CN108568442B - Rigid support method for intelligent robot for auxiliary support of building guardrail cleaning - Google Patents
Rigid support method for intelligent robot for auxiliary support of building guardrail cleaning Download PDFInfo
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- CN108568442B CN108568442B CN201810399148.5A CN201810399148A CN108568442B CN 108568442 B CN108568442 B CN 108568442B CN 201810399148 A CN201810399148 A CN 201810399148A CN 108568442 B CN108568442 B CN 108568442B
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- guardrail
- cleaning
- transmission
- vertical plate
- platform
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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
Abstract
The invention relates to a rigid support method for an intelligent robot for assisting in supporting cleaning of a building guardrail, which comprises a fixed rack, wherein a bottom plate is arranged on the lower end face of the fixed rack, four universal wheels are symmetrically arranged on the lower end face of the bottom plate, the rigid support method can be moved to the edge of the guardrail to be cleaned at will through the four universal wheels, the operation is simple and convenient, six parallel branched chains are respectively arranged on the fixed rack, and the upper ends of the six parallel branched chains are uniformly arranged on an upper platform; the fixed rack comprises a lower platform, a transmission shaft is installed in the middle of the upper end face of the lower platform through a bearing, a transmission gear is installed in the middle of the transmission shaft through a key, and the transmission gear is meshed with the six transmission branch chains respectively along the axial direction. The invention can realize the stable rigid supporting function and has the advantages of no shaking condition, good stability, no need of manual auxiliary operation, high automation degree, good lifting adjustment performance, low cleaning efficiency, low working efficiency and the like.
Description
The application is filed on 2016, 05 and 22, with the application number of 201610343651X, and is named
The patent application of Chinese patent application of a height-adjustable rigid support device special for cleaning a building guardrail is divided into two cases.
Technical Field
The invention relates to building cleaning equipment, in particular to a rigid support method for an intelligent robot for auxiliary support of building guardrail cleaning.
Background
With the continuous development of economy in China, high-rise buildings in various places are visible, stainless steel guardrails are generally installed before high-rise indoor glass for guaranteeing the safety performance of users, the stainless steel guardrails need to be manually wiped and cleaned regularly, but the workload of cleaning personnel is greatly increased due to the fact that the existing indoor stainless steel guardrails are numerous; although current market also has a small amount of indoor guardrail cleaning equipment, be hand-held type cleaning equipment basically, need artifical auxiliary control just can accomplish cleaning work, degree of automation is low, simultaneously when meetting required abluent indoor guardrail height than higher, just need plus current jacking equipment auxiliary cleaning, but because the relatively poor shake situation that leads to having in the cleaning process of the rigidity support performance of current jacking equipment, the stability can be poor, the lifting control performance is poor, some cleaning worker fear falls down on the current jacking equipment, thereby can the washing of careful wing, the cleaning efficiency is reduced, the work efficiency is low.
Disclosure of Invention
In order to solve the problems, the invention provides a rigid support method of an intelligent robot for auxiliary support of building guardrail cleaning, which can solve the problems of shaking condition, poor stability, manual auxiliary operation, low automation degree, poor lifting adjustment performance, low cleaning efficiency, low working efficiency and the like when a cleaning manual station cleans a building guardrail through a handheld cleaning device on the existing lifting device, can realize a stable rigid support function, and has the advantages of no shaking condition, good stability, no manual auxiliary operation, high automation degree, good lifting adjustment performance, low cleaning efficiency, low working efficiency and the like.
The auxiliary support intelligent robot for cleaning the building guardrail comprises a fixed rack, a bottom plate is arranged on the lower end face of the fixed rack, four universal wheels are symmetrically arranged on the lower end face of the bottom plate, the auxiliary support intelligent robot can be moved to the edge of a guardrail to be cleaned through four universal wheels, the auxiliary support intelligent robot is arranged on the fixed rack, the six parallel branch chains are respectively arranged on the fixed rack, the upper ends of the six parallel branch chains are uniformly arranged on an upper platform, the fixed rack comprises a lower platform, a transmission shaft is arranged in the middle of the upper end face of the lower platform through a bearing, a transmission gear is arranged in the middle of the transmission shaft, the transmission gear is respectively meshed with the six transmission branch chains along the axial direction, the transmission torsional force is increased through a mode that the transmission gear is simultaneously driven to rotate through the six transmission branch chains, the transmission branch chains are arranged on the lower platform, the output end of the transmission motor is connected with the driving shaft through a coupler, the middle of the driving gear is arranged in the driving gear, and meshed with the driving shaft, and the driving gear, the driving gear is arranged in parallel with the driving of the six transmission branch chains, the upper ends of the six transmission branch chains are all connected with the transmission chain, the six transmission chain is arranged on the six transmission chain, the six linear support table, the linear support table is arranged on the linear support table, the linear support table is arranged on the linear support table, the linear support table, the linear support table is arranged on the linear support table, the linear support table is arranged on the linear support table, the linear support table is arranged on the linear support table, the linear support table is arranged on the linear support, the linear support table is arranged on the linear support table, the linear support table is arranged in the linear support table, the linear support table is arranged in parallel, the linear support table, the linear support table is arranged in the linear support table, the linear support table, the linear support table is arranged in the linear support, the linear support table is arranged in the linear support table, the linear support table is arranged in parallel, the linear support table, the linear support table is arranged in parallel, the linear support table is arranged in the linear support table, the linear support table is arranged in the linear support table, the linear support table is arranged in the linear support, the linear support table, the linear support table is arranged in the linear support, the linear support table, the linear support table is arranged in the linear support, the linear support table is arranged in the linear support table, the linear support.
When the multifunctional cleaning device is used, because the positions of indoor guardrails to be cleaned are different, the cleaning angle of the existing handheld cleaning device needs to be adjusted, the rotating motor starts to work, the rotating platform drives the rotating platform to rotate, the rotating platform drives the existing handheld cleaning device above the rotating platform to adjust the cleaning angle through stable rotation of the four rotating support columns between the first rotating bearing and the second rotating bearing, the cleaning angle can be adjusted, when the cleaning angle is suitable, the rotating motor stops working, then the distance between the existing handheld cleaning device and the guardrails to be cleaned is adjusted, the four second hydraulic cylinders start to move, the four second hydraulic cylinders drive the existing handheld cleaning device on the fixed disc to do telescopic movement, the cleaning distance adjustable work can be achieved, manual auxiliary operation is not needed, the automation degree is high, the work efficiency is high, the second hydraulic cylinders stop working until the existing handheld cleaning device moves to a suitable position, the cleaning positions of the existing handheld cleaning device are changed, the force positions of the second hydraulic cylinders are changed, the support positions of the discs are adjusted according to the new force positions of the second hydraulic cylinders, the two third hydraulic cylinders start to work, the second hydraulic cylinders to stop working, the rigidity of the two fixed support columns is further increased, the rigidity of the support columns is increased, and the rigidity of the supporting cylinder is increased, so that the invention further increases the invention.
As a preferred technical scheme of the invention, the six transmission branched chains and the six support columns are arranged on the lower platform in a mutually staggered mode, so that the transmission stability is improved, and the uniform support performance of the support columns on the support table is also improved.
As a preferred technical scheme of the invention, the central axis of the lower platform is coincident with the central axis of the upper platform, and the lower platform and the upper platform can be always kept parallel by virtue of the advantages of high rigidity, good stability and the like of the 6-SPS parallel mechanism, so that the conventional handheld cleaning equipment can be always kept stable in the lifting automatic cleaning process, the shaking condition existing in the lifting cleaning process of the equipment is eliminated, and the stable rigid support function, good rigid support performance, good cleaning stability, good cleaning effect and high working efficiency of the cleaning machine are realized.
The automatic cleaning device comprises a fixed disc, a manual cleaning device, a manual support hydraulic cylinder, a cleaning support hydraulic cylinder, a cleaning support hydraulic cylinder, a cleaning support hydraulic cylinder, a cleaning support hydraulic cylinder, a cleaning support hydraulic cylinder, a cleaning support, a.
The invention has the beneficial effects that:
1. the six parallel branched chains are driven to stably move up and down on the six moving columns by the planetary gear transmission mechanism which simultaneously drives the transmission gears to rotate through the six driving gears, so that the cleaning height adjustable function can be realized, and the height adjusting performance is good;
2. the fixed frame is used as a fixed platform, the six SPS parallel branched chains and the upper platform is used as a movable platform to form a 6-SPS parallel mechanism, so that the existing handheld cleaning equipment can be kept stable all the time in the lifting automatic cleaning process by virtue of the excellent performance of the 6-SPS parallel mechanism, the shaking condition existing in the lifting cleaning process of the equipment is eliminated, the stable rigid support function of the cleaning machine is realized, the rigid support performance is good, the cleaning stability performance is good, the cleaning effect is good, and the working efficiency is high;
3. the rotary motor drives the existing handheld cleaning equipment above the rotary platform to adjust the cleaning angle, so that the function of adjusting the cleaning angle can be realized; meanwhile, the distance between the existing handheld cleaning equipment and the guardrail to be cleaned is adjusted through the second hydraulic cylinder, manual auxiliary operation is not needed, the automation degree is high, the working efficiency is high, and when the stress position of the existing handheld cleaning equipment is changed by the second hydraulic cylinder, the third hydraulic cylinder can drive the supporting disc to move, so that the positions of the supporting points of the four second hydraulic cylinders are adjusted, the rigid supporting performance is further improved, the stable rigid supporting function of the cleaning machine is further realized, the cleaning stability of the cleaning machine is further improved, the cleaning efficiency is high, and the working efficiency is high;
4. the invention solves the problems of poor shaking condition and stability, manual auxiliary operation, low automation degree, poor lifting regulation performance, low cleaning efficiency, low working efficiency and the like when a cleaning manual station cleans the building guardrail through the handheld cleaning equipment on the existing lifting equipment, realizes the stable rigid support function, and has the advantages of no shaking condition, good stability, no manual auxiliary operation, high automation degree, good lifting regulation performance, low cleaning efficiency, low working efficiency and the like.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a full sectional view of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2 in accordance with the present invention;
fig. 4 is a sectional view taken along line B-B of fig. 2 in accordance with the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
The rigid support method for the building guardrail cleaning auxiliary support intelligent robot comprises a fixed rack 1, a bottom plate 1a is arranged on the lower end face of the fixed rack 1, four universal wheels 1b are symmetrically arranged on the lower end face of the bottom plate 1a, the invention can be randomly moved to the edge of a guardrail to be cleaned through four universal wheels 1b, a first limit hydraulic cylinder 2 is arranged on a rotating and parallel-connected hydraulic cylinder 12, a second limit hydraulic cylinder 12 is arranged on a rotating and parallel-connected hydraulic cylinder 12, a first limit hydraulic cylinder 12 is arranged on a rotating and parallel-connected hydraulic cylinder 12, a second limit hydraulic cylinder 12 is arranged on a rotating and parallel-connected hydraulic cylinder 2, a second limit hydraulic cylinder 12 is arranged on a rotating and parallel-connected hydraulic cylinder 12, a first limit hydraulic cylinder 12 is arranged on the upper end face of a rotating and parallel-connected hydraulic cylinder 2, a second limit hydraulic cylinder 12 is arranged on a rotating and parallel-connected with a vertical support platform 12, a first limit hydraulic cylinder 12 is arranged on a rotating and parallel-connected with a rotating support platform 12, a rotating and a horizontal support platform 12, a horizontal support platform 12 is arranged on a horizontal support platform 12, a horizontal support column 2, a horizontal support platform 12 is arranged on a horizontal support column 2, a horizontal support platform 12 is arranged on a horizontal support column 2, a horizontal support platform 12, a horizontal support column 2, a horizontal support platform 12 is arranged on a horizontal support platform 12, a horizontal support platform 12 is arranged on a horizontal support column, a horizontal support column 2, a horizontal support column, a horizontal support platform 12, a horizontal support column 2, a horizontal support column 2 is arranged on a horizontal support column, a horizontal support column 2, a horizontal support column 2 is arranged on a horizontal support column, a horizontal support column is arranged on a horizontal support column, a horizontal support column is arranged on a horizontal support column.
When the multifunctional cleaning device is used, because the positions of indoor guardrails to be cleaned are different, the cleaning angle of the existing handheld cleaning device needs to be adjusted, the rotating motor 4 starts to work, the rotating motor 4 drives the rotating platform 5 to rotate, the rotating platform 5 drives the existing handheld cleaning device above the rotating platform to adjust the cleaning angle through stable rotation of four rotating support columns 5a between a first rotating bearing 6a and a second rotating bearing 6b, the cleaning angle adjusting function of the multifunctional cleaning device can be realized, when the cleaning angle is suitable, the rotating motor 4 stops working, then the distance between the existing handheld cleaning device and the guardrails to be cleaned is adjusted, at the moment, the four second hydraulic cylinders 7 start to move, the four second hydraulic cylinders 7 drive the existing handheld cleaning device on the fixed disc 8 to do telescopic movement, the cleaning distance adjusting work of the multifunctional cleaning device can be realized, manual auxiliary operation is not needed, the automation degree is high, the working efficiency is high, the two hydraulic cylinders 7 stop working until the existing handheld cleaning device moves to a suitable position, and the two hydraulic cylinders 7 drive the two hydraulic cylinders 355 c for rigid support, the three hydraulic cylinders to further increase the rigidity supporting function of the two hydraulic cylinders, the three supporting.
The six transmission branch chains 14 and the six support columns 16 are arranged on the lower platform 11 in a mutually staggered mode, so that the transmission stability is improved, and the uniform support performance of the support columns 16 on the support table 15 is also improved.
The central axis of the lower platform 11 is coincident with the central axis of the upper platform 3, and the lower platform 11 and the upper platform 3 can be always kept parallel by virtue of the advantages of high rigidity, good stability and the like of the 6-SPS parallel mechanism, so that the conventional handheld cleaning equipment can be always kept stable in the lifting automatic cleaning process, the shaking condition existing in the lifting cleaning process of the equipment is eliminated, the stable rigid support function of the cleaning machine is realized, the rigid support performance is good, the cleaning stability is good, the cleaning effect is good, and the working efficiency is high.
When the robot works, firstly, the conventional handheld cleaning equipment is installed on a fixed disc 8, then, the robot can be moved to the edge of a guardrail to be cleaned at will through four universal wheels 1b, the cleaning height is adjusted according to the height of the guardrail to be cleaned, six transmission motors 141 on six transmission branched chains 14 start to work simultaneously, the six transmission motors 141 respectively drive six driving shafts 142 to rotate, the six driving shafts 142 drive six driving gears 143 to rotate, the six driving gears 143 drive transmission gears 13 to move, the transmission gears 13 drive transmission shafts 12 to rotate, the transmission shafts 12 drive transmission lead screws 17 to rotate, the transmission lead screws 17 drive transmission slide blocks 18 to move, as the regular hexagon structures of the transmission slide blocks 18 enable six moving columns 19 welded on the transmission slide blocks 18 to perform stable lifting movement on six first linear slide rails 110 under the driving of the transmission lead screws 17, the six moving columns 19 respectively drive six parallel branched chains 2 to perform lifting movement, the six parallel branched chains 2 synchronously drive the conventional cleaning equipment on an upper platform 3 to perform lifting movement, the cleaning movement of the conventional handheld cleaning equipment with the conventional cleaning mechanism with a lifting mechanism 2, the conventional cleaning mechanism with a lifting mechanism, the conventional cleaning mechanism with a lifting mechanism, the conventional cleaning mechanism with a lifting mechanism, the conventional cleaning mechanism with a lifting mechanism, the conventional cleaning mechanism with a high cleaning mechanism, the conventional cleaning mechanism with a high cleaning equipment with a high cleaning efficiency, the conventional cleaning equipment with a high cleaning efficiency, the conventional cleaning equipment with a high cleaning efficiency, the conventional cleaning equipment with a high cleaning efficiency, the conventional cleaning equipment with a high cleaning efficiency, the conventional cleaning equipment with a high working efficiency, the conventional cleaning equipment with a high cleaning efficiency, the conventional cleaning equipment with a high working efficiency, the conventional cleaning equipment with a high cleaning efficiency, the conventional cleaning equipment with a high working efficiency, the conventional cleaning equipment with a high working efficiency, the conventional cleaning equipment with a high cleaning.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A rigid support method for an intelligent robot for auxiliary support of building guardrail cleaning is characterized by comprising a fixed rack (1), a bottom plate (1a) is arranged on the lower end face of the fixed rack (1), four universal wheels (1b) are symmetrically arranged on the lower end face of the bottom plate (1a), six parallel branched chains (2) are respectively mounted on the fixed rack (1), the upper ends of the six parallel branched chains (2) are uniformly mounted on an upper platform (3), a rotary motor (4) is mounted in the middle of the upper end face of the upper platform (3) through a motor base, a rotary platform (5) is fixedly mounted on the output end of the rotary motor (4), four rotary supports (6) are uniformly welded on the upper end face of the upper platform (3) along the axial direction, a first rotary bearing (6a) and a second rotary bearing (6b) are respectively mounted on the four support column frames (6), four rotary supports (5a) are uniformly mounted between the first rotary bearing (6a) and the second rotary bearing (6b), four rotary supports (5a) are respectively mounted on the upper end face of the upper platform (5) through a vertical plate (5d), two vertical plates (5c) which are symmetrically welded on the upper end face of a vertical plate (5), two vertical plate (5d) of a vertical plate (5c), two vertical plate (5d) which is symmetrically welded on the two vertical plate (5c) of a vertical plate (5), two vertical plate (5c) which is symmetrically welded, two vertical plate (5c) of a vertical plate, two vertical plate (5c) which is symmetrically welded on the three vertical plate, the three vertical plate (5c) of the three vertical plate, the three vertical plate (5c) and a three vertical plate, the three vertical plate (5c) which is symmetrically welded on the three vertical plate, the three vertical plate (5c) and two vertical plate, the three vertical plate (5c) are symmetrically welded on the three;
the fixed rack (1) comprises a lower platform (11), a transmission shaft (12) is installed in the middle of the upper end face of the lower platform (11) through a bearing, a transmission gear (13) is installed in the middle of the transmission shaft (12) through a key, the transmission gear (13) is respectively meshed with six transmission branch chains (14) along the axial direction, each transmission branch chain (14) comprises a transmission motor (141) of which the bottom end is installed on the lower platform (11) through a motor base, the output end of the transmission motor (141) is connected with a driving shaft (142) through a coupler, a driving gear (143) is installed in the middle of the driving shaft (142) through a key, the driving gear (143) is meshed with the transmission gear (13), and the upper ends of the six driving shafts (142) on the six transmission branch chains (14) are all connected; the middle part of the support table (15) is connected with the transmission shaft (12) through a bearing, six support columns (16) are uniformly welded on the lower end surface of the support table (15) along the axis direction, and the lower end surfaces of the six support columns (16) are all installed on the lower platform (11); the upper end of the transmission shaft (12) is connected with a transmission lead screw (17) through a coupler, the middle of the transmission lead screw (17) is provided with a transmission sliding block (18) in a threaded connection mode, the transmission sliding block (18) is of a regular hexagon structure, six moving columns (19) are welded on six end faces of the transmission sliding block (18) respectively, the tail ends of the six moving columns (19) are installed on six first linear sliding rails (110) respectively, the six first linear sliding rails (110) are installed on six supporting plates (111) through screws respectively, and the lower ends of the six supporting plates (111) are welded on the lower platform (11) respectively; six limiting support columns (112) are respectively welded on the inner walls of the upper ends of the six support plates (111), six square limiting openings are respectively formed in the middles of the six limiting support columns (112), the tail ends of the six limiting support columns (112) are respectively welded on a fixed table (113), and the middle of the fixed table (113) is connected with the upper end of a transmission lead screw (17) through a bearing; the upper end surfaces of the six moving columns (19) are respectively provided with six parallel branched chains (2), and the middle part of each parallel branched chain (2) is arranged in a square limiting opening of the corresponding limiting support column (112) in a penetrating way;
the supporting column frame (6) comprises an upright column (61) welded on the upper end face of the upper platform (3), a limiting concave part (62) is integrally formed on the outer side of the upper end face of the upright column (61), the inner side wall of the limiting concave part (62) is tightly attached to the first rotary bearing (6a), a limiting convex part (63) is integrally formed on the inner side of the upper end face of the upright column (61), and the inner side wall of the limiting convex part (63) is tightly attached to the second rotary bearing (6 b);
the six transmission branched chains (14) and the six support columns (16) are arranged on the lower platform (11) in a mutually staggered mode;
when the intelligent guardrail cleaning machine works, firstly, a handheld cleaning device is installed on a fixed disc (8), then, the intelligent guardrail cleaning auxiliary support robot can be moved to the edge of a guardrail to be cleaned at will through four universal wheels (1b), the cleaning height is adjusted according to the height of the guardrail to be cleaned, six transmission motors (141) on six transmission branch chains (14) start to work simultaneously, the six transmission motors (141) respectively drive six driving shafts (142) to rotate, the six driving shafts (142) drive six driving gears (143) to rotate, the six driving gears (143) drive transmission gears (13) to move, the transmission gears (13) drive transmission shafts (12) to rotate, the transmission screws (12) drive transmission slide rods (17) to rotate, the transmission slide rods (17) to move, the six moving columns (19) welded on the transmission slide rods (18) can make stable lifting movement on six first linear slide rails (110) under the driving of the transmission slide rods (17), the six moving columns (19) respectively drive the cleaning mechanism to make cleaning mechanisms to make cleaning movement on six first linear slide rails (110), the cleaning mechanism (6) drive the cleaning mechanism to perform stable lifting movement, the cleaning mechanism for cleaning the guardrail cleaning, the intelligent guardrail cleaning mechanism for cleaning guardrail cleaning, the guardrail can be cleaned, the guardrail can be cleaned, the guardrail cleaning mechanism for cleaning, the guardrail can be cleaned, the guardrail to move stably, the guardrail can be cleaned, the guardrail can be stably, the guardrail can be cleaned, the guardrail cleaning mechanism for cleaning, the guardrail to be cleaned, the guardrail to move stably, the guardrail to be cleaned, the guardrail to be stably, the guardrail lifting mechanism for cleaning, the guardrail to be cleaned, the guardrail can be stably, the guardrail to be cleaned, the guardrail can be cleaned, the guardrail to be cleaned, the guardrail can be cleaned, the guardrail lifting mechanism for the guardrail lifting height of the guardrail lifting mechanism for the guardrail lifting mechanism for the guardrail lifting mechanism for the guardrail lifting mechanism for the guardrail lifting mechanism for lifting.
2. The rigid support method for the intelligent robot for auxiliary support of the building guardrail cleaning as claimed in claim 1, wherein the rigid support method comprises the following steps: the central axis of the lower platform (11) coincides with the central axis of the upper platform (3).
3. The rigid support method for the intelligent robot for auxiliary support of the building guardrail cleaning as claimed in claim 1, wherein the rigid support method comprises the following steps: parallelly connected branch chain (2) include that lower extreme welding is threaded shaft (21) under the hollow on removal post (19), install one ball pivot (22) through the threaded connection mode on threaded shaft (21) under the hollow, sleeve (23) are installed through the threaded connection mode in the upper end of one ball pivot (22), pneumatic cylinder (24) are installed through the threaded connection mode in the upper end of one sleeve (23), sleeve (25) are installed through the threaded connection mode in the upper end of one pneumatic cylinder (24), No. two ball pivot (26) are installed through the threaded connection mode in the upper end of No. two sleeve (25), threaded shaft (27) are gone up to the upper end of No. two ball pivot (26) through the threaded connection mode installation cavity, threaded shaft (27) weld on the lower terminal surface of last platform (3) on the hollow.
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 |
|---|---|---|---|
| CN201610343651.XA CN106001038B (en) | 2016-05-22 | 2016-05-22 | A kind of adjustable height building guardrail cleaning Special rigid support equipment |
| CN201810399148.5A CN108568442B (en) | 2016-05-22 | 2016-05-22 | Rigid support method for intelligent robot for auxiliary support of building guardrail cleaning |
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 CN108568442A (en) | 2018-09-25 |
| CN108568442B true CN108568442B (en) | 2020-07-14 |
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Family Applications (2)
| 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 |
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| 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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| 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 |
| 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 |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100468248C (en) * | 2006-08-03 | 2009-03-11 | 燕山大学 | Binocular active vision monitor suitable for precision machining |
| US8955188B2 (en) * | 2012-04-19 | 2015-02-17 | Agri-Fab, Inc. | Sweeper drive assembly |
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2016
- 2016-05-22 CN CN201810399148.5A patent/CN108568442B/en not_active Expired - Fee Related
- 2016-05-22 CN CN201610343651.XA patent/CN106001038B/en active Active
Patent Citations (7)
| 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 |
| 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 |
|---|---|
| CN106001038A (en) | 2016-10-12 |
| CN106001038B (en) | 2018-08-31 |
| CN108568442A (en) | 2018-09-25 |
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