CN108568442A - A kind of building guardrail cleaning Auxiliary support intelligent robot - Google Patents
A kind of building guardrail cleaning Auxiliary support intelligent robot Download PDFInfo
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- CN108568442A CN108568442A CN201810399148.5A CN201810399148A CN108568442A CN 108568442 A CN108568442 A CN 108568442A CN 201810399148 A CN201810399148 A CN 201810399148A CN 108568442 A CN108568442 A CN 108568442A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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Abstract
The present invention relates to a kind of building guardrails to clean Auxiliary support intelligent robot, including fixed frame, the fixed frame lower face is provided with bottom plate, the lower face of bottom plate is arranged symmetrically, and there are four universal wheels, it can be arbitrarily moved to of the invention on required cleaning guardrail side by four universal wheels, it is easy to operate, six branches in parallel are separately installed on fixed frame, the upper end of six branches in parallel is uniformly mounted on upper mounting plate；The fixed frame includes lower platform, is equipped with transmission shaft by bearing in the middle part of the upper surface of the lower platform, the middle part of transmission shaft is equipped with transmission gear by key, and transmission gear is in axial direction meshed with six transmission branch chains respectively.Stable rigid support function may be implemented in the present invention, have the advantages that there is no shake situation, stability is good, without human assistance operation, high degree of automation, lift adjustment performance be good, cleaning efficiency is low low with working efficiency etc..
Description
The application be the applying date be on May 22nd, 2016 submit application No. is 201610343651X, it is entitled
A kind of divisional application of the Chinese patent application of adjustable height building guardrail cleaning Special rigid support equipment.
Technical field
The present invention relates to building cleaning equipment, and specifically a kind of building guardrail cleans Auxiliary support intelligent robot.
Background technology
With the continuous development of China's economy, the high buildings and large mansions of various regions are seen everywhere, in order to ensure the safety of user
General before high-rise indoor glass it can all load onto stainless steel guard rail, stainless steel guard rail is required for manually periodically carrying out wiping and clear
It washes, but since the existing stainless steel guard rail in interior is large number of, to greatly increase the workload of cleaning personnel；Although
Also there are a small amount of interior divider cleaning equipment, substantially handheld cleaning device in existing market, and human assistance is needed to adjust
Cleaning can be completed, the degree of automation is low, while when the interior divider height for encountering required cleaning is relatively high, it is necessary to outer
Add existing lifting device auxiliary cleaning, but causes in cleaning process since the rigid support performance of existing lifting device is poor
In the presence of shake situation, stability is poor, lift adjustment poor performance, some cleaning workers fear to throw on existing lifting device,
To the cautious cleaning of meeting, cleaning efficiency is reduced, working efficiency is low.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of building guardrails to clean Auxiliary support intelligent robot, can be with
Solving cleaning artificial station, there are shake situations, steady when cleaning building guardrail by handheld cleaning device on existing lifting device
Determine poor performance, need low human assistance operation, the degree of automation, lift adjustment poor performance, cleaning efficiency lowly and working efficiency
The problems such as low, may be implemented stable rigid support function, have there is no shake situation, stability is good, it is artificial to be not necessarily to
Auxiliary operation, high degree of automation, lift adjustment performance are good, the low advantages such as low with working efficiency of cleaning efficiency.
To achieve the goals above, the present invention is realized using following technical scheme：A kind of building guardrail cleaning auxiliary branch
Intelligent robot is supportted, including fixed frame, the fixed frame lower face are provided with bottom plate, the lower face of bottom plate is symmetrically arranged with
Four universal wheels can be arbitrarily moved to of the invention on required cleaning guardrail side by four universal wheels, easy to operate, fixed
Six branches in parallel are separately installed in rack, the upper end of six branches in parallel is uniformly mounted on upper mounting plate；The fixed machine
Frame includes lower platform, is equipped with transmission shaft by bearing in the middle part of the upper surface of the lower platform, the middle part of transmission shaft is pacified by key
Equipped with transmission gear, transmission gear is in axial direction meshed with six transmission branch chains respectively, by six transmission branch chains from six
Mode of a angle simultaneously with nutating gear rotation increases transmission twisting resistance, improves the stationarity of transmission, transmission branch chain
The driving motor on lower platform is mounted on by motor cabinet including bottom end, the output end of driving motor passes through shaft coupling and drive shaft
It is connected, the middle part of drive shaft is equipped with driving gear by key, and driving gear is meshed with transmission gear, and six transmission branch chains
On six drive shaft upper ends be connected with supporting table by bearing, driving motor drive drive shaft turns, drive shaft drive drive
Moving gear rotates, and to constitute by the planetary gear mechanism of six driving gear band nutating gear rotations, improves
The stationarity of transmission；The middle part of the supporting table is connected by bearing with transmission shaft, and the lower face of supporting table is rectangular along axis
Even to be welded with six roots of sensation support column, the lower face of six roots of sensation support column is installed on lower platform, and six roots of sensation support column plays uniform fixation
The function of supporting table so that transmission shaft can stablize under the drive of planetary gear mechanism in supporting table turn
It is dynamic；The upper end of the transmission shaft is connected by shaft coupling with turn-screw, and mode is connected through a screw thread in the middle part of turn-screw and is pacified
Equipped with driving block, driving block is regular hexagon structure, and six end faces of driving block are respectively welded six roots of sensation mobile column, six
The end of root mobile column is separately mounted on six No.1 line slide rails, to weld by the regular hexagon structure of driving block
Six roots of sensation mobile column on driving block can make stable lifting under the drive of turn-screw on six No.1 line slide rails
Movement, six No.1 line slide rails are separately mounted to by screw in six pieces of support plates, and the lower end of six pieces of supports is respectively welded at
On lower platform, six pieces of support plates play the role of six No.1 line slide rails of fixed support, increase mobile column in corresponding No.1
The stability of line slide rail；Six roots of sensation limit pillar, six roots of sensation limited post are respectively welded on the upper end inner wall of six pieces of support plates
Middle part opened up respectively there are six square limited mouth, the end of six roots of sensation limit pillar is respectively welded on fixed station, fixed station
Middle part is connected by bearing with the upper end of turn-screw；The upper surface of the six roots of sensation mobile column is separately installed with six branch in parallel
Chain, and the middle part of each branch in parallel is threaded through in the square limited mouth of corresponding limit pillar, limits the square limit of pillar
Mouth plays the role of limiting branch motion range in parallel, drives six branches in parallel to make lifting fortune respectively by six roots of sensation mobile column
Dynamic, six branch synchronous drive upper mounting plates in parallel make elevating movement, by the stable drive performance of planetary gear mechanism, carry
Stability in high lifting process, so that the present invention may be implemented to clean adjustable for height function, height regulation performance
It is good；The parallel connection branch includes the hollow lower thread spindle that lower end is welded in mobile column, is connected by screw thread on hollow lower thread spindle
The mode of connecing is equipped with No.1 flexural pivot, and the upper end of No.1 flexural pivot is connected through a screw thread mode and is equipped with No.1 sleeve, No.1 sleeve
Upper end is connected through a screw thread mode and is equipped with No.1 hydraulic cylinder, and the upper end of No.1 hydraulic cylinder is connected through a screw thread mode and is equipped with two
Number sleeve, the upper end of No. two sleeves are connected through a screw thread mode and are equipped with No. two flexural pivots, and the upper end of No. two flexural pivots is connected by screw thread
The mode of connecing is equipped with hollow upper thread spindle, and hollow upper thread spindle is welded on the lower face of upper mounting plate, and the present invention passes through No.1 ball
Cut with scissors the spherical surface formed when the prismatic pair P formed when the spherical pair S formed when work, No.1 hydraulic cylinder extension and No. two flexural pivot work
Secondary S constitutes SPS parallel connection branches, and the fixed frame in the present invention is made as fixed platform, six SPS parallel connections branches, upper mounting plate
6-SPS parallel institutions are constituted for moving platform, and 6-SPS parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, steady
The advantages that qualitative good and kinematic accuracy is high, since the advantages of 6-SPS parallel institutions so that this invention removes equipment lifting cleanings
Existing shake situation in the process realizes the rigid support function that the present invention stablizes, and rigid support performance is good, cleans stability
Can be good, cleaning performance is good, and work efficiency is high；Electric rotating machine is equipped with by motor cabinet in the middle part of the upper surface of the upper mounting plate, is revolved
Rotating platform is installed on the output end of rotating motor, there are four supports for uniform welding in the axial direction for the upper surface of upper mounting plate
Pylon is separately installed with the first swivel bearing and the second swivel bearing on four support pylons, and the first swivel bearing is revolved with second
Shaft is uniformly equipped with four swinging struts between holding, the top of four swinging struts is symmetrically mounted on the lower end of rotating platform
Face；The support pylon includes the column for being welded on upper mounting plate upper surface, integrally formed with limit recess portion on the outside of the upper end of the column face,
The madial wall of limit recess portion is tightly attached on the first swivel bearing, and limit recess portion is inside concave arc structure so that limit is recessed
Portion can be tightly attached on the first swivel bearing, increased the first swivel bearing and limited the tightness of recess portion, the upper end of the column face
Inside is tightly attached to integrally formed with stopper protrusion, the madial wall of stopper protrusion on the second swivel bearing, and stopper protrusion is outside inside
Convex arc structure so that stopper protrusion can be tightly attached on the second swivel bearing, increase the second swivel bearing and limit convex
The tightness in portion makes four swinging struts in the first swivel bearing and the second rotary shaft by limiting recess portion with stopper protrusion
The rotation stablized between holding；It is welded with riser on the left of the upper surface for turning platform, four are symmetrically installed on the madial wall of riser
The top of a No. two hydraulic cylinders, four No. two hydraulic cylinders is equipped with fixed disc, and the middle part of four No. two hydraulic cylinders is held round with branch
It is connected by sliding matching mode between disk, supports and be symmetrically welded on the left side wall of disk on two L-types fixation pillars, two
The lower end that root L-type fixes pillar is symmetrically mounted on two No. two line slide rails, and two No. two line slide rails are pacified by screw
Mounted in the upper surface of rotating platform, two L-types are driven to fix pillar movement by two No. two line slide rails, two L-types are fixed
Pillar drives support disk movement, support disk to play the work for simultaneously supporting four No. two hydraulic cylinders, so as to adjust this
The supporting point position of four No. two hydraulic cylinders of invention pair；Supporting surface there are two being symmetrically welded on the left of the upper surface of the rotating platform
Plate, two support panels on be separately installed with two No. three hydraulic cylinders, the middle part fixed symmetrical of two No. three hydraulic cylinders is mounted on
On riser, riser plays the role of supporting two No. three hydraulic cylinders, and the top of two No. three hydraulic cylinders is separately mounted to two L-types
On fixed pillar, two L-types are driven to fix pillar movement respectively by two No. three hydraulic cylinders；It is equipped on the fixed disc
Existing handheld cleaning device.
In use, the interior divider present position due to required cleaning is different, it is therefore desirable to adjust existing hand-held cleaning
Equipment cleans angle, and electric rotating machine is started to work, and electric rotating machine drives rotating platform rotation, rotating platform to pass through four rotation branch
The existing handheld cleaning device above rotation drive that column is stablized between the first swivel bearing and the second swivel bearing is adjusted
Angle is cleaned, so as to realize the function of present invention cleaning adjustable angle, electric rotating machine stops work when cleaning angle and being suitble to
Make, then adjust existing handheld cleaning device at a distance from required cleaning guardrail, at this time four No. two hydraulic cylinder setting in motions,
Four No. two hydraulic cylinders drive the existing handheld cleaning device on fixed disc to make stretching motion, so as to realize the present invention
Cleaning operates, high degree of automation, work efficiency is high, until existing hand-held is clear apart from adjustable work without human assistance
No. two hydraulic cylinders are stopped after washing equipment moving to suitable position, and due to the cleaning positions of existing handheld cleaning device
Become, therefore No. two hydraulic cylinder force positions become, the support level of support disk is adjusted according to the new forced position of No. two hydraulic cylinders
It sets, two No. three hydraulic cylinders are started to work at this time, and two No. three hydraulic cylinders drive two L-types to fix pillar movement, and two L-types are solid
Determining pillar drives support disk movement further to increase to have adjusted supporting point position of the present invention to four No. two hydraulic cylinders
Rigid support performance is added, the rigid support function that the present invention stablizes is furthermore achieved, also further increases the present invention's
Stability is cleaned, cleaning efficiency is high, and work efficiency is high.
As a preferred technical solution of the present invention, using mutual between six transmission branch chains and six roots of sensation support column
Staggeredly mode is mounted on lower platform, had both been increased the stationary performance of transmission, and had been also increased uniform branch of the support column to supporting table
Support performance.
As a preferred technical solution of the present invention, the central axis of the lower platform and the central axis phase of upper mounting plate
Overlap, it is good by the rigidity height and stability of 6-SPS parallel institutions the advantages that lower platform and upper mounting plate can be made to keep always
It is parallel, so that existing handheld cleaning device can remain steady in lift automatic cleaning process, eliminate
Situation is shaken present in equipment lifting cleaning process, realizes the rigid support function that the present invention stablizes, rigid support
Can be good, cleaning stability is good, and cleaning performance is good, and work efficiency is high.
When work, existing handheld cleaning device is installed on fixed disc first, then can be with by four universal wheels
It is arbitrarily moved to of the invention on required cleaning guardrail side, cleaning is first adjusted highly according to required cleaning guardrail height, six biographies
Six driving motors on dynamic branch start simultaneously at work, and six driving motors drive six drive shaft turns, six drives respectively
Moving axis drives six sliding tooth wheel rotations, six driving gear band nutating gear movements, transmission gear to drive transmission shaft rotation,
Transmission shaft drives turn-screw rotation, and turn-screw drives driving block movement, since the regular hexagon structure of driving block makes
The six roots of sensation mobile column that must be welded on driving block can be made to stablize under the drive of turn-screw on six No.1 line slide rails
Elevating movement, six roots of sensation mobile column drives six branches in parallel to make elevating movement, put down in six branch synchronous drives in parallel respectively
Existing handheld cleaning device on platform makees elevating movement, by the stable drive performance of planetary gear mechanism, improves
The stability in cleaning process is lifted, so that the present invention may be implemented to clean adjustable for height function, height regulation performance
Good, when the present invention reaches suitable cleaning height, driving motor is stopped；Position residing for interior divider further according to required cleaning
Adjusting cleaning angle is set, electric rotating machine is first started to work, and electric rotating machine drives rotating platform rotation, rotating platform to be revolved by four
Turn the existing handheld cleaning device above the rotation drive that pillar is stablized between the first swivel bearing and the second swivel bearing
Cleaning angle is adjusted, so as to realize the function of present invention cleaning adjustable angle, electric rotating machine stops when cleaning angle and being suitble to
Only work；Then existing handheld cleaning device is adjusted at a distance from required cleaning guardrail, and four No. two hydraulic cylinders start at this time
Movement, four No. two hydraulic cylinders drive the existing handheld cleaning device on fixed disc to make stretching motion, so as to realize
Present invention cleaning operates, high degree of automation, work efficiency is high, until existing hand apart from adjustable work without human assistance
No. two hydraulic cylinders are stopped after the formula cleaning equipment of holding moves to suitable position, and clear due to existing handheld cleaning device
It washes position to become, therefore No. two hydraulic cylinder force positions become, support disk is adjusted according to the new forced position of No. two hydraulic cylinders
Support Position, at this time two No. three hydraulic cylinders start-up operations, two No. three hydraulic cylinders drive two L-types to fix pillars and move, and two
Root L-type fixes pillar and support disk movement is driven to increase to have adjusted supporting point position of the present invention to four No. two hydraulic cylinders
Rigid support performance is added, has realized the rigid support function that the present invention stablizes, increase the cleaning stability of the present invention, clearly
Wash efficient, work efficiency is high；Six No.1 hydraulic cylinder bands of the last existing handheld cleaning device on six branches in parallel
Stable automation is carried out to interior divider under dynamic and lifts cleaning, and since the fixed frame in the present invention is as fixed platform, six
A SPS parallel connections branch, upper mounting plate constitute 6-SPS parallel institutions as moving platform, and 6-SPS parallel institutions have dynamic response
Good, rigidity height, large carrying capacity, the advantages that stability is good and kinematic accuracy is high, the present invention is excellent by 6-SPS parallel institutions
Performance eliminates so that existing handheld cleaning device can remain steady in lift automatic cleaning process
Situation is shaken present in equipment lifting cleaning process, realizes the rigid support function that the present invention stablizes, rigid support performance
Good, cleaning stability is good, and cleaning performance is good, and work efficiency is high.
The beneficial effects of the invention are as follows：
1, planetary gear mechanism of the present invention by six driving gears simultaneously with nutating gear rotation, to band
What dynamic six branches in parallel were stablized in six roots of sensation mobile column moves up and down, so that cleaning height may be implemented is adjustable by the present invention
Function, height regulation performance is good；
2, the fixed frame in the present invention is constituted as fixed platform, six SPS parallel connections branches, upper mounting plates as moving platform
6-SPS parallel institutions, by the excellent performance of 6-SPS parallel institutions so that existing handheld cleaning device is being lifted
It can remain steady in automatic cleaning process, eliminate and shake situation present in equipment lifting cleaning process, realize
The rigid support function that the present invention stablizes, rigid support performance is good, and cleaning stability is good, and cleaning performance is good, and work efficiency is high；
3, electric rotating machine of the present invention drives the existing handheld cleaning device above rotating platform to adjust cleaning angle, to
The function of present invention cleaning adjustable angle may be implemented；The present invention adjusts existing hand-held cleaning by No. two hydraulic cylinders and sets simultaneously
Standby to be operated without human assistance at a distance from required cleaning guardrail, high degree of automation, work efficiency is high, and when No. two hydraulic pressure
When cylinder changes to existing handheld cleaning device forced position, the present invention can drive support disk by No. three hydraulic cylinders
It is mobile, to have adjusted the present invention to the supporting point position of four No. two hydraulic cylinders, rigid support performance is further increased, into
One step realizes the rigid support function that the present invention stablizes, and also further increases the cleaning stability of the present invention, cleaning effect
Rate is high, and work efficiency is high；
4, the present invention solves cleaning artificial station and cleans building shield by handheld cleaning device on existing lifting device
When column there are shake situation, stability is poor, need human assistance operation, the degree of automation is low, lift adjustment poor performance, cleaning
The problems such as inefficiency and working efficiency are low, realize stable rigid support function, have and shake situation, stabilization is not present
Performance is good, without human assistance operation, high degree of automation, lift adjustment performance be good, cleaning efficiency is low low with working efficiency etc.
Advantage.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the full sectional view of the present invention；
Fig. 3 is the sectional view along A-A of Fig. 2 of the present invention；
Fig. 4 is the B-B direction sectional view of Fig. 2 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 be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 4, a kind of building guardrail cleans Auxiliary support intelligent robot, including fixed frame 1, described
1 lower face of fixed frame is provided with bottom plate 1a, and the lower face of bottom plate 1a is symmetrical arranged that there are four universal wheel 1b, universal by four
Wheel 1b can be arbitrarily moved to of the invention on required cleaning guardrail side, easy to operate, and six are separately installed on fixed frame 1
The upper end of branch 2 in parallel, six branches 2 in parallel is uniformly mounted on upper mounting plate 3；The fixed frame 1 includes lower platform 11, institute
It states and transmission shaft 12 is equipped with by bearing in the middle part of the upper surface of lower platform 11, the middle part of transmission shaft 12 is equipped with driving cog by key
Wheel 13, transmission gear 13 is in axial direction meshed with six transmission branch chains 14 respectively, by six transmission branch chains 14 from six
The mode that angle is rotated with nutating gear 13 simultaneously increases transmission twisting resistance, improves the stationarity of transmission, transmission branch chain
14 include the driving motor 141 that bottom end is mounted on by motor cabinet on lower platform 11, and the output end of driving motor 141 passes through shaft coupling
Device is connected with drive shaft 142, and the middle part of drive shaft 142 is equipped with driving gear 143 by key, drives gear 143 and driving cog
Wheel 13 is meshed, and six 142 upper ends of drive shaft in six transmission branch chains 14 are connected with supporting table 15 by bearing, transmission
Motor 41 drives drive shaft 142 to rotate, and drive shaft 142 drives driving gear 143 to rotate, to constitute by six driving gears
143 planetary gear mechanisms rotated with nutating gear 13, improve the stationarity of transmission；The middle part of the supporting table 15
It is connected with transmission shaft 12 by bearing, there are six roots of sensation support column 16, the six roots of sensation in the lower face of supporting table 15 along the rectangular uniform welding of axis
The lower face of support column 16 is installed on lower platform 11, and six roots of sensation support column 16 plays the function of uniformly fixed supporting table 15, from
And make being rotated in supporting table 15 of can stablizing under the drive of planetary gear mechanism of transmission shaft 12；The transmission shaft
12 upper end is connected by shaft coupling with turn-screw 17, and the middle part of turn-screw 17 is connected through a screw thread mode and is equipped with transmission
Sliding block 18, driving block 18 are regular hexagon structure, and six end faces of driving block 18 are respectively welded six roots of sensation mobile column 19, six
The end of root mobile column 19 is separately mounted on six No.1 line slide rails 110, passes through the regular hexagon structure of driving block 18
So that the six roots of sensation mobile column 19 being welded on driving block 18 can be in six No.1 line slide rails under the drive of turn-screw 17
Make stable elevating movement on 110, six No.1 line slide rails 110 are separately mounted to by screw in six pieces of support plates 111, and six
The lower end of block support 111 is respectively welded on lower platform 11, and six pieces of support plates 111 play six No.1 line slide rails of fixed support
110 effect increases mobile column 19 in the stability for corresponding to No.1 line slide rail 110；The upper end of six pieces of support plates 111
Six roots of sensation limit pillar 112 is respectively welded on inner wall, the middle part of six roots of sensation limited post 112 is opened up respectively there are six square limited mouth,
The end of six roots of sensation limit pillar 112 is respectively welded on fixed station 113, and the middle part of fixed station 113 passes through bearing and turn-screw
17 upper end is connected；The upper surface of the six roots of sensation mobile column 19 is separately installed with six branches 2 in parallel, and each branch 2 in parallel
Middle part be threaded through in the square limited mouth of corresponding limit pillar 112, the square limited mouth of limit pillar 112 plays restriction simultaneously
The effect for joining 2 motion range of branch drives six branches 2 in parallel to make elevating movement respectively by six roots of sensation mobile column 19, and six simultaneously
Connection 2 synchronous drive upper mounting plate 3 of branch makees elevating movement, by the stable drive performance of planetary gear mechanism, improves liter
Stability during drop, so that the present invention may be implemented to clean adjustable for height function, height regulation performance is good；It is described
Branch 2 in parallel is welded on the hollow lower thread spindle 21 in mobile column 19 including lower end, is connected by screw thread on hollow lower thread spindle 21
The mode of connecing is equipped with No.1 flexural pivot 22, and the upper end of No.1 flexural pivot 22 is connected through a screw thread mode and is equipped with No.1 sleeve 23, No.1
The upper end of sleeve 23 is connected through a screw thread mode and is equipped with No.1 hydraulic cylinder 24, and the upper end of No.1 hydraulic cylinder 24 is connected through a screw thread
Mode is equipped with No. two sleeves 25, and the upper end of No. two sleeves 25 is connected through a screw thread mode and is equipped with No. two flexural pivots 26, No. two balls
The upper end of hinge 26 is connected through a screw thread mode and is equipped with hollow upper thread spindle 27, and hollow upper thread spindle 27 is welded on upper mounting plate 3
On lower face, movement that spherical pair S that the present invention is formed when being worked by No.1 flexural pivot 22, No.1 hydraulic cylinder 24 are formed when stretching
The spherical pair S that secondary P and No. two flexural pivot 26 is formed when working constitutes SPS parallel connections branch 2, and the fixed frame 1 in the present invention is made
For fixed platform, six SPS parallel connections branches 2, upper mounting plate 3 6-SPS parallel institutions, 6-SPS parallel institutions are constituted as moving platform
Have many advantages, such as that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, due to 6-SPS parallel institutions
The advantages of make this invention removes equipment lifting cleaning process present in shake situation, realize the present invention stablize rigidity
Support function, rigid support performance is good, and cleaning stability is good, and cleaning performance is good, and work efficiency is high；The upper mounting plate 3 it is upper
Electric rotating machine 4 is equipped with by motor cabinet in the middle part of end face, rotating platform 5 is installed on the output end of electric rotating machine 4, it is upper flat
Uniform welding is separately installed with the first rotation there are four pylon 6 is supported on four support pylons 6 in the axial direction for the upper surface of platform 3
Shaft holds 6a and the second swivel bearing 6b, and four rotations are uniformly equipped between the first swivel bearing 6a and the second swivel bearing 6b
Pillar 5a, the top of four swinging strut 5a are symmetrically mounted on the lower face of rotating platform 5；The support pylon 6 includes welding
Column 61 in 3 upper surface of upper mounting plate, 61 upper surface of column outside limit the inside of recess portion 62 integrally formed with limit recess portion 62
Wall is tightly attached on the first swivel bearing 6a, and limit recess portion 62 is inside concave arc structure so that limit recess portion 62 can be tight
It is attached on the first swivel bearing 6a, increases the first swivel bearing 6a and limits the tightness of recess portion 62,61 upper surface of column
Inside is tightly attached to integrally formed with stopper protrusion 63, the madial wall of stopper protrusion 63 on the second swivel bearing 6b, stopper protrusion 63
For the arc structure of inner arcuate so that stopper protrusion 63 can be tightly attached on the second swivel bearing 6b, increase the second rotation
The tightness of bearing 6b and stopper protrusion 63, by limiting recess portion 62 and stopper protrusion 63 so that four swinging strut 5a are the
The rotation stablized between one swivel bearing 6a and the second swivel bearing 6b；It is welded with riser on the left of the upper surface for turning platform 5
5b, is symmetrically installed that there are four No. two hydraulic cylinders 7 on the madial wall of riser 5b, and the top of four No. two hydraulic cylinders 7 is equipped with fixation
Disk 8 is connected by sliding matching mode between the middle part and support disk 5c of four No. two hydraulic cylinders 7, support disk 5c
Left side wall on be symmetrically welded with two L-types and fix on pillar 5d, the lower end that two L-types fix pillar 5d is symmetrically mounted on two
On No. two line slide rail 5e, two No. two line slide rail 5e are installed in the upper surface of rotating platform 5 by screw, pass through two
No. two line slide rail 5e drive two L-types to fix pillar 5d movements, and two L-types fix pillar 5d and drive the 5c movements of support disk,
Support disk 5c plays the work for simultaneously supporting four No. two hydraulic cylinders 7, so as to adjust the present invention to four No. two hydraulic pressure
The supporting point position of cylinder 7；Panel 5f, two supporting surfaces are supported there are two being symmetrically welded on the left of the upper surface of the rotating platform 5
The middle part fixed symmetrical that two No. three hydraulic cylinders 5g, two No. three hydraulic cylinder 5g are separately installed on plate 5f is mounted on riser 5b
On, riser 5b plays the role of that the top of two No. three hydraulic cylinders 5g, two No. three hydraulic cylinder 5g is supported to be separately mounted to two L
Type is fixed on pillar 5d, drives two L-types to fix pillar 5d movements respectively by two No. three hydraulic cylinder 5g；The fixed disc
Existing handheld cleaning device is installed on 8.
In use, the interior divider present position due to required cleaning is different, it is therefore desirable to adjust existing hand-held cleaning
Equipment cleans angle, and electric rotating machine 4 is started to work, and electric rotating machine 4 drives rotating platform 5 to rotate, and rotating platform 5 is revolved by four
The existing hand-held turned above the rotation drive that pillar 5a stablizes between the first swivel bearing 6a and the second swivel bearing 6b is clear
It washes equipment and adjusts cleaning angle, so as to realize the function of present invention cleaning adjustable angle, rotated when cleaning angle and being suitble to
Motor 4 is stopped, and then adjusts existing handheld cleaning device at a distance from required cleaning guardrail, at this time four No. two hydraulic pressure
7 setting in motion of cylinder, four No. two hydraulic cylinders 7 drive the existing handheld cleaning device on fixed disc 8 to make stretching motion, to
Present invention cleaning may be implemented apart from adjustable work, operated without human assistance, high degree of automation, work efficiency is high, directly
No. two hydraulic cylinders 7 are stopped after moving to suitable position to existing handheld cleaning device, and since existing hand-held is clear
The cleaning positions for washing equipment become, therefore No. two 7 forced positions of hydraulic cylinder become, according to No. two 7 new forced position tune of hydraulic cylinder
The Support Position of section support disk 5c, two No. three hydraulic cylinder 5g start-up operations, two No. three hydraulic cylinder 5g drive two L at this time
Type fixes pillar 5d movements, and two L-types fix pillar 5d and drive the 5c movements of support disk, to have adjusted the present invention to four two
The supporting point position of number hydraulic cylinder 7, further increases rigid support performance, and the rigidity branch that the present invention stablizes is furthermore achieved
Function is supportted, also further increases the cleaning stability of the present invention, cleaning efficiency is high, and work efficiency is high.
It is mounted on lower platform 11 using interlaced mode between six transmission branch chains 14 and six roots of sensation support column 16,
Both the stationary performance for having increased transmission also increases even support performance of the support column 16 to supporting table 15.
The central axis of the lower platform 11 and the central axis of upper mounting plate 3 coincide, by the rigid of 6-SPS parallel institutions
The advantages that degree is high and stability is good can make lower platform 11 and 3 keeping parallelism of upper mounting plate always, so that existing hand-held
Cleaning equipment can remain steady in lift automatic cleaning process, eliminate and exist in equipment lifting cleaning process
Shake situation, realize the present invention stablize rigid support function, rigid support performance is good, cleaning stability it is good, cleaning
Effect is good, and work efficiency is high.
When work, existing handheld cleaning device is installed on fixed disc 8 first, then can by four universal wheel 1b
To be arbitrarily moved to of the invention on required cleaning guardrail side, cleaning is first adjusted highly according to required cleaning guardrail height, six
Six driving motors 141 in transmission branch chain 14 start simultaneously at work, and six driving motors 141 drive six drive shafts respectively
142 rotations, six drive shafts 142 drive six driving gears 143 to rotate, and six driving gears 143 are transported with nutating gear 13
Dynamic, transmission gear 13 drives transmission shaft 12 to rotate, and transmission shaft 12 drives turn-screw 17 to rotate, and turn-screw 17 drives transmission to slide
Block 18 moves, since the regular hexagon structure of driving block 18 makes the six roots of sensation mobile column 19 being welded on driving block 18 pass
It can make stable elevating movement under the drive of dynamic leading screw 17 on six No.1 line slide rails 110, the band respectively of six roots of sensation mobile column 19
Dynamic six branches 2 in parallel make elevating movement, the existing handheld cleaning device on six 2 synchronous drive upper mounting plates 3 of branch in parallel
Make elevating movement, by the stable drive performance of planetary gear mechanism, improves the stability in lifting cleaning process, from
And so that the present invention may be implemented to clean adjustable for height function, height regulation performance is good, when the present invention reaches suitable cleaning height
Driving motor 141 is stopped when spending；Cleaning angle, electric rotating machine are adjusted further according to the interior divider present position of required cleaning
4 first start to work, and electric rotating machine 4 drives rotating platform 5 to rotate, and rotating platform 5 is by four swinging strut 5a in the first rotation
The rotation stablized between bearing 6a and the second swivel bearing 6b drives the existing handheld cleaning device of top to adjust cleaning angle,
So as to realize the function of present invention cleaning adjustable angle, when cleaning angle and being suitble to, electric rotating machine 4 is stopped；Then it adjusts
Existing handheld cleaning device is saved at a distance from required cleaning guardrail, at this time four No. two 7 setting in motions of hydraulic cylinder, four No. two
Hydraulic cylinder 7 drive fixed disc 8 on existing handheld cleaning device make stretching motion, so as to realize the present invention cleaning away from
From adjustable work, operated without human assistance, high degree of automation, work efficiency is high, until existing handheld cleaning device
No. two hydraulic cylinders 7 are stopped after moving to suitable position, and since the cleaning positions of existing handheld cleaning device become,
Therefore No. two 7 forced positions of hydraulic cylinder become, and the support level of support disk 5c is adjusted according to No. two 7 new forced positions of hydraulic cylinder
It setting, two No. three hydraulic cylinder 5g start to work at this time, and two No. three hydraulic cylinder 5g drive two L-types to fix pillar 5d and move, and two
Root L-type fixes pillar 5d and drives the 5c movements of support disk, to have adjusted support point of the present invention to four No. two hydraulic cylinders 7
It sets, increases rigid support performance, realize the rigid support function that the present invention stablizes, increase the cleaning stability of the present invention
Can, cleaning efficiency is high, and work efficiency is high；Six No.1 liquid of the last existing handheld cleaning device on six branches 2 in parallel
Cylinder pressure 24 carries out stable automation to interior divider under driving and lifts cleaning, and due to 1 conduct of fixed frame in the present invention
Fixed platform, six SPS parallel connections branches 2, upper mounting plate 3 constitute 6-SPS parallel institutions, 6-SPS parallel institutions tool as moving platform
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 is by 6-SPS parallel connections
The excellent performance of mechanism is so that existing handheld cleaning device can remain in lift automatic cleaning process
Steadily, it eliminates and shakes situation present in equipment lifting cleaning process, realize the rigid support function that the present invention stablizes, just
Property support performance it is good, cleaning stability it is good, cleaning performance is good, and work efficiency is high, solve cleaning artificial station it is existing lifting set
When cleaning building guardrail by handheld cleaning device on standby there are shake situation, stability is poor, human assistance is needed to operate,
The degree of automation is low, lift adjustment poor performance, cleaning efficiency are low and the problems such as working efficiency is low, has reached purpose.
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 only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, 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
It defines.
Claims (3)
1. a kind of building guardrail cleans Auxiliary support intelligent robot, it is characterised in that：Including fixed frame (1), the fixation
Rack (1) lower face is provided with bottom plate (1a), and the lower face of bottom plate (1a) is symmetrical arranged that there are four universal wheel (1b), fixed frames
(1) six branches (2) in parallel are separately installed on, the upper end of six branches (2) in parallel is uniformly mounted on upper mounting plate (3)；Institute
It states and electric rotating machine (4) is equipped with by motor cabinet in the middle part of the upper surface of upper mounting plate (3), fixed on the output end of electric rotating machine (4)
Rotating platform (5) is installed, there are four support pylon (6), four branch for uniform welding in the axial direction for the upper surface of upper mounting plate (3)
It is separately installed with the first swivel bearing (6a) and the second swivel bearing (6b) on dagger frame (6), the first swivel bearing (6a) and the
Four swinging struts (5a) are uniformly installed, the top of four swinging struts (5a) is symmetrically mounted between two swivel bearings (6b)
The lower face of rotating platform (5)；It is welded with riser (5b), the inside of riser (5b) on the left of the upper surface of the rotating platform (5)
It is symmetrically installed on wall there are four No. two hydraulic cylinders (7), the tops of four No. two hydraulic cylinders (7) is equipped with fixed disc (8), four
It is connected by sliding matching mode between the middle part of No. two hydraulic cylinders (7) and support disk (5c), a left side for support disk (5c)
It is symmetrically welded with two L-types on side wall to fix on pillar (5d), the lower end that two L-types fix pillar (5d) is symmetrically mounted on two
On No. two line slide rails (5e), two No. two line slide rails (5e) are installed in the upper surface of rotating platform (5) by screw；Institute
It states and is symmetrically welded on the left of the upper surface of rotating platform (5) there are two panel (5f) is supported, pacified respectively on two support panels (5f)
There are two No. three hydraulic cylinders (5g), the middle part fixed symmetricals of two No. three hydraulic cylinders (5g) to be mounted on riser (5b) for dress, two
The top of No. three hydraulic cylinders (5g) is separately mounted to two L-types and fixes on pillar (5d)；
The fixed frame (1) includes lower platform (11), and the upper surface middle part of lower platform (11) is equipped with transmission shaft by bearing
(12), the middle part of transmission shaft (12) is equipped with transmission gear (13) by key, and transmission gear (13) is in axial direction respectively with six
A transmission branch chain (14) is meshed, and transmission branch chain (14) includes the transmission electricity that bottom end is mounted on by motor cabinet on lower platform (11)
The output end of machine (141), driving motor (141) is connected by shaft coupling with drive shaft (142), and the middle part of drive shaft (142) is logical
It crosses key and driving gear (143) is installed, driving gear (143) is meshed with transmission gear (13), and six transmission branch chains (14)
On six drive shaft (142) upper ends be connected with supporting table (15) by bearing；Pass through axis in the middle part of the supporting table (15)
It holds and is connected with transmission shaft (12), there are six roots of sensation support column (16), the six roots of sensation in the lower face of supporting table (15) along the rectangular uniform welding of axis
The lower face of support column (16) is installed on lower platform (11)；The upper end of the transmission shaft (12) passes through shaft coupling and driving wire
Thick stick (17) is connected, and the mode that is connected through a screw thread in the middle part of turn-screw (17) is equipped with driving block (18), driving block (18)
Six end faces for regular hexagon structure, driving block (18) are respectively welded six roots of sensation mobile column (19), six roots of sensation mobile column (19)
End be separately mounted on six No.1 line slide rails (110), six No.1 line slide rails (110) are installed respectively by screw
On six pieces of support plates (111), the lower end of six pieces of support plates (111) is respectively welded on lower platform (11)；Six pieces of supports
Six roots of sensation limit pillar (112) is respectively welded on the upper end inner wall of plate (111), the middle part of six roots of sensation limited post (112) opens up respectively
There are six square limited mouth, the end of six roots of sensation limit pillar (112) is respectively welded on fixed station (113), fixed station (113)
Middle part is connected by bearing with the upper end of turn-screw (17)；The upper surface of the six roots of sensation mobile column (19) is separately installed with six
Branch (2) in parallel, and the middle part of each branch (2) in parallel is threaded through in the square limited mouth of corresponding limit pillar (112)；
The support pylon (6) includes the column (61) for being welded on upper mounting plate (3) upper surface, column (61) upper surface outside one
Limit recess portion (62) is formed, the madial wall of limit recess portion (62) is tightly attached on the first swivel bearing (6a), column (61) upper end
Integrally formed with stopper protrusion (63) on the inside of face, the madial wall of stopper protrusion (63) is tightly attached on the second swivel bearing (6b)；
Lower platform (11) is mounted on using interlaced mode between six transmission branch chains (14) and six roots of sensation support column (16)
On.
2. a kind of building guardrail according to claim 1 cleans Auxiliary support intelligent robot, it is characterised in that：Under described
The central axis of platform (11) and the central axis of upper mounting plate (3) coincide.
3. a kind of building guardrail according to claim 1 cleans Auxiliary support intelligent robot, it is characterised in that：It is described simultaneously
Connection branch (2) includes the hollow lower thread spindle (21) that lower end is welded in mobile column (19), is passed through on hollow lower thread spindle (21)
Thread connecting mode is equipped with No.1 flexural pivot (22), and the upper end of No.1 flexural pivot (22) is connected through a screw thread mode and is equipped with No.1 set
Cylinder (23), the upper end of No.1 sleeve (23) is connected through a screw thread mode and is equipped with No.1 hydraulic cylinder (24), No.1 hydraulic cylinder (24)
Upper end be connected through a screw thread mode No. two sleeves (25) be installed, the upper end of No. two sleeves (25) is connected through a screw thread mode and pacifies
Equipped with No. two flexural pivots (26), the upper end of No. two flexural pivots (26) is connected through a screw thread mode and is equipped with hollow upper thread spindle (27), empty
Thread spindle (27) is welded on the lower face of upper mounting plate (3) in the heart.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810399148.5A CN108568442B (en) | 2016-05-22 | 2016-05-22 | Rigid support method for intelligent robot for auxiliary support of building guardrail cleaning |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810399148.5A CN108568442B (en) | 2016-05-22 | 2016-05-22 | Rigid support method for intelligent robot for auxiliary support of building guardrail cleaning |
| CN201610343651.XA CN106001038B (en) | 2016-05-22 | 2016-05-22 | A kind of adjustable height building guardrail cleaning Special rigid support equipment |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610343651.XA Division CN106001038B (en) | 2016-05-22 | 2016-05-22 | A kind of adjustable height building guardrail cleaning Special rigid support equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108568442A true CN108568442A (en) | 2018-09-25 |
| CN108568442B CN108568442B (en) | 2020-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810399148.5A Expired - Fee Related CN108568442B (en) | 2016-05-22 | 2016-05-22 | Rigid support method for intelligent robot for auxiliary support of building guardrail cleaning |
| CN201610343651.XA Active CN106001038B (en) | 2016-05-22 | 2016-05-22 | A kind of adjustable height building guardrail cleaning Special rigid support equipment |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610343651.XA Active CN106001038B (en) | 2016-05-22 | 2016-05-22 | A kind of adjustable height building guardrail cleaning Special rigid support equipment |
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| Country | Link |
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| CN (2) | CN108568442B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113028889B (en) * | 2021-02-19 | 2022-06-07 | 安徽理工大学 | Movable condenser cleaning robot based on series-parallel mechanism |
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| CN1243778A (en) * | 1998-05-29 | 2000-02-09 | 株式会社丰田自动织机制作所 | Friction push welder |
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| CN101831884A (en) * | 2010-05-10 | 2010-09-15 | 中国地质大学（武汉） | Road guardrail cleaning machine |
| CN101862928A (en) * | 2010-06-04 | 2010-10-20 | 北京工业大学 | Robot parallel mechanism with rotation and lifting two degrees of freedom |
| US20130276249A1 (en) * | 2012-04-19 | 2013-10-24 | Agri-Fab, Inc. | Sweeper drive assembly |
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| DE102014006392A1 (en) * | 2014-05-05 | 2015-11-05 | Stolzenberg Gmbh & Co. Kg | sweeper |
| CN105568906A (en) * | 2015-12-24 | 2016-05-11 | 广西大学 | Multifunctional cleaning mechanism for city cleaning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100468248C (en) * | 2006-08-03 | 2009-03-11 | 燕山大学 | Binocular active vision monitor suitable for precision machining |
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- 2016-05-22 CN CN201810399148.5A patent/CN108568442B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1243778A (en) * | 1998-05-29 | 2000-02-09 | 株式会社丰田自动织机制作所 | Friction push welder |
| CN1952266A (en) * | 2006-11-02 | 2007-04-25 | 常熟市梅李镇高思达机械厂 | Fence and wall cleaning machine |
| CN101831884A (en) * | 2010-05-10 | 2010-09-15 | 中国地质大学（武汉） | Road guardrail cleaning machine |
| CN101862928A (en) * | 2010-06-04 | 2010-10-20 | 北京工业大学 | Robot parallel mechanism with rotation and lifting two degrees of freedom |
| US20130276249A1 (en) * | 2012-04-19 | 2013-10-24 | Agri-Fab, Inc. | Sweeper drive assembly |
| DE102014006392A1 (en) * | 2014-05-05 | 2015-11-05 | Stolzenberg Gmbh & Co. Kg | sweeper |
| CN105013195A (en) * | 2015-07-22 | 2015-11-04 | 宁波新文三维股份有限公司 | Multi-degree-of-freedom platform capable of rotating at angle no less than 360 degrees and simulated experience cinema with same |
| CN105568906A (en) * | 2015-12-24 | 2016-05-11 | 广西大学 | Multifunctional cleaning mechanism for city cleaning |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106001038B (en) | 2018-08-31 |
| CN108568442B (en) | 2020-07-14 |
| CN106001038A (en) | 2016-10-12 |
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| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ma Jianjun Inventor after: Cheng Lan Inventor before: Cheng Lan |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20200618 Address after: No.255, Shixiang Road, Gongshu District, Hangzhou, Zhejiang Applicant after: Ma Jianjun Address before: 246001 Anhui Yingjiang district city of Anqing province Jianshe Road 24 building room 705 Applicant before: Cheng Lan |
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