CN106859511A - A kind of civic building finishing mopping robot - Google Patents
A kind of civic building finishing mopping robot Download PDFInfo
- Publication number
- CN106859511A CN106859511A CN201710175885.2A CN201710175885A CN106859511A CN 106859511 A CN106859511 A CN 106859511A CN 201710175885 A CN201710175885 A CN 201710175885A CN 106859511 A CN106859511 A CN 106859511A
- Authority
- CN
- China
- Prior art keywords
- spoke
- guide rod
- pin bushing
- rotating shaft
- guide pin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22F—CHANGING THE PHYSICAL STRUCTURE OF NON-FERROUS METALS AND NON-FERROUS ALLOYS
- C22F1/00—Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working
- C22F1/002—Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working by rapid cooling or quenching; cooling agents used therefor
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- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22F—CHANGING THE PHYSICAL STRUCTURE OF NON-FERROUS METALS AND NON-FERROUS ALLOYS
- C22F1/00—Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working
- C22F1/04—Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working of aluminium or alloys based thereon
Abstract
The invention discloses a kind of civic building finishing mopping robot, including frame, the frame is square, the frame includes four columns being located on square four angles and the first guide rod being connected between adjacent upright posts, second guide rod, 3rd guide rod, 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, second guide rod and the 4th guide rod be arranged in parallel, slided on first guide rod and be arranged with the first guide pin bushing, the bottom face of first guide pin bushing is provided with wiper and the first vacuum cup, the side of first guide pin bushing is provided with the first slide bar, first slide bar is set and perpendicular to the first guide rod towards the 3rd guide rod, the frame positioned at the first guide rod top at be provided with the crossbeam parallel with the first guide rod, the crossbeam middle part is provided with strutbeam towards frame central direction, the strutbeam is provided with first rotating shaft.The present invention has a wide range of application, it is adaptable to multiple types of floors situation, with practicality.
Description
Technical field
The present invention relates to robotics, a kind of civic building finishing mopping robot is particularly related to.
Background technology
The housework for wiping ground is comparatively laborious, and hand labour sweat is, it is necessary to improve.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of civic building finishing mopping robot, existing to solve
The technical problem of ground sweat is wiped in technology by hand.
In order to solve the above technical problems, embodiments of the invention provide a kind of civic building finishing mopping robot, bag
Including rack, the frame is square, and the frame includes four columns being located on square four angles and is connected to phase
The first guide rod, the second guide rod between adjacent column, the 3rd guide rod, the 4th guide rod, first guide rod and the 3rd guide rod is parallel sets
Put, second guide rod and the 4th guide rod be arranged in parallel, slided on first guide rod and be arranged with the first guide pin bushing, described first leads
The bottom face of set is provided with wiper, and the side of first guide pin bushing is provided with the first slide bar, and first slide bar sets towards the 3rd guide rod
Put and perpendicular to the first guide rod, the frame at the first guide rod top is provided with the crossbeam parallel with the first guide rod, institute
State and be provided with the strutbeam perpendicular to crossbeam towards frame central direction in the middle part of crossbeam, the strutbeam is provided with first rotating shaft, described first
Rotating shaft is overlapped with frame central, and the first follower lever and the second follower lever are sequentially provided with the first rotating shaft, and described first is driven
The angle of bar and the second follower lever is 90 °, and first slide bar is provided with the first sliding sleeve, and is provided with the top of first sliding sleeve
Two rotating shafts, one end of first follower lever is provided with first set hole, and the first set hole is connected in the second rotating shaft, the branch
Runner is additionally provided with beam, the runner is driven by the first motor, and the runner is provided with the 3rd rotating shaft, the horizontal stroke near edge
Driving lever is provided with the middle part of beam, the first bar-shaped trough is provided with the middle part of the driving lever, the 3rd rotating shaft is installed on the first bar shaped
In groove, first follower lever is provided with the second bar-shaped trough, second bar-shaped trough be located at the medium position of the first follower lever with
Between first set hole, the outer end of the driving lever is provided with the 4th rotating shaft, and the 4th rotating shaft is installed in the second bar-shaped trough, institute
The other end for stating the first follower lever is provided with the 3rd set of hole, is slided on the 3rd guide rod and is arranged with the 3rd guide pin bushing, and the described 3rd leads
The bottom face of set is provided with wiper, and the side of the 3rd guide pin bushing is provided with the 3rd slide bar, and the 3rd slide bar sets towards the first guide rod
Put and perpendicular to the 3rd guide rod, the 3rd slide bar is provided with the 3rd sliding sleeve, and the 3rd sliding sleeve is provided with the 5th rotating shaft, described
3rd set of hole is installed in the 5th rotating shaft；Slided on second guide rod and be arranged with the second guide pin bushing, the bottom of second guide pin bushing
Face is provided with wiper, and the side of second guide pin bushing is provided with the second slide bar, and second slide bar is set and vertical towards the 4th guide rod
In the second guide rod, second slide bar is provided with the second sliding sleeve, and second sliding sleeve is provided with the 6th rotating shaft, and described second is driven
Bar is respectively arranged at two ends with second set of hole and the 4th set of hole, and second set of hole be installed in the 6th rotating shaft；4th guide rod
Upper slip is arranged with the 4th guide pin bushing, and the bottom face of the 4th guide pin bushing is provided with wiper, and the side of the 4th guide pin bushing is provided with the 4th
Slide bar, the 4th slide bar is set and perpendicular to the 4th guide rod towards the second guide rod, and the 4th slide bar is provided with the 4th sliding sleeve,
4th sliding sleeve is provided with the 7th rotating shaft, and the 4th set of hole is installed in the 7th rotating shaft；
A water storage case, the water storage case are respectively provided with first guide pin bushing, the second guide pin bushing, the 3rd guide pin bushing, the 4th guide pin bushing
It is provided with the water channel for being supplied water to wiper；
The lower surface of second follower lever is provided with some hole for water sprayings, and the lower surface on first follower lever is provided with some
Hot gas venthole is used to dry；The strutbeam is provided with water injector for connecting the hole for water spraying, is additionally provided with the strutbeam
Hot air generator is used to connect the hot gas venthole；
The column outside of the frame connects wheel by wheel shaft, and the wheel includes wheel hub and tire, the wheel hub bag
Wheel hub fixed plate, spoke retainer plate and the spoke being connected with wheel shaft are included, the spoke retainer plate is vertically connected at wheel hub to be fixed
The outer rim of plate, is hinged with multiple spokes at the two ends outer rim of the spoke retainer plate, the spoke positioned at homonymy is solid along spoke
Surely the circumferencial direction of circle outer rim is uniformly arranged, and the spoke is arranged in pairs at the two ends outer rim of spoke retainer plate, each pair wheel
One tire is installed, the tire is the elastic inflated tire of bar shaped, is set on the spoke retainer plate at the outer end of spoke
There is sliding groove, a sliding ring is installed on the sliding groove, the sliding ring is coaxially disposed with spoke retainer plate, the sliding ring
Circle through being more than spoke retainer plate, be provided with a drive rod between each pair spoke, the spoke inner side is provided with T-shaped along its length
Groove, the two ends of the drive rod are provided with T connector, and are respectively arranged in the T-slot of corresponding spoke, the middle part of the drive rod
Vertical direction is connected with a conductive bar, and the limitation of movement of the conductive bar makes conductive bar in its longitudinal direction in a guide groove
Motion, the guide groove is fixed on spoke retainer plate, and the lower end of the guide rod is hinged with a connecting rod, the other end hinge of the connecting rod
It is connected on sliding ring, a linear electric motors is additionally provided with the spoke retainer plate, the linear electric motors drives sliding ring along sliding groove
Move back and forth, the sliding groove drives drive rod along the radial motion of wheel hub by connecting rod；
Also include a steering driving mechanism, the steering driving mechanism is used for driving moment and moves and turn to；
The spoke is made up of aluminum alloy materials, and the Technology for Heating Processing of the spoke comprises the following steps：
(1) spoke is carried out into solution treatment 2h under conditions of 510~520 DEG C；
(2) Quenching Treatment 10min will be carried out in the aqueous solution of the good spoke feeding sodium chloride-containing of solution treatment and potassium chloride,
Quenching shift time is less than 8 seconds, and the temperature of the aqueous solution of the sodium chloride-containing and potassium chloride is 20~25 DEG C, the sodium chloride and
The mass concentration of potassium chloride is respectively 15% and 10%；
(3) after the spoke after Quenching Treatment is stood, make its surface water stain-free, solution treatment, solid solution are then carried out again
Treatment temperature is 470~490 DEG C, and the solution treatment time is 8h；
(4) spoke after solid solution again is carried out into high-temperature aging treatment, high-temperature aging temperature is 150~170 DEG C, during high temperature
The effect time is 8h；
The spoke carries out process of surface treatment after Technology for Heating Processing, and the process of surface treatment comprises the following steps：
(a) pickling：To be immersed in acid solution by the spoke after Technology for Heating Processing, acid solution weight content 15%~17%
H2SO4, processed 10~20 minutes at 50~60 DEG C；
B () washes：Spray washing, the acid solution on removal spoke surface will be carried out through the spoke after overpickling；
(c) alkali cleaning：To be immersed in alkali lye by the spoke of step (b), alkali lye 8%~10%NaOH of weight content,
Immersion treatment 10~20 seconds, remove the oxide-film on spoke surface at room temperature；
D () deionization is washed：Deionization washing, the alkali lye on removal spoke surface will be carried out by the spoke after alkali cleaning；
The spoke coats antirust oil after process of surface treatment, and the preparation of the antirust oil comprises the following steps：
(p1) Fresh Lemon grass blade leaf is chosen, is cleaned with clear water and 1~3h of freeze-drying, then mill and cross 60 mesh sieves,
Collect to obtain lemon grass (Cymbopogon citratus) cauline leaf particle, then in mass ratio 1:5, lemon grass (Cymbopogon citratus) cauline leaf particle is mixed with deionized water stirring, then rise
After warm 1~3h of ebuillition of heated, stop heating and 2~4h of stratification, separate and collect upper oil phase, be prepared into volatilization lemon grass (Cymbopogon citratus)
Essential oil, it is standby；
(p2) count by weight, weigh respectively 10~30 parts of barium mahogany sulfonates, 40~60 parts of alkylols, 10~20 parts it is double
Ketenes and 5~7 parts of sulfuric acid of mass fraction 65% are placed in conical flask, after then logical nitrogen excludes air, in nitrogen atmosphere
It is lower conical flask is placed in 80~90 DEG C at 60~70min of heating water bath, then stand be cooled to room temperature, with mass fraction 10%
Sodium carbonate liquor adjusts pH to 7.0, filters and collect filtrate, and rotation is evaporated to original volume at 70~80 DEG C after stratification
1/5, it is prepared into modified concentrate；
(p3) in mass ratio 1:3, volatilize lemon grass (Cymbopogon citratus) essential oil and the modified concentrate of above-mentioned preparation prepared by step (p1)
Stirring mixing, ultrasonic disperse processes 10~20min, subsequent still aging 6~8h under 200~300W, is prepared into modified volatilization
Essential oil；
(p4) count by weight, 60~70 parts of modified volatile spirits of above-mentioned preparation, 10~20 parts of all scholars are weighed respectively
Woods and 5~15 parts of dodecenylsuccinic acids are placed in beaker, 10~20min of oil bath heating at 120~130 DEG C, are then stopped
Heat and stand and be cooled to 70~80 DEG C, stood after 20~30min of insulated and stirred and be cooled to room temperature, you can be prepared into the antirust
Oil.
Wherein, the drive rod is parallel with the axial direction of spoke retainer plate, and the length of the drive rod is fixed more than spoke
The axial length of circle.
Above-mentioned technical proposal of the invention has the beneficial effect that：
In such scheme, the present invention is connected and in 90 ° of designs due to the first follower lever and the second follower lever, therefore when first
When follower lever drives the first guide pin bushing and the 3rd guide pin bushing to be moved back and forth on the first guide rod and the 3rd guide rod respectively, the second follower lever
The second guide pin bushing and the 4th guide pin bushing can be driven to be moved back and forth on the second guide rod and the 4th guide rod respectively；Therefore four wipers are only by one
Individual runner drives, and can carry out cleaning, efficiency high to floor surface simultaneously；Wheel of the invention is installed on vehicle frame by wheel shaft
On, when ground is coarse, drive the moving mass on linear electric motors to left movement, sliding ring is driven to left movement, so that by connecting
Bar drives drive rod to be moved to the direction away from hub axis, so as to corresponding spoke group is close to each other, becomes single tire
Into waist-drum-shaped, so as to reduce the frictional force with ground, when the smooth easy skidding in ground, the moving mass on driving linear electric motors is to the right
Motion, drives sliding ring to move right, so that drive drive rod to be moved to the direction near hub axis by connecting rod, so that will
Spoke is strutted to both sides, single tire is become flat, so as to increase contact area, prevents from skidding, and improves stability.This hair
It is bright to have a wide range of application, it is adaptable to multiple types of floors situation, with practicality.
The present invention carries out Technology for Heating Processing by spoke, improves Spoke Strength, and the size of spoke and surface will not be by
Destruction, also improves fracture strength, improves injury resistant ability.
The present invention is coated with antirust oil by spoke outer surface, due to having very strong adhesion between antirust oil and metal
Performance, drying time substantially shortens, and can stablize and adsorb substantial amounts of oil molecule, and the Rust Preventing Oil Film of stabilization is formed in metal surface,
The corrosion of the harmful substance to metallic element such as water, oxygen, acid, alkali, salt in environment can be preferably prevented, so as to improve it prevent
Rust ability.
Brief description of the drawings
Fig. 1 is top view of the invention.
Fig. 2 is stereogram of the invention, and wheel is not illustrated in the figure.
Fig. 3 is stereogram of the invention two, and wheel is not illustrated in the figure.
Fig. 4 is the sectional view of wheel of the invention.
Fig. 5 is the matching chart of spoke of the invention and drive rod.
Fig. 6 is the stereoscopic figure of wheel of the invention, and one of tire is only illustrated in the figure.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of civic building finishing mopping robot, including frame,
The frame is square, and the frame includes four columns 1 being located on square four angles and is connected to adjacent upright posts 1
Between the first guide rod 2, the second guide rod 3, the 3rd guide rod 4, the 4th guide rod 5, four guide rods are isometric, are respectively foursquare one side,
The guide rod 4 of first guide rod 2 and the 3rd be arranged in parallel, and the guide rod 5 of second guide rod 3 and the 4th be arranged in parallel, and the first guide rod 2 hangs down
Directly in the second guide rod 3.Slided on first guide rod 2 and be arranged with the first guide pin bushing 21, the bottom face of first guide pin bushing 21 is provided with
Wiper 7, the side of first guide pin bushing 21 is provided with the first slide bar 22, and first slide bar 22 sets and hang down towards the 3rd guide rod 4
It is straight in the first guide rod 2, the frame is provided with the crossbeam 8 parallel with the first guide rod 2, crossbeam 8 at the top of the first guide rod 2
It is built on stilts to set, therefore will not interference with the motion of the first guide pin bushing 21, the middle part of the crossbeam 8 is provided with vertically towards frame central direction
In the strutbeam 9 of crossbeam, the strutbeam 9 is provided with first rotating shaft 10, first rotating shaft 10 and the perpendicular setting of strutbeam 9, first rotating shaft
10 can rotate on strutbeam 9, can be connected using bearing, and the first rotating shaft 10 overlaps with frame central point；The first rotating shaft
The first follower lever 11 and the second follower lever 12 are sequentially provided with 10, the first follower lever 11 and the second follower lever 12 are isometric, and first
Axis of the central point of the respective two ends line of 11 and second follower lever of follower lever 12 with first rotating shaft 10 coincides, first from
The follower lever 12 of lever 11 and second is spaced apart to be fixed in first rotating shaft 10, and first follower lever 11 and second is driven
The angle of bar 12 is 90 °.
First slide bar 22 is provided with the first sliding sleeve 23, and the first sliding sleeve 23 can be on the first slide bar 22 after being driven by external force
Slide, the top of first sliding sleeve 23 is provided with the second rotating shaft 24, and the second rotating shaft 24 can be in the rotary-top of the first sliding sleeve 23, example
Such as use bearing connected mode；One end of first follower lever 11 is provided with first set hole 111, and the first set hole 111 connects
It is connected in the second rotating shaft 24, first set hole 111 can mutually be fixedly connected with the second rotating shaft 24 in the present embodiment；On the strutbeam 9 also
Runner 13 is provided with, the runner 13 drives by the way that the first motor is (not shown), and the runner 13 is provided with the 3rd turn near edge
Axle 14, the 3rd rotating shaft 14 is located on the eccentric position of runner 13, and the 3rd rotating shaft 14 can be rotated on runner 13, for example with bearing
Connected mode；The middle part of the crossbeam 8 is provided with driving lever 15, and one end of driving lever 15 is articulated with the medium position of crossbeam 8；Institute
The middle part for stating driving lever 15 is provided with the first bar-shaped trough 151, and the 3rd rotating shaft 14 is installed in the first bar-shaped trough 151, the 3rd turn
The way of contact of the bar-shaped trough 151 of axle 14 and first is rolling friction.
First follower lever 11 is provided with the second bar-shaped trough 113, and second bar-shaped trough 113 is located at the first follower lever 11
Medium position and first set hole 111 between, the outer end of the driving lever 15 is provided with the 4th rotating shaft 152, and the 4th rotating shaft 152 can
Rotated on the outer end of driving lever 15, for example with bearing connected mode；4th rotating shaft 152 is installed on the second bar-shaped trough
In 113, the 4th rotating shaft 152 and the way of contact of the second bar-shaped trough 113 are rolling friction, the other end of first follower lever 11
The 3rd set of hole 112 is provided with, is slided on the 3rd guide rod 4 and is arranged with the 3rd guide pin bushing 41, the bottom face of the 3rd guide pin bushing 41 sets
Have a wiper 7, the side of the 3rd guide pin bushing 41 is provided with the 3rd slide bar 42, the 3rd slide bar 42 set towards the first guide rod 2 and
Perpendicular to the 3rd guide rod 4, the 3rd slide bar 42 is provided with the 3rd sliding sleeve 43, and the 3rd sliding sleeve 43 is provided with the 5th rotating shaft
44, the 5th rotating shaft 44 can be in the rotary-top of the 3rd sliding sleeve 43, for example with bearing connected mode；Pacify in the 3rd set of hole 112
Loaded in the 5th rotating shaft 44, the 3rd set of hole 112 can mutually be fixedly connected with the 5th rotating shaft 44 in the present embodiment.First guide pin bushing 21,
Symmetrical centered on one slide bar 22 and the 3rd guide pin bushing 41, the 3rd slide bar 42, symmetrical centre point is located on the place axis of first rotating shaft 10.
Slided on second guide rod 3 and be arranged with the second guide pin bushing 31, the bottom face of second guide pin bushing 31 is provided with wiper 7,
The side of second guide pin bushing 31 is provided with the second slide bar 32, and second slide bar 32 is set and perpendicular to towards the 4th guide rod 5
Two guide rods 3, second slide bar 32 is provided with the second sliding sleeve 33, and second sliding sleeve 33 is provided with the 6th rotating shaft 34, the 6th turn
Axle 34 can be in the rotary-top of the second sliding sleeve 33, for example with bearing connected mode；The two ends difference of second follower lever 12
Second set of hole 121 and the 4th set of hole 122 are provided with, second set of hole 121 is installed in the 6th rotating shaft 34, second in the present embodiment
Set hole 121 can mutually be fixedly connected with the 6th rotating shaft 34；Slided on 4th guide rod 5 and be arranged with the 4th guide pin bushing 51, the described 4th
The bottom face of guide pin bushing 51 is provided with wiper 7, and the side of the 4th guide pin bushing 51 is provided with the 4th slide bar 52, the direction of the 4th slide bar 52
Second guide rod 3 is set and perpendicular to the 4th guide rod 5, and the 4th slide bar 52 is provided with the 4th sliding sleeve 53, the 4th sliding sleeve 53
The 7th rotating shaft 54 is provided with, the 7th rotating shaft 54 can be in the rotary-top of the 4th sliding sleeve 53, for example with bearing connected mode；It is described
4th set of hole 122 is installed in the 7th rotating shaft 54, and the 4th set of hole 122 can mutually be fixedly connected with the 7th rotating shaft 54 in the present embodiment.
Symmetrical centered on second guide pin bushing 31, the second slide bar 32 and the 4th guide pin bushing 51, the 4th slide bar 52, symmetrical centre point is located at first rotating shaft
On 10 place axis.
A water storage case 93 is respectively provided with first guide pin bushing 21, the second guide pin bushing 31, the 3rd guide pin bushing 41, the 4th guide pin bushing 51,
The water storage case 93 is provided with the water channel (not shown) for being supplied water to wiper.
The lower surface of second follower lever 12 is provided with some hole for water sprayings 124, the lower surface on first follower lever 11
Some hot gas ventholes 114 are provided with for drying；The strutbeam 9 is provided with water injector 91 for connecting the hole for water spraying, institute
State and hot air generator 92 is additionally provided with strutbeam 9 for connecting the hot gas venthole.
The outside of column 1 of frame as described in Fig. 4 to Fig. 6 connects wheel by wheel shaft 62, and the wheel includes wheel hub and wheel
Tire 61, the wheel hub includes the wheel hub fixed plate 63, spoke retainer plate 64 and the spoke 65 that are connected with wheel shaft 62, and the spoke is consolidated
Surely circle 64 is vertically connected at the outer rim of wheel hub fixed plate 63, is hinged with described in multiple at the two ends outer rim of the spoke retainer plate 64
Spoke 65, the spoke 65 positioned at homonymy is uniformly arranged along the circumferencial direction of the outer rim of spoke retainer plate 64, and the spoke 65 is in wheel
It is arranged in pairs at the two ends outer rim of spoke retainer plate 64, a tire 61, the wheel is installed at the outer end of each pair spoke 65
Tire 61 is the elastic inflated tire of bar shaped, and the two ends of tire length direction are individually fixed at the outer end of correspondence spoke 65, described
Spoke retainer plate 64 is provided with sliding groove 66, and a sliding ring 67, the sliding ring 67 and spoke are provided with the sliding groove 66
Retainer plate 64 is coaxially disposed, and the circle of the sliding ring 67 is provided with a driving through being more than spoke retainer plate 64 between each pair spoke 65
Bar 68, the inner side of the spoke 65 is provided with T-slot 651 along its length, and the two ends of the drive rod 68 are provided with T connector 681, and divide
It is not installed in the T-slot 651 of corresponding spoke 65, the middle part vertical direction of the drive rod 68 is connected with a conductive bar 69,
The limitation of movement of the conductive bar 69 in guide groove 70, making conductive bar 69 move in its longitudinal direction, fix by the guide groove 70
In on spoke retainer plate 64,69 lower ends of the conductive bar are hinged with a connecting rod 71, and the other end of the connecting rod 71 is articulated with cunning
On moving-coil 67, a linear electric motors 72 are additionally provided with the spoke retainer plate 64, the linear electric motors 72 drive sliding ring 67 along cunning
Dynamic groove 66 moves back and forth, and the sliding groove 66 drives drive rod 68 along the radial motion of wheel hub by connecting rod 71.The connecting rod 71
Had angle setting with the axial direction of wheel hub, to ensure the transmission of power.
Also include a steering driving mechanism 60, the steering driving mechanism 60 is used for driving moment and moves and turn to.
The drive rod 68 is parallel with the axial direction of spoke retainer plate 64, and the length of the drive rod 68 is fixed more than spoke
The axial length of circle 64.
When actually used, can be adjusted according to the difference of application scenarios, the quantity to spoke and corresponding tire, can be with
6 groups, 8 groups, 12 groups, 20 groups etc., after wheel of the invention is installed are set to, when ground is coarse, are driven on linear electric motors
Moving mass drives sliding ring to left movement to left movement (left direction in Fig. 4), so as to drive drive rod to remote by connecting rod
Moved from the direction of hub axis, so as to corresponding spoke group is close to each other, single tire is become waist-drum-shaped, so as to reduce
With the frictional force on ground, when ground is smooth, the moving mass on linear electric motors is driven to move right (the right direction in Fig. 4),
Sliding ring is driven to move right, so that drive drive rod move to the direction near hub axis by connecting rod, so that by spoke
Strutted to both sides, single tire is become flat, so as to increase contact area, improve friction area, prevent from skidding, increase steady
It is qualitative.The control of linear electric motors can be completed by the central processing unit in frame.The deformation of the single tire of bar shaped is former
The similar balloon of reason.
Operation principle of the invention and process are as follows：Robot is positioned on floor, with wiper one facing to ground
Plate, is moved and turned to by steering driving mechanism come driving moment, so as to drive gantry motion, after start-up operation, runner is rotated,
The 3rd rotating shaft on runner is driven to move in a circle, the 3rd rotating shaft drives driving lever to swing back and forth, and driving lever is with crossbeam center
Swing pivot, the 4th rotating shaft on driving lever movable end drives the motion of the first follower lever, makes the first follower lever be with frame central
Swing pivot swings back and forth, and the first follower lever drives the first guide pin bushing to do past on the first guide rod by the second rotating shaft located at end
Linear motion, the wiper on the first guide pin bushing can be used to wash the floor, because the first follower lever and the second follower lever are connected and in 90 °
Design, therefore when the first follower lever drives the first guide pin bushing and the 3rd guide pin bushing to be moved back and forth on the first guide rod and the 3rd guide rod respectively
When, the second follower lever can also drive the second guide pin bushing and the 4th guide pin bushing to be moved back and forth on the second guide rod and the 4th guide rod respectively.Cause
This four wipers are only driven by a runner, can carry out cleaning, efficiency high to floor surface simultaneously.
Embodiment one
The spoke is made up of aluminum alloy materials, and the Technology for Heating Processing of the spoke comprises the following steps：
(1) spoke is carried out into solution treatment 2h under conditions of 510 DEG C；
(2) Quenching Treatment 10min will be carried out in the aqueous solution of the good spoke feeding sodium chloride-containing of solution treatment and potassium chloride,
Quenching shift time is less than 8 seconds, and the temperature of the aqueous solution of the sodium chloride-containing and potassium chloride is 20 DEG C, the sodium chloride and chlorination
The mass concentration of potassium is respectively 15% and 10%；
(3) after the spoke after Quenching Treatment is stood, make its surface water stain-free, solution treatment, solid solution are then carried out again
Treatment temperature is 470 DEG C, and the solution treatment time is 8h；
(4) spoke after solid solution again is carried out into high-temperature aging treatment, high-temperature aging temperature is 150 DEG C, during high-temperature aging
Between be 8h；
The spoke carries out process of surface treatment after Technology for Heating Processing, and the process of surface treatment comprises the following steps：
(a) pickling：To be immersed in acid solution by the spoke after Technology for Heating Processing, acid solution weight content 15%H2SO4,
Processed 10 minutes at 50 DEG C；
B () washes：Spray washing, the acid solution on removal spoke surface will be carried out through the spoke after overpickling；
(c) alkali cleaning：To be immersed in alkali lye by the spoke of step (b), alkali lye weight content 8%NaOH, in room temperature
Lower immersion treatment 10 seconds, the oxide-film on removal spoke surface；
D () deionization is washed：Deionization washing, the alkali lye on removal spoke surface will be carried out by the spoke after alkali cleaning；
The spoke coats antirust oil after process of surface treatment, and the preparation of the antirust oil comprises the following steps：
(p1) Fresh Lemon grass blade leaf is chosen, is cleaned with clear water and freeze-drying 1h, then mill and cross 60 mesh sieves, collected
Obtain lemon grass (Cymbopogon citratus) cauline leaf particle, then in mass ratio 1:5, lemon grass (Cymbopogon citratus) cauline leaf particle is mixed with deionized water stirring, then heating up adds
After heat boiling 1h, stop heating and stratification 2h, separate and collect upper oil phase, be prepared into volatilization lemon grass (Cymbopogon citratus) essential oil, it is standby；
(p2) count by weight, respectively 10 parts of barium mahogany sulfonates of weighing, 40 parts of alkylols, 10 parts of ketene dimers and 5 parts
The sulfuric acid of mass fraction 65% is placed in conical flask, after then logical nitrogen excludes air, is in a nitrogen atmosphere put conical flask
In heating water bath 60min at 80 DEG C, then stand and be cooled to room temperature, pH is adjusted to 7.0 with the sodium carbonate liquor of mass fraction 10%,
Filtrate is filtered and collects, rotation is evaporated to the 1/5 of original volume at 70 DEG C after stratification, is prepared into modified concentrate；
(p3) in mass ratio 1:3, volatilize lemon grass (Cymbopogon citratus) essential oil and the modified concentrate of above-mentioned preparation prepared by step (p1)
Stirring mixing, the ultrasonic disperse treatment 10min under 200W, subsequent still aging 6h, is prepared into modified volatile spirits；
(p4) count by weight, respectively 60 parts of modified volatile spirits of above-mentioned preparation of weighing, 10 parts of vaseline and 5 part ten
Dialkylene succinic acid is placed in beaker, the oil bath heating 10min at 120 DEG C, then stops heating and standing being cooled to 70 DEG C, is protected
Stood after temperature stirring 20min and be cooled to room temperature, you can be prepared into the antirust oil.
Embodiment two
The spoke is made up of aluminum alloy materials, and the Technology for Heating Processing of the spoke comprises the following steps：
(1) spoke is carried out into solution treatment 2h under conditions of 515 DEG C；
(2) Quenching Treatment 10min will be carried out in the aqueous solution of the good spoke feeding sodium chloride-containing of solution treatment and potassium chloride,
Quenching shift time is less than 8 seconds, and the temperature of the aqueous solution of the sodium chloride-containing and potassium chloride is 22 DEG C, the sodium chloride and chlorination
The mass concentration of potassium is respectively 15% and 10%；
(3) after the spoke after Quenching Treatment is stood, make its surface water stain-free, solution treatment, solid solution are then carried out again
Treatment temperature is 480 DEG C, and the solution treatment time is 8h；
(4) spoke after solid solution again is carried out into high-temperature aging treatment, high-temperature aging temperature is 160 DEG C, during high-temperature aging
Between be 8h；
The spoke carries out process of surface treatment after Technology for Heating Processing, and the process of surface treatment comprises the following steps：
(a) pickling：To be immersed in acid solution by the spoke after Technology for Heating Processing, acid solution weight content 16%H2SO4,
Processed 15 minutes at 55 DEG C；
B () washes：Spray washing, the acid solution on removal spoke surface will be carried out through the spoke after overpickling；
(c) alkali cleaning：To be immersed in alkali lye by the spoke of step (b), alkali lye weight content 9%NaOH, in room temperature
Lower immersion treatment 15 seconds, the oxide-film on removal spoke surface；
D () deionization is washed：Deionization washing, the alkali lye on removal spoke surface will be carried out by the spoke after alkali cleaning；
The spoke coats antirust oil after process of surface treatment, and the preparation of the antirust oil comprises the following steps：
(p1) Fresh Lemon grass blade leaf is chosen, is cleaned with clear water and freeze-drying 2h, then mill and cross 60 mesh sieves, collected
Obtain lemon grass (Cymbopogon citratus) cauline leaf particle, then in mass ratio 1:5, lemon grass (Cymbopogon citratus) cauline leaf particle is mixed with deionized water stirring, then heating up adds
After heat boiling 2h, stop heating and stratification 3h, separate and collect upper oil phase, be prepared into volatilization lemon grass (Cymbopogon citratus) essential oil, it is standby；
(p2) count by weight, respectively 20 parts of barium mahogany sulfonates of weighing, 50 parts of alkylols, 15 parts of ketene dimers and 6 parts
The sulfuric acid of mass fraction 65% is placed in conical flask, after then logical nitrogen excludes air, is in a nitrogen atmosphere put conical flask
In heating water bath 65min at 85 DEG C, then stand and be cooled to room temperature, pH is adjusted to 7.0 with the sodium carbonate liquor of mass fraction 10%,
Filtrate is filtered and collects, rotation is evaporated to the 1/5 of original volume at 75 DEG C after stratification, is prepared into modified concentrate；
(p3) in mass ratio 1:3, volatilize lemon grass (Cymbopogon citratus) essential oil and the modified concentrate of above-mentioned preparation prepared by step (p1)
Stirring mixing, the ultrasonic disperse treatment 15min under 250W, subsequent still aging 7h, is prepared into modified volatile spirits；
(p4) count by weight, respectively 65 parts of modified volatile spirits of above-mentioned preparation of weighing, 15 parts of vaseline and 10 parts
Dodecenylsuccinic acid is placed in beaker, the oil bath heating 15min at 125 DEG C, then stops heating and standing being cooled to 75 DEG C,
Stood after insulated and stirred 25min and be cooled to room temperature, you can be prepared into the antirust oil.
Embodiment three
The spoke is made up of aluminum alloy materials, and the Technology for Heating Processing of the spoke comprises the following steps：
(1) spoke is carried out into solution treatment 2h under conditions of 520 DEG C；
(2) Quenching Treatment 10min will be carried out in the aqueous solution of the good spoke feeding sodium chloride-containing of solution treatment and potassium chloride,
Quenching shift time is less than 8 seconds, and the temperature of the aqueous solution of the sodium chloride-containing and potassium chloride is 25 DEG C, the sodium chloride and chlorination
The mass concentration of potassium is respectively 15% and 10%；
(3) after the spoke after Quenching Treatment is stood, make its surface water stain-free, solution treatment, solid solution are then carried out again
Treatment temperature is 490 DEG C, and the solution treatment time is 8h；
(4) spoke after solid solution again is carried out into high-temperature aging treatment, high-temperature aging temperature is 170 DEG C, during high-temperature aging
Between be 8h；
The spoke carries out process of surface treatment after Technology for Heating Processing, and the process of surface treatment comprises the following steps：
(a) pickling：To be immersed in acid solution by the spoke after Technology for Heating Processing, acid solution weight content 17%H2SO4,
Processed 20 minutes at 60 DEG C；
B () washes：Spray washing, the acid solution on removal spoke surface will be carried out through the spoke after overpickling；
(c) alkali cleaning：To be immersed in alkali lye by the spoke of step (b), alkali lye weight content 10%NaOH, in room temperature
Lower immersion treatment 20 seconds, the oxide-film on removal spoke surface；
D () deionization is washed：Deionization washing, the alkali lye on removal spoke surface will be carried out by the spoke after alkali cleaning；
The spoke coats antirust oil after process of surface treatment, and the preparation of the antirust oil comprises the following steps：
(p1) Fresh Lemon grass blade leaf is chosen, is cleaned with clear water and freeze-drying 3h, then mill and cross 60 mesh sieves, collected
Obtain lemon grass (Cymbopogon citratus) cauline leaf particle, then in mass ratio 1:5, lemon grass (Cymbopogon citratus) cauline leaf particle is mixed with deionized water stirring, then heating up adds
After heat boiling 3h, stop heating and stratification 4h, separate and collect upper oil phase, be prepared into volatilization lemon grass (Cymbopogon citratus) essential oil, it is standby；
(p2) count by weight, respectively 30 parts of barium mahogany sulfonates of weighing, 60 parts of alkylols, 20 parts of ketene dimers and 7 parts
The sulfuric acid of mass fraction 65% is placed in conical flask, after then logical nitrogen excludes air, is in a nitrogen atmosphere put conical flask
In heating water bath 70min at 90 DEG C, then stand and be cooled to room temperature, pH is adjusted to 7.0 with the sodium carbonate liquor of mass fraction 10%,
Filtrate is filtered and collects, rotation is evaporated to the 1/5 of original volume at 80 DEG C after stratification, is prepared into modified concentrate；
(p3) in mass ratio 1:3, volatilize lemon grass (Cymbopogon citratus) essential oil and the modified concentrate of above-mentioned preparation prepared by step (p1)
Stirring mixing, the ultrasonic disperse treatment 20min under 300W, subsequent still aging 8h, is prepared into modified volatile spirits；
(p4) count by weight, respectively 70 parts of modified volatile spirits of above-mentioned preparation of weighing, 20 parts of vaseline and 15 parts
Dodecenylsuccinic acid is placed in beaker, the oil bath heating 20min at 130 DEG C, then stops heating and standing being cooled to 80 DEG C,
Stood after insulated and stirred 30min and be cooled to room temperature, you can be prepared into the antirust oil.
The spoke carries out the assembling of wheel hub again after antirust oil is coated.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of civic building finishing mopping robot, it is characterised in that including frame, the frame is square, described
Frame include four columns being located on square four angles and be connected between adjacent upright posts the first guide rod, second lead
Bar, the 3rd guide rod, the 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, and second guide rod and the 4th guide rod are flat
Row is set, and is slided on first guide rod and is arranged with the first guide pin bushing, and the bottom face of first guide pin bushing is provided with wiper, described first
The side of guide pin bushing is provided with the first slide bar, and first slide bar is set and perpendicular to the first guide rod towards the 3rd guide rod, the frame
Be provided with the crossbeam parallel with the first guide rod at the first guide rod top, the crossbeam middle part is provided with towards frame central direction
Perpendicular to the strutbeam of crossbeam, the strutbeam is provided with first rotating shaft, and the first rotating shaft overlaps with frame central, described first turn
It is sequentially provided with the first follower lever and the second follower lever on axle, the angle of first follower lever and the second follower lever is 90 °, described
First slide bar is provided with the first sliding sleeve, the second rotating shaft is provided with the top of first sliding sleeve, on one end of first follower lever
First set hole is provided with, the first set hole is connected in the second rotating shaft, is additionally provided with runner on the strutbeam, the runner is by the
One motor drives, and the runner is provided with the 3rd rotating shaft near edge, and driving lever, the driving lever are provided with the middle part of the crossbeam
Middle part be provided with the first bar-shaped trough, the 3rd rotating shaft is installed in the first bar-shaped trough, and first follower lever is provided with second
Bar-shaped trough, second bar-shaped trough is located between the medium position of the first follower lever and first set hole, the outer end of the driving lever
Portion is provided with the 4th rotating shaft, and the 4th rotating shaft is installed in the second bar-shaped trough, and the other end of first follower lever is provided with the 3rd
Set hole, slides on the 3rd guide rod and is arranged with the 3rd guide pin bushing, and the bottom face of the 3rd guide pin bushing is provided with wiper, and the described 3rd leads
The side of set is provided with the 3rd slide bar, and the 3rd slide bar is set and perpendicular to the 3rd guide rod towards the first guide rod, and the described 3rd slides
Bar is provided with the 3rd sliding sleeve, and the 3rd sliding sleeve is provided with the 5th rotating shaft, and the 3rd set of hole is installed in the 5th rotating shaft；It is described
Slided on second guide rod and be arranged with the second guide pin bushing, the bottom face of second guide pin bushing is provided with wiper, the side of second guide pin bushing
The second slide bar is provided with, second slide bar is set and perpendicular to the second guide rod towards the 4th guide rod, and second slide bar is provided with
Second sliding sleeve, second sliding sleeve is provided with the 6th rotating shaft, and second follower lever is respectively arranged at two ends with second set of hole and
Four sets of holes, second set of hole is installed in the 6th rotating shaft；Slided on 4th guide rod and be arranged with the 4th guide pin bushing, the described 4th
The bottom face of guide pin bushing is provided with wiper, and the side of the 4th guide pin bushing is provided with the 4th slide bar, the second guide rod of the 4th slide bar direction
Set and perpendicular to the 4th guide rod, the 4th slide bar is provided with the 4th sliding sleeve, and the 4th sliding sleeve is provided with the 7th rotating shaft, institute
The 4th set of hole is stated to be installed in the 7th rotating shaft；
A water storage case is respectively provided with first guide pin bushing, the second guide pin bushing, the 3rd guide pin bushing, the 4th guide pin bushing, the water storage case is provided with
For the water channel supplied water to wiper；
The lower surface of second follower lever is provided with some hole for water sprayings, and the lower surface on first follower lever is provided with some hot gas
Venthole is used to dry；The strutbeam is provided with water injector for connecting the hole for water spraying, and hot gas is additionally provided with the strutbeam
Generator is used to connect the hot gas venthole；
The frame column outside by wheel shaft connect wheel, the wheel include wheel hub and tire, the wheel hub including with
The connected wheel hub fixed plate of wheel shaft, spoke retainer plate and spoke, the spoke retainer plate are vertically connected at wheel hub fixed plate
Outer rim, is hinged with multiple spokes at the two ends outer rim of the spoke retainer plate, the spoke positioned at homonymy is along spoke retainer plate
The circumferencial direction of outer rim is uniformly arranged, and the spoke is arranged in pairs at the two ends outer rim of spoke retainer plate, each pair spoke
One tire is installed, the tire is the elastic inflated tire of bar shaped, and the spoke retainer plate is provided with cunning at outer end
Dynamic groove, is provided with a sliding ring on the sliding groove, the sliding ring is coaxially disposed with spoke retainer plate, the circle of the sliding ring
Through more than spoke retainer plate, being provided with a drive rod between each pair spoke, the spoke inner side is provided with T-slot along its length, institute
The two ends for stating drive rod are provided with T connector, and are respectively arranged in the T-slot of corresponding spoke, and the middle part of the drive rod is vertical
Direction is connected with a conductive bar, and the limitation of movement of the conductive bar makes conductive bar move in its longitudinal direction in a guide groove,
The guide groove is fixed on spoke retainer plate, and the lower end of the guide rod is hinged with a connecting rod, and the other end of the connecting rod is articulated with
On sliding ring, be additionally provided with a linear electric motors on the spoke retainer plate, the linear electric motors drive sliding ring along sliding groove back and forth
Mobile, the sliding groove drives drive rod along the radial motion of wheel hub by connecting rod；
Also include a steering driving mechanism, the steering driving mechanism is used for driving moment and moves and turn to；
The spoke is made up of aluminum alloy materials, and the Technology for Heating Processing of the spoke comprises the following steps：
(1) spoke is carried out into solution treatment 2h under conditions of 510~520 DEG C；
(2) Quenching Treatment 10min will be carried out in the aqueous solution of the good spoke feeding sodium chloride-containing of solution treatment and potassium chloride, is quenched
Transfer time is less than 8 seconds, and the temperature of the aqueous solution of the sodium chloride-containing and potassium chloride is 20~25 DEG C, the sodium chloride and chlorination
The mass concentration of potassium is respectively 15% and 10%；
(3) after the spoke after Quenching Treatment is stood, make its surface water stain-free, solution treatment, solution treatment are then carried out again
Temperature is 470~490 DEG C, and the solution treatment time is 8h；
(4) spoke after solid solution again is carried out into high-temperature aging treatment, high-temperature aging temperature is 150~170 DEG C, during high-temperature aging
Between be 8h；
The spoke carries out process of surface treatment after Technology for Heating Processing, and the process of surface treatment comprises the following steps：
(a) pickling：To be immersed in acid solution by the spoke after Technology for Heating Processing, acid solution weight content 15%~17%
H2SO4, processed 10~20 minutes at 50~60 DEG C；
B () washes：Spray washing, the acid solution on removal spoke surface will be carried out through the spoke after overpickling；
(c) alkali cleaning：To be immersed in alkali lye by the spoke of step (b), alkali lye 8%~10%NaOH of weight content, in room
The lower immersion treatment of temperature 10~20 seconds, the oxide-film on removal spoke surface；
D () deionization is washed：Deionization washing, the alkali lye on removal spoke surface will be carried out by the spoke after alkali cleaning；
The spoke coats antirust oil after process of surface treatment, and the preparation of the antirust oil comprises the following steps：
(p1) Fresh Lemon grass blade leaf is chosen, is cleaned with clear water and 1~3h of freeze-drying, then mill and cross 60 mesh sieves, collected
Obtain lemon grass (Cymbopogon citratus) cauline leaf particle, then in mass ratio 1:5, lemon grass (Cymbopogon citratus) cauline leaf particle is mixed with deionized water stirring, then heating up adds
After 1~3h of heat boiling, stop heating and 2~4h of stratification, separate and collect upper oil phase, be prepared into volatilization lemon grass (Cymbopogon citratus) essence
Oil, it is standby；
(p2) count by weight, 10~30 parts of barium mahogany sulfonates, 40~60 parts of alkylols, 10~20 parts of double ethene are weighed respectively
Ketone and 5~7 parts of sulfuric acid of mass fraction 65% are placed in conical flask, after then logical nitrogen excludes air, in a nitrogen atmosphere will
Conical flask be placed in 80~90 DEG C at 60~70min of heating water bath, then stand be cooled to room temperature, with the carbonic acid of mass fraction 10%
Sodium solution adjusts pH to 7.0, filters and collect filtrate, and rotation is evaporated to the 1/5 of original volume at 70~80 DEG C after stratification,
It is prepared into modified concentrate；
(p3) in mass ratio 1:3, volatilization lemon grass (Cymbopogon citratus) essential oil prepared by step (p1) is stirred with the modified concentrate of above-mentioned preparation
Mixing, ultrasonic disperse processes 10~20min, subsequent still aging 6~8h under 200~300W, is prepared into modified volatile spirits；
(p4) count by weight, 60~70 parts of modified volatile spirits of above-mentioned preparation, 10~20 parts of vaseline and 5 are weighed respectively
~15 parts of dodecenylsuccinic acids are placed in beaker, 10~20min of oil bath heating at 120~130 DEG C, then stop heating simultaneously
Standing is cooled to 70~80 DEG C, is stood after 20~30min of insulated and stirred and is cooled to room temperature, you can is prepared into the antirust oil.
2. civic building finishing mopping robot according to claim 1, it is characterised in that the drive rod and spoke
The axial direction of retainer plate is parallel, the axial length of the length more than spoke retainer plate of the drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710175885.2A CN106859511A (en) | 2017-03-22 | 2017-03-22 | A kind of civic building finishing mopping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710175885.2A CN106859511A (en) | 2017-03-22 | 2017-03-22 | A kind of civic building finishing mopping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106859511A true CN106859511A (en) | 2017-06-20 |
Family
ID=59173802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710175885.2A Pending CN106859511A (en) | 2017-03-22 | 2017-03-22 | A kind of civic building finishing mopping robot |
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| Country | Link |
|---|---|
| CN (1) | CN106859511A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019206335A1 (en) * | 2018-04-28 | 2019-10-31 | 苏州宝时得电动工具有限公司 | Floor moping robot and cleaning method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101392380A (en) * | 2008-10-24 | 2009-03-25 | 中北大学 | Magnesium alloy vehicle wheel surface treatment method and magnesium alloy vehicle wheel |
| CN201814216U (en) * | 2010-10-14 | 2011-05-04 | 李永福 | Underpan of baby electric cradle |
| CN102987981A (en) * | 2012-10-31 | 2013-03-27 | 博宇(无锡)科技有限公司 | Hydraulic lifting platform for window cleaning machine |
-
2017
- 2017-03-22 CN CN201710175885.2A patent/CN106859511A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101392380A (en) * | 2008-10-24 | 2009-03-25 | 中北大学 | Magnesium alloy vehicle wheel surface treatment method and magnesium alloy vehicle wheel |
| CN201814216U (en) * | 2010-10-14 | 2011-05-04 | 李永福 | Underpan of baby electric cradle |
| CN102987981A (en) * | 2012-10-31 | 2013-03-27 | 博宇(无锡)科技有限公司 | Hydraulic lifting platform for window cleaning machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019206335A1 (en) * | 2018-04-28 | 2019-10-31 | 苏州宝时得电动工具有限公司 | Floor moping robot and cleaning method thereof |
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Application publication date: 20170620 |
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