipment manual cleaning interior architecture mode The problems such as slowly, labor intensity is big, automaticity is low, device height regulation performance is poor, the scope of application is small and operating efficiency is low, The automation clearing function of interior architecture is realized, without manual operation, and with cleaning speed is fast, device height regulation performance A kind of good, the advantages that scope of application is big and operating efficiency is high, there is provided new way for automating cleaning interior architecture.

Brief description of the drawings

The present invention is further described with reference to the accompanying drawings and examples.

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

Fig. 2 is the structural representation of rigidity lifting side chain of the invention；

Fig. 3 is the left view of rigidity lifting side chain of the invention；

Fig. 4 is Fig. 3 of the present invention A-A to sectional view；

Fig. 5 is Fig. 3 of the present invention B-B direction sectional view；

Fig. 6 is that the structural representation between stator, lower lifting slide plate, fixing bolt and upper limit position block is lifted under the present invention Figure；

Fig. 7 is the structural representation of upper limit position block of the present invention；

Fig. 8 is that the perspective view between slide plate and upper lifting stator is lifted in the present invention；

Fig. 9 is the structural representation of cleaning machine hand of the present invention；

Figure 10 is the full sectional view of cleaning machine hand of the present invention；

Figure 11 is rotary shaft, roller, cleaning beam, cleaning arc plate and the structural representation cleared up between bolt of the present invention；

Figure 12 is the structural representation of present invention cleaning arc plate.

Specific embodiment

In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below Conjunction is specifically illustrating, and the present invention is expanded on further.

As shown in Figures 1 to 12, a kind of interior architecture automatic cleaning robot, including installation round platform 2, the installation round platform 2 upper surfaces are symmetrically installed with four rigidity lifting side chains 3 by screw, and rigidity lifts side chain 3, and there is good lift in height to adjust Performance is saved, No. four hydraulic cylinders 4, and four rigidity lifting side chains 3 and No. four hydraulic cylinders 4 are installed in the middle part of installation round platform 2 upper surface Top cleaning machine hand 5 is installed, the cleaning adjustable angle of cleaning machine hand 5, the scope of application is big, it is possible to achieve automation is clear The functions such as furred ceiling, the cobweb on ceiling, dust are managed, are adjusted by height of No. four hydraulic cylinders 4 in four rigidity lifting side chains 3 Section is lower to drive cleaning machine hand 5 to carry out automation cleaning to interior architecture；The rigidity lifting side chain 3 includes installing by screw Lower lifting stator 31 in installation round platform 2 upper surface, lower lifting stator 31 are obliquely welded with lower lifting slide plate 32, under The middle part upper end for lifting slide plate 32 is symmetrically installed with two upper limit position blocks 34 by fixing bolt 33, passes through on lower lifting slide plate 32 Sliding matching mode is provided with lifting slide plate 35, and upper lifting slide plate 35 can move on lower lifting slide plate 32, upper lifting slide plate Lifting stator 36 is welded with 35, is welded with swallow-tail form traveller 37 on upper lifting stator 36, swallow-tail form traveller 37 passes through Sliding matching mode is connected with swallowtail-shaped slide 38, and swallow-tail form traveller 37 can move back and forth on swallowtail-shaped slide 38, swallow-tail form The both ends of chute 38 are in closed, and closed avoids the excessive phenomenon dropped out of the movement floating of swallow-tail form traveller 37, and four rigidity The upper end of swallowtail-shaped slide 38 on lifting side chain 3 is provided with cleaning machine hand 5；The lower lifting slide plate 32 is welded on including lower end Lower plane bottom 32a on lower lifting stator 31, lower plane bottom 32a both sides are respectively integrally formed with aduncate two Lower bending section 32b, lower bending section 32b are the spacing sliding position of concave curved on both sides, and two lower bending section 32b middle parts upper end is set respectively It is equipped with two openings, two openings on two lower bending section 32b are provided with two upper limit position blocks 34 by fixing bolt 33, Opening on lower bending section 32b be for the ease of install upper limit position block 34, because lower bending section 32b is aduncate structure, The distance between two lower bending section 32b are again very small, are difficult to pass through fixation if lower bending section 32b is not provided with opening Bolt 33 installs the function of upper limit position block 34；The upper limit position block 34 includes matrix 341, and two are symmetrically arranged with matrix 341 Two fixing nuts 342 are separately installed with nut bore 34a, two nut bore 34a, installation upper limit position block 34 is before just first solid Nut 342 is determined on nut bore 34a holes, because the space between lower lifting slide plate 32 and upper lifting slide plate 35 is very small, Otherwise it is difficult to fixing nut 342 is installed again once lifting slide plate 35 is installed, and each fixing nut 342 is slided through lower lifting Lower bending section 32b on piece 32 is connected with fixing bolt 33, and upper limit position block 34 is fixed on into lower lifting by fixing bolt 33 On slide plate 32, the side lower end of matrix 341 plays a part of blocking integrally formed with shielding plate 343, shielding plate 343, works as rising Drop slide plate 35 lower end, which moves to the position of shielding plate 343, to be blocked, and define lifting slide plate 35 in lower lifting slide plate 32 On sliding distance, the upper end of matrix 341 hooks post 344 integrally formed with L-type, and the upper end that L-type hooks post 344 is hooked in lower lifting slide plate 32 lower bending section 32b upper ends；The upper lifting slide plate 35 includes the upper plane bottom that upper end is welded on lifting stator 36 It is connected between portion 35a, upper planar base 35a and the lower plane bottom 32a on lower lifting slide plate 32 by sliding matching mode, on Planar base 35a both sides are also respectively both sides integrally formed with aduncate two upper bending section 35b, upper bending section 35b The spacing sliding position of concave curved, two upper bending section 35b inwall pass through slip between two lower bending section 32b outer wall respectively Fit system is connected, and upper bending section 35b can move in lower bending section 32b, and upper planar base 35a bottom is symmetrically arranged with and two Shielding plate 343 on individual upper limit position block 34 two corresponding lower position block 35c, lower position block 35c play spacing effect, when When lower position block 35c moves to the shielding plate 343 of upper limit position block 34, the lower position block 35c pieces 343 that are blocked block, now to be upper Lift the highest movement position of slide plate 35.During work, when being cleaned needed for interior architecture, place height is higher to be needed to increase support level When putting, now No. four hydraulic cylinders 4 are started working, and No. four hydraulic cylinders 4 drive cleaning machine hand 5 up to work, and at the same time clean Manipulator 5 drives four rigidity lifting side chains 3 to work, and two upper bending section 35b on upper lifting slide plate 35 are in lower lifting slide plate Two lower bending section 32b on 32 are up moved, and upper lifting slide plate 35 drives the swallow-tail form traveller 37 lifted on stator 36 Motion, because lower lifting slide plate 32 is obliquely welded on lower lifting stator 31, so that upper lifting slide plate 35 is also past Incline direction moves, so as to drive the swallow-tail form traveller 37 on upper lifting stator 36 to be moved on swallowtail-shaped slide 38, if Moved a segment distance it is not high enough when, it is necessary to No. four hydraulic cylinders 4 work on, when lower position block 35c moves to upper limit position block During 34 shielding plate 343, the lower position block 35c pieces 343 that are blocked block, and upper lifting slide plate 35 can be moved to extreme higher position, this When No. four hydraulic cylinders 4 be stopped, it is upper lifting slide plate 35 it is lower lifting slide plate 32 whole lift in height during have lower liter Drop slide plate 32 and No. four hydraulic cylinders 4 provide a supporting role, and lifting process is more steady, non-jitter situation, realize of the invention steady Fixed lift in height regulatory function, operating efficiency are high.

The cleaning machine hand 5 includes the support round platform 51 installed in swallowtail-shaped slide 38 and No. four tops of hydraulic cylinder 4, branch Holding round and No. five hydraulic cylinders 52 are installed in the middle part of the upper surface of platform 51, the top of No. five hydraulic cylinders 52 is provided with square regulating block 53, Four spacing holes are symmetrically arranged with square regulating block 53, support round platform 51 upper surface is symmetrically welded with four positioning round bars 54, And four positioning round bars 54 are located on four spacing holes of square regulating block 53 respectively, four positioning round bars 54 play restriction side The effect of the direction of motion of type regulating block 53 so that square regulating block 53 is stable under the drive of No. five hydraulic cylinders 52 to be made to transport up and down It is dynamic；Support round platform 51 upper surface is uniformly provided with four cleaning devices 55, cleaning device 55 by screw in the axial direction Clearing function and dedusting function and one can be collected with the cobweb on automated cleaning interior architecture furred ceiling, ceiling, dust, and Four angular transition side chains 56 are separately installed between four cleaning devices 55 and four sides of square regulating block 53, pass through angle Degree changes side chain 56 and No. five hydraulic cylinders 52 to adjust the cleaning angle of cleaning device 55；The angular transition side chain 56 includes weldering No. four ear mounts 561 being connected on the side of square regulating block 53, No. six hydraulic cylinders are provided with by bearing pin between No. four ear mounts 561 562, the top of No. six hydraulic cylinders 562 is arranged in No. five ear mounts 563 by bearing pin, and No. five ear mounts 563 are welded on gusset 553a On medial surface；The cleaning device 55 includes being arranged on No. two L-type connecting rods 551 for supporting the upper surface of round platform 51 by screw, and two Number end of L-type connecting rod 551 is provided between two No. three hangers 551a, two No. three hanger 551a is provided with No. four by bearing pin Hanger 552a, No. four hanger 552a are arranged on the lower surface middle part of connecting plate 552, and connecting plate 552 can be in No. two L-type connecting rods 551 Upper rotation, the upper surface of connecting plate 552 are symmetrically welded with two pieces of supporting vertical plates 553, welded between the lower end of two pieces of supporting vertical plates 553 Gusset 553a is connected to, gusset 553a plays a part of strengthening two pieces of support strengths of supporting vertical plate 553, gusset 553a medial surfaces and side Angular transition side chain 56 is installed between the corresponding side surface of type regulating block 53；Pass through between two pieces of supporting vertical plates 553 upper end Bearing is provided with rotary shaft 554, and the end of rotary shaft 554 is provided with motor 555 by shaft coupling, and motor 555 is logical Motor cabinet is crossed on motor support plate 556, motor support plate 556 is welded in the side wall of corresponding supporting vertical plate 553；The rotation The middle part of axle 554 is provided with roller 557 by key, and the upper and lower ends of roller 557 are all uniformly provided with cleaning beam 557a, pass through drive Dynamic motor 555 drives rotary shaft 554 to rotate, and rotary shaft 554 drives roller 557 to rotate, and roller 557 drives the 557a cleanings of cleaning beam Cobweb on interior architecture furred ceiling, ceiling, and it is separately installed with cleaning arc on the cleaning beam 557a of the upper and lower ends of roller 557 Plate 558, it is connected by clearing up bolt 558a between two cleaning arc plates 558；The cleaning arc plate 558 is semicircular structure, clearly It is corresponding with the structure of roller 557 to manage the structure of arc plate 558, is convenient to clean the installation and operation of arc plate 558, clears up outside arc plate 558 Cleaning circular hole 558b is evenly arranged with wall in the axial direction, and is corresponded on each cleaning circular hole 558b and is equipped with cleaning beam 557a, cleaning circular hole 558b play the cobweb effect for stopping and being wrapped on cleaning beam 557a, and the both sides of cleaning arc plate 558 are symmetrical Four mounting ear 558c are provided with, and are connected between the mounting ear 558c of two cleaning arc plates 558 by clearing up bolt 558a, When being wound with many cobwebs on cleaning beam 557a, it is necessary to cleared up, will be fixed first between two cleaning arc plates 558 Cleaning bolt 558a open, then the manually operated cleaning arc plate 558 of operator up moves, due to each cleaning beam 557a All it is located on the corresponding cleaning circular hole 558b of cleaning arc plate 558, the up motion of cleaning arc plate 558 is by cleaning circular hole 558b Limiting-blocking effect the cobweb being wrapped on cleaning beam 557a is directly pooled to cleaning beam 557a tops, then cleaner People is handled by extraneous cleaning bar, and cleaning arc plate 558 is moved into lower section by clearing up bolt 558a weights after being disposed It is new fixed；Dust suction support plate 553b is welded between two pieces of supporting vertical plates 553, dust suction support plate 553b both sides are symmetrically installed with Two dust suction side chains 559, certain dust that can drop, these dusts to drop are cleared up during cobweb due to building indoors Passing through two 559 timely dust suctions of dust suction side chain, it is therefore prevented that dust is fallen on floor caused by cleaning, alleviates workload, Improve operating efficiency；No. two fixed platforms 5591 of the dust suction side chain 559 including being arranged on dust suction support plate 553b upper surfaces, two Number upper surface of fixed platform 5591 is uniformly provided with four No. two side chains 5592 in parallel, four No. two side chains in parallel in the axial direction 5592 upper surfaces are provided with No. two moving platforms 5593, and the upper surface of No. two moving platforms 5593 is symmetrically arranged with two snap rings 5594, Micro-cleaner 5595 is installed, micro-cleaner 5595 is the dust collection equipment bought on existing market between two snap rings 5594； No. two side chains 5592 in parallel include No. six ear mount 5592a that lower end is welded on No. two fixed platforms 5591, No. six ear mounts The top that 5592a is provided with No. seven hydraulic cylinders 5592b, No. seven hydraulic cylinder 5592b by bearing pin is arranged on No. seven ears by bearing pin On seat 5592c, No. seven ear mount 5592c are arranged on No. two moving platforms 5593.Formed when No. six ear mount 5592a are rotated in the present invention R is secondary, No. seven hydraulic cylinder 5592b motions when form R pairs when rotating when foring P secondary, No. seven ear mount 5592c work, so as to No. two side chains 5592 in parallel of RPR types are formd, eventually through No. two side chains in parallel of 5591, four RPR types of No. two fixed platforms 5592nd, No. two moving platforms 5593 form 4-RPR parallel institutions, 4-RPR parallel institutions also have dynamic response is good, rigidity is high, Large carrying capacity, stability are good and the advantages that kinematic accuracy is high, cause to be arranged on two cards by the advantages of 4-RPR parallel institutions Micro-cleaner 5595 between ring 5594 can remain plateau during regulation dust suction angle and dust suction is rotated, Pick-up performance is good, and operating efficiency is high.During work, first according to the gradient regulation cleaning device on the relative floor in required cleaning place 55 cleaning angle, No. five hydraulic cylinders 52 are started working, and No. five hydraulic cylinders 52 drive square regulating block 53 to move up and down, by four The spacing booster action of root positioning round bar 54 causes square regulating block 53 to make the upper and lower of stabilization under the drive of No. five hydraulic cylinders 52 Motion, at the same time angular transition side chain 56 is started working, and on angular transition side chain 56 No. six hydraulic cylinder 562 drives sanitizer cartridge The gusset 553a put on 55 is rotated, and gusset 553a drives connecting plate 552 to be rotated on No. two L-type connecting rods 551, passes through No. five hydraulic pressure Cylinder 52 and No. six hydraulic cylinders 562 work and realize the function that cleaning device 55 cleans angular adjustment, when clear on cleaning device 55 No. five hydraulic cylinders 52 and No. six hydraulic cylinders 562 are stopped during the reason beam 557a distances local correct position of required cleaning, then drive Dynamic motor 555 is started working, and motor 555 drives rotary shaft 554 to rotate, and rotary shaft 554 drives roller 557 to rotate, roller Cobweb on 557 drive cleaning beam 557a cleaning interior architectures furred ceilings, ceiling, at the same time positioned at the both sides of roller 557 Two dust suction side chains 559 are started working, and the micro-cleaner 5595 on dust suction side chain 559 constantly absorbs the ash that scale removal process drops Dirt, it is achieved thereby that the function of present invention automation cleaning interior architecture.

The type of No. four hydraulic cylinders 4 and No. five hydraulic cylinders 52 is multistage hydraulic cylinder, the flexible model of multistage hydraulic cylinder Enclose it is bigger, be easy to the present invention work.

In use, the present invention is arranged on existing mobile device first, it is by existing mobile device that the present invention is mobile It is local to cleaning needed for interior architecture, when cleaning place height is higher needed for interior architecture needs to increase Support Position, now No. four hydraulic cylinders 4 are started working, and No. four hydraulic cylinders 4 drive cleaning machine hand 5 up to work, at the same time the band of cleaning machine hand 5 Move four rigidity lifting side chains 3 to work, two upper bending section 35b on upper lifting slide plate 35 are in lower two lifted on slide plate 32 Lower bending section 32b is up moved, and upper lifting slide plate 35 drives the swallow-tail form traveller 37 lifted on stator 36 to move, due under Lifting slide plate 32 is obliquely welded on lower lifting stator 31, so that upper lifting slide plate 35 is also transported toward incline direction It is dynamic, so as to drive the swallow-tail form traveller 37 on upper lifting stator 36 to be moved on swallowtail-shaped slide 38, if having moved one section Apart from it is not high enough when, it is necessary to No. four hydraulic cylinders 4 work on, when lower position block 35c moves to the shielding plate of upper limit position block 34 When 343, the lower position block 35c pieces 343 that are blocked block, and upper lifting slide plate 35 can be moved to extreme higher position, now No. four hydraulic pressure Cylinder 4 is stopped, and upper lifting slide plate 35 has the lower lifting He of slide plate 32 during the whole lift in height of lower lifting slide plate 32 No. four hydraulic cylinders 4 provide a supporting role, and lifting process is more steady, non-jitter situation, realize the stable height liter of the present invention Regulatory function drops, and operating efficiency is high；Then cleaning device 55 is adjusted further according to the gradient on the relative floor in required cleaning place Angle is cleaned, No. five hydraulic cylinders 52 are started working, and No. five hydraulic cylinders 52 drive square regulating block 53 to move up and down, fixed by four The spacing booster action of circle of position bar 54 causes square regulating block 53 to make stable up and down motion under the drive of No. five hydraulic cylinders 52, At the same time angular transition side chain 56 is started working, and on angular transition side chain 56 No. six hydraulic cylinder 562 drives cleaning device 55 On gusset 553a rotate, gusset 553a drive connecting plate 552 rotated on No. two L-type connecting rods 551, pass through No. five hydraulic cylinders 52 Being worked with No. six hydraulic cylinders 562 realizes the function that cleaning device 55 cleans angular adjustment, when the cleaning beam on cleaning device 55 No. five hydraulic cylinders 52 and No. six hydraulic cylinders 562 are stopped during the 557a distances local correct position of required cleaning, then driving electricity Machine 555 is started working, and motor 555 drives rotary shaft 554 to rotate, and rotary shaft 554 drives roller 557 to rotate, the band of roller 557 Cobweb on dynamic cleaning beam 557a cleaning interior architectures furred ceiling, ceiling, many cobwebs are wound with when clearing up on beam 557a When, it is necessary to cleared up, first opened cleaning bolt 558a fixed between two cleaning arc plates 558, then operative employee The manually operated cleaning arc plate 558 of people up moves, because each cleaning beam 557a is located in the corresponding cleaning of cleaning arc plate 558 On circular hole 558b, up moving for cleaning arc plate 558 will be directly wrapped in clearly by cleaning circular hole 558b limiting-blocking effect Cobweb on reason beam 557a is pooled to cleaning beam 557a tops, and then street cleaner is handled by extraneous cleaning bar, is located Cleaning arc plate 558 is moved into lower section after reason to retighten by clearing up bolt 558a, at the same time positioned at 557 liang of roller Two dust suction side chains 559 of side are started working, and the micro-cleaner 5595 on dust suction side chain 559 constantly absorbs scale removal process and dropped Dust, because No. two 5592, No. two moving platforms 5593 of side chain in parallel of 5591, four RPR types of No. two fixed platforms form 4- RPR parallel institutions, 4-RPR parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy The advantages that high, the micro-cleaner 5595 for be arranged between two snap rings 5594 by the advantages of 4-RPR parallel institutions exist Plateau can be remained during rotation regulation dust suction angle and dust suction, pick-up performance is good, and operating efficiency is high, so as to real The function of automation cleaning interior architecture of the invention is showed, has solved by present level auxiliary equipment manual cleaning interior architecture The existing cleaning speed of mode is slow, labor intensity is big, automaticity is low, device height regulation performance is poor, the scope of application is small and The problems such as operating efficiency is low, have reached purpose.

The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent Define.

Claims

A kind of 1. interior architecture automatic cleaning robot, it is characterised in that：Including installation round platform (2), on the installation round platform (2) End face is symmetrically installed with four rigidity lifting side chains (3) by screw, and installation is provided with No. four hydraulic pressure in the middle part of round platform (2) upper surface Cylinder (4), and the top of four rigidity lifting side chains (3) and No. four hydraulic cylinders (4) is provided with cleaning machine hand (5)；The rigidity Lifting side chain (3) includes being arranged on the lower lifting stator (31) of installation round platform (2) upper surface, lower lifting stator by screw (31) lower lifting slide plate (32) is obliquely welded with, the middle part upper end of lower lifting slide plate (32) is symmetrical by fixing bolt (33) Two upper limit position blocks (34) are installed, lower lift is provided with upper lifting slide plate (35) on slide plate (32) by sliding matching mode, Lifting stator (36) is welded with upper lifting slide plate (35), swallow-tail form traveller is welded with upper lifting stator (36) (37), swallow-tail form traveller (37) is connected by sliding matching mode with swallowtail-shaped slide (38), and swallowtail-shaped slide (38) both ends are in Closed, and swallowtail-shaped slide (38) upper end on four rigidity lifting side chains (3) is provided with cleaning machine hand (5)；Under described Lifting slide plate (32) includes the lower plane bottom (32a) that lower end is welded on lower lifting stator (31), lower plane bottom (32a) Both sides are set respectively integrally formed with aduncate two lower bending sections (32b), two lower bending sections (32b) middle parts upper end respectively It is equipped with two openings, two openings on two lower bending sections (32b) are provided with two upper limits by fixing bolt (33) Block (34)；The upper limit position block (34) includes matrix (341), is symmetrically arranged with two nut bores (34a) on matrix (341), and two Two fixing nuts (342) are separately installed with individual nut bore (34a), and each fixing nut (342) passes through lower lifting slide plate (32) the lower bending section (32b) on is connected with fixing bolt (33), and the side lower end of matrix (341) is integrally formed with shielding plate (343), the upper end of matrix (341) hooks post (344) integrally formed with L-type, and the upper end that L-type hooks post (344) is hooked in lower lifting slide plate (32) lower bending section (32b) upper end；

The cleaning machine hand (5) includes the support round platform installed in swallowtail-shaped slide (38) and No. four hydraulic cylinder (4) tops (51), support and No. five hydraulic cylinders (52) are installed 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), four spacing holes are symmetrically arranged with square regulating block (53), support round platform (51) upper surface balanced welding Four positioning round bars (54) are connected to, and four positioning round bars (54) are located in four spacing holes of square regulating block (53) respectively On；Described support round platform (51) upper surface is uniformly provided with four cleaning devices (55), and four by screw in the axial direction Four angular transition side chains (56) are separately installed between cleaning device (55) and four sides of square regulating block (53)；It is described Cleaning device (55) includes being arranged on No. two L-type connecting rods (551) of support round platform (51) upper surface by screw, and No. two L-types connect Bar (551) end is provided with two No. three hangers (551a), and No. four are provided with by bearing pin between two No. three hangers (551a) Hanger (552a), No. four hangers (552a) are arranged in the middle part of the lower surface of connecting plate (552), the upper surface pair of connecting plate (552) Title is welded with two pieces of supporting vertical plates (553), and gusset (553a), gusset are welded between the lower end of two pieces of supporting vertical plates (553) Angular transition side chain (56) is installed between the corresponding side surface of (553a) medial surface and square regulating block (53)；Two pieces of supports Rotary shaft (554) is provided with by bearing between riser (553) upper end, the end of rotary shaft (554) is provided with by shaft coupling Motor (555), motor (555) are arranged on motor support plate (556) by motor cabinet, motor support plate (556) welding In the side wall of corresponding supporting vertical plate (553)；The middle part of the rotary shaft (554) is provided with roller (557), roller by key (557) upper and lower ends are all uniformly provided with cleaning beam (557a), and divide on the cleaning beam (557a) of roller (557) upper and lower ends Cleaning arc plate (558) is not installed, is connected between two cleaning arc plates (558) by clearing up bolt (558a)；Two pieces of branch Dust suction support plate (553b) is welded between support riser (553), the both sides of dust suction support plate (553b) are symmetrically installed with two dust suction branch Chain (559).
A kind of 2. interior architecture automatic cleaning robot according to claim 1, it is characterised in that：The upper lifting slide plate (35) the upper planar base (35a) that upper end is welded on lifting stator (36), upper planar base (35a) and lower lifting are included It is connected between lower plane bottom (32a) on slide plate (32) by sliding matching mode, upper planar base (35a) both sides difference one It is body formed to have aduncate two upper bending section (35b), the inwalls of two upper bending section (35b) respectively with two lower bending sections It is connected between the outer wall of (32b) by sliding matching mode, the bottom of upper planar base (35a) is symmetrically arranged with and two upper limits Two corresponding lower position blocks (35c) of shielding plate (343) on position block (34).
A kind of 3. interior architecture automatic cleaning robot according to claim 1, it is characterised in that：The angular transition branch Chain (56) includes No. four ear mounts (561) being welded on square regulating block (53) side, passes through bearing pin between No. four ear mounts (561) No. six hydraulic cylinders (562) are installed, the top of No. six hydraulic cylinders (562) is arranged on No. five ear mounts (563) by bearing pin, No. five Ear mount (563) is welded on gusset (553a) medial surface.
A kind of 4. interior architecture automatic cleaning robot according to claim 1, it is characterised in that：The cleaning arc plate (558) it is semicircular structure, clears up on arc plate (558) outer wall and be evenly arranged with cleaning circular hole (558b) in the axial direction, and often Corresponding on individual cleaning circular hole (558b) to be equipped with cleaning beam (557a), the both sides of cleaning arc plate (558) are symmetrically arranged with four Mounting ear (558c), and be connected between the mounting ear (558c) of two cleaning arc plates (558) by clearing up bolt (558a).
A kind of 5. interior architecture automatic cleaning robot according to claim 1, it is characterised in that：The dust suction side chain (559) No. two fixed platforms (5591) installed in dust suction support plate (553b) upper surface, No. two fixed platform (5591) upper surfaces are included Four No. two side chains (5592) in parallel are uniformly installed in the axial direction, 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) are symmetrically arranged with two snap rings (5594), two snap rings (5594) micro-cleaner (5595) is installed between；No. two side chains (5592) in parallel are welded on No. two including lower end and allocated No. six ear mounts (5592a) on platform (5591), No. six ear mounts (5592a) are provided with No. seven hydraulic cylinders (5592b) by bearing pin, and seven The top of number hydraulic cylinder (5592b) is arranged on No. seven ear mounts (5592c) by bearing pin, and No. seven ear mounts (5592c) are arranged on two On number moving platform (5593).
A kind of 6. interior architecture automatic cleaning robot according to claim 1, it is characterised in that：No. four hydraulic cylinders (4) and the types of No. five hydraulic cylinders (52) is multistage hydraulic cylinder.