CN106003085B

CN106003085B - A kind of Full-automatic high altitude wipes window intelligent robot

Info

Publication number: CN106003085B
Application number: CN201610491421.8A
Authority: CN
Inventors: 曹宇; 王洪波; 刘平凡
Original assignee: Harbin Robotics Group (guangzhou) Intellectual Property Klc Holdings Ltd
Current assignee: Harbin University of technology robot group (Shandong) Co., Ltd.
Priority date: 2016-06-28
Filing date: 2016-06-28
Publication date: 2018-05-15
Anticipated expiration: 2036-06-28
Also published as: CN106003085A; CN108015777B; CN107802204A; CN107802204B; CN108015777A

Abstract

The present invention relates to a kind of Full-automatic high altitude to wipe window intelligent robot, including from steady running gear, there is good fixed performance and stability from steady running gear, eliminate and situation is shaken present in wiping process, improve work efficiency, it is described that removable fixation means are installed from the middle part of steady running gear upper surface, removable fixation means have the function of convenient to remove and install, when there is damage and needing repairing, can be by manual teardown of the present invention by removable fixation means, only need to take the position of damage maintenance, it is easy to operate, the upper end of removable fixation means is provided with orientable conversion equipment, orientable conversion equipment has the function of to wipe adjustable angle, so that the present invention is suitable for the high-altitude glass of different angle, the scope of application is big, the upper surface of orientable conversion equipment is provided with window wiping robot.The present invention can realize the full-automatic wiping function of high-altitude glass, there is provided the new way that a kind of high-altitude glass automatically wipes.

Description

A kind of Full-automatic high altitude wipes window intelligent robot

Technical field

The present invention relates to smart home field, specifically a kind of Full-automatic high altitude wipes window intelligent robot.

Background technology

With the continuous development of China's economy, the office building of various regions, office building contour level building are stood in great numbers and are risen, generally for Substantial amounts of glass can be installed by increasing the unobscured degree of office building, office building and reducing cost, although so considerably increasing high building Aesthetics, also increase the cleaning difficulty of high-rise building glass at the same time, although in the market has substantial amounts of window wiping robot, But these window wiping robots have the following disadvantages：1st, these window wiping robots are essentially all that absorption carries out clearly in glass surface Wash, being required for manually placing could above work, in need after wiping manually to take down, cumbersome, work efficiency Lowly；2nd, shake situation occurs due to being fitted without autostabiliazer unit in these window wiping robots during glass wiping, fixed Poor performance, stability is poor, causes to leave on glass in wiping process and wipes trace one by one, and clearing glass cleanliness is low, Also reduce work efficiency；3rd, these window wiping robots is all that plane wipes, and wiping angle is unadjustable, different when occurring During the glass of angle will operating personnel take and place repeatedly operation, greatly reduce the scope of application；4th, these window cleaning equipment devices People is that good, non-dismountable installation is fixedly mounted, and just needs whole machine to lead out maintenance when damage, operates and answer It is miscellaneous；5th, these window wiping robots are due to being wiped using rag, and due to there was only a wiping rag, operator needs Wiping rag is often replaced manually, reduce glass wiping speed, it is complicated, also reduce work efficiency.

The content of the invention

To solve the above-mentioned problems, the present invention provides a kind of Full-automatic high altitude to wipe window intelligent robot, can solve existing With the presence of the placement that needs manually to take existing for window wiping robot, cumbersome, wiping process shake situation, fixed performance it is poor, Stability is low, unadjustable, the non-dismountable installation that wipes angle, needs often to replace that cleaning wiping cloth, the scope of application are small, wipe manually Wipe the problems such as speed is slow and work efficiency is low, it is possible to achieve the full-automatic wiping function of high-altitude glass, eliminates wiping process Present in shake situation, fixed performance is good, and stability is good, have it is easy to operate, without manually take placement, wipe angle It is adjustable, convenient can remove and install, without often manually replace cleaning wiping cloth, wiping speed is fast, the scope of application is big and work efficiency is high The advantages that, there is provided the new way that a kind of high-altitude glass automatically wipes.

To achieve these goals, the present invention is realized using following technical scheme：A kind of Full-automatic high altitude wipes window intelligence Robot, including from steady running gear, there is good fixed performance and stability from steady running gear, eliminate and wipe across Situation is shaken present in journey, is improved work efficiency, described be provided with from the middle part of steady running gear upper surface is detachably fixed Device, removable fixation means have the function of convenient to remove and install, when damage occur and needing repairing, by detachably solid Determining device can be by manual teardown of the present invention, it is only necessary to the position of damage is taken maintenance, it is easy to operate, and it is detachably fixed The upper end of device is provided with orientable conversion equipment, and orientable conversion equipment has the function of to wipe adjustable angle so that this hair The bright high-altitude glass suitable for different angle, the scope of application is big, and the upper surface of orientable conversion equipment is provided with window wiping robot, Window wiping robot realizes the function that automatically wipes of the present invention.

It is described to include walking erecting bed, the walking from steady running gear as a preferred technical solution of the present invention The lower face of erecting bed is symmetrically installed with four supporting mechanisms in parallel, and one is mounted on the lower face of each parallel connection supporting mechanism The present invention, is moved to below required cleaning glass window by a universal wheel by four universal wheels, easy to operate；The parallel connection support machine Structure includes the fixed platform being welded on walking erecting bed lower face, and fixed platform lower face is uniformly provided with three simultaneously in the axial direction Join side chain, the top of three side chains in parallel is installed on moving platform, and the lower face of moving platform is provided with universal wheel；The parallel connection Side chain includes being welded on ear mount on fixed platform lower face, and No.1 hydraulic cylinder, No.1 hydraulic cylinder are provided with by axis pin in ear mount It can be rotated in ear mount, the top of No.1 hydraulic cylinder is provided with connecting cylinder by screw thread, and spiral shell is provided with by screw thread on connecting cylinder Line column, the end of threaded post are welded on mobile cylinder, and mobile cylinder is set on shifting axle, and mobile cylinder can be on shifting axle Rotate or mobile, the both ends of shifting axle are separately fixed in two fixed ears, and two fixed ears are welded on the upper of moving platform On end face, prismatic pair P that the present invention is formed by No.1 hydraulic cylinder in revolute pair R that ear mount is formed, No.1 hydraulic cylinder, The cylindrical pair C that mobile cylinder is formed on shifting axle constitutes the side chain in parallel of RPC types, and fixed platform in the present invention, three The side chain and moving platform in parallel of RPC types constitute 3-RPC parallel institutions, and 3-RPC parallel institutions have that dynamic response is good, rigidity Height, large carrying capacity, stability are good and the advantages that kinematic accuracy is high, and the present invention causes this by the advantages of 3-RPC parallel institutions Invention remains plateau during glass wiping, eliminates and situation is shaken present in wiping process, stability It is good, No.1 locating shaft is welded with the middle part of the lower face of the walking erecting bed, the lower end of No.1 locating shaft passes through the side of being slidably matched Formula is installed on the inner wall of No.1 positioning cylinder, and No.1 positioning cylinder can do stretching motion up and down, No.1 in No.1 locating shaft Limit spring is arranged with the outer wall of locating shaft, the upper end of limit spring is resisted against on the lower face of walking erecting bed, spacing bullet The lower face of spring is resisted against on the upper surface of No.1 positioning cylinder, and limit spring defines that No.1 positions cylinder in No.1 locating shaft In peak exercise；The lower face on both sides of the middle of the walking erecting bed is symmetrically welded with two limited posts, two limited posts Middle lower end be respectively arranged with two square limit holes；Be symmetrically welded with the two side of No.1 positioning cylinder two it is spacing Block, two limited blocks are spacing since limited block is welded on No.1 positioning cylinder respectively positioned at the inside of two square limit holes Block up and down motion distance be exactly No.1 position cylinder distance of stretch out and draw back up and down, therefore limited block square limit hole movement away from From being exactly that No.1 positions telescopic extensions of the cylinder in No.1 locating shaft, limited block plays the role of limiting move distance, No.1 The lower end of positioning cylinder is welded on mounting blocks, and mounting blocks are square structure, and one is welded with each side of mounting blocks Root L-type fixed supported slab, the end of every L-type fixed supported slab are welded with one piece of fixinig plate, and No.1 positions the up and down motion of cylinder Four L-type fixed supported slabs movement on synchronous drive mounting blocks, four L-type fixed supported slabs drive four pieces of fixinig plates to transport up and down again Dynamic, move distance of the limited block of the present invention on the square limit hole of limited post is exactly the up and down motion distance of four pieces of fixinig plates, Prevent the phenomenon of hyperkinesia of the present invention；One is mounted between every L-type fixed supported slab and walking erecting bed lower face Hydraulic pressure fixes side chain, and fixing side chain by four hydraulic pressure drives four L-type fixed supported slabs to move, and four L-type fixed supported slabs drive Four pieces of fixinig plates movements, the present invention operatively increase the present invention operatively by the way that four pieces of fixinig plates are just mutually attached on plate The fixed performance of plate, fixed performance is good, also further increases stability of the present invention；The hydraulic pressure, which fixes side chain, includes welding No. two hydraulic cylinders on walking erecting bed, the top of No. two hydraulic cylinders is by being threadably mounted on mounting flange, mounting flange It is installed on by screw on corresponding L-type fixed supported slab, mounting flange plays the work of No. two hydraulic cylinders of connection and L-type fixed supported slab With.During work, the present invention is moved to below required cleaning glass window by four universal wheels first, after location determination is good, Four No. two hydraulic cylinders that four hydraulic pressure are fixed on side chain start simultaneously at work, and No. two hydraulic cylinders drive four L-type fixed supported slabs Movement, four L-type fixed supported slabs drive the mounting blocks movement of top, and mounting blocks drive No.1 positioning cylinder to be stretched in No.1 locating shaft Contracting movement, drives all things movement below No.1 positioning cylinder, so as to drive four pieces of fixations under the action of limit spring Piece moves, and when four pieces of fixinig plates are just mutually attached to operatively on plate, No. two hydraulic cylinders are stopped, and adds the present invention and is grasping Make the fixed performance on floor, the phenomenon for preventing the present invention from running chaotically everywhere, fixed performance is good, also increases stability of the present invention, When the present invention needs to adjust position, No. two hydraulic cylinders drive four pieces of fixinig plates slightly up to shrink universal wheel and can move everywhere, together When the present invention formed by No.1 hydraulic cylinder in revolute pair R that ear mount is formed, No.1 hydraulic cylinder prismatic pair P, movement The cylindrical pair C that cylinder is formed on shifting axle constitutes the side chain in parallel of RPC types, and fixed platform, three RPC types in the present invention Side chain and moving platform in parallel constitute 3-RPC parallel institutions, 3-RPC parallel institutions have that dynamic response is good, rigidity is high, carrying The advantages that ability is big, stability is good and kinematic accuracy is high, the present invention cause the present invention in glass by the advantages of 3-RPC parallel institutions Plateau is remained in glass wiping process, eliminates and situation is shaken present in wiping process, further increases stabilization Performance.

As a preferred technical solution of the present invention, the removable fixation means include being welded on walking erecting bed The fixed disc of end face, uniform welding has four No. two locating shafts in the axial direction at the upper surface middle part of the fixed disc, Gu The upper surface of fixed disk is symmetrically installed with four adjustable locking mechanisms, and is provided with movable fixation between four adjustable locking mechanisms Platform, the four of movable fixed station sides are locked by four adjustable locking mechanisms；The lower end of the activity fixed station is symmetrically set It is equipped with four positioning round orifice, four No. two locating shafts is separately installed with by gap fiting mode inside four positioning round orifice, and Movable fixed station lower face is placed on fixed disc, and the height of positioning round orifice is more than the height of No. two locating shafts, ensure that two Number locating shaft can be entirely located in inside positioning round orifice so that activity fixed station lower face is mutually attached on fixed disc completely, No. two Locating shaft plays the role of activity orientation activity fixed station lower face；One is both provided with each side wall of the activity fixed station A limiting groove, each sidewall upper of movable fixed station are welded with a curved fixed block, are set on each curved fixed block There are two threaded holes, a fixing bolt is separately installed with each threaded hole, the upper surface of movable fixed station is symmetrically welded with Eight fixing nuts, and the lower end of eight fixing bolts is corresponding in eight fixing nuts respectively, external device passes through solid Curved fixed block can be movably arranged on by determining bolt, be removed and installed conveniently；The adjustable locking mechanism includes pacifying by hinge Spacing pressing plate mounted in fixed disc upper surface, is welded with No. three locating shafts on the inner wall of spacing pressing plate, No. three locating shafts are located at Inside the correspondence limiting groove of movable fixed station, No. three locating shafts play the role of activity orientation activity fixed station side wall, spacing Hydraulic-driven side chain is tiltedly installed between the outer wall of pressing plate and fixed disc upper surface, hydraulic-driven side chain drives spacing pressing plate Rotated in fixed disc, so as to drive No. three locating shafts slowly to turn to inside corresponding limiting groove, in movable fixed station lower end Face afterwards again can be poor with four side walls of activity orientation activity fixed station, locating effect by activity orientation so that movable fixed station It can remove and install up and down, easy to the maintenance after damaging；The hydraulic-driven side chain includes being welded on fixed disc upper surface No.1 angled seat, is provided with No. three hydraulic cylinders in No.1 angled seat by axis pin, and the top of No. three hydraulic cylinders is installed on two by axis pin On bugle seat, two bugle seats are welded on the outer wall of spacing pressing plate, when the external device for being fixed on curved fixed block upper surface goes out When now damaging, it is only necessary to maintenance conditions can be disassembled by fixing nut, it is easy to operate, when if middle activity is consolidated When determining platform damage, four No. three hydraulic cylinders in four adjustable locking mechanisms start simultaneously at work, and No. three hydraulic cylinders drive spacing Pressing plate is rotated in fixed disc, so as to drive No. three locating shafts slowly to produce corresponding limiting groove, when No. three locating shafts turn completely No. three hydraulic cylinders are stopped when going out corresponding limiting groove, eliminate the positioning of movable four side walls of fixed station, then operative employee People manually takes out movable fixed station from No. two locating shafts, realizes the function that the present invention convenient can remove and install, operation It is easy.

As a preferred technical solution of the present invention, the orientable conversion equipment includes pacifying by eight fixing bolts Transfer table mounted in four curved fixed block upper surfaces, is welded with No. two positioning cylinders in the middle part of the upper surface of the transfer table, and two By two Limit Bearings transaxle is installed on the inner wall of number positioning cylinder, the top of transaxle is welded with conversion plectane, turns Change on the upper end outer wall of axis that uniform welding there are four manual adjustment rods in the axial direction, the end of every manual adjustment rod is welded There is one to adjust ball manually, when needing to change wiping angle, operator only needs to hold in any one manual adjustment rod The manual ball that adjusts transaxle can be driven to position rotary drums at No. two；Angular adjustment is welded with the middle part of the transaxle Disk, the upper surface outside of angular adjustment disk are evenly arranged with square card slot in the axial direction, and the number of square card slot is 24 A, two neighboring square card slot is 15 degree relative to the angle of angular adjustment disk center axis so that the present invention often turns over one A square card slot just have adjusted 15 degree of wiping angle, so that the wiping angle of the present invention can be accurately obtained control, angle Uniform welding has four T-shaped gag lever posts in the axial direction for the lower face of degree adjustment disk, and every T-shaped gag lever post lower end is both provided with one A upper limit hole；Annular flange is welded with the middle part of the upper surface of the transfer table, the upper surface of annular flange is equal in the axial direction Even to be provided with lower limit hole, the lower limit number of perforations in annular flange is identical with square card slot number so that two neighboring lower limit Position hole central axis is also 15 degree relative to the angle of annular flange central axis, just corresponding with square card slot, and four Four T are equipped with respectively between four upper limit holes on the T-shaped gag lever post of root and four corresponding lower limit holes in annular flange Type limit pin shaft, when the square card slot on angular adjustment disk adjusts good position, as long as operator stretches into T-shaped limit pin shaft Upper limit hole and corresponding lower limit hole, so as to be defined to angle adjustment disk lower end；The upper surface of the transfer table Outside is symmetrically installed with four conversion locking side chains, and four conversion locking side chains are separately mounted to four correspondences of angular adjustment disk On square card slot, side chain is locked by four conversions to realize the function of limiting angle adjustment disk upper end；The conversion locking Side chain includes the square cushion block for being welded on transfer table upper surface, and square cushion block upper end is provided with fixed cunning of the both ends in closed state Groove, is provided with L-type fixed slip bar in fixed chute, the upper surface of L-type fixed slip bar is welded with bar shaped by sliding matching mode Card column, the end of bar shaped card column are installed on the correspondence square card slot of angular adjustment disk；The L-type fixed slip bar end is provided with Rubber handle, operating personnel drive L-type fixed slip bar to be moved in fixed chute by holding rubber handle, so as to drive L-type Bar shaped card column synchronizing moving above fixed slip bar, until the end of bar shaped card column just enters the counterparty of angular adjustment disk Untill on type card slot, angle adjustment disk upper end is defined by bar shaped card column.During work, it is first determined required wiping glass The angle of glass, according to the wiping angle of the angular adjustment present invention of required cleaning glass window, operator only needs to hold nearest one The manual ball that adjusts in a manual adjustment rod can drive transaxle to position rotary drum at No. two, during transaxle drive is welded on The angular adjustment disk in portion rotates synchronously, then according to the angle-determining of required cleaning glass window relative to angular adjustment disk center axis The square card slot number turned over, after angular adjustment disk has rotated, four T-shaped limit pin shafts are first put into the upper limit by operating personnel In position hole, lower limit hole, so as to be defined to angle adjustment disk lower end, at the same time, operating personnel are by holding rubber Handle drives L-type fixed slip bar to be moved in fixed chute, so as to drive the bar shaped card column above L-type fixed slip bar synchronously to move It is dynamic, untill the end of four bar shaped card columns is just entered on four corresponding square card slots of angular adjustment disk, pass through bar Shape card column is defined angle adjustment disk upper end, it is achieved thereby that the present invention wipe angle can accurate transformation function, nothing Cleaning positions need to be manually changed, it is easy to operate.

2. being used as a preferred technical solution of the present invention, the window wiping robot includes being welded on conversion plectane upper surface Wiping window fixed station, the wiping window fixed station on both sides of the upper end is provided with two pieces of risers by screw, the top weldering of two pieces of risers It is connected to top plate；Driving motor is provided with by motor cabinet in the middle part of the wiping window fixed station upper surface, is driven on the output shaft of motor Leading screw is provided with by shaft coupling, the middle part of leading screw is provided with movable block by screw thread, and the left end of movable block is welded with chucking lug, Two No. four locating shafts are symmetrically installed with by gap fiting mode on chucking lug, the lower end of two No. four locating shafts is by usheing to seat On window fixed station is wiped, the upper end of two No. four locating shafts is installed on fixed plate lower face bearing by rolling bearing units, fixed Plate is welded on the side wall of top plate, and No. four locating shafts play the role of positioning support movable block so that movable block is in No. four positioning It can only make vertical displacement movement under the auxiliary positioning of axis, it is therefore prevented that occur the phenomenon rotated in movable block lifting process；The shifting The right side of motion block is welded with four connecting shafts, and the right end of four connecting shafts, which is welded with, wipes window erecting bed, and four connecting shafts play The effect of window erecting bed is wiped in fixed support, and wiping the side wall of window erecting bed, uniform welding has four limit sliding chutes in the axial direction, and four Triangle rib is welded between the back bottom of a limit sliding chutes and wiping window erecting bed side wall, triangle rib enhances spacing cunning Weld strength of the groove on window erecting bed is wiped, adds support strength；It is symmetrically installed with the middle part of the side wall for wiping window erecting bed Four No. four hydraulic cylinders, the top of four No. four hydraulic cylinders are welded with square sliding block, are welded respectively on four side walls of square sliding block Four spacing slide bars are connected to, four spacing slide bars are connected between four limit sliding chutes by sliding matching mode respectively, are led to The limited support for crossing four spacing slide bars and four limit sliding chutes moves the drive for causing square sliding block in four No. four hydraulic cylinders It is lower to make stable stretching motion；The right side of the square sliding block is welded with four installation axles, is arranged with the middle part of four installation axles Four limiting cylinders, are respectively welded four L supporting rods in four limiting cylinders, the top of four L supporting rods is respectively welded at In four limit sliding chutes, support strength of the limiting cylinder to installation axle is added by four L supporting rods so that four installation axles It can stablize and be moved in limiting cylinder；Four installations shaft end, which is welded with, wipes window bottom plate, wipes and is symmetrically welded on window bottom plate There are two pieces of wiping window support plates, wipe for two pieces and rotation axis is provided with by bearing between window support plates, the front end of rotation axis is pacified by shaft coupling Equipped with conversion motor, conversion motor is installed on conversion support plate by motor cabinet, and conversion support plate is welded on before window bottom plate is wiped On the wiping window support plate of side；Convertible wiping window side chain is installed with the middle part of the rotation axis, convertible wiping window side chain can be automatic Cleaning surface is changed, drives convertible wiping window side chain to change cleaning surface by conversion motor after a cleaning surface wiping is messy, Without manually replacing cleaning wiping cloth one by one, it is only necessary to which four cleaning surfaces all wipe cleaning wiping cloth of messy replacement afterwards and are Can, without often replacing cleaning wiping cloth manually, wiping speed is fast, and work efficiency is high；The convertible wiping window side chain includes fixed pacify Convertible wiping windowsill on the rotary shaft is filled, is mounted on a nylon stick paste layer on the convertible each side wall for wiping windowsill, often One piece of wiping window rag is pasted with a nylon stick paste layer, operator convenient can will wipe window rag and be sticked on nylon stick paste layer. During work, window wiping robot is adjusted first the wiping window rag on convertible wiping window side chain is close on required cleaning glass window, four No. four hydraulic cylinders of root start simultaneously at work, and square is moved by four spacing slide bars and the limited support of four limit sliding chutes Sliding block makees stable stretching motion under the drive of four No. four hydraulic cylinders, and square sliding block drives four installation axles spacing in correspondence Make synchronization telescope movement on cylinder, four installation axles drive wiping window rag to make stretching motion by wiping window bottom plate, wiping window support plate, directly No. four hydraulic cylinders on required cleaning glass window are close to wiping window rag to be stopped, and then drive motor to start to work, driving is electric Machine drives leading screw to rotate, and drives movable block to make vertical displacement movement, movable block band in the auxiliary positioning lower leading screw of No. four locating shafts The dynamic wiping window rag wiped on the right side of window fixed station that is installed on moves repeatedly up and down, wipes window rag automatic erasing glass, when this wiping window Rag wipe it is messy when, first pass through No. four hydraulic cylinders and this block wiped into window rag away from glass surface, then conversion motor is opened Beginning work, rotary electric machine drive rotation axis rotation, and rotation axis drives convertible wiping windowsill to rotate, and convertible wiping windowsill, which drives, to be pasted Wiping window rag conversion angle on nylon stick paste layer, thus converted wiping window rag on convertible wiping windowsill another face into Row wipes, according to this method until four on convertible wiping windowsill four faces wipe after window rags have all wiped dirty hand again Window rag is wiped in dynamic replacement of tearing, and wipes window rag without often replacing manually, easy to operate, wiping speed is fast, work efficiency It is high.

As a preferred technical solution of the present invention, the upper surface of the limiting groove is convex structure, spacing recessed The width of groove is more than the diameter of No. three locating shafts, and the movement locus of No. three locating shafts is camber line, the circular arc of limiting groove upper surface Shape structure is just corresponding with the movement locus of No. three locating shafts, so as to be touched when preventing No. three locating shaft movements spacing recessed The phenomenon of groove inner wall, improves work efficiency.

In use, the present invention is moved to below required cleaning glass window by four universal wheels first, when location determination is good Afterwards, four No. two hydraulic cylinders that four hydraulic pressure are fixed on side chain start simultaneously at work, and No. two hydraulic cylinders drive four L-types to fix Support plate moves, and four L-type fixed supported slabs drive the mounting blocks movement of top, and mounting blocks drive No.1 positioning cylinder to be positioned in No.1 Axis stretching motion, drives all things movement below No.1 positioning cylinder, so as to drive four pieces under the action of limit spring Fixinig plate moves, and when four pieces of fixinig plates are just mutually attached to operatively on plate, No. two hydraulic cylinders are stopped, and add the present invention Fixed performance on operation floor, the phenomenon for preventing the present invention from running chaotically everywhere, fixed performance is good, also increases stability of the present invention Can, when the present invention needs to adjust position, No. two hydraulic cylinders drive four pieces of fixinig plates slightly up to shrink universal wheel and can move everywhere It is dynamic；Then according to the wiping angle of the angular adjustment present invention of required cleaning glass window, operator only needs to hold nearest one The manual ball that adjusts in manual adjustment rod can drive transaxle to position rotary drum at No. two, and transaxle, which drives, is welded on middle part Angular adjustment disk rotate synchronously, then according to the angle-determining of required cleaning glass window relative to angular adjustment disk center axis turn The square card slot number crossed, after angular adjustment disk has rotated, four T-shaped limit pin shafts are first put into upper limit by operating personnel In hole, lower limit hole, so as to be defined to angle adjustment disk lower end, at the same time, operating personnel are by holding rubber hand Grip strip is moved L-type fixed slip bar and is moved in fixed chute, so that the bar shaped card column synchronizing moving above L-type fixed slip bar is driven, Untill the end of four bar shaped card columns is just entered on four corresponding square card slots of angular adjustment disk, pass through bar shaped card Column is defined angle adjustment disk upper end, it is achieved thereby that the present invention wipe angle can accurate transformation function, without people Work changes cleaning positions, easy to operate；Last window wiping robot is started to work, and first adjusts window wiping robot by convertible wiping window branch Wiping window rag on chain is close on required cleaning glass window, and four No. four hydraulic cylinders start simultaneously at work, pass through four spacing cunnings Bar and the limited support of four limit sliding chutes are moved so that square sliding block makees stretching for stabilization under the drive of four No. four hydraulic cylinders Contracting movement, square sliding block drive four installation axles to make synchronization telescope movement in corresponding limiting cylinder, and four installation axles pass through wiping Window bottom plate, wiping window support plate drive wiping window rag to make stretching motion, and No. four liquid on required cleaning glass window are close to until wiping window rag Cylinder pressure is stopped, and then drives motor to start to work, and driving motor drives leading screw to rotate, in the auxiliary positioning of No. four locating shafts Lower leading screw drives movable block to make vertical displacement movement, and movable block drives the wiping window rag for being installed on and wiping on the right side of window fixed station anti-up and down Multiple movement, wipes window rag automatic erasing glass, when this wiping window rag wipe it is messy when, first pass through No. four hydraulic cylinders by this Block wipes window rag and drives rotation axis rotation away from glass surface, then conversion motor start-up operation, rotary electric machine, and rotation axis drives Convertible wiping windowsill rotates, and convertible windowsill of wiping drives the wiping window rag conversion angle being pasted onto on nylon stick paste layer, so as to turn The wiping window rag changed on convertible another face of wiping windowsill is wiped, according to this method until convertible wiping windowsill four Wipe replacement of tearing manually again after window rag has all wiped dirty for four on face and wipe window rag, without often replacing manually Window rag is wiped, easy to operate, wiping speed is fast, work efficiency is high, while the present invention is formed by No.1 hydraulic cylinder in ear mount The cylindrical pair C that prismatic pair P, the mobile cylinder formed when revolute pair R, No.1 hydraulic cylinder is formed on shifting axle is constituted The side chain in parallel of RPC types, and fixed platform, the side chain and moving platform in parallel of three RPC types in the present invention constitute 3-RPC parallel connections Mechanism, 3-RPC parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy height etc. is excellent Point, the present invention cause the present invention to remain plateau during glass wiping, disappear by the advantages of 3-RPC parallel institutions Except shaking situation present in wiping process, stability is further increased；If it is fixed on curved fixed block upper surface Equipment when damaging, it is only necessary to maintenance conditions interface can be disassembled by fixing nut, it is easy to operate, but if When being middle movable fixed station damage, four No. three hydraulic cylinders in four adjustable locking mechanisms start simultaneously at work, No. three Hydraulic cylinder drives spacing pressing plate to be rotated in fixed disc, so as to drive No. three locating shafts slowly to produce corresponding limiting groove, when three No. three hydraulic cylinders are stopped when number locating shaft produces corresponding limiting groove completely, eliminate determining for movable four side walls of fixed station Position, then movable fixed station is taken out and convenient can removed and installed from No. two locating shafts manually by operator, easy to operate, finally Realize the full-automatic wiping function of high-altitude glass of the present invention.

The beneficial effects of the invention are as follows：

1st, the fixed platform in the present invention, the side chain and moving platform in parallel of three RPC types constitute 3-RPC parallel institutions, 3- RPC parallel institutions have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, the present invention Cause the present invention to remain plateau during glass wiping by the advantages of 3-RPC parallel institutions, eliminate wiping During existing shake situation, add stability；

2nd, No. two hydraulic cylinders of the present invention drive fixinig plate to be just mutually attached to operatively on plate, add the present invention operatively The fixed performance of plate, the phenomenon for preventing the present invention from running chaotically everywhere, fixed performance is good, also further increases stability of the present invention Energy；

3rd, the present invention drives spacing presser motion to determine movable four side walls of fixed station by No. three hydraulic cylinders Position, when the present invention, which wipes a period of time, to be damaged, it is convenient to be carried out by No. three hydraulic cylinders and the fixing bolt present invention Remove and install, easy to operate, work efficiency is high；

4th, the present invention manually drives transaxle to position rotary drum at No. two, and transaxle drives angular adjustment disk to turn over Accurate square card slot number, turns over the wiping angle that a square card slot representative have adjusted 15 degree, and by T-shaped spacing Axis pin limits angle adjustment disk lower end and is defined by bar shaped card column angular adjustment disk upper end, realizes wiping of the present invention Angle can accurate transformation function, without manually conversion cleaning positions, easy to operate, the scope of application is big；

5th, the present invention drives the convertible wiping window rag wiped on window side chain to be close to required wiping glass by No. four hydraulic cylinders On glass, then it is wiped repeatedly again by driving motor to be driven under the auxiliary of lead screw transmission above and below the wiping window rag on the right side of movable block Glass, and by conversion motor can the convertible four wiping window rags wiped on windowsill four faces of automatic conversion, without often manually Replace and wipe window rag, easy to operate, wiping speed is fast, and work efficiency is high, realizes the full-automatic wiping of high-altitude glass of the present invention Function；

6th, the present invention, which solves, needs manually take placement, cumbersome, wiping process existing for existing window wiping robot In the presence of shake situation, fixed performance is poor, stability is low, unadjustable, the non-dismountable installation that wipes angle, need it is frequent manual Replace cleaning wiping cloth, the problem such as the scope of application is small, wiping speed is slow and work efficiency is low, realize the full-automatic wiping of high-altitude glass Wipe function, eliminate and situation is shaken present in wiping process, fixed performance is good, and stability is good, have it is easy to operate, need not Artificial placement of taking, wipe adjustable angle, convenient can remove and install, is fast, suitable without often replacing cleaning wiping cloth, wiping speed manually It is big and the advantages that work efficiency is high with scope, there is provided the new way that a kind of high-altitude glass automatically wipes.

Brief description of the drawings

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

Fig. 1 is the structure diagram of the present invention；

Fig. 2 is first structure schematic diagram of the present invention from steady running gear；

Fig. 3 is second structure diagram of the present invention from steady running gear；

Fig. 4 is the I of Fig. 3 of the present invention to partial enlarged view.

Fig. 5 is full sectional view of the present invention from steady running gear；

Fig. 6 is the structure diagram of removable fixation means of the present invention；

Fig. 7 is the full sectional view of removable fixation means of the present invention；

Fig. 8 is the structure diagram after removal activity fixed station of the present invention, fixing bolt and fixing nut；

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

Figure 10 is the second structure diagram between the movable fixed station of the present invention, fixing bolt and fixing nut；

Figure 11 is the structure diagram of the orientable conversion equipment of the present invention；

Figure 12 is the full sectional view of the orientable conversion equipment of the present invention；

Figure 13 is the sectional view along A-A of Figure 12 of the present invention；

Figure 14 is the structure diagram of window wiping robot of the present invention；

Figure 15 is the full sectional view of window wiping robot of the present invention；

Figure 16 is the B-B direction sectional view of Figure 15 of the present invention；

Figure 17 is the left view of window wiping robot of the present invention.

Specific embodiment

In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, tie below Conjunction is specifically illustrating, and the present invention is further explained.

As shown in Fig. 1 to Figure 17, a kind of Full-automatic high altitude wipes window intelligent robot, including from steady running gear 1, from steady row Walking apparatus 1 has good fixed performance and stability, eliminates and situation is shaken present in wiping process, improve work Efficiency, described that removable fixation means 2 are provided with from the middle part of steady 1 upper surface of running gear, removable fixation means 2 have can be just The function that victory removes and installs, when damage occur and needing repairing, can be torn the present invention open manually by removable fixation means 2 Unload, it is only necessary to the position of damage is taken maintenance, easy to operate, the upper ends of removable fixation means 2 is provided with orientable Conversion equipment 3, orientable conversion equipment 3 have the function of to wipe adjustable angle so that the present invention is suitable for the height of different angle Empty glass, the scope of application is big, the upper surface of orientable conversion equipment 3 is provided with window wiping robot 4, and window wiping robot 4 is realized The function that the present invention automatically wipes.

Described to include walking erecting bed 11 from steady running gear 1, the lower face of the walking erecting bed 11 is symmetrically installed with Four supporting mechanisms 12 in parallel, are each mounted on a universal wheel 13 on the lower face of parallel connection supporting mechanism 12, pass through four The present invention is moved to below required cleaning glass window by universal wheel 13, easy to operate；The parallel connection supporting mechanism 12 includes being welded on The fixed platform 121 walked on 11 lower face of erecting bed, 121 lower face of fixed platform are uniformly provided with three branch in parallel in the axial direction Chain 122, the top of three side chains 122 in parallel are installed on moving platform 123, and the lower face of moving platform 123 is provided with universal wheel 13；The parallel connection side chain 122 includes the ear mount 1221 being welded on 121 lower face of fixed platform, is pacified in ear mount 1221 by axis pin Equipped with No.1 hydraulic cylinder 1222, No.1 hydraulic cylinder 1222 can rotate in ear mount 1221, and the top of No.1 hydraulic cylinder 1222 passes through Screw thread is provided with connecting cylinder 1223, and threaded post 1224, the end weldering of threaded post 1224 are provided with by screw thread on connecting cylinder 1223 It is connected on mobile cylinder 1225, mobile cylinder 1225 is set on shifting axle 1226, and mobile cylinder 1225 can be in shifting axle 1226 Upper rotation or movement, the both ends of shifting axle 1226 are separately fixed in two fixed ears 1227, and two fixed ears 1227 are welded Be connected on the upper surface of moving platform 123, the present invention formed by No.1 hydraulic cylinder 1222 in ear mount 1221 revolute pair R, No.1 The cylindrical pair C that prismatic pair P, the mobile cylinder 1225 formed during the movement of hydraulic cylinder 1222 is formed on shifting axle 1226 is constituted The side chain in parallel 122 of RPC types, and 123 groups of the side chain in parallel 122 and moving platform of 121, three RPC types of the fixed platform in the present invention Into 3-RPC parallel institutions, 3-RPC parallel institutions are with dynamic response is good, rigidity is high, large carrying capacity, stability are good and fortune The advantages that precision is high is moved, the present invention causes the present invention to be protected all the time during glass wiping by the advantages of 3-RPC parallel institutions Plateau is held, eliminates and situation is shaken present in wiping process, stability is good, the lower face of the walking erecting bed 11 Middle part is welded with No.1 locating shaft 14, and the lower end of No.1 locating shaft 14 is installed on No.1 by sliding matching mode and positions cylinder 15 Inner wall on, No.1 positioning cylinder 15 can do stretching motion up and down in No.1 locating shaft 14, on the outer wall of No.1 locating shaft 14 Limit spring 16 is arranged with, the upper end of limit spring 16 is resisted against on the lower face of walking erecting bed 11, under limit spring 16 End face is resisted against on the upper surface of No.1 positioning cylinder 15, and limit spring 16 defines that No.1 positions cylinder 15 in No.1 locating shaft Peak exercise in 14；The lower face on both sides of the middle of the walking erecting bed 11 is symmetrically welded with two limited post 11a, two The middle lower end of limited post 11a is respectively arranged with two square limit holes；Balanced welding on the two side of the No.1 positioning cylinder 15 Two limited blocks 15a, two limited block 15a are connected to respectively positioned at the inside of two square limit holes, since limited block 15a is welded On No.1 positioning cylinder 15, the up and down motion distance of limited block 15a is exactly the distance of stretch out and draw back up and down of No.1 positioning cylinder 15, because This limited block 15a is exactly flexible model of the No.1 positioning cylinder 15 in No.1 locating shaft 14 in the move distance of square limit hole Enclose, limited block 15a plays the role of limiting move distance, and the lower end of No.1 positioning cylinder 15 is welded on mounting blocks 17, installs Block 17 is square structure, and a L-type fixed supported slab 18 is welded with each side of mounting blocks 17, and every L-type fixes branch The end of plate 18 is welded with one piece of fixinig plate 18a, and No.1 is positioned on the up and down motion synchronous drive mounting blocks 17 of cylinder 15 Four L-type fixed supported slabs 18 move, and four L-type fixed supported slabs 18 drive four pieces of fixinig plate 18a to move up and down again, and the present invention is spacing Move distances of the block 15a on the square limit hole of limited post 11a is exactly the up and down motion distance of four pieces of fixinig plate 18a, is prevented The phenomenon of hyperkinesia of the present invention；Every L-type fixed supported slab 18 and walking erecting bed are mounted on one between 11 lower face Hydraulic pressure fixes side chain 19, and fixing side chain 19 by four hydraulic pressure drives four L-type fixed supported slabs 18 to move, and four L-types fix branch Plate 18 drives four pieces of fixinig plate 18a movement, and the present invention is operatively increased by the way that four pieces of fixinig plate 18a are just mutually attached on plate The present invention is operating the fixed performance on floor, and fixed performance is good, also further increases stability of the present invention；The hydraulic pressure is consolidated Determine No. two hydraulic cylinders 193 that side chain 19 includes being welded on walking erecting bed 11, the top of No. two hydraulic cylinders 193 is pacified by screw thread On mounting flange 192, mounting flange 192 is installed on corresponding L-type fixed supported slab 18 by screw, and mounting flange 192 rises To the effect of No. two hydraulic cylinders 193 of connection and L-type fixed supported slab 18.During work, first by four universal wheels 13 by the present invention Needed for being moved to below cleaning glass window, after location determination is good, four hydraulic pressure fix four No. two hydraulic cylinders on side chain 19 193 start simultaneously at work, and No. two hydraulic cylinders 193 drive four L-type fixed supported slabs 18 to move, and four L-type fixed supported slabs 18 drive The mounting blocks 17 of top move, and mounting blocks 17 drive No.1 positioning cylinder 15 in 14 stretching motion of No.1 locating shaft, in spacing bullet All things movement of 15 lower section of No.1 positioning cylinder is driven under the action of spring 16, so that four pieces of fixinig plate 18a movements are driven, when No. two hydraulic cylinders 193 are stopped when four pieces of fixinig plate 18a are just mutually attached to operatively on plate, add the present invention operatively The fixed performance of plate, the phenomenon for preventing the present invention from running chaotically everywhere, fixed performance is good, also increases stability of the present invention, when this No. two hydraulic cylinders 193 drive four pieces of fixinig plate 18a slightly up to shrink universal wheel 13 and can move everywhere when invention needs to adjust position It is dynamic, while shape when the revolute pair R of the invention formed by No.1 hydraulic cylinder 1222 in ear mount 1221, the movement of No.1 hydraulic cylinder 1222 Into prismatic pair P, the cylindrical pair C that is formed on shifting axle 1226 of mobile cylinder 1225 constitute the side chains in parallel 122 of RPC types, And the side chain in parallel 122 and moving platform 123 of 121, three RPC types of the fixed platform in the present invention constitute 3-RPC parallel institutions, 3- RPC parallel institutions have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, the present invention Cause the present invention to remain plateau during glass wiping by the advantages of 3-RPC parallel institutions, eliminate wiping During existing shake situation, further increase stability.

The removable fixation means 2 include being welded on the fixed disc 21 of 11 upper surface of walking erecting bed, the fixation Uniform welding has four No. two locating shafts 22 in the axial direction in the middle part of the upper surface of disk 21, and the upper surface of fixed disc 21 is symmetrical Four adjustable locking mechanisms 23 are installed, and movable fixed station 24 is installed between four adjustable locking mechanisms 23, pass through four Adjustable locking mechanism 23 locks four sides of movable fixed station 24；The lower end of the activity fixed station 24 is symmetrically arranged with four Four No. two locating shafts 22 are separately installed with by gap fiting mode inside a positioning round orifice 24a, four positioning round orifice 24a, And movable 24 lower face of fixed station is placed on fixed disc 21, the height of positioning round orifice 24a is more than the height of No. two locating shafts 22 Degree, ensure that No. two locating shafts 22 can be entirely located in inside positioning round orifice 24a so that the complete phase in movable 24 lower face of fixed station It is attached on fixed disc 21, No. two locating shafts 22 play the role of 24 lower face of activity orientation activity fixed station；The activity is solid Determine to be both provided with a limiting groove 24b on each side wall of platform 24, each sidewall upper of movable fixed station 24 is welded with one Two threaded holes are provided with a curved fixed block 24c, each curved fixed block 24c, one is separately installed with each threaded hole A fixing bolt 25, the upper surface of movable fixed station 24 are symmetrically welded with eight fixing nuts 26, and eight fixing bolts 25 Lower end is corresponding respectively to be installed in eight fixing nuts 26；External device can be movably arranged on curved solid by fixing bolt 25 Determine block 24c, remove and install conveniently；The adjustable locking mechanism 23 includes being installed on 21 upper surface of fixed disc by hinge Spacing pressing plate 231, No. three locating shafts 232 are welded with the inner wall of spacing pressing plate 231, and No. three locating shafts 232 are fixed positioned at activity Inside the correspondence limiting groove 24b of platform 24, No. three locating shafts 232 play the role of 24 side wall of activity orientation activity fixed station, limit Hydraulic-driven side chain 27, hydraulic-driven side chain 27 are tiltedly installed between 21 upper surface of outer wall and fixed disc of position pressing plate 231 Spacing pressing plate 231 is driven to be rotated in fixed disc 21, so as to drive No. three locating shafts 232 slowly to turn to corresponding limiting groove , again can be with four sides of activity orientation activity fixed station 24 after movable 24 lower face of fixed station is by activity orientation inside 24b Wall, locating effect are poor so that movable fixed station 24 can remove and install up and down, easy to the maintenance after damaging；The hydraulic-driven Side chain 27 includes being welded on the No.1 angled seat 271 of 21 upper surface of fixed disc, and No. three are provided with by axis pin in No.1 angled seat 271 Hydraulic cylinder 272, the top of No. three hydraulic cylinders 272 are installed on two bugle seats 273 by axis pin, and two bugle seats 273 are welded on limit On the outer wall of position pressing plate 231, when the external device for being fixed on curved fixed block 24c upper surfaces damages, it is only necessary to pass through Fixing nut 26 can disassemble maintenance conditions, easy to operate, when if middle movable fixed station 24 damages, four Four No. three hydraulic cylinders 272 in adjustable locking mechanism 23 start simultaneously at work, and No. three hydraulic cylinders 272 drive spacing pressing plate 231 Rotated in fixed disc 21, so as to drive No. three locating shafts 232 slowly to produce corresponding limiting groove 24b, when No. three locating shafts 232 No. three hydraulic cylinders 272 are stopped when producing corresponding limiting groove 24b completely, eliminate determining for movable 24 4 side walls of fixed station Position, then operator manually takes out movable fixed station 24 from No. two locating shafts 22, and realizing the present invention convenient can tear open The function of installation is unloaded, it is easy to operate.

The orientable conversion equipment 3 includes being installed on four curved fixed block 24c upper ends by eight fixing bolts 25 The transfer table 31 in face, the upper surface middle part of the transfer table 31 are welded with No. two positioning cylinders 32, and No. two position the interior of cylinder 32 Transaxle 34 is installed by two Limit Bearings 33 on wall, the top of transaxle 34 is welded with conversion plectane 35, transaxle 34 Upper end outer wall in the axial direction uniform welding have four manual adjustment rod 34a, the end of every manual adjustment rod 34a is welded An adjusting ball 34b manually is connected to, when needing to change wiping angle, operator only needs to hold any one adjusting manually The manual ball 34b that adjusts on bar 34a can drive transaxle 34 to be rotated in No. two positioning cylinders 32；The middle part of the transaxle 34 Angular adjustment disk 36 is welded with, square card slot 36a is evenly arranged with the axial direction on the outside of the upper surface of angular adjustment disk 36, side The number of type card slot 36a be 24, two neighboring square card slot 36a relative to 36 central axis of angular adjustment disk angle For 15 degree so that the present invention often turns over the wiping angle that a square card slot 36a just have adjusted 15 degree, so that this hair Bright wiping angle can be accurately obtained control, and uniform welding has four T-shaped limits in the axial direction for the lower face of angular adjustment disk 36 Position bar 36b, every T-shaped gag lever post 36b lower end is both provided with a upper limit hole；Welding in the middle part of the upper surface of the transfer table 31 There is an annular flange 37, the upper surface of annular flange 37 is evenly arranged with lower limit hole 37a in the axial direction, in annular flange 37 Lower limit hole 37a numbers are identical with square card slot 36a numbers so that two neighboring lower limit hole 37a central axis are relative to ring The angle of 37 central axis of shape flange is also 15 degree, just corresponding with square card slot 36a, and on four T-shaped gag lever post 36b Four upper limit holes and four corresponding lower limit hole 37a in annular flange 37 between be equipped with four T-shaped spacer pins respectively Axis 38, when the square card slot 36a on angular adjustment disk 36 adjusts good position, as long as operator stretches T-shaped limit pin shaft 38 Enter upper limit hole and corresponding lower limit hole 37a, so as to be defined to 36 lower end of angle adjustment disk；The transfer table 31 Upper surface on the outside of be symmetrically installed with four conversion locking side chains 39, four conversion locking side chains 39 be separately mounted to angular adjustment On the corresponding square card slot 36a of four of disk 36, lock side chain 39 by four conversions and 36 upper end of angle adjustment disk is limited to realize Fixed function；The conversion locking side chain 39 includes the square cushion block 391 for being welded on 31 upper surface of transfer table, square cushion block 391 Upper end is provided with the fixed chute 392 that both ends are in closed state, is provided with L-type by sliding matching mode in fixed chute 392 Fixed slip bar 393, the upper surface of L-type fixed slip bar 393 are welded with bar shaped card column 394, and the end of bar shaped card column 394 is installed on angle Spend on the correspondence square card slot 36a of adjustment disk 36；393 end of L-type fixed slip bar is provided with rubber handle 395, operator Member drives L-type fixed slip bar 393 to be moved in fixed chute 392 by holding rubber handle 395, is slided so as to drive L-type to fix 394 synchronizing moving of bar shaped card column of the top of bar 393, until the end of bar shaped card column 394 just enters angular adjustment disk 36 Untill on corresponding square card slot 36a, 36 upper end of angle adjustment disk is defined by bar shaped card column 394.During work, first The angle of cleaning glass window needed for determining, according to the wiping angle of the angular adjustment present invention of required cleaning glass window, operator is only Needing to hold the manual ball 34b that adjusts on a nearest manual adjustment rod 34a can drive transaxle 34 to position cylinder at No. two 32 rotate, and transaxle 34 drives the angular adjustment disk 36 for being welded on middle part to rotate synchronously, then according to the angle of required cleaning glass window Degree determines the square card slot 36a numbers turned over relative to 36 central axis of angular adjustment disk, gets well it when angular adjustment disk 36 rotates Afterwards, four T-shaped limit pin shafts 38 are first put into upper limit hole, lower limit hole 37a by operating personnel, so as to angle adjustment disk 36 Lower end is defined, and at the same time, operating personnel drive L-type fixed slip bar 393 to be slided fixed by holding rubber handle 395 Moved on groove 392, so that 394 synchronizing moving of bar shaped card column of the top of L-type fixed slip bar 393 is driven, until four bar shaped card columns It is right by bar shaped card column 394 untill 394 end is just entered on four corresponding square card slot 36a of angular adjustment disk 36 36 upper end of angular adjustment disk is defined, it is achieved thereby that the present invention wipe angle can accurate transformation function, without artificial Cleaning positions are changed, it is easy to operate.

3. the window wiping robot 4 includes the wiping window fixed station 41 for being welded on 35 upper surface of conversion plectane, the wiping window is consolidated Determine 41 on both sides of the upper end of platform and two pieces of risers 42 are provided with by screw, the top of two pieces of risers 42 is welded with top plate 43；The wiping Driving motor 44 is provided with by motor cabinet in the middle part of 41 upper surface of window fixed station, drives and passes through shaft coupling on the output shaft of motor 44 Leading screw 45 is installed, the middle part of leading screw 45 is provided with movable block 46 by screw thread, and the left end of movable block 46 is welded with chucking lug 47, Two No. four locating shafts 48 are symmetrically installed with by gap fiting mode on chucking lug 47, the lower end of two No. four locating shafts 48 leads to Rolling bearing units are crossed on window fixed station 41 is wiped, the upper end of two No. four locating shafts 48 is installed under fixed plate 49 by rolling bearing units On end face, fixed plate 49 is welded on the side wall of top plate 43, and No. four locating shafts 48 play the role of positioning support movable block 46, make Vertical displacement movement can only be made under the auxiliary positioning of No. four locating shafts 48 by obtaining movable block 46, it is therefore prevented that 46 lifting process of movable block It is middle the phenomenon rotated occur；The right side of the movable block 46 is welded with four connecting shafts 410, the right end of four connecting shafts 410 It is welded with and wipes window erecting bed 411, four connecting shafts 410 plays the role of fixed support and wipe window erecting bed 411, wipe window erecting bed Uniform welding has four limit sliding chutes 412 to 411 side wall in the axial direction, and the back bottom of four limit sliding chutes 412 is with wiping window Triangle rib 413 is welded between 411 side wall of erecting bed, triangle rib 413 enhances limit sliding chutes 412 and wiping window erecting bed Weld strength on 411, adds support strength；Four No. four are symmetrically installed with the middle part of the side wall for wiping window erecting bed 411 Hydraulic cylinder 414, the top of four No. four hydraulic cylinders 414 are welded with square sliding block 415, divide on four side walls of square sliding block 415 Four spacing slide bars 416 are not welded with, and four spacing slide bars 416 are matched somebody with somebody between four limit sliding chutes 412 by sliding respectively Conjunction mode is connected, and square sliding block 415 is moved by four spacing slide bars 416 and the limited support of four limit sliding chutes 412 Make stable stretching motion under the drive of four No. four hydraulic cylinders 414；The right side of the square sliding block 415 is welded with four Installation axle 417, four middle parts of installation axle 417 are arranged with four limiting cylinders 418, are respectively welded in four limiting cylinders 418 Four L supporting rods 419, the top of four L supporting rods 419 are respectively welded in four limit sliding chutes 412, are supported by four L Bar 419 adds support strength of the limiting cylinder 418 to installation axle 417 so that four installation axles 417 can be stablized in spacing circle Moved on cylinder 418；Four installation axles, 417 end, which is welded with, wipes window bottom plate 420, wipes and is symmetrically welded with two on window bottom plate 420 Block wipes window support plate 421, wipes for two pieces and is provided with rotation axis 422 by bearing between window support plates 421, the front end of rotation axis 422 passes through Shaft coupling is provided with conversion motor 423, and conversion motor 423 is installed on conversion support plate 424 by motor cabinet, changes support plate 424 It is welded on the wiping window support plate 421 for wiping the front side of window bottom plate 420；The middle part of the rotation axis 422 is installed with convertible Wipe window side chain 425, convertible wiping window side chain 425 can automatic conversion cleaning surface, when a cleaning surface wipes it is messy after by turning Changing motor 423 drives convertible wiping window side chain 425 to change cleaning surface, without manually replacing cleaning wiping cloth one by one, it is only necessary to four A cleaning surface all wipes a messy cleaning wiping cloth of replacement afterwards, without often replacing cleaning wiping cloth, wiping speed manually It hurry up, work efficiency is high；The convertible convertible wiping windowsill wiped window side chain 425 and include being fixedly mounted in rotation axis 422 4251, it is convertible wipe windowsill 4251 each side wall on be mounted on a nylon stick paste layer 4252, each nylon stick paste layer One piece is pasted with 4252 and wipes window rag 4253, operator convenient can will wipe window rag 4253 and be sticked to nylon stick paste layer 4252 On.During work, window wiping robot 4 is adjusted first the wiping window rag 4253 on convertible wiping window side chain 425 is close to required wiping Wipe on glass, four No. four hydraulic cylinders 414 start simultaneously at work, pass through four spacing slide bars 416 and four limit sliding chutes 412 Limited support moves so that square sliding block 415 makees stable stretching motion under the drive of four No. four hydraulic cylinders 414, and square is slided Block 415 drives four installation axles 417 to make synchronization telescope movement in corresponding limiting cylinder 418, and four installation axles 417 are by wiping window Bottom plate 420, wiping window support plate 421 drive wiping window rag 4253 to make stretching motion, and required wiping is close to until wiping window rag 4253 No. four hydraulic cylinders 414 are stopped on glass, then drive motor 44 to start to work, and driving motor 44 drives leading screw 45 to rotate, Movable block 46 is driven to make vertical displacement movement in the auxiliary positioning lower leading screw 45 of No. four locating shafts 48, movable block 46 drives and is installed on The wiping window rag for wiping the right side of window fixed station 41 moves repeatedly about 4253, wipes 4253 automatic erasing glass of window rag, when this wiping Window rag 4253 wipe it is messy when, first pass through No. four hydraulic cylinders 414 and this block wiped into window rag 4253 away from glass surface, so Conversion motor 423 is started to work afterwards, and rotary electric machine 423 drives rotation axis 422 to rotate, and rotation axis 422 drives convertible wiping windowsill 4251 rotate, and convertible windowsill 4251 of wiping drives 4253 conversion angle of wiping window rag being pasted onto on nylon stick paste layer 4252, from And the wiping window rag 4253 that converted on convertible another face of wiping windowsill 4251 is wiped, according to this method until that can turn Replacement wiping window rag of tearing manually again is changed after the four wiping window rags 4253 wiped on 4,251 4 faces of windowsill have all wiped dirty 4253, window rag 4253 is wiped without often replacing manually, easy to operate, wiping speed is fast, and work efficiency is high.

The upper surface of the limiting groove 24b is convex structure, and the width of limiting groove 24b is more than No. three locating shafts 232 diameter, the movement locus of No. three locating shafts 232 are camber lines, and the convex structures of limiting groove 24b upper surfaces is just with three The movement locus of number locating shaft 232 is corresponding, so as to be touched when preventing No. three locating shafts 232 to move in limiting groove 24b The phenomenon of wall, improves work efficiency.

In use, the present invention is moved to below required cleaning glass window by four universal wheels 13 first, work as location determination After good, four No. two hydraulic cylinders 193 that four hydraulic pressure are fixed on side chain 19 start simultaneously at work, and No. two hydraulic cylinders 193 drive Four L-type fixed supported slabs 18 move, and four L-type fixed supported slabs 18 drive the mounting blocks 17 of top to move, and mounting blocks 17 drive one Number positioning cylinder 15 is driven below No.1 positioning cylinder 15 under the action of limit spring 16 in 14 stretching motion of No.1 locating shaft The movement of all things, so that four pieces of fixinig plate 18a movement is driven, when four pieces of fixinig plate 18a are just mutually attached to operatively on plate When No. two hydraulic cylinders 193 be stopped, add fixed performance of the present invention on operation floor, prevent the present invention from running chaotically everywhere Phenomenon, fixed performance is good, also increases stability of the present invention, No. two 193 bands of hydraulic cylinder when the present invention needs to adjust position Moving four pieces of fixinig plate 18a, slightly up contraction universal wheel 13 can move everywhere；Then according to the angular adjustment of required cleaning glass window The wiping angle of the present invention, operator only need to hold the manual adjusting ball 34b on a nearest manual adjustment rod 34a Drive transaxle 34 to position cylinder 32 at No. two to rotate, transaxle 34 drives the angular adjustment disk 36 for being welded on middle part is synchronous to turn It is dynamic, the square card slot 36a then turned over according to the angle-determining of required cleaning glass window relative to 36 central axis of angular adjustment disk Number, after angular adjustment disk 36 rotates well, four T-shaped limit pin shafts 38 are first put into upper limit hole, lower limit by operating personnel In the hole 37a of position, so as to be defined to 36 lower end of angle adjustment disk, at the same time, operating personnel are by holding rubber handle 395 drive L-type fixed slip bars 393 move in fixed chute 392, so as to drive the bar shaped card column of the top of L-type fixed slip bar 393 394 synchronizing movings, until the end of four bar shaped card columns 394 just enters four corresponding square card slots of angular adjustment disk 36 Untill 36a is upper, 36 upper end of angle adjustment disk is defined by bar shaped card column 394, it is achieved thereby that the present invention wipes angle Degree can accurate transformation function, without manually conversion cleaning positions, it is easy to operate；Last window wiping robot 4 is started to work, and is first adjusted Wiping window rag 4253 on convertible wiping window side chain 425 is close on required cleaning glass window by whole window wiping robot 4, four No. four Hydraulic cylinder 414 starts simultaneously at work, is moved by four spacing slide bars 416 and the limited support of four limit sliding chutes 412 Square sliding block 415 makees stable stretching motion under the drive of four No. four hydraulic cylinders 414, and square sliding block 415 drives four peaces Dress axis 417 makees synchronization telescope movement in corresponding limiting cylinder 418, and four installation axles 417 are by wiping window bottom plate 420, wiping window branch Plate 421 drives wiping window rag 4253 to make stretching motion, and No. four hydraulic pressure on required cleaning glass window are close to until wiping window rag 4253 Cylinder 414 is stopped, and then drives motor 44 to start to work, and driving motor 44 drives leading screw 45 to rotate, in No. four locating shafts 48 Auxiliary positioning lower leading screw 45 drive movable block 46 to make vertical displacement movement, movable block 46, which drives, is installed on that to wipe window fixed station 41 right The wiping window rag of side moves repeatedly about 4253, wipes 4253 automatic erasing glass of window rag, when this wiping window rag 4253 wipes It is messy when, first pass through No. four hydraulic cylinders 414 and this block wiped into window rag 4253 away from glass surface, then conversion motor 423 Start to work, rotary electric machine 423 drives rotation axis 422 to rotate, and rotation axis 422 drives convertible wiping windowsill 4251 to rotate, and can turn Change and wipe 4253 conversion angle of wiping window rag that the drive of windowsill 4251 is pasted onto on nylon stick paste layer 4252, so as to converted convertible The wiping window rag 4253 wiped on another face of windowsill 4251 is wiped, according to this method until convertible wiping windowsill 4,251 4 Four on a face wipe replacement of tearing manually again after window rags 4253 have all wiped dirty and wipe window rag 4253, without through Chang Shoudong, which is replaced, wipes window rag 4253, and easy to operate, wiping speed is fast, and work efficiency is high, while the present invention passes through No.1 hydraulic pressure Prismatic pair P that revolute pair R that cylinder 1222 is formed in ear mount 1221, No.1 hydraulic cylinder 1222 are formed when moving, mobile cylinder 1225 The cylindrical pair C formed on shifting axle 1226 constitutes the side chain in parallel 122 of RPC types, and the fixed platform 121, three in the present invention The side chain in parallel 122 and moving platform 123 of a RPC types constitute 3-RPC parallel institutions, and 3-RPC parallel institutions have dynamic response Good, rigidity height, large carrying capacity, stability are good and the advantages that kinematic accuracy is high, it is of the invention by 3-RPC parallel institutions the advantages of So that the present invention remains plateau during glass wiping, eliminate and situation is shaken present in wiping process, into One step adds stability；If the equipment for being fixed on curved fixed block 24c upper surfaces is damaged, it is only necessary to by solid Maintenance conditions interface can be disassembled by determining nut 26, easy to operate, but if when middle movable fixed station 24 damages, Four No. three hydraulic cylinders 272 in four adjustable locking mechanisms 23 start simultaneously at work, and No. three hydraulic cylinders 272 drive spacing pressing plate 231 rotate in fixed disc 21, so as to drive No. three locating shafts 232 slowly to produce corresponding limiting groove 24b, when No. three locating shafts 232 No. three hydraulic cylinders 272 when producing corresponding limiting groove 24b completely are stopped, and eliminate movable 24 4 side walls of fixed station Positioning, then operator movable fixed station 24 is taken out and convenient can removed and installed from No. two locating shafts 22 manually, operate Simplicity, finally realizes the full-automatic wiping function of high-altitude glass of the present invention, solve needs existing for existing window wiping robot Manually take placements, cumbersome, wiping process there are shake situation, fixed performance is poor, stability is low, wiping angle can not Adjust, it is non-dismountable installation, need often manually replace cleaning wiping cloth, the scope of application is small, wiping speed is slow and work efficiency is low Etc. problem, purpose is reached.

The basic principles, main features and advantages of the 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 embodiments and description 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, these change and change Into 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

1. a kind of Full-automatic high altitude wipes window intelligent robot, it is characterised in that：It is described from steady row including from steady running gear (1) Removable fixation means (2) are installed in the middle part of walking apparatus (1) upper surface, the upper end of removable fixation means (2) is provided with and can determine To conversion equipment (3), the upper surface of orientable conversion equipment (3) is provided with window wiping robot (4)；

Described to include walking erecting bed (11) from steady running gear (1), the lower face of the walking erecting bed (11) is symmetrically installed There are four supporting mechanisms (12) in parallel, a universal wheel (13) is mounted on the lower face of each parallel connection supporting mechanism (12)； No.1 locating shaft (14) is welded with the middle part of the lower face of the walking erecting bed (11), the lower end of No.1 locating shaft (14) passes through cunning Dynamic fit system is installed on the inner wall of No.1 positioning cylinder (15), and limit spring is arranged with the outer wall of No.1 locating shaft (14) (16), the upper end of limit spring (16) is resisted against on the lower face of walking erecting bed (11), and the lower face of limit spring (16) is supported On the upper surface for leaning against No.1 positioning cylinder (15)；The lower face on both sides of the middle of the walking erecting bed (11) is symmetrically welded with two Root limited post (11a), the middle lower end of two limited posts (11a) are respectively arranged with two square limit holes；The No.1 setting circle Two limited blocks (15a) are symmetrically welded with the two side of cylinder (15), two limited blocks (15a) are spacing positioned at two squares respectively The inside in hole, the lower end of No.1 positioning cylinder (15) are welded on mounting blocks (17), and mounting blocks (17) are square structure, installation A L-type fixed supported slab (18) is welded with each side of block (17), the end of every L-type fixed supported slab (18) is welded There is one piece of fixinig plate (18a)；A liquid is mounted between every L-type fixed supported slab (18) and walking erecting bed (11) lower face Pressing determines side chain (19)；

The removable fixation means (2) include being welded on the fixed disc (21) of walking erecting bed (11) upper surface, described solid Uniform welding has four No. two locating shafts (22) in the axial direction in the middle part of the upper surface of fixed disk (21), fixed disc (21) it is upper End surface symmetric is provided with four adjustable locking mechanisms (23), and is provided with movable fixed station between four adjustable locking mechanisms (23) (24)；The lower end of the activity fixed station (24) is symmetrically arranged with four positioning round orifice (24a), and four positioning round orifice (24a) are interior Portion is separately installed with four No. two locating shafts (22) by gap fiting mode, and the height of positioning round orifice (24a) is more than No. two and determines The height of position axis (22), and movable fixed station (24) lower face is placed on fixed disc (21)；The activity fixed station (24) Each side wall on be both provided with a limiting groove (24b), each sidewall upper of movable fixed station (24) is welded with one Curved fixed block (24c), is each provided with two threaded holes on curved fixed block (24c), is separately installed with each threaded hole One fixing bolt (25), the upper surface of movable fixed station (24) are symmetrically welded with eight fixing nuts (26), and eight fixations The lower end of bolt (25) is corresponding respectively to be installed on eight fixing nuts (26)；The adjustable locking mechanism (23) includes passing through hinge Chain is installed on the spacing pressing plate (231) of fixed disc (21) upper surface, and No. three positioning are welded with the inner wall of spacing pressing plate (231) Axis (232), the correspondence limiting groove (24b) that No. three locating shafts (232) are located at movable fixed station (24) is internal, spacing pressing plate (231) hydraulic-driven side chain (27) is tiltedly installed between outer wall and fixed disc (21) upper surface；

The orientable conversion equipment (3) includes being installed on four curved fixed blocks (24c) by eight fixing bolts (25) The transfer table (31) of end face, the upper surface middle part of the transfer table (31) are welded with No. two positioning cylinders (32), No. two setting circles Transaxle (34) is installed by two Limit Bearings (33) on the inner wall of cylinder (32), the top of transaxle (34) is welded with conversion Plectane (35), uniform welding has four manual adjustment rods (34a), every hand in the axial direction on the upper end outer wall of transaxle (34) The end of dynamic adjusting rod (34a) is welded with one and adjusts ball (34b) manually；The middle part welding of the transaxle (34) is angled Adjustment disk (36), the upper surface outside of angular adjustment disk (36) are evenly arranged with square card slot (36a), angle tune in the axial direction Uniform welding has four T-shaped gag lever posts (36b), every T-shaped gag lever post (36b) lower end in the axial direction for the lower face of section disk (36) It is both provided with a upper limit hole；Annular flange (37), annular flange are welded with the middle part of the upper surface of the transfer table (31) (37) upper surface is evenly arranged with lower limit hole (37a) in the axial direction, and on four on four T-shaped gag lever posts (36b) Four T-shaped limit pin shafts are equipped with respectively between limit hole and four corresponding lower limit holes (37a) in annular flange (37) (38)；Four conversion locking side chains (39), four conversion locking branch are symmetrically installed with the outside of the upper surface of the transfer table (31) Chain (39) is separately mounted on four corresponding square card slots (36a) of angular adjustment disk (36)；

The window wiping robot (4) includes being welded on the wiping window fixed station (41) of conversion plectane (35) upper surface, and the wiping window is consolidated Determine platform (41) on both sides of the upper end and two pieces of risers (42) are provided with by screw, the top of two pieces of risers (42) is welded with top plate (43)；Driving motor (44) is provided with by motor cabinet in the middle part of described wiping window fixed station (41) upper surface, driving motor (44) Leading screw (45) is provided with by shaft coupling on output shaft, the middle part of leading screw (45) is provided with movable block (46) by screw thread, mobile The left end of block (46) is welded with chucking lug (47), and being symmetrically installed with two No. four by gap fiting mode on chucking lug (47) determines Position axis (48), the lower end of two No. four locating shafts (48) is installed on by rolling bearing units wipes on window fixed station (41), two No. four The upper end of locating shaft (48) is installed on fixed plate (49) lower face by rolling bearing units, and fixed plate (49) is welded on top plate (43) Side wall on；The right side of the movable block (46) is welded with four connecting shafts (410), the right end weldering of four connecting shafts (410) It is connected to and wipes window erecting bed (411), uniform welding there are four limit sliding chutes to the side wall of wiping window erecting bed (411) in the axial direction (412), the back bottom of four limit sliding chutes (412) and wipe and be welded with triangle rib between window erecting bed (411) side wall (413)；Four No. four hydraulic cylinders (414), four No. four hydraulic pressure are symmetrically installed with the middle part of the side wall for wiping window erecting bed (411) The top of cylinder (414) is welded with square sliding block (415), be respectively welded on four side walls of square sliding block (415) four it is spacing Slide bar (416), four spacing slide bars (416) are connected between four limit sliding chutes (412) by sliding matching mode respectively； The right side of the square sliding block (415) is welded with four installation axles (417), and four are arranged with the middle part of four installation axles (417) Limiting cylinder (418), is respectively welded four L supporting rods (419), four L supporting rods (419) on four limiting cylinders (418) Top be respectively welded on four limit sliding chutes (412)；Four installation axles (417) end, which is welded with, wipes window bottom plate (420), wipe and two pieces of wiping window support plates (421) are symmetrically welded with window bottom plate (420), pass through axis between two pieces of wiping window support plates (421) Hold and rotation axis (422) is installed, the front end of rotation axis (422) is provided with conversion motor (423), conversion motor by shaft coupling (423) it is installed on by motor cabinet on conversion support plate (424), conversion support plate (424) is welded on front side of wiping window bottom plate (420) Wiping window support plate (421) on；Convertible wiping window side chain (425) is installed with the middle part of the rotation axis (422).

2. a kind of Full-automatic high altitude according to claim 1 wipes window intelligent robot, it is characterised in that：The support in parallel Mechanism (12) includes the fixed platform (121) being welded on walking erecting bed (11) lower face, and fixed platform (121) lower face is along axis Direction is uniformly provided with three side chains (122) in parallel, and the top of three side chains (122) in parallel is installed on moving platform (123), The lower face of moving platform (123) is provided with universal wheel (13)；The parallel connection side chain (122) includes being welded under fixed platform (121) Ear mount (1221) on end face, is provided with No.1 hydraulic cylinder (1222), No.1 hydraulic cylinder in ear mount (1221) by axis pin (1222) top is provided with connecting cylinder (1223) by screw thread, and threaded post is provided with by screw thread on connecting cylinder (1223) (1224), the end of threaded post (1224) is welded on mobile cylinder (1225), and mobile cylinder (1225) is set in shifting axle (1226) on, the both ends of shifting axle (1226) are separately fixed on two fixed ears (1227), and two fixed ears (1227) are welded It is connected on the upper surface of moving platform (123).

3. a kind of Full-automatic high altitude according to claim 1 wipes window intelligent robot, it is characterised in that：The hydraulic pressure is fixed Side chain (19) includes No. two hydraulic cylinders (193) being welded on walking erecting bed (11), and the top of No. two hydraulic cylinders (193) passes through It is threadably mounted on mounting flange (192), mounting flange (192) is installed on corresponding L-type fixed supported slab (18) by screw.

4. a kind of Full-automatic high altitude according to claim 1 wipes window intelligent robot, it is characterised in that：The limiting groove The upper surface of (24b) is convex structure, and the width of limiting groove (24b) is more than the diameter of No. three locating shafts (232).

5. a kind of Full-automatic high altitude according to claim 1 wipes window intelligent robot, it is characterised in that：The hydraulic-driven Side chain (27) includes being welded on the No.1 angled seat (271) of fixed disc (21) upper surface, and No.1 angled seat is pacified on (271) by axis pin Equipped with No. three hydraulic cylinders (272), the top of No. three hydraulic cylinders (272) is installed on two bugle seats (273) by axis pin, two bugles Seat (273) is welded on the outer wall of spacing pressing plate (231).

6. a kind of Full-automatic high altitude according to claim 1 wipes window intelligent robot, it is characterised in that：The square card slot The number of (36a) is 24；Lower limit hole (37a) number and square card slot (36a) number on the annular flange (37) Mesh is identical.

7. a kind of Full-automatic high altitude according to claim 1 wipes window intelligent robot, it is characterised in that：The conversion locking Side chain (39) includes the square cushion block (391) for being welded on transfer table (31) upper surface, and square cushion block (391) upper end is provided with both ends In the fixed chute (392) of closed state, L-type fixed slip bar is provided with by sliding matching mode in fixed chute (392) (393), the upper surface of L-type fixed slip bar (393) is welded with bar shaped card column (394), and the end of bar shaped card column (394) is installed on angle Spend on the correspondence square card slot (36a) of adjustment disk (36)；L-type fixed slip bar (393) end is provided with rubber handle (395)。

8. a kind of Full-automatic high altitude according to claim 1 wipes window intelligent robot, it is characterised in that：The convertible wiping Window side chain (425) includes the convertible wiping windowsill (4251) being fixedly mounted in rotation axis (422), convertible wiping windowsill (4251) Each side wall on be mounted on a nylon stick paste layer (4252), one piece of wiping is pasted with each nylon stick paste layer (4252) Window rag (4253).