CN105796021B - A kind of rigid support type builds Green Machine people - Google Patents

Abstract

The present invention relates to a kind of rigid support type to build Green Machine people; including from steady support meanss; there is good rigid support performance, stability and damping performance from steady support meanss; locking and regulating device is installed in the middle part of from steady support meanss upper surface; the fixed angle and the anglec of rotation of locking and regulating device are adjustable; locking and regulating device upper surface is provided with cleaning machine hand; the cleaning adjustable angle of cleaning machine hand; the scope of application is big, it is possible to achieve the function such as automation cleaning furred ceiling, the cobweb on ceiling, dust；Include fixed round platform from steady support meanss, the upper surface of fixed round platform is uniformly provided with four support side chains in parallel in the axial direction, four L-type pillars are symmetrically installed with the middle part of four support side chain upper surfaces in parallel, the end of four L-type pillars is respectively arranged with four installation disks.The present invention can realize the automation clearing function of interior architecture, there is provided a kind of new way for automating cleaning interior architecture.

Description

A kind of rigid support type builds Green Machine people

Technical field

The present invention relates to building environmental technology field, specifically a kind of rigid support type building Green Machine people.

Background technology

With the continuous social and economic development, miscellaneous high building stands in great numbers and risen, but continuous with high building quantity Increase, safeguard that the street cleaner of high building environmentally-friendly sanitary is more and more, the scope of cleaning include floor, glass window, furring tile, Furred ceiling or ceiling etc., there are many sweeping robot and window wiping robot on existing market, can solve floor and glass The cleaning problems of glass window, without artificial cleaning, but the dust and cobweb on furring tile, furred ceiling, ceiling are required for Manually periodically handled, there has been no exploitation to automate cleaning equipment, passes through the ash on manual cleaning ceramic tile, furred ceiling, ceiling Following defect be present in the mode of dirt and cobweb：1st, manual cleaning speed is slow, and labor intensity is big, and operating efficiency is low, automation Degree is low；2nd, when the height of ceramic tile, furred ceiling, ceiling is higher, it usually needs double ladder auxiliary cleaning, this height auxiliary are set Standby angles are fixed, and fixed angle is unadjustable, and equipment does not possess spinfunction, so as to cause artificial needs constantly to be walked up and down Move to adjust angle；3rd, because street cleaner needs constantly to clean repeatedly back and forth, people's body is to this height auxiliary equipment Stress point is different, and the phenomenon rocked or shaken often occurs, rigid support poor performance, damping performance is poor, and stability is poor, Cause street cleaner meticulously can only slowly clean, operating efficiency greatly reduces；4th, street cleaner needs cleaning Cheng Zhonghui drops many dusts, it is therefore desirable to which the bottom plate below artificial wipe clean, there has been no the smallpox with absorption function at present Plate or furred ceiling cleaning tool, generally only simple function, the scope of application are small for the burnisher of existing interior architecture.

The content of the invention

In order to solve the above problems, the invention provides a kind of rigid support type to build Green Machine people, can solve to lead to Cross that the existing cleaning speed of present level auxiliary equipment manual cleaning interior architecture mode is slow, labor intensity is big, automaticity Low, equipment rigid support poor performance, stabilization of equipment performance energy is poor, equipment damping performance is poor, fixed angle is unadjustable, the anglec of rotation The problems such as the unadjustable, scope of application is small and operating efficiency is low, it is possible to achieve the automation clearing function of interior architecture, without Manual operation, and with cleaning speed is fast, equipment rigid support performance is good, stabilization of equipment performance energy is good, equipment damping performance is good, solid Determine the advantages that adjustable angle, the anglec of rotation are adjustable, the scope of application is big and operating efficiency is high, there is provided in one kind automation clean room The new way of building.

To achieve these goals, the present invention is realized using following technical scheme：A kind of rigid support type building environmental protection Robot, including from steady support meanss, there is good rigid support performance, stability and damping property from steady support meanss Can, it is described that locking and regulating device, the fixed angle of locking and regulating device and rotation are installed from the middle part of steady support meanss upper surface Adjustable angle, locking and regulating device upper surface are provided with cleaning machine hand, the cleaning adjustable angle of cleaning machine hand, the scope of application Greatly, it is possible to achieve the function such as automation cleaning furred ceiling, the cobweb on ceiling, dust, interior is built by cleaning machine hand Build and carry out automation cleaning.

It is described to include fixed round platform, the fixed circle from steady support meanss as a preferred technical solution of the present invention The lower surface of platform is symmetrically arranged with four universal wheels, and the present invention is moved to needed for interior architecture by the present invention by four universal wheels Cleaning place, circumferentially direction is uniformly provided with four support side chains in parallel, four support branch in parallel for the upper surface of fixed round platform It is symmetrically installed with four L-type pillars in the middle part of chain upper surface, the ends of four L-type pillars is respectively arranged with four installation disks, and four Individual installation disk is separately mounted in four connection sheets by screw, and four connection sheets are symmetrically welded at the lower end of square erecting bed Face, play a part of stable support square erecting bed, the lower surface middle part of square erecting bed by four support side chains in parallel Positioning hollow shaft is welded with, positioning hollow shaft lower end is set on master positioning axle, and positioning hollow shaft can hang down on master positioning axle Directly move up and down, master positioning axle plays spacing effect so that square erecting bed positioning hollow shaft it is spacing under can only hang down Directly move up and down, without the phenomenon for motion of rolling, improve the stability of equipment, master positioning axle bottom is welded In the middle part of the upper surface of fixed round platform；The lower surface of the square erecting bed is symmetrically welded with four upper locating shafts, and four upper fixed Four limit springs are arranged with respectively on the axle of position, and four limit spring lower ends are respectively sleeved on four lower locating shafts, under four Locating shaft is symmetrically welded on the upper surface of fixed round platform, and lower locating shaft and upper locating shaft play the work for limiting limit spring position With limit spring causes the present invention to have good damping performance；The support side chain in parallel includes being welded on fixed round platform No.1 fixed platform on end face, No.1 fixed platform upper surface circumferentially direction uniformly installation three No.1 parallel connection side chains, three one Number side chain upper end in parallel is uniformly arranged on No.1 moving platform, be provided with the middle part of No.1 moving platform upper surface corresponding to L-type pillar； The No.1 parallel connection side chain includes the No.1 ear mount that lower end is welded on No.1 fixed platform upper surface, passes through pin between No.1 ear mount Axle is provided with No.1 hydraulic cylinder, and the top of No.1 hydraulic cylinder has been connected through a screw thread connecting cylinder, has been connected through a screw thread on connecting cylinder There is spherical hinge, by being threadably mounted on Triangulum, Triangulum is welded on the lower surface of No.1 moving platform for spherical hinge upper end.This S is formd when P secondary, spherical hinge work are formd when R secondary, No.1 hydraulic cylinder are formd when No.1 ear mount rotates in invention Pair, so as to form the No.1 parallel connection side chain of RPS types, eventually through No.1 fixed platform, three RPS types No.1 parallel connection side chain, No.1 moving platform forms 3-RPS parallel institutions, and the support side chain in parallel in the present invention be 3-RPS parallel institutions, 3-RPS parallel connections Mechanism has the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by parallel institution The advantages of the present invention realize the function to the stable rigid support of square erecting bed by four 3-RPS parallel institutions, borrow simultaneously The advantages of helping parallel institution also causes the present invention to have good stability and good damping performance.

As a preferred technical solution of the present invention, the locking and regulating device is welded on square installation including lower surface Lower locking round platform on platform, lower locking round platform middle part are provided with electric rotating machine by motor cabinet, consolidated on the output shaft of electric rotating machine Surely it is connected with locking erecting bed, locking the lower surface of erecting bed, circumferentially direction is evenly arranged with four L-type gag lever posts, four L-type gag lever post is connected between annular convex edge by sliding matching mode, and the lower end of annular convex edge is welded on lower locking round platform On, the spaced motion of four L-type gag lever posts and annular convex edge make it that locking erecting bed can stablize under the drive of electric rotating machine It is rotated, so that the present invention has the function of rotation regulation, clears up worker when operating without adjusting work manually Make angle, easy to operate, operating efficiency is high；The locking erecting bed upper surface is symmetrically installed with four No. two hydraulic cylinders, four It is separately fixed in the middle part of No. two hydraulic cylinders in four Z-type fixed seats, the bottom of four Z-type fixed seats is symmetrically installed by screw On locking erecting bed；The top of four No. two hydraulic cylinders is provided with rhombus elevator, four sides of rhombus elevator On be symmetrically welded with four locking side chains, four locking side chains and locking erecting bed between be connected by adjusting side chain, pass through The fixed locking angle of the corresponding locking side chain of side chain regulation is adjusted, when the support zone in required cleaning place is skewed or not During regular shape, it is only necessary to locking side chain regulation is arrived into suitable fixed locking angle, the rear defence fixed by adjusting side chain Stop the situation arbitrarily moved in the course of work of the present invention, the carry out cleaning function that cleanup crew can be bold, improve work Make efficiency；The locking side chain includes the straight connecting rod being welded in rhombus elevator corresponding side surface, and the top of straight connecting rod is provided with Two No.1 hangers, No. two hangers are provided with by bearing pin between two No.1 hangers, No. two hangers are welded on No.1 L-type connecting rod On, the top of No.1 L-type connecting rod is welded with square installation sheet, and four mounting holes are symmetrically arranged with square installation sheet, pass through four The present invention is movably fixed to the support zone in required cleaning place by individual mounting hole；The regulation side chain includes being welded on locking peace No. two ear mounts on platform are filled, No. three hydraulic cylinders are provided with by bearing pin between No. two ear mounts, the top of No. three hydraulic cylinders passes through pin Axle is arranged between No. three ear mounts, and No. three ear mounts are welded in the side wall of No.1 L-type connecting rod；The rhombus elevator upper surface pair Title is welded with four fore-sets, and four fore-set upper ends are provided with cleaning machine hand, and four fore-sets play rigid support cleaning machine hand Effect.During work, suitable operating angle is determined according to actual conditions street cleaner first, electric rotating machine is started working, by Make it that locking erecting bed can be steady under the drive of electric rotating machine in the spacing synkinesia of four L-type gag lever posts and annular convex edge Surely it is rotated, four locking side chains of locking erecting bed synchronous drive rotate, when the present invention reaches suitable cleaning Operating angle when electric rotating machine be stopped；Then according to the support zone shape adjustment locking side chain in required cleaning place Fixed locking angle, the locking side chain of fixed-direction according to needed for nearby principle only needs to adjust, on corresponding regulation side chain No. three hydraulic cylinders start working, No. three hydraulic cylinders drive No.1 L-type connecting rods to be rotated on straight connecting rod by No. three ear mounts, work as weldering No. three hydraulic cylinders when being connected on the square installation sheet medial surface on No.1 L-type connecting rod top parallel to the local support zone of required cleaning It is stopped, the present invention is movably fixed to the support zone in required cleaning place finally by four mounting holes, fixes it The situation arbitrarily moved in the course of work of the present invention is prevented afterwards, the carry out cleaning function that cleanup crew can be bold, is improved Operating efficiency.

As a preferred technical solution of the present invention, the cleaning machine hand includes being arranged on the branch of four fore-set upper ends Platform is held round, supports and No. five hydraulic cylinders is installed in the middle part of the upper surface of round platform, the top of No. five hydraulic cylinders is provided with square regulating block, Four spacing holes are symmetrically arranged with square regulating block, support round platform upper surface is symmetrically welded with four positioning round bars, and four Positioning round bar is located on four spacing holes of square regulating block respectively, and four positioning round bars, which play, limits the motion of square regulating block The effect in direction so that square regulating block stably moves up and down under the drive of No. five hydraulic cylinders；The support round platform upper end Circumferentially direction is uniformly provided with four cleaning devices by screw in face, cleaning device can with automated cleaning interior architecture furred ceiling, Cobweb, dust on ceiling, collect clearing function and dedusting function and one, and four cleaning devices and square regulating block Four angular transition side chains are separately installed between four sides, cleaning is adjusted by angular transition side chain and No. five hydraulic cylinders The cleaning angle of device；The angular transition side chain includes No. four ear mounts being welded on square regulating block side, No. four ear mounts No. six hydraulic cylinders are provided with by bearing pin, the top of No. six hydraulic cylinders is arranged in No. five ear mounts by bearing pin, No. five ear mount welderings It is connected on gusset medial surface；The cleaning device includes being arranged on No. two L-type connecting rods for supporting round platform upper surface by screw, and two Number L-type connecting rod end is provided with two No. three hangers, is provided with No. four hangers by bearing pin between two No. three hangers, No. four are hung Ear is arranged in the middle part of the lower surface of connecting plate, and connecting plate can be rotated on No. two L-type connecting rods, and the upper surface of connecting plate is symmetrically welded There are two pieces of supporting vertical plates, gusset is welded between the lower end of two pieces of supporting vertical plates, gusset plays two pieces of supporting vertical plate supports of enhancing Angular transition side chain is installed between the corresponding side surface of the effect of intensity, gusset medial surface and square regulating block；Two pieces of branch Rotary shaft is provided with by bearing between support riser upper end, rotation the tip of the axis is provided with motor by shaft coupling, driven Motor is arranged on motor support plate by motor cabinet, and motor support plate is welded in the side wall of corresponding supporting vertical plate；The rotary shaft Middle part roller is provided with by key, the upper and lower ends of roller are all uniformly provided with cleaning beam, pass through motor drive rotation Axle rotates, and rotary shaft drives roller to rotate, the cobweb on roller drive cleaning Shu Qingli interior architectures furred ceiling, ceiling, and Cleaning arc plate is separately installed with the cleaning beam of roller upper and lower ends, is connected between two cleaning arc plates by clearing up bolt；Institute It is semicircular structure to state cleaning arc plate, and the structure of cleaning arc plate is corresponding with roller frame, is convenient to clean installation and the behaviour of arc plate Make, clear up on arc plate outer wall that circumferentially direction is evenly arranged with cleaning circular hole, and on each cleaning circular hole it is corresponding be equipped with it is clear Beam is managed, cleaning circular hole plays the cobweb effect for stopping and being wrapped on cleaning beam, and the both sides of cleaning arc plate are symmetrically arranged with four Mounting ear, and be connected between the mounting ear of two cleaning arc plates by clearing up bolt, it is wound with many spiders when clearing up on beam During net, it is necessary to cleared up, clear up between arc plate the cleaning bolt fixed by two first and open, then operator is manual Operation cleaning arc plate up moves, and because each cleaning beam is located on the corresponding cleaning circular hole of cleaning arc plate, clears up arc plate Up move by cleaning circular hole limiting-blocking effect directly by be wrapped in cleaning beam on cobweb be pooled to cleaning beam Top, then street cleaner handled by extraneous cleaning bar, after being disposed will cleaning arc plate move to lower section by clear Reason bolt retightens；Dust suction support plate is welded between two pieces of supporting vertical plates, the both sides of dust suction support plate are symmetrically installed with two Individual dust suction side chain, certain dust that can drop is cleared up during cobweb due to building indoors, these dusts to drop pass through Two timely dust suctions of dust suction side chain, it is therefore prevented that dust is fallen on floor caused by cleaning, alleviates workload, improves work Make efficiency；The dust suction side chain includes No. two fixed platforms installed in dust suction support plate upper surface, and No. two fixed platform upper surfaces are along week Four No. two side chains in parallel are uniformly installed to direction, four No. two side chain upper surfaces in parallel are provided with No. two moving platforms, No. two The upper surface of moving platform is symmetrically arranged with two snap rings, and micro-cleaner is provided between two snap rings, and micro-cleaner is existing There is the dust collection equipment that in the market is bought；No. two side chains in parallel include lower end and are welded on No. six ear mounts on No. two fixed platforms, and six Number ear mount is provided with No. seven hydraulic cylinders by bearing pin, and the top of No. seven hydraulic cylinders is arranged in No. seven ear mounts by bearing pin, No. seven Ear mount is arranged on No. two moving platforms.Formd when R secondary, No. seven hydraulic cylinders are formd when No. six ear mounts rotate in the present invention R pairs are formd when being rotated when P is secondary, No. seven ear mounts work, so as to form RPR types No. two side chains in parallel, eventually through No. two Fixed platform, No. two of four RPR types side chains in parallel, No. two moving platforms form 4-RPR parallel institutions, 4-RPR parallel institutions Have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by 4-RPR parallel institutions The advantages of the micro-cleaner that to be arranged between two snap rings can begin during regulation dust suction angle and dust suction is rotated Whole held stationary state, pick-up performance is good, and operating efficiency is high.During work, inclining for the relative floor in place is cleared up according to required first The cleaning angle of pitch adjustment cleaning device, No. five hydraulic cylinders are started working, and No. five hydraulic cylinders drive square regulating block to transport up and down Dynamic, the spacing booster action by four positioning round bars causes square regulating block to make the upper of stabilization under the drive of No. five hydraulic cylinders Lower motion, at the same time angular transition side chain start working, No. six hydraulic cylinders on angular transition side chain are driven on cleaning device Gusset rotate, gusset drive connecting plate rotated on No. two L-type connecting rods, pass through No. five hydraulic cylinders and No. six hydraulic cylinder works realities The function of cleaning device cleaning angular adjustment is showed, when the cleaning beam distance on cleaning device is required clears up local correct position No. five hydraulic cylinders and No. six hydraulic cylinders are stopped, and then motor is started working, and motor drives rotary shaft to rotate, rotation Rotating shaft drives roller to rotate, and the cobweb on roller drive cleaning Shu Qingli interior architectures furred ceiling, ceiling, is at the same time located at Two dust suction side chains of roller both sides are started working, and the micro-cleaner on dust suction side chain constantly absorbs the ash that scale removal process drops Dirt, it is achieved thereby that the function of present invention automation cleaning interior architecture.

As a preferred technical solution of the present invention, the types of No. five hydraulic cylinders is multistage hydraulic cylinder, multistage liquid The telescopic extensions of cylinder pressure are bigger, are easy to the work of the present invention.

Clear up place, in use, first the present invention is moved to by four universal wheels further according to reality needed for interior architecture Border situation street cleaner determines suitable operating angle, and electric rotating machine is started working, due to four L-type gag lever posts and annular convex edge Spacing synkinesia cause lock erecting bed under the drive of electric rotating machine can stablize be rotated, lock erecting bed Four locking side chains of synchronous drive rotate, and when the operating angle that present invention arrival is properly cleaned, electric rotating machine stops work Make；Then according to the fixed locking angle of the support zone shape adjustment locking side chain in required cleaning place, according to nearby principle The locking side chain of fixed-direction needed for adjusting only is needed, corresponding No. three hydraulic cylinders adjusted on side chain are started working, No. three Hydraulic cylinder drives No.1 L-type connecting rod to be rotated on straight connecting rod by No. three ear mounts, when the square for being welded on No.1 L-type connecting rod top No. three hydraulic cylinders are stopped when installation sheet medial surface is parallel to required cleaning local support zone, finally by four installations The present invention is movably fixed to the support zone in required cleaning place by hole, fixes in the course of work for preventing the present invention afterwards The situation arbitrarily moved, the carry out cleaning function that cleanup crew can be bold, improves operating efficiency；Then cleared up according to required The cleaning angle of the gradient regulation cleaning device on the relative floor in place, No. five hydraulic cylinders are started working, and No. five hydraulic cylinders drive Square regulating block moves up and down, and causes square regulating block in No. five hydraulic cylinders by the spacing booster actions of four positioning round bars The lower up and down motion for making stabilization is driven, at the same time angular transition side chain is started working, No. six hydraulic pressure on angular transition side chain Cylinder drives the gusset on cleaning device to rotate, and gusset drives connecting plate to be rotated on No. two L-type connecting rods, by No. five hydraulic cylinders and No. six hydraulic cylinder works realize the function of cleaning device cleaning angular adjustment, when clear needed for the cleaning beam distance on cleaning device No. five hydraulic cylinders and No. six hydraulic cylinders are stopped when managing local correct position, and then motor is started working, motor Rotary shaft is driven to rotate, rotary shaft drives roller to rotate, the spider on roller drive cleaning Shu Qingli interior architectures furred ceiling, ceiling Spider web, when being wound with many cobwebs on cleaning beam, it is necessary to cleared up, clear up between arc plates what is fixed by two first Clear up bolt to open, then the manually operated cleaning arc plate of operator up moves, because each cleaning beam is located in cleaning On the corresponding cleaning circular hole of arc plate, up moving for cleaning arc plate will be directly wrapped in by the limiting-blocking effect of cleaning circular hole Cobweb on cleaning beam is pooled to cleaning bunchy top end, and then street cleaner is handled by extraneous cleaning bar, is disposed Cleaning arc plate is moved into lower section afterwards to retighten by clearing up bolt, at the same time positioned at two dust suction side chains of roller both sides Start working, the micro-cleaner on dust suction side chain constantly absorbs the dust that scale removal process drops, due to No. two fixed platforms, four No. two of RPR types side chains in parallel, No. two moving platforms form 4-RPR parallel institutions, and 4-RPR parallel institutions have dynamic response Good, rigidity height, large carrying capacity, stability are good and the advantages that kinematic accuracy is high, to pacify by the advantages of 4-RPR parallel institutions Micro-cleaner between two snap rings can remain steady shape during regulation dust suction angle and dust suction is rotated State, pick-up performance is good, and operating efficiency is high, it is achieved thereby that the function of present invention automation cleaning interior architecture, and the present invention Middle No.1 ear mount forms S pairs when P secondary, spherical hinge work are formd when R secondary, No.1 hydraulic cylinder are formd when rotating, from And the No.1 parallel connection side chain of RPS types is formd, moved eventually through No.1 fixed platform, the No.1 parallel connection side chain of three RPS types, No.1 Platform forms 3-RPS parallel institutions, and the support side chain in parallel in the present invention be 3-RPS parallel institutions, and 3-RPS parallel institutions have There is the advantages of dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by parallel institution The present invention realizes the function to the stable rigid support of square erecting bed by four 3-RPS parallel institutions, while by parallel connection The advantages of mechanism, also causes the present invention to have good stability and good damping performance.

The beneficial effects of the invention are as follows：

1st, the support side chain in parallel in the present invention is 3-RPS parallel institutions, 3-RPS parallel institutions have dynamic response it is good, Rigidity height, large carrying capacity, stability are good and the advantages that kinematic accuracy is high, pass through four by present invention the advantages of parallel institution 3-RPS parallel institutions stablize the function of rigid support to realize to square erecting bed, while also make by the advantages of parallel institution Of the invention must have good stability and good damping performance；

2nd, the present invention locks peace by spacing synkinesia of the electric rotating machine in four L-type gag lever posts and annular convex edge Cleaning machine hand above dress platform can make stable rotary motion, realize anglec of rotation adjustable function of the present invention, and this hair It is bright to drive the square installation sheet on No.1 L-type connecting rod to be rotated on straight connecting rod by adjusting No. three hydraulic cylinders on side chain, so as to The fixed locking angle of locking side chain is effectively have adjusted, the adjustable function of fixed angle of the present invention is realized, is prevented after fixing The situation arbitrarily moved in the course of work of the present invention, the carry out cleaning function that cleanup crew can be bold, improves work Efficiency；

3rd, the present invention realizes cleaning device by the work of No. six hydraulic cylinders on No. five hydraulic cylinders and angular transition side chain The function of angular adjustment is cleaned, so that the present invention realizes the function of cleaning adjustable angle, the scope of application is big, operating efficiency It is high；

4th, the present invention drives the cleaning Shu Qingli interior architectures furred ceiling on roller, the spider on ceiling by motor Net, and the cobweb being wrapped on cleaning beam can be pooled to top by two cleaning arc plate street cleaners and quickly located Manage, caused dust is constantly absorbed by the micro-cleaner on dust suction side chain in scale removal process so that present invention collection clearing function With dedusting function and one, the scope of application is big, and operating efficiency is high, and No. two of No. two fixed platforms in the present invention, four RPR types are simultaneously Connection side chain, No. two moving platforms form 4-RPR parallel institutions, cause to be arranged on two cards by the advantages of 4-RPR parallel institutions Micro-cleaner between ring can remain plateau, pick-up performance during regulation dust suction angle and dust suction is rotated Good, cleaning speed is fast, and operating efficiency is high；

5th, the present invention is solved by clearing up speed existing for present level auxiliary equipment manual cleaning interior architecture mode Slowly, labor intensity is big, automaticity is low, equipment rigid support poor performance, stabilization of equipment performance energy are poor, equipment damping performance is poor, The problems such as fixed angle is unadjustable, the anglec of rotation is unadjustable, the scope of application is small and operating efficiency is low, realize interior and build The automation clearing function built, without manual operation, and with cleaning speed is fast, equipment rigid support performance is good, equipment is stable The advantages that performance is good, equipment damping performance is good, fixed angle is adjustable, the anglec of rotation is adjustable, the scope of application is big and operating efficiency is high, Provide a kind of new way for automating cleaning interior architecture.

Brief description of the drawings

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

Fig. 1 is the structural representation of the present invention；

Fig. 2 is structural representation of the present invention from steady support meanss；

Fig. 3 is full sectional view of the present invention from steady support meanss；

Fig. 4 is locking and regulating device of the present invention and the structural representation of supporting table；

Fig. 5 is locking and regulating device of the present invention and the full sectional view of supporting table；

Fig. 6 is the structural representation of cleaning machine hand of the present invention；

Fig. 7 is the full sectional view of cleaning machine hand of the present invention；

Fig. 8 is rotary shaft, roller, cleaning beam, cleaning arc plate and the structural representation cleared up between bolt of the present invention；

Fig. 9 is the structural representation of present invention cleaning arc plate.

Specific embodiment

In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below Conjunction is specifically illustrating, and the present invention is expanded on further.

As shown in Figures 1 to 9, a kind of rigid support type building Green Machine people, including from steady support meanss 1, from steady branch Support arrangement 1 has good rigid support performance, stability and damping performance, described from the middle part of the steady upper surface of support meanss 1 Locking and regulating device 2 is installed, the fixed angle and the anglec of rotation of locking and regulating device 2 are adjustable, the upper surface of locking and regulating device 2 Cleaning machine hand 5 is installed, the cleaning adjustable angle of cleaning machine hand 5, the scope of application is big, it is possible to achieve automation cleaning is hung The function such as top, the cobweb on ceiling, dust, automation cleaning is carried out by cleaning machine hand 5 to interior architecture.

Described to include fixed round platform 11 from steady support meanss 1, the lower surface of the fixed round platform 11 is symmetrically arranged with four The present invention is moved to and place is cleared up needed for interior architecture by universal wheel 12, the present invention by four universal wheels 12, fixed round platform 11 Circumferentially direction is uniformly provided with four support side chains 13 in parallel for upper surface, it is right in the middle part of four support side chain 13 upper surfaces in parallel Title is provided with four L-type pillars 14, and the end of four L-type pillars 14 is respectively arranged with four installation disk 14a, four installation circles Piece 14a is separately mounted on four connection sheet 15a by screw, and four connection sheet 15a are symmetrically welded at square erecting bed 15 Lower surface, play a part of stable support square erecting bed 15 by four support side chains 13 in parallel, square erecting bed 15 Positioning hollow shaft 16 is welded with the middle part of lower surface, positioning hollow shaft 16 lower end is set on master positioning axle 17, positions hollow shaft 16 Can vertically it be moved on master positioning axle 17, master positioning axle 17 plays spacing effect so that square erecting bed 15 is fixed Position hollow shaft 16 it is spacing under can only vertically move, without the phenomenon for motion of rolling, improve equipment Stability, the bottom of master positioning axle 17 is welded in the middle part of the upper surface of fixed round platform 11；The lower end of the square erecting bed 15 Face is symmetrically welded with four upper locating shaft 15b, and four limit springs 18, four limits are arranged with respectively on four upper locating shaft 15b The position lower end of spring 18 is respectively sleeved on four lower locating shaft 11a, and four lower locating shaft 11a are symmetrically welded at fixed round platform 11 On upper surface, lower locating shaft 11a and upper locating shaft 15b play a part of limiting the position of limit spring 18, and limit spring 18 causes The present invention has good damping performance；The support side chain 13 in parallel includes the No.1 being welded on the fixed upper surface of round platform 11 Fixed platform 131, circumferentially three No.1 parallel connection side chains 132 are uniformly installed in direction to the upper surface of No.1 fixed platform 131, and three No.1s are simultaneously Join the upper end of side chain 132 to be uniformly arranged on No.1 moving platform 133, corresponding L-type is installed in the middle part of the upper surface of No.1 moving platform 133 Pillar 14；The No.1 parallel connection side chain 132 includes the No.1 ear mount 1321 that lower end is welded on the upper surface of No.1 fixed platform 131, No.1 hydraulic cylinder 1322 is provided with by bearing pin between No.1 ear mount 1321, the top of No.1 hydraulic cylinder 1322 is connected through a screw thread There is connecting cylinder 1323, spherical hinge 1324 has been connected through a screw thread on connecting cylinder 1323, the upper end of spherical hinge 1324 is installed by screw thread On Triangulum 1325, Triangulum 1325 is welded on the lower surface of No.1 moving platform 133.1321 turns of No.1 ear mount in the present invention Form to form when R is secondary, No.1 hydraulic cylinder 1322 moves when dynamic and form S pairs when P is secondary, spherical hinge 1324 works, so as to shape Into the No.1 parallel connection side chain 132 of RPS types, eventually through the No.1 parallel connection side chain 132 of 131, three RPS types of No.1 fixed platform, No.1 moving platform 133 forms 3-RPS parallel institutions, and the support side chain 13 in parallel in the present invention is 3-RPS parallel institutions, 3- RPS parallel institutions have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by simultaneously The advantages of online structure, the present invention by four 3-RPS parallel institutions realized the work(to the stable rigid support of square erecting bed 15 Can, at the same by also cause the advantages of parallel institution the present invention there is good stability and good damping performance.

The locking and regulating device 2 includes the lower locking round platform 21 that lower surface is welded on square erecting bed 15, lower locking The middle part of round platform 21 is provided with electric rotating machine 22 by motor cabinet, and locking erecting bed is fixedly connected with the output shaft of electric rotating machine 22 On 23, circumferentially direction is evenly arranged with four L-type gag lever post 23a, four L-type gag lever posts for the lower surface of locking erecting bed 23 23a is connected between annular convex edge 24 by sliding matching mode, and the lower end of annular convex edge 24 is welded on lower locking round platform 21 On, the spaced motion of four L-type gag lever post 23a and annular convex edge 24 to lock erecting bed 23 under the drive of electric rotating machine 22 It can stablize and be rotated, so that the present invention has the function of rotation regulation, clear up worker when operating without hand Dynamic adjustment work angle, easy to operate, operating efficiency is high；Locking erecting bed 23 upper surface is symmetrically installed with four No. two liquid Cylinder pressure 25, the middle part of four No. two hydraulic cylinders 25 are separately fixed in four Z-type fixed seats 26, the bottom of four Z-type fixed seats 26 End is symmetrically mounted on locking erecting bed 23 by screw；The top of four No. two hydraulic cylinders 25 is provided with rhombus elevator 27, four locking side chains 28 are symmetrically welded with four sides of rhombus elevator 27, four locking side chains 28 are installed with locking It is connected between platform 23 by adjusting side chain 29, by adjusting the fixed locking angle of the corresponding locking side chain 28 of the regulation of side chain 29, When the support zone in required cleaning place is skewed or irregular, it is only necessary to will lock side chain by adjusting side chain 29 28 regulations prevent the shape arbitrarily moved in the course of work of the present invention to suitable fixed locking angle after fixing Condition, the carry out cleaning function that cleanup crew can be bold, improves operating efficiency；The locking side chain 28 includes being welded on rhombus Straight connecting rod 281 in the corresponding side surface of elevator 27, the top of straight connecting rod 281 are provided with two No.1 hanger 281a, two No.1s No. two hanger 282a are provided with by bearing pin between hanger 281a, No. two hanger 282a are welded on No.1 L-type connecting rod 282, and one The top of number L-type connecting rod 282 is welded with square installation sheet 283, and four mounting holes are symmetrically arranged with square installation sheet 283, leads to Cross the support zone that the present invention is movably fixed to required cleaning place by four mounting holes；The regulation side chain 29 includes being welded on No. two ear mounts 291 on erecting bed 23 are locked, No. three hydraulic cylinders 292, No. three liquid are provided with by bearing pin between No. two ear mounts 291 By bearing pin between No. three ear mounts 293, No. three ear mounts 293 are welded on No.1 L-type connecting rod 282 on the top of cylinder pressure 292 In side wall；The upper surface of rhombus elevator 27 is symmetrically welded with four fore-sets 210, and four upper ends of fore-set 210 are provided with cleaning Manipulator 5, four fore-sets 210 play a part of the round platform of rigid support cleaning machine hand 5.During work, first according to actual conditions Street cleaner determines suitable operating angle, and electric rotating machine 22 is started working, due to four L-type gag lever post 23a and annular convex edge 24 spacing synkinesia make it that locking erecting bed 23 can stably be rotated under the drive of electric rotating machine 22, lock 23 synchronous drive of erecting bed, four locking side chains 28 rotate, and are rotated when the operating angle that present invention arrival is properly cleaned Motor 22 is stopped；Then according to the fixation lock corner of the support zone shape adjustment locking side chain 28 in required cleaning place Degree, the locking side chain 28 of fixed-direction according to needed for nearby principle only needs to adjust, No. three on corresponding regulation side chain 29 Hydraulic cylinder 292 is started working, and No. three hydraulic cylinders 292 drive No.1 L-type connecting rod 282 on straight connecting rod 281 by No. three ear mounts 293 Rotate, when support of the medial surface of square installation sheet 283 parallel to required cleaning place for being welded on the top of No.1 L-type connecting rod 282 No. three hydraulic cylinders 292 are stopped during position, and the present invention is movably fixed into required cleaning place finally by four mounting holes Support zone, the situation that arbitrarily moves in the course of work of the present invention is prevented after fixing, cleanup crew can be bold Carry out cleaning function, improve operating efficiency.

The cleaning machine hand 5 includes the support round platform 51 for being arranged on four upper ends of fore-set 210, supports the upper end of round platform 51 Middle face is provided with No. five hydraulic cylinders 52, and the tops of No. five hydraulic cylinders 52 is provided with square regulating block 53, on square regulating block 53 Four spacing holes are symmetrically arranged with, support round platform 51 upper surface is symmetrically welded with four positioning round bars 54, and four positioning round bars 54 are located on four spacing holes of square regulating block 53 respectively, and four positioning round bars 54 play restriction square regulating block 53 and moved The effect in direction so that square regulating block 53 stably moves up and down under the drive of No. five hydraulic cylinders 52；The support round platform Circumferentially direction is uniformly provided with four cleaning devices 55 by screw for 51 upper surfaces, and cleaning device 55 can be with automated cleaning room Cobweb, dust on building ceiling, ceiling, collect clearing function and dedusting function and one, and four cleaning devices 55 with Four angular transition side chains 56 are separately installed between four sides of square regulating block 53, pass through angular transition side chain 56 and five Number hydraulic cylinder 52 adjusts the cleaning angle of cleaning device 55；The angular transition side chain 56 includes being welded on square regulating block 53 No. four ear mounts 561 on side, No. four ear mounts 561 are provided with No. six hydraulic cylinders 562, the top of No. six hydraulic cylinders 562 by bearing pin End is arranged in No. five ear mounts 563 by bearing pin, and No. five ear mounts 563 are welded on gusset 553a medial surfaces；The cleaning device 55 include being arranged on No. two L-type connecting rods 551 of support round platform 51 upper surface by screw, and No. two ends of L-type connecting rod 551 are provided with No. four hangers 552a, No. four hanger 552a are provided with by bearing pin between two No. three hangers 551a, two No. three hanger 551a It is arranged in the middle part of the lower surface of connecting plate 552, connecting plate 552 can rotate on No. two L-type connecting rods 551, the upper end of connecting plate 552 Face is symmetrically welded with two pieces of supporting vertical plates 553, and gusset 553a, gusset 553a are welded between the lower end of two pieces of supporting vertical plates 553 Play a part of strengthening two pieces of support strengths of supporting vertical plate 553, the corresponding side surface of gusset 553a medial surfaces and square regulating block 53 Between angular transition side chain 56 is installed；Rotary shaft 554 is provided with by bearing between two pieces of supporting vertical plates 553 upper end, The end of rotary shaft 554 is provided with motor 555 by shaft coupling, and motor 555 is arranged on motor branch by motor cabinet On plate 556, motor support plate 556 is welded in the side wall of corresponding supporting vertical plate 553；Pacified by key at the middle part of the rotary shaft 554 Equipped with roller 557, the upper and lower ends of roller 557 are all uniformly provided with cleaning beam 557a, and rotary shaft is driven by motor 555 554 rotate, and rotary shaft 554 drives roller 557 to rotate, and roller 557 drives cleaning beam 557a cleaning interior architectures furred ceiling, ceiling On cobweb, and cleaning arc plate 558 is separately installed with the cleaning beam 557a of the upper and lower ends of roller 557, two cleaning arc plates It is connected between 558 by clearing up bolt 558a；The cleaning arc plate 558 is semicircular structure, the structure of cleaning arc plate 558 and rolling 557 structures of cylinder are corresponding, are convenient to clean the installation and operation of arc plate 558, and circumferentially direction is uniformly set on the outer wall of cleaning arc plate 558 Cleaning circular hole 558b is equipped with, and corresponding be equipped with clears up beam 557a on each cleaning circular hole 558b, cleaning circular hole 558b is played The cobweb effect being wrapped on cleaning beam 557a is stopped, the both sides of cleaning arc plate 558 are symmetrically arranged with four mounting ear 558c, And be connected between the mounting ear 558c of two cleaning arc plates 558 by clearing up bolt 558a, it is wound with when on cleaning beam 557a During many cobwebs, it is necessary to cleared up, first opened cleaning bolt 558a fixed between two cleaning arc plates 558, Then the manually operated cleaning arc plate 558 of operator up moves, because each cleaning beam 557a is located in cleaning arc plate 558 Corresponding cleaning circular hole 558b on, up moving for cleaning arc plate 558 is direct by cleaning circular hole 558b limiting-blocking effect The cobweb being wrapped on cleaning beam 557a is pooled to cleaning beam 557a tops, then street cleaner by extraneous cleaning bar at Reason, cleaning arc plate 558 is moved into lower section after being disposed and retightened by clearing up bolt 558a；Two pieces of supports Dust suction support plate 553b is welded between riser 553, dust suction support plate 553b both sides are symmetrically installed with two dust suction side chains 559, by Can drop certain dust during the cobweb of building cleaning indoors, and these dusts to drop pass through two dust suction side chains 559 timely dust suctions, it is therefore prevented that dust is fallen on floor caused by cleaning, alleviates workload, improves operating efficiency；Institute State No. two fixed platforms 5591 that dust suction side chain 559 includes being arranged on dust suction support plate 553b upper surfaces, No. two upper ends of fixed platform 5591 Circumferentially direction is uniformly provided with four No. two side chains 5592 in parallel in face, and four No. two upper surfaces of side chain 5592 in parallel are provided with two Number moving platform 5593, the upper surface of No. two moving platforms 5593 is symmetrically arranged with two snap rings 5594, pacified between two snap rings 5594 Equipped with micro-cleaner 5595, micro-cleaner 5595 is the dust collection equipment bought on existing market；No. two side chains in parallel 5592 include No. six ear mount 5592a that lower end is welded on No. two fixed platforms 5591, and No. six ear mount 5592a are provided with by bearing pin No. seven hydraulic cylinders 5592b, No. seven hydraulic cylinder 5592b top are arranged on No. seven ear mount 5592c by bearing pin, No. seven ear mounts 5592c is arranged on No. two moving platforms 5593.R pairs, No. seven hydraulic cylinders are formd when No. six ear mount 5592a are rotated in the present invention 5592b forms R pairs when being rotated when P secondary, No. seven ear mount 5592c work are formd when moving, so as to form RPR types No. two Side chain 5592 in parallel, eventually through No. two 5592, No. two moving platforms of side chain in parallel of 5591, four RPR types of No. two fixed platforms 5593 form 4-RPR parallel institutions, and 4-RPR parallel institutions also have that dynamic response is good, rigidity is high, large carrying capacity, stably Property good and kinematic accuracy it is high the advantages that, cause by the advantages of 4-RPR parallel institutions micro- between two snap rings 5594 Type dust catcher 5595 can remain plateau during regulation dust suction angle and dust suction is rotated, and pick-up performance is good, work Make efficiency high.During work, the cleaning angle of the gradient regulation cleaning device 55 on the relative floor in cleaning place first needed for, No. five hydraulic cylinders 52 are started working, and No. five hydraulic cylinders 52 drive square regulating block 53 to move up and down, by four positioning round bars 54 Spacing booster action cause square regulating block 53 to make stable up and down motion under the drive of No. five hydraulic cylinders 52, at the same time Angular transition side chain 56 is started working, and on angular transition side chain 56 No. six hydraulic cylinder 562 drives the gusset on cleaning device 55 553a is rotated, and gusset 553a drives connecting plate 552 to be rotated on No. two L-type connecting rods 551, passes through No. five hydraulic cylinders 52 and No. six liquid Cylinder pressure 562, which works, realizes the function that cleaning device 55 cleans angular adjustment, when the cleaning beam 557a distances on cleaning device 55 No. five hydraulic cylinders 52 and No. six hydraulic cylinders 562 are stopped during the local correct position of required cleaning, and then motor 555 starts Work, motor 555 drive rotary shaft 554 to rotate, and rotary shaft 554 drives roller 557 to rotate, and roller 557 drives cleaning beam Cobweb on 557a cleaning interior architectures furred ceiling, ceiling, at the same time positioned at two dust suction side chains of the both sides of roller 557 559 start working, and the micro-cleaner 5595 on dust suction side chain 559 constantly absorbs the dust that scale removal process drops, so as to realize The function of automation cleaning interior architecture of the invention.

The type of No. five hydraulic cylinders 52 is multistage hydraulic cylinder, and the telescopic extensions of multistage hydraulic cylinder are bigger, is easy to this The work of invention.

In use, first the present invention is moved to by four universal wheels 12 clear up place needed for interior architecture, further according to Actual conditions street cleaner determines suitable operating angle, and electric rotating machine 22 is started working, due to four L-type gag lever post 23a with The spacing synkinesia of annular convex edge 24 make it that locking erecting bed 23 can stably be rotated under the drive of electric rotating machine 22 Motion, 23 synchronous drive of locking erecting bed, four locking side chains 28 rotate, when the work that present invention arrival is properly cleaned Electric rotating machine 22 is stopped during angle；Then consolidating according to the support zone shape adjustment locking side chain 28 in required cleaning place The tight angle of lock, the locking side chain 28 of fixed-direction according to needed for nearby principle only needs to adjust are corresponding to adjust side chain 29 On No. three hydraulic cylinders 292 start working, No. three hydraulic cylinders 292 drive No.1 L-type connecting rods 282 straight by No. three ear mounts 293 Rotated on connecting rod 281, when the medial surface of square installation sheet 283 for being welded on the top of No.1 L-type connecting rod 282 clears up ground parallel to required No. three hydraulic cylinders 292 are stopped during the support zone of side, the present invention is movably fixed to finally by four mounting holes needed for The support zone in place is cleared up, the situation arbitrarily moved in the course of work of the present invention, cleanup crew are prevented after fixing Carry out cleaning function that can be bold, improves operating efficiency；Then adjusted according to the gradient on the relative floor in required cleaning place The cleaning angle of cleaning device 55 is saved, No. five hydraulic cylinders 52 are started working, and No. five hydraulic cylinders 52 drive square regulating block about 53 Motion, the spacing booster action by four positioning round bars 54 cause square regulating block 53 to make under the drive of No. five hydraulic cylinders 52 Stable up and down motion, at the same time angular transition side chain 56 start working, on angular transition side chain 56 No. six hydraulic cylinder 562 The gusset 553a on cleaning device 55 is driven to rotate, gusset 553a drives connecting plate 552 to be rotated on No. two L-type connecting rods 551, leads to Crossing No. five hydraulic cylinders 52 and No. six work of hydraulic cylinders 562 realizes the function that cleaning device 55 cleans angular adjustment, works as sanitizer cartridge Put No. five hydraulic cylinders 52 and No. six hydraulic cylinders 562 when the cleaning beam 557a distances on 55 are required to clear up local correct position and stop work Make, then motor 555 is started working, and motor 555 drives rotary shaft 554 to rotate, and rotary shaft 554 drives roller 557 Rotate, the cobweb on the drive cleaning beam 557a cleaning interior architectures of roller 557 furred ceiling, ceiling, twined when on cleaning beam 557a When being wound with many cobwebs, it is necessary to cleared up, first beat cleaning bolt 558a fixed between two cleaning arc plates 558 Open, then the manually operated cleaning arc plate 558 of operator up moves, because each cleaning beam 557a is located in cleaning arc plate On 558 corresponding cleaning circular hole 558b, up moving for cleaning arc plate 558 is straight by cleaning circular hole 558b limiting-blocking effect Connect and the cobweb being wrapped on cleaning beam 557a is pooled to cleaning beam 557a tops, then street cleaner passes through extraneous cleaning bar Processing, cleaning arc plate 558 is moved into lower section after being disposed and retightened by clearing up bolt 558a, at the same time position Two dust suction side chains 559 in the both sides of roller 557 are started working, and the micro-cleaner 5595 on dust suction side chain 559 constantly absorbs The dust that scale removal process drops, due to No. two 5592, No. two moving platforms of side chain in parallel of 5591, four RPR types of No. two fixed platforms 5593 form 4-RPR parallel institutions, and 4-RPR parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability The advantages that good and kinematic accuracy is high, cause by the advantages of 4-RPR parallel institutions miniature between two snap rings 5594 Dust catcher 5595 can remain plateau during regulation dust suction angle and dust suction is rotated, and pick-up performance is good, work Efficiency high, it is achieved thereby that the function of present invention automation cleaning interior architecture, and No.1 ear mount 1321 rotates in the present invention When form to form when R is secondary, No.1 hydraulic cylinder 1322 moves and form S pairs when P is secondary, spherical hinge 1324 works, so as to be formed The No.1 parallel connection side chain 132 of RPS types, eventually through the No.1 parallel connection side chain 132, one of 131, three RPS types of No.1 fixed platform Number moving platform 133 forms 3-RPS parallel institutions, and the support side chain 13 in parallel in the present invention is 3-RPS parallel institutions, 3-RPS Parallel institution has the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by parallel connection The advantages of mechanism, the present invention by four 3-RPS parallel institutions realized the function to the stable rigid support of square erecting bed 15, Simultaneously by also causing the present invention that there is good stability and good damping performance the advantages of parallel institution, solve to pass through The existing cleaning speed of present level auxiliary equipment manual cleaning interior architecture mode is slow, labor intensity is big, automaticity is low, Equipment rigid support poor performance, stabilization of equipment performance can it is poor, equipment damping performance is poor, fixed angle is unadjustable, the anglec of rotation not The adjustable, scope of application is small and the problems such as operating efficiency is low, has reached purpose.

The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent Define.

Claims (9)

1. a kind of rigid support type builds Green Machine people, it is characterised in that：Including from steady support meanss (1), described oneself surely props up Locking and regulating device (2) is installed in the middle part of support arrangement (1) upper surface, locking and regulating device (2) upper surface is provided with cleaning machine Hand (5)；

Described to include fixed round platform (11) from steady support meanss (1), the lower surface of the fixed round platform (11) is symmetrically arranged with four Individual universal wheel (12), circumferentially direction is uniformly provided with four support side chains (13) in parallel for the upper surface of fixed round platform (11), and four Four L-type pillars (14), the end point of four L-type pillars (14) are symmetrically installed with the middle part of individual support side chain (13) upper surface in parallel Four installation disks (14a) are not provided with, and four installation disks (14a) are separately mounted to four connection sheets (15a) by screw On, four connection sheets (15a) are symmetrically welded at the lower surface of square erecting bed (15), the lower surface middle part of square erecting bed (15) Positioning hollow shaft (16) is welded with, positioning hollow shaft (16) lower end is set on master positioning axle (17), master positioning axle (17) bottom It is welded in the middle part of the upper surface of fixed round platform (11)；The lower surface of the square erecting bed (15) is symmetrically welded with four upper positioning Axle (15b), four are above arranged with four limit springs (18), four limit spring (18) lower ends point respectively on locating shafts (15b) It is not set on four lower locating shafts (11a), four lower locating shafts (11a) are symmetrically welded at the upper surface of fixed round platform (11) On；

The locking and regulating device (2) includes the lower locking round platform (21) that lower surface is welded on square erecting bed (15), lower lock Electric rotating machine (22) is provided with by motor cabinet in the middle part of tight round platform (21), lock is fixedly connected with the output shaft of electric rotating machine (22) On tight erecting bed (23), circumferentially direction is evenly arranged with four L-type gag lever posts (23a) for the lower surface of locking erecting bed (23), Four L-type gag lever posts (23a) are connected between annular convex edge (24) by sliding matching mode, the lower end of annular convex edge (24) It is welded on lower locking round platform (21)；Described locking erecting bed (23) upper surface is symmetrically installed with four No. two hydraulic cylinders (25), It is separately fixed in the middle part of four No. two hydraulic cylinders (25) on four Z-type fixed seats (26), the bottom of four Z-type fixed seats (26) It is symmetrically mounted on by screw on locking erecting bed (23)；The top of four No. two hydraulic cylinders (25) is provided with rhombus lifting Block (27), four locking side chains (28), four locking side chains (28) are symmetrically welded with four sides of rhombus elevator (27) It is connected between locking erecting bed (23) by adjusting side chain (29)；Rhombus elevator (27) upper surface is symmetrically welded with Four fore-sets (210), four fore-set (210) upper ends are provided with cleaning machine hand (5)；

The cleaning machine hand (5) includes being arranged on the support round platform (51) of four fore-set (210) upper ends, support round platform (51) No. five hydraulic cylinders (52) are installed in the middle part of upper surface, the top of No. five hydraulic cylinders (52) is provided with square regulating block (53), square Four spacing holes are symmetrically arranged with regulating block (53), support round platform (51) upper surface is symmetrically welded with four positioning round bars (54), and four positioning round bars (54) are located on four spacing holes of square regulating block (53) respectively；The support round platform (51) circumferentially direction is uniformly provided with four cleaning devices (55), and four cleaning devices (55) and side by screw for upper surface Four angular transition side chains (56) are separately installed between four sides of type regulating block (53)；The cleaning device (55) includes No. two L-type connecting rods (551) of support round platform (51) upper surface are arranged on by screw, No. two L-type connecting rod (551) ends are provided with Two No. three hangers (551a), No. four hangers (552a) are provided with by bearing pin between two No. three hangers (551a), No. four are hung Ear (552a) is arranged in the middle part of the lower surface of connecting plate (552), and the upper surface of connecting plate (552) is symmetrically welded with two pieces of supports and stood Plate (553), gusset (553a) is welded between the lower end of two pieces of supporting vertical plates (553), and gusset (553a) medial surface is adjusted with square Angular transition side chain (56) is installed between the corresponding side surface of locking nub (53)；Lead between two pieces of supporting vertical plates (553) upper end Cross bearing and rotary shaft (554) is installed, the end of rotary shaft (554) is provided with motor (555), driving electricity by shaft coupling Machine (555) is arranged on motor support plate (556) by motor cabinet, and motor support plate (556) is welded on corresponding supporting vertical plate (553) In side wall；The middle part of the rotary shaft (554) is provided with roller (557) by key, and the upper and lower ends of roller (557) are all uniformly pacified Equipped with cleaning beam (557a), and cleaning arc plate (558) is separately installed with the cleaning beam (557a) of roller (557) upper and lower ends, It is connected between two cleaning arc plates (558) by clearing up bolt (558a)；Suction is welded between two pieces of supporting vertical plates (553) Dirt support plate (553b), the both sides of dust suction support plate (553b) are symmetrically installed with two dust suction side chains (559).

A kind of 2. rigid support type building Green Machine people according to claim 1, it is characterised in that：The support in parallel Side chain (13) includes the No.1 fixed platform (131) being welded on fixed round platform (11) upper surface, No.1 fixed platform (131) upper surface Circumferentially uniformly three No.1 parallel connection side chains (132) of installation, three No.1 parallel connection side chain (132) upper ends are uniformly arranged on one in direction On number moving platform (133), be provided with the middle part of No.1 moving platform (133) upper surface corresponding to L-type pillar (14).

A kind of 3. rigid support type building Green Machine people according to claim 2, it is characterised in that：The No.1 is in parallel Side chain (132) includes the No.1 ear mount (1321) that lower end is welded on No.1 fixed platform (131) upper surface, No.1 ear mount (1321) Between No.1 hydraulic cylinder (1322) is provided with by bearing pin, the top of No.1 hydraulic cylinder (1322) has been connected through a screw thread connecting cylinder (1323) spherical hinge (1324), has been connected through a screw thread on connecting cylinder (1323), spherical hinge (1324) upper end is installed by screw thread On Triangulum (1325), Triangulum (1325) is welded on the lower surface of No.1 moving platform (133).

A kind of 4. rigid support type building Green Machine people according to claim 1, it is characterised in that：The locking side chain (28) straight connecting rod (281) being welded in rhombus elevator (27) corresponding side surface is included, the top of straight connecting rod (281) is provided with two Individual No.1 hanger (281a), No. two hangers (282a), No. two hangers are provided with by bearing pin between two No.1 hangers (281a) (282a) is welded on No.1 L-type connecting rod (282), and the top of No.1 L-type connecting rod (282) is welded with square installation sheet (283), side Four mounting holes are symmetrically arranged with type installation sheet (283).

A kind of 5. rigid support type building Green Machine people according to claim 1, it is characterised in that：The regulation side chain (29) include No. two ear mounts (291) being welded on locking erecting bed (23), be provided between No. two ear mounts (291) by bearing pin No. three hydraulic cylinders (292), between the tops of No. three hydraulic cylinders (292) is arranged on No. three ear mounts (293) by bearing pin, No. three ear mounts (293) it is welded in the side wall of No.1 L-type connecting rod (282).

A kind of 6. rigid support type building Green Machine people according to claim 1, it is characterised in that：The angular transition Side chain (56) includes No. four ear mounts (561) being welded on square regulating block (53) side, and No. four ear mounts (561) are pacified by bearing pin Equipped with No. six hydraulic cylinders (562), the top of No. six hydraulic cylinders (562) is arranged on No. five ear mounts (563) by bearing pin, No. five ears Seat (563) is welded on gusset (553a) medial surface.

A kind of 7. rigid support type building Green Machine people according to claim 1, it is characterised in that：The cleaning arc plate (558) it is semicircular structure, circumferentially direction is evenly arranged with cleaning circular hole (558b) on cleaning arc plate (558) outer wall, and often Corresponding on individual cleaning circular hole (558b) to be equipped with cleaning beam (557a), the both sides of cleaning arc plate (558) are symmetrically arranged with four Mounting ear (558c), and be connected between the mounting ear (558c) of two cleaning arc plates (558) by clearing up bolt (558a).

A kind of 8. rigid support type building Green Machine people according to claim 1, it is characterised in that：The dust suction side chain (559) No. two fixed platforms (5591) installed in dust suction support plate (553b) upper surface, No. two fixed platform (5591) upper surfaces are included Circumferentially direction is uniformly provided with four No. two side chains (5592) in parallel, and four No. two side chain (5592) upper surfaces in parallel are provided with No. two moving platforms (5593), the upper surface of No. two moving platforms (5593) are symmetrically arranged with two snap rings (5594), two snap rings (5594) micro-cleaner (5595) is installed between；No. two side chains (5592) in parallel are welded on No. two including lower end and allocated No. six ear mounts (5592a) on platform (5591), No. six ear mounts (5592a) are provided with No. seven hydraulic cylinders (5592b) by bearing pin, and seven The top of number hydraulic cylinder (5592b) is arranged on No. seven ear mounts (5592c) by bearing pin, and No. seven ear mounts (5592c) are arranged on two On number moving platform (5593).

A kind of 9. rigid support type building Green Machine people according to claim 1, it is characterised in that：No. five hydraulic pressure The type of cylinder (52) is multistage hydraulic cylinder.