CN111772542A - Wall surface cleaning vehicle - Google Patents
Wall surface cleaning vehicle Download PDFInfo
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- CN111772542A CN111772542A CN202010784139.5A CN202010784139A CN111772542A CN 111772542 A CN111772542 A CN 111772542A CN 202010784139 A CN202010784139 A CN 202010784139A CN 111772542 A CN111772542 A CN 111772542A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention relates to a wall surface cleaning vehicle, which comprises a carrying vehicle, wherein the carrying vehicle is provided with a front cleaning device arranged at the vehicle head, a middle flushing device arranged in front of a vehicle frame and a rear cleaning device arranged at the tail part of the vehicle frame; leading belt cleaning device installs the locomotive at the carrier, receives the impact of tunnel wall most easily, sets up limiting plate and spacing groove on last sliding sleeve and the lower sliding sleeve respectively among the leading belt cleaning device, and the spacing groove can provide the removal surplus for the lower sliding sleeve, and then provides the rotation surplus for the bend axis, avoids connection structure to receive the rigidity impact and damages, and the buffer cylinder who connects the energy storage ware plays the positioning action to the limiting plate, and buffer cylinder can offset the impact that the limiting plate received simultaneously.
Description
Technical Field
The invention relates to the technical field of wall surface cleaning equipment, in particular to a wall surface cleaning vehicle.
Background
Tunnels are engineering structures buried in the ground and are a form of human use of underground space. With the onset of urbanization, various traffic roads are increasing and are affected by terrain and ground buildings, and tunnels are generally built. Because flue gas, dust in the tunnel directly can't be arranged outward, the tunnel inner wall bonds the dust very easily, needs regularly clean. Traditional tunnel cleaning mode utilizes a vehicle-mounted cleaning roller to clean while cleaning, but has electronic components such as light, cable, optical fiber and the like at certain intervals on the inner wall of the tunnel, and can not directly contact with water, so that great difficulty is caused to cleaning, and the traditional cleaning mode is directly avoided and cannot be cleaned.
When the vehicle-mounted flushing device is used for cleaning, the tunnel is bent, the driver can always have large impact on the vehicle-mounted flushing device due to the fact that the technology of the driver is high, the damage to the cleaning device is large, and particularly the connecting position is formed.
The wall of tunnel wall and other buildings is the cambered surface of plane or indent either, and on-vehicle washing unit will adjust according to the tunnel shape when washing the tunnel, avoids producing the collision with the tunnel wall, and on the frame was put to the water tank that washes moreover, washing unit was limited in the space on the frame, and washing unit turned round the direction and can receive the influence when washing tunnel opposite side wall.
When cleaning the wall of tunnel wall or other buildings, will clean the subassembly and install on flexible armed beam usually, will increase the stroke of flexible armed beam as far as possible, but this whole length that will increase flexible armed beam, this whole length that just needs shorten flexible armed beam as far as possible under the prerequisite of the stroke of increase flexible armed beam.
Disclosure of Invention
In order to solve the technical problem, the invention provides a wall surface cleaning vehicle.
The technical scheme of the invention is as follows: a wall surface cleaning vehicle comprises a carrying vehicle, wherein the carrying vehicle is provided with a front cleaning device arranged at the vehicle head, a middle flushing device arranged in front of a vehicle frame and a rear cleaning device arranged at the tail part of the vehicle frame; the front wall cleaning device comprises a direction changing frame, an expansion arm and a front cleaning assembly which are sequentially connected, wherein the direction changing frame comprises a frame body with a groove structure, one side of the frame body is fixed at the head of a carrying vehicle, a lead screw and two slide bars are arranged inside the frame body, an energy accumulator is arranged at the back of the frame body, the lead screw is positioned between the two slide bars, two ends of the lead screw are supported on the side wall of the frame body through a bearing, two ends of the slide bars are fixed on the side wall of the frame body through flanges, an upper sliding sleeve and a lower sliding sleeve are respectively sleeved on the two slide bars, one side of the upper sliding sleeve is fixedly connected with a sliding frame, one side of the sliding frame is provided with a nut matched with the lead screw, the other side of the sliding frame is hinged with a deflection frame, the deflection frame comprises a direction changing shaft and a connecting lug plate which, a turnabout connecting plate is connected below the turnabout shaft, the screw rod is driven by a first hydraulic motor arranged on the side wall of the frame body, the upper sliding sleeve is connected with a limiting plate extending downwards, two sides of the lower sliding sleeve are provided with inwards concave limiting grooves, a clamping groove clamped at the position of the limiting groove is arranged below the limiting plate, hinged frames which extend outwards and are symmetrically arranged are arranged at two sides of the lower sliding sleeve, a fixed plate is arranged at the end part of the hinge frame, a direction-changing oil cylinder is connected between the hinge frame and the direction-changing connecting plate, the cylinder body of the redirection oil cylinder is connected with the hinge frame, the end part of the telescopic rod of the redirection oil cylinder is hinged with the redirection connecting plate, the fixed plate is provided with a buffer oil cylinder, the body of the buffer oil cylinder passes through the fixed plate and is fixedly arranged, the telescopic rod of the buffer oil cylinder is fixedly connected with the limiting plate, and the direction-changing oil cylinder is communicated with the energy accumulator.
Preferably, rearmounted wall belt cleaning device includes support arm, support base, first cantilever and back and cleans the subassembly, the lower extreme of support arm is through rearmounted pedestal mounting on the frame, the upper end is articulated with the support base, first cantilever includes first sleeve pipe, first flexible arm and direction sliding closure, first sheathed tube one end and support base fixed connection, support the base with connect the second between the support arm and support the hydro-cylinder, the cylinder body and the support arm of second support hydro-cylinder are articulated, the telescopic link is articulated with the support base, the one end of first flexible arm stretches into first sleeve pipe, the other end and cleans the subassembly after and is connected, the one end of direction sliding closure is through inboard fixed border and first flexible arm fixed connection, other pot head in first sheathed tube outside, first sleeve pipe with direction sliding closure clearance fit, first sheathed tube the other end articulate have and be located first flexible arm below and with the tangent subassembly that rolls of first flexible arm The support base is connected with the guide sliding cover through a connecting rod, a first telescopic oil cylinder is connected between the support base and the guide sliding cover, the cylinder body of the first telescopic oil cylinder is hinged to the support base, and the telescopic rod is hinged to the guide sliding cover.
Preferably, the middle part washing unit includes rotating base, rocking arm, second cantilever and washs the subassembly, the second cantilever includes the flexible arm of second sleeve pipe and second, rotating base with the one end of rocking arm is articulated, the other end of rocking arm with the one end of second sleeve pipe is articulated, rotating base with connect the third support cylinder between the rocking arm, the cylinder body of third support cylinder with rotating base is articulated, the telescopic link with the rocking arm is articulated, the rocking arm with connect the fourth support cylinder between the second sleeve pipe, the cylinder body of fourth support cylinder is articulated with the rocking arm, the telescopic link is articulated with the flexible arm of second, the one end of the flexible arm of second stretches into the second sleeve pipe, the second sleeve pipe with connect the flexible cylinder of second between the flexible arm of second, the cylinder body of the flexible cylinder of second with the flexible arm of second sleeve pipe is articulated, The telescopic rod is hinged to the second telescopic arm, the cleaning assembly comprises a first water spray pipe and a second water spray pipe which are arranged oppositely, the first water spray pipe and the second water spray pipe are installed on a first swing rod and a second swing rod respectively, the first swing rod and the second swing rod are hinged to the second telescopic arm through a first gear shaft and a second gear shaft respectively, a gear on the first gear shaft is meshed with a gear on the second gear shaft, and a third adjusting oil cylinder is connected between the first swing rod and the second telescopic arm.
Preferably, the expansion arm comprises a first swing arm, a second swing arm and a swing joint, one end of the first swing arm is connected with an expansion base hinged with a connecting lug plate, an additional lug plate is fixed inside the connecting lug plate, a first supporting oil cylinder is connected between the additional lug plate and the first swing arm, a cylinder body of the first supporting oil cylinder is hinged with the additional lug plate, a telescopic rod is hinged with the first swing arm, the first swing arm and one end, opposite to the second swing arm, of the second swing arm are both connected with the swing lug plate, the swing joint is of a special-shaped structure with joint plates extending outwards from two ends, two ends of the swing joint are respectively hinged with the two swing lug plates, the first swing arm and the second swing arm are respectively connected with the joint plates at two ends of the swing joint through the expansion oil cylinder, and cylinder bodies of the two expansion oil cylinders are respectively hinged with the first swing arm and the second swing arm, and telescopic rods of the two expansion oil cylinders are respectively hinged with the joint plates at two ends of the swing joint.
Preferably, the front cleaning assembly comprises a front cleaning roller support and a first rotating frame, the front cleaning roller support is internally provided with a cleaning roller, the first rotating frame is hinged to the end part of a second swing arm, a first turning frame is connected between the first rotating frame and the second swing arm and comprises a first arc-shaped connecting plate and a first turning joint plate, the first arc-shaped connecting plate is hinged to the opposite end of the first turning joint plate, the other end of the first arc-shaped connecting plate and the other end of the first turning joint plate are respectively hinged to the first rotating frame and a second swing arm, the first turning joint plate is provided with a first connecting rod, a first adjusting oil cylinder is connected between the second swing arm and the first turning joint plate, a cylinder body of the first adjusting oil cylinder is hinged to the second swing arm, and a telescopic rod is hinged to the first connecting rod of the first turning joint plate, the end of the second swing arm is hinged with a buffer rod, the middle of the buffer rod is hinged with a support rod, the end of the support rod is hinged with the second swing arm, and a buffer wheel is installed at the end of the buffer rod.
Preferably, preceding cleaning roller support is equipped with the arc water proof cover that surrounds the cleaning roller, the back of water proof cover is fixed with the arc pole of a plurality of equipartitions, the arc pole passes preceding cleaning roller support, preceding cleaning roller support mounting has the tight top the jackscrew of arc pole.
Preferably, the lower end of the supporting arm is connected with a rotary disc mounted on the rear base, and the rotary disc is driven by a second hydraulic motor mounted on the rear base.
Preferably, the rear cleaning assembly comprises a rear cleaning roller bracket and a second rotating frame, the cleaning roller is arranged in the rear cleaning roller bracket, the second rotating frame is hinged with the end part of the first telescopic arm, a second overturning frame is connected between the first rotating frame and the first telescopic arm, the second turnover frame comprises a second arc-shaped connecting plate and a second direction-changing joint plate, the second arc-shaped connecting plate is hinged with one end of the second direction-changing joint plate opposite to the second direction-changing joint plate, the other ends of the second arc-shaped connecting plate and the second direction-changing joint plate are respectively hinged with the second rotating frame and the first telescopic arm, a second connecting rod is arranged on the second direction-changing joint plate, a second adjusting oil cylinder is connected between the first telescopic arm and the second direction-changing joint plate, and the cylinder body of the second adjusting oil cylinder is hinged with the first telescopic arm, and the telescopic rod is hinged with a second connecting rod of the second turning joint plate.
Preferably, the rear cleaning roller support is connected with a second rotating shaft supported in the second rotating frame through a bearing, one side of the second rotating frame is provided with a speed reducer driven by a hydraulic motor, an output shaft of the speed reducer is connected with a driving sprocket, and a driven sprocket concentric with the second rotating shaft and driven by the driving sprocket through a chain is fixed on the second rotating shaft.
Preferably, a foundation plate is fixed at the end part of the first swing rod, an adjusting plate is fixed in the middle of the first water spraying pipe, the adjusting plate is of an annular structure, and the first water spraying pipe is hinged with the first swing rod; a foundation plate is fixed at the end part of the second oscillating bar, an adjusting plate is fixed in the middle of the second water spray pipe, the adjusting plate is of an annular structure, and the second water spray pipe is hinged with the second oscillating bar; the edge of the adjusting plate is provided with a plurality of connecting holes which are uniformly distributed and connected with the foundation plate through bolts.
The invention has the beneficial effects that:
the wall cleaning machine can clean through the cooperation of the front cleaning device and the rear cleaning device, can clean dust on the wall by washing through the middle washing device with water, can independently work, and can retract the middle washing device and the rear cleaning device when meeting obstacles without influencing the cleaning of the positions.
Leading belt cleaning device installs the locomotive at the carrier, receives the impact of tunnel wall most easily, sets up limiting plate and spacing groove on last sliding sleeve and the lower sliding sleeve respectively among the leading belt cleaning device, and the spacing groove can provide the removal surplus for the lower sliding sleeve, and then for the change axis provides the rotation surplus, avoids connection structure to receive the rigidity to strike and damage, and buffer cylinder plays the location to the limiting plate and controls.
The second swing arm of the front cleaning device is also provided with a buffer wheel which can play a role in buffering and avoiding obstacles. Simultaneously, the buffering wheel can also pass through the extension arm with the impact and transmit for the deflection yoke, the deflection yoke drives the turn-around axle and rotates, the turn-around axle drives and drives articulated frame and move towards turn-around axle pivoted one side, the telescopic link that removes a back cushion cylinder at articulated frame stretches out, the telescopic link of another cushion cylinder is returned, limiting plate is fixed motionless at this in-process, lower sliding sleeve and articulated frame move in the length range of spacing groove, the cushion cylinder resets after the impact disappears, articulated frame reverse movement, the turn-around axle also resets, wherein the oil pressure in the turn-around cylinder is greater than the oil pressure in the cushion cylinder, whole process is dynamic process, can reduce the impact, provide the buffer stroke for turn-around axle and articulated frame simultaneously, the destructive power of reduction wall impact that can be fine.
The extension arm can control the rotation under the drive of bend axle, can wash the wall of both sides simultaneously to one-way tunnel, and the extension arm still contracts and expands under the drive of extension hydro-cylinder, can avoid contracting belt cleaning device when out of work, does not influence the normal driving of carrying the car.
The telescopic rod of the first adjusting oil cylinder in the front cleaning device stretches out and draws back and drives the front cleaning assembly to swing through the first turnover frame, the space position of the cleaning roller can be changed by matching with the first rotating shaft in the front cleaning assembly, and the tunnel wall and even the ground in different shapes are cleaned.
The rear cleaning device drives the supporting arm to rotate through the hydraulic rotary disc, so that the whole device can rotate freely, and the whole device can be retracted and cleaned in two directions; a guide sliding cover is arranged in a first cantilever of the rear cleaning device and fixed on a first telescopic arm, and the first sliding cover can extend into a gap between the guide sliding cover and the first telescopic arm, so that the stroke of the first telescopic arm can be increased and the overall length of the first cantilever can be shortened; the first baffle and the second baffle interfere with each other, and the first telescopic arm can be prevented from being separated from the first sleeve.
The telescopic rod of a second adjusting oil cylinder in the rear cleaning device stretches and retracts to drive the rear cleaning assembly to swing through the second turnover frame, and can be matched with a second rotating shaft in the rear cleaning assembly to change the spatial position of the cleaning roller, so that the tunnel walls and even the ground in different shapes can be cleaned.
In the middle flushing device, the rocker arm is hinged with the rotating base and the second cantilever respectively, a third supporting oil cylinder and a fourth supporting oil cylinder are connected between the rocker arm and the rotating base and between the rocker arm and the second cantilever respectively, and the rocker arm and the second cantilever can be withdrawn through the third supporting oil cylinder and the fourth supporting oil cylinder respectively, so that the whole device is contracted.
Because the water tank for washing is placed on the frame, the space of the washing device on the frame is limited, the whole device can be contracted so that the middle washing device can rotate in the limited space, the direction of the middle washing device can be conveniently turned when the middle washing device washes the wall on the other side of the tunnel, and the first water spray pipe and the first swing rod and the second water spray pipe and the second swing rod can rotate relatively through the adjusting plates, so that the water spraying direction can be adjusted.
The third baffle and the fourth baffle in the middle cleaning device are mutually interfered, so that the second telescopic arm can be prevented from being separated from the second sleeve; first spray pipe and second spray pipe set up relatively among the belt cleaning device of middle part, first spray pipe, second spray pipe respectively with the flexible articulated first gear shaft of second, the epaxial gear arc meshing of second gear wheel, first spray pipe and second spray pipe can rotate relatively, each part can be adjusted according to the shape of tunnel wall among the belt cleaning device of middle part, make washing unit be applicable to the shape of tunnel wall.
Drawings
FIG. 1 is a schematic front view of the wall cleaning vehicle of the present invention;
FIG. 2 is a schematic front view of the front cleaning device;
FIG. 3 is a schematic front view of a direction-changing rack;
FIG. 4 is a left side view schematic diagram of a direction changing rack;
FIG. 5 is a schematic top view of the structure of FIG. 4;
FIG. 6 is a front view of the extension arm when deployed;
FIG. 7 is a schematic front view of the expandable arm in its retracted configuration;
FIG. 8 is a schematic top view of the expandable arm shown retracted;
FIG. 9 is an enlarged partial view taken at A in FIG. 8;
FIG. 10 is a schematic front view of the rear cleaning device;
FIG. 11 is a schematic top view of the post-cleaning device;
FIG. 12 is a front view of the first suspension arm;
FIG. 13 is a side view of the first cantilever;
FIG. 14 is a schematic view of the central flushing device in an expanded configuration;
FIG. 15 is a schematic view of the central flushing unit in a retracted configuration;
FIG. 16 is a schematic structural diagram of a second cantilever;
FIG. 17 is a schematic view of the adjustment of the rotational direction of the sprinkler tube;
in the figure: 1. the device comprises a carrying vehicle, 11. a water tank, 2. a front cleaning device, 21. a redirection frame, 21-1. a frame body, 21-11. a sliding rod, 21-12. a screw rod, 21-13. an energy accumulator, 21-2. a redirection shaft, 21-21. a redirection connecting plate, 21-3. a connecting lug plate, 21-31. an additional lug plate, 21-4. an upper sliding sleeve, 21-5. a lower sliding sleeve, 21-51. a hinged frame, 21-52. a fixing plate, 21-53. a limiting groove, 21-6. a limiting plate, 21-7. a first hydraulic motor, 21-8. a redirection oil cylinder, 21-9. a buffer oil cylinder, 22. an expansion arm, 22-1. an expansion base, 22-2. a first swing arm, 22-21. a first support oil cylinder, 22-3. a second swing arm, 22-31. a buffer rod, 22-32 parts of supporting rod, 22-33 parts of buffer wheel, 22-4 parts of swing lug plate, 22-5 parts of swing joint, 22-6 parts of expansion oil cylinder, 23 parts of front cleaning assembly, 23-1 parts of front cleaning roller bracket, 23-2 parts of first rotating frame, 23-3 parts of first flange, 23-4 parts of second flange, 23-5 parts of water-proof cover, 23-6 parts of arc rod, 24 parts of first adjusting oil cylinder, 25 parts of first arc connecting plate, 26 parts of first direction-changing joint plate, 26-1 parts of first connecting rod, 3 parts of rear cleaning device, 31 parts of rear base, 31-1 parts of rotary disc, 31-2 parts of second hydraulic motor, 32 parts of supporting arm, 32-1 parts of second supporting oil cylinder, 33 parts of supporting base, 33-1 parts of first telescopic oil cylinder, 34 parts of first sleeve, 34-1 parts of first baffle plate, 33-1 parts of first telescopic oil cylinder, 34-1 parts of first telescopic oil cylinder, 31 parts of rear cleaning device, 31, 34-2, a rolling shaft, 35, a first telescopic arm, 35-1, a second baffle, 36, a guide sliding cover, 36-1, a fixed edge, 36-2, a second adjusting oil cylinder, 37, a second arc connecting plate, 38, a second direction changing joint plate, 38-1, a second connecting rod, 39, a rear cleaning component, 39-1, a rear cleaning roller bracket, 39-2, a second rotating frame, 39-3, a speed reducer, 39-4, a driving chain wheel, 39-5, a driven chain wheel, 4, a middle flushing device, 41, a middle base, 41-1, a rotating base, 41-2, a third hydraulic motor, 42, a rocker arm, 42-1, a first connecting base, 43, a third supporting oil cylinder, 44, a second sleeve, 44-1, a second connecting base, 44-2, a third baffle, 44-3, a second telescopic oil cylinder, a second, 45. The hydraulic support comprises a fourth support oil cylinder, 46, a second telescopic arm, 46-1, a fourth baffle, 46-2, a third adjusting oil cylinder, 46-3, a first gear shaft, 46-4, a second gear shaft, 47, a first swing rod, 47-1, a first water spray pipe, 48, a second swing rod, 48-1, a second water spray pipe, 49, an adjusting plate and 410, and a foundation plate.
Detailed Description
Detailed description of the invention with reference to fig. 1-17:
the utility model provides a wall washs car, as fig. 1, includes the carrier 1, sets up on the carrier 1 and installs leading belt cleaning device 2 at the locomotive, install middle part washing unit 4 in the frame the place ahead and install rear belt cleaning device 3 at the frame afterbody.
Referring to fig. 2-5, the front cleaning device 2 comprises a redirection frame 21, an expansion arm 22 and a front cleaning assembly 23 which are connected in sequence, the redirection frame 21 comprises a frame body 21-1 with a groove structure, one side of the frame body 21-1 is fixed at the head of the carrying vehicle 1, a screw rod 21-12 and two sliding rods 21-11 are arranged inside the frame body 21-1, an energy accumulator 21-13 is installed at the back of the frame body 21-1, the screw rod 21-12 is positioned between the two sliding rods 21-11, two ends of the screw rod 21-12 are supported on the side wall of the frame body 21-1 through bearings, two ends of the sliding rod 21-11 are fixed on the side wall of the frame body 21-1 through flanges, an upper sliding sleeve 21-4 and a lower sliding sleeve 21-5 are respectively sleeved on the two sliding rods 21-11, one side of, one side of the sliding frame is provided with a nut matched with the screw rod 21-12, the other side of the sliding frame is hinged with a deflection frame, the deflection frame comprises a redirection shaft 21-2 and a connecting lug plate 21-3 which are fixedly connected, the redirection shaft 21-2 is hinged with the sliding frame, the connecting lug plate 21-3 is hinged with an expansion arm 22, a redirection connecting plate 21-21 is connected below the redirection shaft 21-2, the screw rod 21-12 is driven by a first hydraulic motor 21-7 arranged on the side wall of the frame body 21-1, the upper sliding sleeve 21-4 is connected with a limiting plate 21-6 which extends downwards, two sides of the lower sliding sleeve 21-5 are provided with concave limiting grooves 21-53, clamping grooves clamped at the positions of the limiting grooves 21-53 are arranged below the limiting plate 21-6, two sides of the lower sliding sleeve 21-5 are provided with hinged frames 21-51 which extend outwards and, the end part of the hinged frame 21-51 is provided with a fixed plate 21-52, a redirection oil cylinder 21-8 is connected between the hinged frame 21-51 and the redirection connecting plate 21-21, the cylinder body of the redirection oil cylinder 21-8 is connected with the hinged frame 21-51, the end part of the telescopic rod of the redirection oil cylinder 21-8 is hinged with the redirection connecting plate 21-21, the fixed plate 21-52 is provided with a buffer oil cylinder 21-9, the cylinder body of the buffer oil cylinder 21-9 penetrates through the fixed plate 21-52 and is fixedly arranged, the telescopic rod of the buffer oil cylinder 21-9 is fixedly connected with the limiting plate 21-6, and the redirection oil cylinder 21-2 is communicated with an energy accumulator 21-.
Referring to fig. 6 and 7, the extension arm 22 in the front cleaning device 2 includes a first swing arm 22-2, a second swing arm 22-3, and a swing joint 22-5, one end of the first swing arm 22-2 is connected to an extension base 22-1 hinged to a connecting lug plate 21-3, an additional lug plate 21-31 is fixed inside the connecting lug plate 21-3, a first supporting cylinder 22-21 is connected between the additional lug plate 21-31 and the first swing arm 22-2, a cylinder body of the first supporting cylinder 22-21 is hinged to the additional lug plate 21-31, a telescopic rod is hinged to the first swing arm 22-2, opposite ends of the first swing arm 22-2 and the second swing arm 22-3 are both connected to the swing lug plate 22-4, and the swing joint 22-5 is a special-shaped structure with joint plates extending outward from both ends, two ends of the swing joint 22-5 are respectively hinged with two swing lug plates 22-4, the first swing arm 22-2 and the second swing arm 22-3 are respectively connected with the joint plates at two ends of the swing joint 22-5 through extension oil cylinders 22-6, cylinder bodies of the two extension oil cylinders 22-6 are respectively hinged with the first swing arm 22-2 and the second swing arm 22-3, and telescopic rods of the two extension oil cylinders 22-6 are respectively hinged with the joint plates at two ends of the swing joint 22-5.
Referring to fig. 2 and 9, the front cleaning assembly 23 of the front cleaning device 2 includes a front cleaning roller support 23-1 and a first rotating frame 23-2, a cleaning roller is mounted inside the front cleaning roller support 23-1, the first rotating frame 23-2 is hinged to an end of a second swing arm 22-3, a first roll-over frame is connected between the first rotating frame 23-2 and the second swing arm 22-3, the first roll-over frame includes a first arc-shaped connecting plate 25 and a first direction-changing joint plate 26, the first arc-shaped connecting plate 25 is hinged to an opposite end of the first direction-changing joint plate 26, the first arc-shaped connecting plate 25 and the other end of the first direction-changing joint plate 26 are hinged to the first rotating frame 23-2 and the second swing arm 22-3, the first direction-changing joint plate 26 is provided with a first connecting rod 26-1, a first adjusting cylinder 24 is connected between the second swing arm 22-3 and the first direction-changing joint plate 26, the cylinder body of the first adjusting oil cylinder 24 is hinged to the second swing arm 22-3, the telescopic rod is hinged to a first connecting rod 26-1 of the first direction changing joint plate 26, the front cleaning roller support 23-1 is connected with a first rotating shaft which is supported inside the first rotating frame 23-2 through a bearing, a first flange 23-3 which is coaxial with the first rotating shaft is fixed on the first rotating shaft, a second flange 23-4 which is concentric with the first flange 23-3 is fixed on the first rotating frame, circular holes which are uniformly distributed in an annular mode are formed in the first flange 23-3, and arc-shaped long holes which are uniformly distributed in an annular mode, matched with the circular holes and connected through bolts are formed in the second flange 23-4.
Further, in order to automatically control the front cleaning roller holder, a driving sprocket driven by a chain is fixed to the first rotating shaft.
As shown in fig. 8, the end of the second swing arm 22-3 in the front cleaning device 2 is hinged with a buffer rod 22-31, the middle of the buffer rod 22-31 is hinged with a support rod 22-32, the end of the support rod 22-32 is hinged with the second swing arm 22-3, the end of the buffer rod 22-31 is provided with a buffer wheel 22-33, and the end of the support rod 22-32 is provided with a plurality of uniformly distributed hinge holes; the front cleaning roller support 23-1 is provided with an arc-shaped water-proof cover 23-5 surrounding the cleaning roller, the back of the water-proof cover 23-5 is fixedly provided with a plurality of uniformly distributed arc-shaped rods 23-6, the arc-shaped rods 23-6 penetrate through the front cleaning roller support 23-1, the front cleaning roller support 23-1 is provided with a jackscrew tightly pushing the arc-shaped rods 23-6, the position of the water-proof cover can be adjusted through the arc-shaped rods, and the water-proof cover can be adjusted along with the cleaning position of the cleaning roller.
The wall cleaning machine can clean through the cooperation of the front cleaning device and the rear cleaning device, can clean dust on the wall by washing through the middle washing device with water, can independently work, and can retract the middle washing device and the rear cleaning device when meeting obstacles without influencing the cleaning of the positions.
The front cleaning device 2 is arranged at the head of the carrying vehicle 1 and is most easily impacted by the wall of a tunnel, the limiting plates 21-6 and the limiting grooves 21-53 are respectively arranged on the upper sliding sleeve 21-4 and the lower sliding sleeve 21-5 in the front cleaning device 2, the limiting grooves 21-53 can provide moving allowance for the lower sliding sleeve, further rotation allowance is provided for the direction-changing shaft 21-2, the connection structure is prevented from being damaged due to rigid impact, the buffer oil cylinders 21-9 connected with the energy accumulator play a role in positioning the limiting plates 21-6, and meanwhile the buffer oil cylinders 21-9 can offset the impact on the limiting plates 21-6.
The second swing arm 22-3 of the front cleaning device 2 is also provided with a buffer wheel 22-33 which can transmit impact to the redirection shaft 21-2 through the expansion arm 22, then the redirection shaft 21-2 rotates, (the redirection shaft 21-2 drives the telescopic rod of one redirection oil cylinder 21-8 to retreat and the telescopic rod of the other redirection oil cylinder 21-8 to stretch out at the moment when the redirection shaft 21-2 rotates, then the redirection oil cylinder 21-8 resets under the action of oil pressure), the redirection shaft 21-2 drives the hinge frame 21-51 to move towards one side of the redirection shaft 21-2 rotation, the telescopic rod of one buffer oil cylinder 21-9 stretches out and the telescopic rod of the other buffer oil cylinder 21-9 retracts after the hinge frame 21-51 moves, the limit plate 21-6 is fixed in the process, and the lower sliding sleeve 21-5 and the hinge frame 21-51 move in the length range of the limit groove 21-53 After the impact disappears, the buffer oil cylinder 21-9 is reset, the hinge frame 21-51 moves reversely, and the redirection shaft 21-2 is also reset, wherein the oil pressure in the redirection oil cylinder 21-8 is larger than the oil pressure in the buffer oil cylinder 21-9, the whole process is a dynamic process, the impact can be reduced, meanwhile, a buffer stroke is provided for the redirection shaft 21-2 and the hinge frame 21-51, and the destructive force of the wall impact can be well reduced.
The expansion arm 22 in the front cleaning device 2 can rotate left and right under the drive of the redirection shaft 21-2, the walls on two sides of the unidirectional tunnel can be cleaned simultaneously, the expansion arm 22 is also contracted and expanded under the drive of the expansion oil cylinder 22-6, the cleaning device can be prevented from being contracted when the unidirectional tunnel does not work, and the normal running of the carrying vehicle 1 is not influenced.
As shown in fig. 10, the rear cleaning device 3 includes a supporting arm 32, a supporting base 33, a first cantilever and a rear cleaning assembly 39, the lower end of the supporting arm 32 is mounted on the frame through a rear base 31, the upper end of the supporting arm is hinged to the supporting base 33, the first cantilever includes a first sleeve 34, a first telescopic arm 35 and a guiding sliding cover 36, one end of the first sleeve 34 is fixedly connected to the supporting base 33, a second supporting cylinder 32-1 is connected between the supporting base 33 and the supporting arm 32, the cylinder body of the second supporting cylinder 32-1 is hinged to the supporting arm 32, the telescopic rod is hinged to the supporting base 33, one end of the first telescopic arm 35 extends into the first sleeve 34, the other end is connected to the rear cleaning assembly 39, one end of the guiding sliding cover 36 is fixedly connected to the first telescopic arm 35 through an inner fixing edge 36-1, the other end is sleeved on the outer side of the first sleeve 34, the first sleeve 34 is in clearance fit with, the other end of the first sleeve pipe 34 is hinged with a rolling shaft 34-2 which is positioned below the first telescopic arm 35 and is tangent to the first telescopic arm 35, a first telescopic oil cylinder 33-1 is connected between the support base 33 and the guide sliding cover 36, the cylinder body of the first telescopic oil cylinder 33-1 is hinged with the support base 33, and the telescopic rod is hinged with the guide sliding cover 36.
As shown in FIG. 11, the lower end of the support arm 32 of the rear washing apparatus 3 is connected to a rotary disk 31-1 mounted on the rear base 31, and the rotary disk 31-1 is driven by a second hydraulic motor 31-2 mounted on the rear base 31.
As shown in fig. 12, a first baffle 34-1 located inside and in clearance fit with the first telescopic arm 35 is fixed at an end of the first sleeve 34 in the rear cleaning device 3, and a second baffle 35-1 in clearance fit with the first sleeve 34 and in interference with the first baffle 34-1 is fixed at an end of the first telescopic arm 35 extending into the first sleeve 34.
As shown in fig. 13, the rear cleaning assembly 39 in the rear cleaning device 3 includes a rear cleaning roller support 39-1 and a second rotating frame 39-2, the cleaning roller is mounted inside the rear cleaning roller support 39-1, the second rotating frame 39-2 is hinged to the end of the first telescopic arm 35, a second roll-over stand is connected between the first rotating frame 23-2 and the first telescopic arm 35, the second roll-over stand includes a second arc-shaped connecting plate 37 and a second direction-changing joint plate 38, the second arc-shaped connecting plate 37 is hinged to the opposite end of the second direction-changing joint plate 38, the second arc-shaped connecting plate 37 is hinged to the other end of the second direction-changing joint plate 38, the second rotating frame 39-2 and the first telescopic arm 35 are hinged to the other end of the second arc-shaped connecting plate 37 and the second direction-changing joint plate 38, a second connecting rod 38-1 is disposed on the second direction-changing joint plate 38, a second adjusting cylinder 36-2 is connected between the first telescopic arm 35 and the second direction-changing joint plate 38, a cylinder body, The telescopic rod is hinged to a second connecting rod 38-1 of the second knuckle plate 38, the rear cleaning roller support 39-1 is connected with a second rotating shaft supported in the second rotating frame 39-2 through a bearing, a speed reducer 39-3 driven by a hydraulic motor is installed on one side of the second rotating frame 39-2, an output shaft of the speed reducer 39-3 is connected with a driving sprocket 39-4, and a driven sprocket 39-5 which is concentric with the second rotating shaft and is in chain transmission with the driving sprocket 39-4 is fixed on the second rotating shaft.
The rear cleaning device 3 drives the supporting arm 32 to rotate through the rotary disc 31-1, so that the whole device can rotate freely, and the whole device can be retracted and cleaned in a two-way mode; a guide sliding cover 36 is arranged in a first cantilever of the rear cleaning device 3, the guide sliding cover 36 is fixed on the first telescopic arm 35, and a first sleeve can extend into a gap between the guide sliding cover 36 and the first telescopic arm 35, so that the stroke of the first telescopic arm 35 can be increased, and the overall length of the first cantilever can be shortened; the first shutter 34-1 and the second shutter 35-1 interfere with each other, and the first telescopic arm 35 can be prevented from being detached from the first sleeve 34.
The telescopic rod of the second adjusting oil cylinder 36-2 in the rear cleaning device 3 stretches and retracts to drive the rear cleaning assembly 39 to swing through the second turnover frame, and the rear cleaning assembly 39 can be matched with a second rotating shaft in the rear cleaning assembly 39 to change the spatial position of the cleaning roller, so that the walls and even the ground of tunnels with different shapes can be cleaned.
As shown in fig. 14-17, the middle flushing device 4 comprises a rotating base 41, a swing arm 42, a second cantilever and a cleaning assembly, the second cantilever comprises a second sleeve 44 and a second telescopic arm 46, the rotating base 41 is hinged to one end of the swing arm 42, the other end of the swing arm 42 is hinged to one end of the second sleeve 44, a first connecting base 43 is connected between the rotating base 41 and the swing arm 42, a cylinder body of the first connecting base 43 is hinged to the rotating base 41, a telescopic rod is hinged to the swing arm 42, a fourth supporting cylinder 45 is connected between the swing arm 42 and the second sleeve 44, a cylinder body of the fourth supporting cylinder 45 is hinged to the swing arm 42, a telescopic rod is hinged to the second telescopic arm 46, one end of the second telescopic arm 46 extends into the second sleeve 44, a second telescopic cylinder 44-3 is connected between the second sleeve 44 and the second telescopic arm 46, and a cylinder body of the second telescopic cylinder 44-3 is hinged to the second sleeve 44, The telescopic rod is hinged with a second telescopic arm 46, the cleaning component comprises a first water spray pipe 47-1 and a second water spray pipe 48-1 which are oppositely arranged, the first water spray pipe 47-1 and the second water spray pipe 48-1 are respectively arranged on a first swing rod 47 and a second swing rod 48, the first swing rod 47 and the second swing rod 48 are respectively hinged with the second telescopic arm 46 through a first gear shaft 46-3 and a second gear shaft 46-4, a gear on the first gear shaft 46-3 is meshed with a gear on the second gear shaft 46-4, a third adjusting oil cylinder 46-2 is connected between the first swing rod 47 and the second telescopic arm 46, a first connecting base 42-1 which extends outwards is fixed at two ends of the rocker arm 42, a second connecting base 44-1 which extends outwards is connected at one end of the second sleeve 44, and two first connecting bases 42-1 of the rocker arm 42 are respectively connected with the rotary base 41, The second connecting base 44-1 is hinged, the invention also comprises a middle base arranged on the frame, a third hydraulic motor arranged on one side of the rotating base is arranged on the middle base, the lower end of the rotating base is hinged on the middle base, the output shaft of the third hydraulic motor is connected with the rotating base through a chain in a transmission way, a third baffle 44-2 which is arranged on the inner side and is in clearance fit with the second telescopic arm 46 is fixed at the end part of the second sleeve 44, and a fourth baffle 46-1 which is in clearance fit with the second sleeve 44 and is interfered with the third baffle 44-2 is fixed at one end of the second telescopic arm 46 extending into the second sleeve 44.
In the middle part washing unit 4, the rocking arm 42 and the rotating base 41, the second cantilever is articulated respectively, rocking arm 42 and rotating base 41, be connected with first connection base 43 between the second cantilever respectively, fourth supporting cylinder 45, through first connection base 43, fourth supporting cylinder 45 can withdraw rocking arm 42 and second cantilever respectively, make whole device shrink, because the water tank 11 that washes will put on the frame, washing unit space on the frame is limited, whole device can contract and be convenient for middle part washing unit 4 to rotate in limited space, transfer the direction when making things convenient for middle part washing unit 4 to wash tunnel opposite side wall.
The third baffle 44-2 and the fourth baffle 46-1 in the middle flushing device 4 interfere with each other, so that the second telescopic arm 46 can be prevented from being separated from the second sleeve 44; the first water spray pipe 47 and the second water spray pipe 48 in the middle cleaning device are arranged oppositely, the first water spray pipe 47 and the second water spray pipe 48 are meshed with a gear arc on a first gear shaft 46-3 and a second gear shaft 46-4 which are hinged to the second telescopic arm 46 respectively, the first water spray pipe 47 and the second water spray pipe 48 can rotate relatively, and parts in the middle cleaning device can be adjusted according to the shape of the tunnel wall, so that the washing device is suitable for the shape of the tunnel wall.
As shown in fig. 14 and 17, a base plate is fixed at the end of the first swing link in the middle flushing device 4, an adjusting plate is fixed at the middle of the first spray pipe, the adjusting plate is of an annular structure, and the first spray pipe is hinged with the first swing link; a foundation plate is fixed at the end part of the second oscillating bar, an adjusting plate is fixed in the middle of the second water spraying pipe, the adjusting plate is of an annular structure, and the second water spraying pipe is hinged with the second oscillating bar; the edge of the adjusting plate is provided with a plurality of connecting holes which are uniformly distributed and connected with the foundation plate through bolts, and the first water spraying pipe and the first swing rod and the second water spraying pipe and the second swing rod can rotate relative to each other through the adjusting plate, so that the water spraying direction can be adjusted.
Claims (10)
1. The utility model provides a wall washs car, includes the lift truck, its characterized in that: the carrying vehicle is provided with a front cleaning device arranged at the vehicle head, a middle washing device arranged in front of the vehicle frame and a rear cleaning device arranged at the tail part of the vehicle frame; the front wall cleaning device comprises a direction changing frame, an expansion arm and a front cleaning assembly which are sequentially connected, wherein the direction changing frame comprises a frame body with a groove structure, one side of the frame body is fixed at the head of a carrying vehicle, a lead screw and two slide bars are arranged inside the frame body, an energy accumulator is arranged at the back of the frame body, the lead screw is positioned between the two slide bars, two ends of the lead screw are supported on the side wall of the frame body through a bearing, two ends of the slide bars are fixed on the side wall of the frame body through flanges, an upper sliding sleeve and a lower sliding sleeve are respectively sleeved on the two slide bars, one side of the upper sliding sleeve is fixedly connected with a sliding frame, one side of the sliding frame is provided with a nut matched with the lead screw, the other side of the sliding frame is hinged with a deflection frame, the deflection frame comprises a direction changing shaft and a connecting lug plate which, a turnabout connecting plate is connected below the turnabout shaft, the screw rod is driven by a first hydraulic motor arranged on the side wall of the frame body, the upper sliding sleeve is connected with a limiting plate extending downwards, two sides of the lower sliding sleeve are provided with inwards concave limiting grooves, a clamping groove clamped at the position of the limiting groove is arranged below the limiting plate, hinged frames which extend outwards and are symmetrically arranged are arranged at two sides of the lower sliding sleeve, a fixed plate is arranged at the end part of the hinge frame, a direction-changing oil cylinder is connected between the hinge frame and the direction-changing connecting plate, the cylinder body of the redirection oil cylinder is connected with the hinge frame, the end part of the telescopic rod of the redirection oil cylinder is hinged with the redirection connecting plate, the fixed plate is provided with a buffer oil cylinder, the body of the buffer oil cylinder passes through the fixed plate and is fixedly arranged, the telescopic rod of the buffer oil cylinder is fixedly connected with the limiting plate, and the direction-changing oil cylinder is communicated with the energy accumulator.
2. The wall surface cleaning vehicle according to claim 1, characterized in that: the rear wall cleaning device comprises a support arm, a support base, a first cantilever and a rear cleaning assembly, wherein the lower end of the support arm is arranged on a frame through the rear base, the upper end of the support arm is hinged with the support base, the first cantilever comprises a first sleeve, a first telescopic arm and a guide sliding cover, one end of the first sleeve is fixedly connected with the support base, a second support oil cylinder is connected between the support base and the support arm, the cylinder body of the second support oil cylinder is hinged with the support arm, a telescopic rod is hinged with the support base, one end of the first telescopic arm extends into the first sleeve, the other end of the first telescopic arm is connected with the rear cleaning assembly, one end of the guide sliding cover is fixedly connected with the first telescopic arm through the inner fixed edge, the other end of the guide sliding cover is sleeved on the outer side of the first sleeve, the first sleeve is in clearance fit with the guide sliding cover, the other end of the first sleeve is hinged with a rolling shaft which is positioned below the first telescopic arm and is, the supporting base is connected with the guiding sliding cover through a first telescopic oil cylinder, the cylinder body of the first telescopic oil cylinder is hinged to the supporting base, and the telescopic rod is hinged to the guiding sliding cover.
3. The wall surface cleaning vehicle according to claim 2, characterized in that: the middle part flushing device comprises a rotary base, a rocker arm, a second cantilever and a cleaning assembly, the second cantilever comprises a second sleeve and a second telescopic arm, the rotary base is hinged with one end of the rocker arm, the other end of the rocker arm is hinged with one end of the second sleeve, a third supporting oil cylinder is connected between the rotary base and the rocker arm, the body of the third supporting oil cylinder is hinged with the rotary base, a telescopic rod is hinged with the rocker arm, a fourth supporting oil cylinder is connected between the rocker arm and the second sleeve, the body of the fourth supporting oil cylinder is hinged with the rocker arm, the telescopic rod is hinged with the second telescopic arm, one end of the second telescopic arm extends into the second sleeve, the second sleeve and the second telescopic arm are connected between the second telescopic oil cylinder and the second sleeve, the body of the second telescopic oil cylinder is hinged with the second sleeve, the telescopic rod is hinged with the second telescopic arm, the cleaning assembly comprises a first water spray pipe and a second water spray pipe which are arranged oppositely, the first water spray pipe and the second water spray pipe are respectively arranged on a first swing rod and a second swing rod, the first swing rod and the second swing rod are respectively hinged with the second telescopic arm through a first gear shaft and a second gear shaft, a gear on the first gear shaft is meshed with a gear on the second gear shaft, and a third adjusting oil cylinder is connected between the first swing rod and the second telescopic arm.
4. A wall washing vehicle according to claim 3, characterized in that: the expansion arm comprises a first swing arm, a second swing arm and a swing joint, one end of the first swing arm is connected with an expansion base hinged with a connecting lug plate, an additional lug plate is fixed inside the connecting lug plate, a first supporting oil cylinder is connected between the additional lug plate and the first swing arm, a cylinder body of the first supporting oil cylinder is hinged with the additional lug plate, a telescopic rod is hinged with the first swing arm, the swing lug plate is connected with the opposite end of the first swing arm and the second swing arm, the swing joint is of a special-shaped structure with joint plates extending outwards from two ends, two ends of the swing joint are hinged with the two swing lug plates respectively, the first swing arm and the second swing arm are connected with the joint plates at two ends of the swing joint through expansion oil cylinders respectively, and cylinder bodies of the two expansion oil cylinders are hinged with the first swing arm and the second swing arm respectively, and telescopic rods of the two expansion oil cylinders are respectively hinged with the joint plates at two ends of the swing joint.
5. The wall surface cleaning vehicle according to claim 4, characterized in that: the front cleaning assembly comprises a front cleaning roller support and a first rotating frame, the front cleaning roller support is internally provided with a cleaning roller, the first rotating frame is hinged to the end portion of a second swing arm, a first turning frame is connected between the first rotating frame and the second swing arm and comprises a first arc-shaped connecting plate and a first turning joint plate, the first arc-shaped connecting plate is hinged to the opposite end of the first turning joint plate, the other end of the first arc-shaped connecting plate and the other end of the first turning joint plate are respectively hinged to the first rotating frame and a second swing arm, a first connecting rod is arranged on the first turning joint plate, a first adjusting oil cylinder is connected between the second swing arm and the first turning joint plate, the cylinder body of the first adjusting oil cylinder is hinged to the second swing arm, a telescopic rod is hinged to the first connecting rod of the first turning joint plate, and the end portion of the second swing arm is hinged to a buffer rod, the middle part of buffer rod articulates there is the bracing piece, the tip of bracing piece articulates at the second swing arm, the buffer wheel is installed to the tip of buffer rod.
6. The wall surface cleaning vehicle according to claim 5, characterized in that: preceding cleaning roller support is equipped with the arc water proof cover that surrounds the cleaning roller, the back of water proof cover is fixed with the arc pole of a plurality of equipartitions, the arc pole passes preceding cleaning roller support, preceding cleaning roller support mounting has the top tightly the jackscrew of arc pole.
7. The wall surface cleaning vehicle according to claim 6, characterized in that: the lower end of the supporting arm is connected with a rotary disc arranged on the rear base, and the rotary disc is driven by a second hydraulic motor arranged on the rear base.
8. The wall surface cleaning vehicle according to claim 7, characterized in that: the back cleans the subassembly and cleans roller support and second swivel mount including the back, the internally mounted who cleans roller support after, the second swivel mount is articulated with the tip of first flexible arm, first swivel mount with be connected with the second roll-over stand between the first flexible arm, the second roll-over stand includes second arc connecting plate and second diversion festival board, the second arc connecting plate with the relative one end of second diversion festival board is articulated, the second arc connecting plate with the other end of second diversion festival board is articulated with second swivel mount, first flexible arm respectively, be equipped with the second connecting rod on the second diversion festival board, first flexible arm with connect the second between the second diversion festival board and adjust the hydro-cylinder, the cylinder body of second adjust the hydro-cylinder with first flexible arm articulated, the telescopic link articulates the second connecting rod at second diversion festival board.
9. The wall surface cleaning vehicle according to claim 8, characterized in that: the rear cleaning roller support is connected with a second rotating shaft which is supported in the second rotating frame through a bearing, one side of the second rotating frame is provided with a speed reducer which is driven by a hydraulic motor, an output shaft of the speed reducer is connected with a driving sprocket, and a driven sprocket which is concentric with the second rotating shaft and is in chain transmission with the driving sprocket is fixed on the second rotating shaft.
10. The wall surface cleaning vehicle according to claim 9, characterized in that: a foundation plate is fixed at the end part of the first oscillating bar, an adjusting plate is fixed in the middle of the first water spraying pipe, the adjusting plate is of an annular structure, and the first water spraying pipe is hinged with the first oscillating bar;
a foundation plate is fixed at the end part of the second oscillating bar, an adjusting plate is fixed in the middle of the second water spray pipe, the adjusting plate is of an annular structure, and the second water spray pipe is hinged with the second oscillating bar;
the edge of the adjusting plate is provided with a plurality of connecting holes which are uniformly distributed and connected with the foundation plate through bolts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010784139.5A CN111772542B (en) | 2020-08-06 | 2020-08-06 | Wall surface cleaning vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010784139.5A CN111772542B (en) | 2020-08-06 | 2020-08-06 | Wall surface cleaning vehicle |
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| CN111772542B CN111772542B (en) | 2021-07-06 |
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| CN111877233A (en) * | 2020-08-06 | 2020-11-03 | 河南路太养路机械股份有限公司 | Leading wall belt cleaning device |
| CN112900332A (en) * | 2021-04-26 | 2021-06-04 | 徐州徐工环境技术有限公司 | Front-back type wall cleaning vehicle |
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