CN105942935B - A kind of fixed angle adjustable indoor builds clean robot - Google Patents

Abstract

The present invention relates to a kind of fixed angle adjustable indoor to build clean robot, including locking and regulating device, the fixed angle and the anglec of rotation of the 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；The locking and regulating device includes lower locking round platform, electric rotating machine is provided with by motor cabinet in the middle part of lower locking round platform, it is fixedly connected with the output shaft of electric rotating machine on locking erecting bed, circumferentially direction is evenly arranged with four L-type gag lever posts for the lower surface of locking erecting bed, four L-type gag lever posts are connected between annular convex edge by sliding matching mode, and the lower end of annular convex edge is welded on lower locking round platform.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 fixed angle adjustable indoor builds clean robot

Technical field

The present invention relates to building environmental technology field, specifically a kind of fixed angle adjustable indoor building cleaner Device 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, street cleaner needs many dusts that can be dropped during cleaning, it is therefore desirable under artificial wipe clean The bottom plate of side, there has been no the ceiling with absorption function or furred ceiling cleaning tool, the burnisher of existing interior architecture at present Generally only simple function, the scope of application are small.

The content of the invention

In order to solve the above problems, the invention provides a kind of fixed angle adjustable indoor to build clean robot, can By solve by clear up existing in a manner of present level auxiliary equipment manual cleaning interior architecture speed is slow, labor intensity is big, from Dynamicization degree is low, equipment fixed angle is unadjustable, rotation angle of equipment is unadjustable, the scope of application is small and operating efficiency is low Etc. problem, it is possible to achieve the automation clearing function of interior architecture, without manual operation, and with clearing up, speed is fast, equipment is solid Determine the advantages that adjustable angle, rotation angle of equipment are adjustable, the scope of application is big and operating efficiency is high, there is provided one kind automation cleaning The new way of interior architecture.

To achieve these goals, the present invention is realized using following technical scheme：A kind of fixed angle adjustable indoor Clean robot, including locking and regulating device are built, the fixed angle and the anglec of rotation of the locking and regulating device are adjustable, locking Adjusting means upper surface is provided with cleaning machine hand, the cleaning adjustable angle of cleaning machine hand, and the scope of application is big, it is possible to achieve from The functions such as dynamicization cleaning furred ceiling, the cobweb on ceiling, dust, interior architecture automate clearly by cleaning machine hand Reason；The locking and regulating device includes lower locking round platform, and lower locking round platform middle part is provided with electric rotating machine by motor cabinet, rotated It is fixedly connected with the output shaft of motor on locking erecting bed, locking the lower surface of erecting bed, circumferentially direction is evenly arranged with four Individual L-type gag lever post, four L-type gag lever posts are connected between annular convex edge by sliding matching mode, the lower end of annular convex edge It is welded on lower locking round platform, the spaced motion of four L-type gag lever posts and annular convex edge to lock erecting bed in electric rotating machine Drive under can stablize and be rotated so that the present invention has the function of rotation regulation, when operating fettler People is without manual adjustment work angle, and easy to operate, operating efficiency is high；The locking erecting bed upper surface is symmetrically installed with four No. two hydraulic cylinders, it is separately fixed in four Z-type fixed seats in the middle part of four No. two hydraulic cylinders, the bottom of four Z-type fixed seats It is symmetrically mounted on by screw on locking erecting bed；The top of four No. two hydraulic cylinders is provided with rhombus elevator, rhombus Four locking side chains are symmetrically welded with four sides of elevator, pass through tune between four locking side chains and locking erecting bed Section side chain is connected, by adjusting the fixed locking angle of the corresponding locking side chain of side chain regulation, when the supporting part in required cleaning place When position is skewed or irregular, it is only necessary to the regulation of locking side chain is fixed into locking angle i.e. to suitable by adjusting side chain Can, the situation arbitrarily moved in the course of work for preventing the present invention afterwards is fixed, the carry out that cleanup crew can be bold is clear Clean function, improves operating efficiency；The locking side chain includes the straight connecting rod being welded in rhombus elevator corresponding side surface, direct-connected The top of bar is provided with two No.1 hangers, and No. two hangers, No. two hangers welderings are provided with by bearing pin between two No.1 hangers It is connected on No.1 L-type connecting rod, the top of No.1 L-type connecting rod is welded with square installation sheet, and four are symmetrically arranged with square installation sheet Individual mounting hole, the present invention is movably fixed to the support zone in required cleaning place by four mounting holes；The regulation side chain Including No. two ear mounts being welded on locking erecting bed, No. three hydraulic cylinders, No. three liquid are provided with by bearing pin between No. two ear mounts By bearing pin between No. three ear mounts, No. three ear mounts are welded in the side wall of No.1 L-type connecting rod on the top of cylinder pressure；The water chestnut Shape elevator upper surface is symmetrically welded with four fore-sets, and four fore-set upper ends are provided with cleaning machine hand, and four fore-sets play just Property support cleaning machine hand effect.During work, suitable operating angle is determined according to actual conditions street cleaner first, rotated Motor is started working, because the spacing synkinesia of four L-type gag lever posts and annular convex edge to lock erecting bed in electric rotating It can stablize under the drive of machine and be rotated, four locking side chains of locking erecting bed synchronous drive rotate, when this Electric rotating machine is stopped when invention reaches the operating angle properly cleaned；Then according to the support zone shape in required cleaning place The fixed locking angle of shape regulation locking side chain, the locking side chain of fixed-direction is i.e. according to needed for nearby principle only needs to adjust Can, corresponding No. three hydraulic cylinders adjusted on side chain are started working, and No. three hydraulic cylinders drive No.1 L-type connecting rod to exist by No. three ear mounts Rotated on straight connecting rod, when branch of the square installation sheet medial surface parallel to required cleaning place for being welded on No.1 L-type connecting rod top No. three hydraulic cylinders are stopped during the position of support part, and the present invention is movably fixed into required cleaning place finally by four mounting holes Support zone, the situation arbitrarily moved in the course of work of the present invention is prevented after fixing, what cleanup crew can be courageously Cleaning function is carried out, improves 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.

In use, the present invention is arranged on existing mobile device first, it is by existing mobile device that the present invention is mobile To cleaning place needed for interior architecture, suitable operating angle is determined further according to actual conditions street cleaner, electric rotating machine starts Work, because the spacing synkinesia of four L-type gag lever posts and annular convex edge to lock drive of the erecting bed in electric rotating machine Under can stablize and be rotated, four locking side chains of locking erecting bed synchronous drive rotate, when the present invention reaches Electric rotating machine is stopped during the operating angle properly cleaned；Then according to the support zone shape adjustment lock in required cleaning place The fixed locking angle of tight side chain, the locking side chain of fixed-direction, corresponding tune according to needed for nearby principle only needs to adjust No. three hydraulic cylinders saved on side chain are started working, and No. three hydraulic cylinders drive No.1 L-type connecting rod on straight connecting rod by No. three ear mounts Rotate, when being welded on the square installation sheet medial surface on No.1 L-type connecting rod top parallel to the local support zone of required cleaning No. three hydraulic cylinders are stopped, and the present invention is movably fixed to the supporting part in required cleaning place finally by four mounting holes Position, fixes the situation arbitrarily moved in the course of work for preventing the present invention afterwards, and the carry out that cleanup crew can be bold is clear Clean function, improves operating efficiency；Then according to the cleaning of the gradient regulation cleaning device on the relative floor in required cleaning place Angle, No. five hydraulic cylinders are started working, and No. five hydraulic cylinders drive square regulating block to move up and down, by the limit of four positioning round bars Position booster action causes square regulating block to make stable up and down motion under the drive of No. five hydraulic cylinders, at the same time angular transition Side chain is started working, and No. six hydraulic cylinders on angular transition side chain drive the gusset on cleaning device to rotate, and gusset drives connection Plate rotates on No. two L-type connecting rods, and realizing cleaning device by No. five hydraulic cylinders and No. six hydraulic cylinder works cleans angle tune The function of section, No. five hydraulic cylinders and No. six hydraulic cylinders when the cleaning beam distance on cleaning device is required clears up local correct position It is stopped, then motor is started working, and motor drives rotary shaft to rotate, and rotary shaft drives roller to rotate, roller Cobweb on drive cleaning Shu Qingli interior architectures furred ceiling, ceiling, when being wound with many cobwebs on cleaning beam, just need Cleared up, two are cleared up between arc plate first the cleaning bolt fixed and opened, the then manually operated cleaning of operator Arc plate up moves, and because each cleaning beam is located on the corresponding cleaning circular hole of cleaning arc plate, clears up the up fortune of arc plate The cobweb being wrapped on cleaning beam is directly pooled to cleaning bunchy top end by the dynamic limiting-blocking effect by cleaning circular hole, then Street cleaner is handled by extraneous cleaning bar, and cleaning arc plate is moved into lower section by clearing up bolt again after being disposed Fixed, at the same time two dust suction side chains positioned at roller both sides are started working, and the micro-cleaner on dust suction side chain is constantly inhaled The dust that drops of scale removal process is received, because No. two fixed platforms, No. two of four RPR types side chains in parallel, No. two moving platforms form 4-RPR parallel institutions, 4-RPR parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and motion essence The advantages that high is spent, tune is being rotated by the micro-cleaner that the advantages of 4-RPR parallel institutions to be arranged between two snap rings Plateau can be remained during section dust suction angle and dust suction, pick-up performance is good, and operating efficiency is high, it is achieved thereby that this The function of invention automation cleaning interior architecture.

The beneficial effects of the invention are as follows：

1st, 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；

2nd, 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；

3rd, 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；

4th, 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 fixed angle is unadjustable, rotation angle of equipment is unadjustable, the scope of application The problems such as small and operating efficiency is low, the automation clearing function of interior architecture is realized, without manual operation, and with cleaning The advantages that speed is fast, equipment fixed angle is adjustable, rotation angle of equipment is adjustable, the scope of application is big and operating efficiency is high, there is provided 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 locking and regulating device of the present invention and the structural representation of supporting table；

Fig. 3 is locking and regulating device of the present invention and the full sectional view of supporting table；

Fig. 4 is the structural representation of cleaning machine hand of the present invention；

Fig. 5 is the full sectional view of cleaning machine hand of the present invention；

Fig. 6 is rotary shaft, roller, cleaning beam, cleaning arc plate and the structural representation cleared up between bolt of the present invention；

Fig. 7 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 7, a kind of fixed angle adjustable indoor building clean robot, including locking and regulating device 2, the fixed angle and the anglec of rotation of the locking and regulating device 2 are adjustable, and the upper surface of locking and regulating device 2 is provided with cleaning machine Hand 5, the cleaning adjustable angle of cleaning machine hand 5, the scope of application are big, it is possible to achieve the spider on automation cleaning furred ceiling, ceiling The functions such as spider web, dust, automation cleaning is carried out to interior architecture by cleaning machine hand 5；The locking and regulating device 2 includes Lower locking round platform 21, lower locking round platform 21 middle part are provided with electric rotating machine 22 by motor cabinet, on the output shaft of electric rotating machine 22 It is fixedly connected with locking erecting bed 23, locking the lower surface of erecting bed 23, circumferentially to be evenly arranged with four L-types spacing in direction Bar 23a, four L-type gag lever post 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, the spaced motion of four L-type gag lever post 23a and annular convex edge 24 make it that locking erecting bed 23 exists It can stablize under the drive of electric rotating machine 22 and be rotated, so that the present invention has the function of rotation regulation, work as work Worker is cleared up when making without manual adjustment work angle, easy to operate, operating efficiency is high；Locking erecting bed 23 upper surface pair Title is provided with four No. two hydraulic cylinders 25, and the middle part of four No. two hydraulic cylinders 25 is separately fixed in four Z-type fixed seats 26, and four The bottom of individual Z-type fixed seat 26 is symmetrically mounted on locking erecting bed 23 by screw；The top of four No. two hydraulic cylinders 25 End is provided with rhombus elevator 27, and four locking side chains 28, four locks are symmetrically welded with four sides of rhombus elevator 27 It is connected between tight side chain 28 and locking erecting bed 23 by adjusting side chain 29, by adjusting the corresponding locking side chain of the regulation of side chain 29 28 fixed locking angle, when the support zone in required cleaning place is skewed or irregular, it is only necessary to pass through tune Section side chain 29 will lock side chain 28 and adjust suitable fixed locking angle, prevent that the present invention's is worked after fixing The situation arbitrarily moved in journey, the carry out cleaning function that cleanup crew can be bold, improves operating efficiency；The locking side chain 28 straight connecting rods 281 including being welded in the corresponding side surface of rhombus elevator 27, the top of straight connecting rod 281 is provided with two No.1s and hung No. two hangers 282a, No. two hanger 282a are provided with by bearing pin between ear 281a, two No.1 hanger 281a and are welded on No.1 L On type connecting rod 282, the top of No.1 L-type connecting rod 282 is welded with square installation sheet 283, is symmetrically arranged with square installation sheet 283 Four mounting holes, the present invention is movably fixed to the support zone in required cleaning place by four mounting holes；The regulation branch Chain 29 includes No. two ear mounts 291 being welded on locking erecting bed 23, is provided with No. three liquid by bearing pin between No. two ear mounts 291 Cylinder pressure 292, by bearing pin between No. three ear mounts 293, No. three ear mounts 293 are welded on one on the top of No. three hydraulic cylinders 292 In the side wall of number L-type connecting rod 282；The upper surface of rhombus elevator 27 is symmetrically welded with four fore-sets 210, four fore-sets 210 Upper end is provided with cleaning machine hand 5, and four fore-sets 210 play a part of the round platform of rigid support cleaning machine hand 5.It is first during work Suitable operating angle is first determined according to actual conditions street cleaner, electric rotating machine 22 is started working, due to four L-type gag lever posts The spacing synkinesia of 23a and annular convex edge 24 make it that progress can be stablized under the drive of electric rotating machine 22 by locking erecting bed 23 Rotary motion, 23 synchronous drive of locking erecting bed, four locking side chains 28 rotate, properly cleaned when present invention arrival Electric rotating machine 22 is stopped during operating angle；Then according to the support zone shape adjustment locking side chain 28 in required cleaning place Fixed locking angle, the locking side chain 28 of fixed-direction, corresponding regulation according to needed for nearby principle only needs to adjust No. three hydraulic cylinders 292 on chain 29 are started working, and No. three hydraulic cylinders 292 drive No.1 L-type connecting rod 282 by No. three ear mounts 293 Rotated on straight connecting rod 281, when being welded on the medial surface of square installation sheet 283 on the top of No.1 L-type connecting rod 282 parallel to required clear No. three hydraulic cylinders 292 are stopped when managing the support zone in place, are movably fixed to the present invention finally by four mounting holes The support zone in required cleaning place, prevents the situation arbitrarily moved in the course of work of the present invention, cleaning after fixing Personnel 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, the present invention is arranged on existing mobile device first, it is by existing mobile device that the present invention is mobile To cleaning place needed for interior architecture, suitable operating angle is determined further according to actual conditions street cleaner, electric rotating machine 22 is opened Beginning work, because the spacing synkinesia of four L-type gag lever post 23a and annular convex edge 24 to lock erecting bed 23 in electric rotating It can stablize under the drive of machine 22 and be rotated, 23 synchronous drive of locking erecting bed, four locking side chains 28 make rotation fortune Dynamic, when the operating angle that present invention arrival is properly cleaned, electric rotating machine 22 is stopped；Then according to required cleaning place The fixed locking angle of support zone shape adjustment locking side chain 28, the fixed-direction according to needed for nearby principle only needs to adjust Side chain 28 is locked, corresponding No. three hydraulic cylinders 292 adjusted on side chain 29 are started working, and No. three hydraulic cylinders 292 pass through No. three Ear mount 293 drives No.1 L-type connecting rod 282 to be rotated on straight connecting rod 281, when the square for being welded on the top of No.1 L-type connecting rod 282 is pacified No. three hydraulic cylinders 292 are stopped when the medial surface of load 283 is parallel to required cleaning local support zone, finally by four Mounting hole will the present invention be movably fixed to needed for cleaning place support zone, fix after prevent the present invention it is worked The situation arbitrarily moved in journey, the carry out cleaning function that cleanup crew can be bold, improves operating efficiency；Then needed for The cleaning angle of the gradient regulation cleaning device 55 on the relative floor in cleaning place, No. five hydraulic cylinders 52 are started working, No. five liquid Cylinder pressure 52 drives square regulating block 53 to move up and down, and the spacing booster action by four positioning round bars 54 causes square regulating block 53 make stable up and down motion under the drive of No. five hydraulic cylinders 52, and at the same time angular transition side chain 56 is started working, angle Changing No. six hydraulic cylinders 562 on side chain 56 drives the gusset 553a on cleaning device 55 to rotate, and gusset 553a drives connecting plate 552 are rotated on No. two L-type connecting rods 551, and cleaning device 55 is realized by No. five hydraulic cylinders 52 and No. six work of hydraulic cylinder 562 The function of angular adjustment is cleaned, No. five liquid when the cleaning beam 557a distances on cleaning device 55 are required clears up local correct position Cylinder pressure 52 and No. six hydraulic cylinders 562 are stopped, and then motor 555 is started working, and motor 555 drives rotary shaft 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, when clear up beam 557a on be wound with many cobwebs when, it is necessary to cleared up, first by two clear up arc plates Fixed cleaning bolt 558a is opened between 558, and then the manually operated cleaning arc plate 558 of operator up moves, due to every Individual cleaning beam 557a is located on the corresponding cleaning circular hole 558b of cleaning arc plate 558, the up motion of cleaning arc plate 558 by The cobweb being wrapped on cleaning beam 557a is directly pooled to cleaning beam 557a tops by cleaning circular hole 558b limiting-blocking effect End, then street cleaner is handled by extraneous cleaning bar, and cleaning arc plate 558 is moved into lower section by clear after being disposed Reason bolt 558a is retightened, and at the same time two dust suction side chains 559 positioned at the both sides of roller 557 are started working, dust suction side chain Micro-cleaner 5595 on 559 constantly absorbs the dust that scale removal process drops, due to 5591, four RPR types of No. two fixed platforms No. two 5592, No. two moving platforms 5593 of side chain in parallel form 4-RPR parallel institutions, there is 4-RPR parallel institutions dynamic to ring Ying Hao, rigidity height, large carrying capacity, stability are good and the advantages that kinematic accuracy is high, cause by the advantages of 4-RPR parallel institutions Micro-cleaner 5595 between two snap rings 5594 can be all the time during regulation dust suction angle and dust suction is rotated Held stationary 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, Solve by the way that cleaning speed existing for present level auxiliary equipment manual cleaning interior architecture mode is slow, labor intensity is big, automatic Change degree is low, equipment fixed angle is unadjustable, rotation angle of equipment is unadjustable, the scope of application is small and operating efficiency is low etc. Problem, purpose is reached.

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 (7)

1. a kind of fixed angle adjustable indoor builds clean robot, it is characterised in that：Including locking and regulating device (2), institute State locking and regulating device (2) upper surface and cleaning machine hand (5) is installed；The locking and regulating device (2) includes lower locking round platform (21) electric rotating machine (22), is provided with by motor cabinet in the middle part of lower locking round platform (21), consolidated on the output shaft of electric rotating machine (22) Surely it is connected with locking erecting bed (23), circumferentially direction is evenly arranged with four L-type limits for the lower surface of locking erecting bed (23) Position bar (23a), four L-type gag lever posts (23a) are connected between annular convex edge (24) by sliding matching mode, annular convex edge (24) lower end is welded on lower locking round platform (21)；Described locking erecting bed (23) upper surface is symmetrically installed with four No. two liquid Cylinder pressure (25), it is separately fixed on four Z-type fixed seats (26) in the middle part of four No. two hydraulic cylinders (25), four Z-type fixed seats (26) bottom is symmetrically mounted on locking erecting bed (23) by screw；The top installation of described four No. two hydraulic cylinders (25) There is rhombus elevator (27), four locking side chains (28), four locks are symmetrically welded with four sides of rhombus elevator (27) It is connected between tight side chain (28) and locking erecting bed (23) by adjusting side chain (29)；Rhombus elevator (27) upper surface Four fore-sets (210) are symmetrically welded with, 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. fixed angle adjustable indoor building clean robot according to claim 1, it is characterised in that：It is described Locking side chain (28) includes the straight connecting rod (281) being welded in rhombus elevator (27) corresponding side surface, the top of straight connecting rod (281) It is provided with two No.1 hangers (281a), No. two hangers (282a) is provided with by bearing pin between two No.1 hangers (281a), No. two hangers (282a) are 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) four mounting holes, are symmetrically arranged with square installation sheet (283).

A kind of 3. fixed angle adjustable indoor building clean robot according to claim 1, it is characterised in that：It is described Regulation side chain (29) includes No. two ear mounts (291) being welded on locking erecting bed (23), passes through pin between No. two ear mounts (291) Axle is provided with 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) are welded in the side wall of No.1 L-type connecting rod (282).

A kind of 4. fixed angle adjustable indoor building clean robot according to claim 1, it is characterised in that：It is described 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 logical Cross bearing pin and No. six hydraulic cylinders (562) are installed, the top of No. six hydraulic cylinders (562) is arranged on No. five ear mounts (563) by bearing pin On, No. five ear mounts (563) are welded on gusset (553a) medial surface.

A kind of 5. fixed angle adjustable indoor building clean robot according to claim 1, it is characterised in that：It is described It is semicircular structure to clear up arc plate (558), and circumferentially direction is evenly arranged with cleaning circular hole on cleaning arc plate (558) outer wall (558b), and each clear up to correspond on circular hole (558b) and be equipped with cleaning beam (557a), the both sides of cleaning arc plate (558) are symmetrical Four mounting ears (558c) are provided with, and by clearing up bolt between the mounting ear (558c) of two cleaning arc plates (558) (558a) is connected.

A kind of 6. fixed angle adjustable indoor building clean robot according to claim 1, it is characterised in that：It is described Dust suction side chain (559) includes No. two fixed platforms (5591) installed in dust suction support plate (553b) upper surface, No. two fixed platforms (5591) circumferentially direction is uniformly provided with four No. two side chains (5592) in parallel, four No. two side chains (5592) in parallel for upper surface Upper surface is provided with No. two moving platforms (5593), and the upper surface of No. two moving platforms (5593) is symmetrically arranged with two snap rings (5594) micro-cleaner (5595), is installed between two snap rings (5594)；Under No. two side chains (5592) in parallel include End is welded on No. six ear mounts (5592a) on No. two fixed platforms (5591), and No. six ear mounts (5592a) are provided with No. seven by bearing pin Hydraulic cylinder (5592b), the top of No. seven hydraulic cylinders (5592b) are arranged on No. seven ear mounts (5592c) by bearing pin, No. seven ear mounts (5592c) is arranged on No. two moving platforms (5593).

A kind of 7. fixed angle adjustable indoor building clean robot according to claim 1, it is characterised in that：It is described The type of No. five hydraulic cylinders (52) is multistage hydraulic cylinder.