CN108294700B

CN108294700B - Building environmental protection cleaning machine

Info

Publication number: CN108294700B
Application number: CN201810019975.7A
Authority: CN
Inventors: 陈映雪
Original assignee: Taizhou Huangyan Zhizheng Information Technology Co Ltd
Current assignee: Taizhou Huangyan Zhizheng Information Technology Co., Ltd
Priority date: 2016-05-17
Filing date: 2016-05-17
Publication date: 2020-06-26
Anticipated expiration: 2036-05-17
Also published as: CN105919522A; CN108309163B; CN108294700A; CN105919522B; CN108309163A

Abstract

The invention relates to an environment-friendly building cleaning machine which comprises a self-stabilizing supporting device, wherein the self-stabilizing supporting device has good rigid supporting performance, stability performance and shock absorption performance, a locking adjusting device is arranged in the middle of the upper end face of the self-stabilizing supporting device, the fixed angle and the rotating angle of the locking adjusting device are adjustable, four rigid lifting branched chains are symmetrically arranged on the upper end face of the locking adjusting device through screws, the rigid lifting branched chains have good height lifting adjusting performance, four hydraulic cylinders are arranged in the middle of the upper end face of the locking adjusting device, cleaning manipulators are arranged at the top ends of the four rigid lifting branched chains and the four hydraulic cylinders, the cleaning angles of the cleaning manipulators are adjustable, the application range is wide, and the functions of automatically cleaning a suspended ceiling, spider webs, dust and the like on the ceiling can be realized. The invention can realize the automatic cleaning function of the indoor building and provides a new way for automatically cleaning the indoor building.

Description

Building environmental protection cleaning machine

The invention has application number 201610327029X filed on 2016, 5 and 17, and has the name of

A divisional application of Chinese patent application for an environment-friendly robot for indoor construction.

Technical Field

The invention relates to the technical field of building environmental protection, in particular to a building environmental protection cleaning machine.

Background

Along with the continuous development of social economy, the diversified high building woods stand up, but along with the continuous increase of high building quantity, maintain the sanitary cleaner of high building environmental protection more and more, clean scope includes floor, glass window, wall ceramic tile, furred ceiling or ceiling etc., there have been a lot of robots of sweeping the floor and window cleaning robot on the existing market, can solve the clean problem of floor and glass window, need not artifical cleanness, but wall ceramic tile, furred ceiling, dust and spider web on the ceiling all need the manual work to carry out periodic treatment, there has not developed automatic cleaning equipment yet, there is following defect through the mode of artifical clearance ceramic tile, furred ceiling, dust and spider web on the ceiling: 1. the manual cleaning speed is slow, the labor intensity is high, the working efficiency is low, and the automation degree is low; 2. when the height of a ceramic tile, a suspended ceiling and a ceiling is higher, a herringbone ladder is usually required for auxiliary cleaning, the height of the height auxiliary equipment cannot be automatically adjusted in a lifting mode, the height needs to be manually adjusted in an up-down mode, the placement angle of the height auxiliary equipment is fixed, the fixed angle is not adjustable, and the equipment does not have a rotating function, so that the angle can be adjusted by manually moving up and down continuously; 3. because the cleaner needs to continuously and repeatedly clean back and forth, the phenomenon of shaking or shaking can often occur due to different stress points of the body of people on the height auxiliary equipment, the rigid support performance is poor, the damping performance is poor, and the stability performance is poor, so that the cleaner can only slowly clean with careful wings, and the working efficiency is greatly reduced; 4. the cleaning worker needs to drop a lot of dust in clean process, consequently needs the manual work to clean the bottom plate of below, does not have the ceiling or the furred ceiling clearance instrument of taking the absorption function at present yet, and the burnisher of current interior architecture only has single function usually, and application scope is little.

Disclosure of Invention

In order to solve the problems, the invention provides an environment-friendly building cleaning machine, which can solve the problems of low cleaning speed, high labor intensity, low automation degree, poor rigid supporting performance of equipment, poor stability performance of equipment, poor damping performance of equipment, nonadjustable fixed angle, nonadjustable rotating angle, poor height adjusting performance, small application range, low working efficiency and the like in the manual cleaning mode of indoor buildings by the conventional height auxiliary equipment, can realize the automatic cleaning function of the indoor buildings, does not need manual operation, and has the advantages of high cleaning speed, good rigid supporting performance of the equipment, good stability performance of the equipment, good damping performance of the equipment, adjustable fixed angle, adjustable rotating angle, good height adjusting performance, large application range, high working efficiency and the like, thereby providing a new way for automatically cleaning the indoor buildings.

In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose: an environment-friendly building cleaning machine comprises a self-stabilizing supporting device, the self-stabilizing supporting device has good rigid supporting performance, stability and shock absorption performance, the middle part of the upper end surface of the self-stabilizing supporting device is provided with a locking adjusting device, the fixed angle and the rotating angle of the locking adjusting device are adjustable, the upper end surface of the locking adjusting device is symmetrically provided with four rigid lifting branched chains through screws, the rigid lifting branched chains have good height lifting adjusting performance, the middle part of the upper end surface of the locking adjusting device is provided with a fourth hydraulic cylinder, and the cleaning manipulator is arranged at the top ends of the four rigid lifting branched chains and the fourth hydraulic cylinder, the cleaning angle of the cleaning manipulator is adjustable, the application range is wide, can realize functions such as automatic spider web, dust on clearance furred ceiling, the ceiling, drive clean manipulator through No. four pneumatic cylinders under the altitude mixture control of four rigidity lift branch chains and carry out automatic clearance to the interior building.

As a preferred technical scheme of the invention, the self-stabilizing supporting device comprises a fixed circular truncated cone, four universal wheels are symmetrically arranged on the lower end surface of the fixed circular truncated cone, the self-stabilizing supporting device moves to a place required to be cleaned by an indoor building through the four universal wheels, four parallel supporting branched chains are uniformly arranged on the upper end surface of the fixed circular truncated cone along the circumferential direction, an L-shaped pillar is arranged in the middle of the upper end surface of each parallel supporting branched chain, an installation wafer is arranged at the tail end of each L-shaped pillar, each installation wafer is arranged on a connecting sheet through a screw, each connecting sheet is welded on the lower end surface of a square installation table, the square installation table is stably supported through the four parallel supporting branched chains, a positioning hollow shaft is welded in the middle of the lower end surface of the square installation table, the lower end of the positioning hollow shaft is sleeved on a main positioning shaft, the positioning hollow shaft, the main positioning shaft has a limiting effect, so that the square mounting table can only vertically move up and down under the limitation of the positioning hollow shaft, the left-right shaking motion phenomenon cannot occur, the stability of the equipment is improved, and the bottom end of the main positioning shaft is welded in the middle of the upper end face of the fixed round table; the lower end face of the square mounting table is symmetrically welded with four upper positioning shafts, the four upper positioning shafts are respectively sleeved with a limiting spring, the lower end of each limiting spring is respectively sleeved on the corresponding lower positioning shaft, each lower positioning shaft is welded on the upper end face of the fixed round table, the lower positioning shafts and the upper positioning shafts play a role in limiting the positions of the limiting springs, and the limiting springs enable the square mounting table to have good shock absorption performance; the parallel supporting branched chains comprise a first fixed platform welded on the upper end surface of the fixed circular truncated cone, three first parallel branched chains are uniformly arranged on the upper end surface of the first fixed platform along the circumferential direction, the upper ends of the three first parallel branched chains are uniformly arranged on the first movable platform, and the middle part of the upper end surface of the first movable platform is provided with a corresponding L-shaped strut; a parallelly connected branch includes that the lower extreme welds an ear seat on No. one fixed platform up end, and a pneumatic cylinder is installed through the round pin axle to an ear seat, and threaded connection has a connecting cylinder on the top of a pneumatic cylinder, has the ball hinge through threaded connection on the connecting cylinder, and the ball hinge upper end is installed on the triangle seat through the screw thread, and the triangle seat welding is on the lower terminal surface of a movable platform. The invention discloses a mounting platform of a vehicle, which comprises a first ear seat, a first hydraulic cylinder, a second ear seat, a third ear seat, a fourth ear seat, a third ear seat, a fourth ear seat, a third ear seat, a fourth ear seat, a third ear seat, a.

As a preferred technical scheme of the invention, the locking adjusting device comprises a lower locking round table with a lower end surface welded on a square mounting table, a rotating motor is mounted in the middle of the lower locking round table through a motor base, the locking mounting table is fixedly connected to an output shaft of the rotating motor, four L-shaped limiting rods are uniformly arranged on the lower end surface of the locking mounting table along the circumferential direction, the four L-shaped limiting rods are connected with an annular convex edge in a sliding fit manner, the lower end of the annular convex edge is welded on the lower locking round table, and the locking mounting table can stably rotate under the driving of the rotating motor due to the limiting movement of the four L-shaped limiting rods and the annular convex edge, so that the locking adjusting device has a function of rotation adjustment; four second hydraulic cylinders are symmetrically mounted on the upper end face of the locking mounting platform, the middle parts of the four second hydraulic cylinders are respectively fixed on the four Z-shaped fixing seats, and the bottom ends of the four Z-shaped fixing seats are symmetrically mounted on the locking mounting platform through screws; the top ends of the four second hydraulic cylinders are provided with the rhombic lifting blocks, four locking branched chains are symmetrically welded on four side surfaces of each rhombic lifting block, the four locking branched chains are connected with the locking mounting table through the adjusting branched chains, the fixed locking angles of the corresponding locking branched chains are adjusted through the adjusting branched chains, when a supporting part of a place needing to be cleaned is inclined or irregular, the locking branched chains are adjusted to be proper and fixed through the adjusting branched chains, the condition that the locking branched chains move randomly in the working process is prevented after the locking branched chains are fixed, a cleaner can clean the work courageously, and the working efficiency is improved; the locking branch chain comprises a straight connecting rod welded on the corresponding side surface of the rhombic lifting block, two first lifting lugs are arranged at the top end of the straight connecting rod, a second lifting lug is arranged between the two first lifting lugs through a pin shaft, the second lifting lug is welded on the first L-shaped connecting rod, a square mounting piece is welded at the top end of the first L-shaped connecting rod, four mounting holes are symmetrically formed in the square mounting piece, and the locking branch chain is movably fixed on a supporting part of a place needing to be cleaned through the four mounting holes; the adjusting branched chain comprises a second lug seat welded on the locking mounting table, a third hydraulic cylinder is mounted between the second lug seats through a pin shaft, the top end of the third hydraulic cylinder is mounted between the third lug seats through a pin shaft, and the third lug seats are welded on the side wall of the first L-shaped connecting rod; four jacking columns are symmetrically welded on the upper end face of the rhombic lifting block, an upper locking round table is installed at the upper ends of the four jacking columns, and the four jacking columns play a role in rigidly supporting the upper locking round table. When the locking device works, firstly, a cleaner determines a proper working angle according to actual conditions, the rotating motor starts to work, the locking mounting table can stably rotate under the driving of the rotating motor due to the limiting auxiliary motion of the four L-shaped limiting rods and the annular convex edge, the locking mounting table synchronously drives the four locking branched chains to rotate, and the rotating motor stops working when the rotating device reaches the proper cleaning working angle; then, the fixed locking angle of the locking branched chain is adjusted according to the shape of the supporting part at the position required to be cleaned, only the locking branched chain in the required fixed direction needs to be adjusted according to the principle of proximity, the third hydraulic cylinder on the corresponding adjusting branched chain starts to work, the third hydraulic cylinder drives the first L-shaped connecting rod to rotate on the straight connecting rod through the third lug seat, the third hydraulic cylinder stops working when the inner side surface of the square mounting piece welded at the top end of the first L-shaped connecting rod is parallel to the supporting part at the position required to be cleaned, and finally the cleaning device is movably fixed on the supporting part at the position required to be cleaned through the four mounting holes.

According to a preferred technical scheme, the rigid lifting branched chain comprises a lower lifting fixing piece which is installed on the upper end face of an upper locking circular table through a screw, a lower lifting sliding piece is welded on the lower lifting fixing piece in an inclined mode, two upper limiting blocks are symmetrically installed at the upper end of the middle part of the lower lifting sliding piece through a fixing bolt, an upper lifting sliding piece is installed on the lower lifting sliding piece in a sliding fit mode, the upper lifting sliding piece can move on the lower lifting sliding piece, an upper lifting fixing piece is welded on the upper lifting sliding piece, a dovetail-shaped sliding column is welded on the upper lifting fixing piece and is connected with the dovetail-shaped sliding groove in a sliding fit mode, the dovetail-shaped sliding column can move back and forth on the dovetail-shaped sliding groove, two ends of the dovetail-shaped sliding groove are closed, the phenomenon that the dovetail-shaped sliding column floats too much and falls out is avoided due to the closed state, and cleaning manipulators are installed at the upper ends of the dovetail-shaped sliding grooves on; the lower lifting slip sheet comprises a lower plane bottom of which the lower end is welded on a lower lifting fixing sheet, two sides of the bottom of the lower plane are respectively and integrally formed with a lower bending part which is bent inwards, the lower bending part is a concave bending limiting sliding part at two sides, the upper end of the middle part of each lower bending part is respectively provided with an opening, an upper limiting block is arranged at the corresponding opening of each lower bending part through a fixing bolt, the opening of the lower bending part is used for installing the upper limiting block conveniently, the lower bending part is of an inwards bending structure, the distance between the two lower bending parts is very small, and the function of installing the upper limiting block through the fixing bolt is difficult to realize if the lower bending part is not provided with the opening; the upper limiting block comprises a base block, two nut holes are symmetrically arranged on the base block, a fixing nut is respectively arranged on the two nut holes, the fixing nut is arranged on the nut hole before the upper limiting block is arranged, because the space between the lower lifting slide and the upper lifting slide is very small, otherwise once the lifting slide is installed, it is difficult to install the fixing nuts, and each fixing nut passes through the lower bent part on the lower lifting slide and is connected with the fixing bolt, the upper limit block is fixed on the lower lifting slide sheet through a fixing bolt, the lower end of the side surface of the base block is integrally formed with a shielding sheet which plays a role of shielding, when the lower end of the upper lifting slide sheet moves to the position of the shielding sheet, the lower end of the upper lifting slide sheet is shielded, the sliding distance of the upper lifting slide sheet on the lower lifting slide sheet is limited, an L-shaped hook column is integrally formed at the upper end of the base block, and the upper end of the L-shaped hook column is hooked at the upper end of the lower bending part of the lower lifting slide sheet; the upper lifting slide sheet comprises an upper plane bottom with the upper end welded on the upper lifting fixing sheet, the upper plane bottom is connected with a lower plane bottom on the lower lifting slide sheet in a sliding fit mode, two sides of the upper plane bottom are respectively integrally formed with an upper bending part bent inwards, the upper bending parts are concave bending limiting sliding positions on two sides, and the inner wall of each upper bending part is connected with the outer wall of the corresponding lower bending part in a sliding fit mode; go up the flexion and can remove at lower flexion, the bottom symmetry of going up the plane bottom is provided with two lower limiting blocks corresponding with the shielding piece on two upper limiting blocks, and lower limiting block plays spacing effect, and when lower limiting block moved the shielding piece of last limiting block, lower limiting block was blocked by the shielding piece, is the highest motion position of lift gleitbretter this moment. When the lifting slide sheet is welded on the lower lifting fixed sheet in an inclined manner, so that the lifting slide sheet also moves in an inclined direction, the dovetail-shaped slide column on the lifting fixed sheet is driven to move on the dovetail-shaped slide groove, if the lifting slide sheet moves for a certain distance, the fourth hydraulic cylinder is required to continue to work, and when the lower limiting block moves to the shielding sheet of the upper limiting block, the lower limiting block is blocked by the shielding sheet, the upper lifting slide sheet moves to the highest position, the fourth hydraulic cylinder stops working at the moment, the lower lifting slide sheet and the fourth hydraulic cylinder provide a supporting function for the upper lifting slide sheet in the whole height lifting process of the lower lifting slide sheet, the lifting process is stable, no shaking condition exists, the stable height lifting adjusting function is realized, and the working efficiency is high.

As a preferred technical scheme of the invention, the cleaning manipulator comprises a supporting circular table which is arranged at the top ends of a dovetail sliding groove and a fourth hydraulic cylinder, a fifth hydraulic cylinder is arranged in the middle of the upper end surface of the supporting circular table, a square adjusting block is arranged at the top end of the fifth hydraulic cylinder, four limiting holes are symmetrically arranged on the square adjusting block, four positioning round rods are symmetrically welded on the upper end surface of the supporting circular table and respectively penetrate through the four limiting holes of the square adjusting block, and the four positioning round rods play a role in limiting the movement direction of the square adjusting block, so that the square adjusting block can stably move up and down under the driving of the fifth hydraulic cylinder; four cleaning devices are uniformly arranged on the upper end face of the supporting circular truncated cone along the circumferential direction through screws, the cleaning devices can automatically clean spider webs and dust on indoor building suspended ceilings and ceilings, the cleaning function and the dust removal function are integrated, an angle conversion branched chain is respectively arranged between each of the four cleaning devices and four side faces of the square adjusting block, and the cleaning angle of each cleaning device is adjusted through the angle conversion branched chain and the five hydraulic cylinders; the angle conversion branched chain comprises a fourth lug seat welded on the side surface of the square adjusting block, a sixth hydraulic cylinder is installed on the fourth lug seat through a pin shaft, the top end of the sixth hydraulic cylinder is installed on a fifth lug seat through a pin shaft, and the fifth lug seat is welded on the inner side surface of the rib plate; the cleaning device comprises a second L-shaped connecting rod which is arranged on the upper end surface of the supporting circular platform through screws, the tail end of the second L-shaped connecting rod is provided with two third lifting lugs, a fourth lifting lug is arranged between the two third lifting lugs through a pin shaft, the fourth lifting lug is arranged in the middle of the lower end surface of the connecting plate, the connecting plate can rotate on the second L-shaped connecting rod, the upper end surface of the connecting plate is symmetrically welded with two supporting vertical plates, a rib plate is welded between the lower ends of the two supporting vertical plates, the rib plate plays a role in enhancing the supporting strength of the two supporting vertical plates, and an angle conversion branched chain is arranged between the inner side surface; a rotating shaft is arranged between the upper ends of the two supporting vertical plates through a bearing, the tail end of the rotating shaft is provided with a driving motor through a coupler, the driving motor is arranged on a motor support plate through a motor base, and the motor support plate is welded on the side wall of the corresponding supporting vertical plate; the middle part of the rotating shaft is provided with a roller through a key, the upper end and the lower end of the roller are both uniformly provided with cleaning beams, the rotating shaft is driven to rotate by a driving motor, the rotating shaft drives the roller to rotate, the roller drives the cleaning beams to clean spider webs on indoor building suspended ceilings and ceilings, the cleaning beams at the upper end and the lower end of the roller are respectively provided with a cleaning arc plate, and the two cleaning arc plates are connected through a cleaning bolt; the cleaning arc plates are of a semicircular structure, the cleaning arc plates correspond to a roller structure in structure and are convenient to mount and operate, cleaning round holes are uniformly formed in the outer walls of the cleaning arc plates along the circumferential direction, cleaning beams correspondingly penetrate through each cleaning round hole, the cleaning round holes play a role of blocking spider nets wound on the cleaning beams, four mounting lugs are symmetrically arranged on two sides of each cleaning arc plate, the mounting lugs of the two cleaning arc plates are connected through cleaning bolts, when a large number of spider nets are wound on the cleaning beams, cleaning is needed, the cleaning bolts fixed between the two cleaning arc plates are firstly opened, an operator manually operates the cleaning arc plates to move the cleaning arc plates upwards, each cleaning beam penetrates through the corresponding cleaning round hole of the cleaning arc plates, and the spider nets on the cleaning beams are directly collected to the top ends of the cleaning beams by means of the limiting blocking effect of the cleaning beams wound on the round holes when the cleaning beams upwards move, then, a cleaner can process the arc plate through an external cleaning rod, and the cleaning arc plate is moved to the lower part and is fixed again through a cleaning bolt after the processing is finished; a dust absorption support plate is welded between the two supporting vertical plates, two dust absorption branched chains are symmetrically arranged on two sides of the dust absorption support plate, certain dust can fall off in the indoor building spider web cleaning process, and the falling dust can absorb dust in time through the two dust absorption branched chains, so that the dust generated in the cleaning process is prevented from falling onto the floor, the workload is reduced, and the working efficiency is improved; the dust collection branch chain comprises a second fixed platform arranged on the upper end surface of the dust collection support plate, four second parallel branch chains are uniformly arranged on the upper end surface of the second fixed platform along the circumferential direction, a second movable platform is arranged on the upper end surface of the four second parallel branch chains, two clamping rings are symmetrically arranged on the upper end surface of the second movable platform, a miniature dust collector is arranged between the two clamping rings, and the miniature dust collector is dust collection equipment bought in the existing market; no. two parallelly connected branch chains include that the lower extreme welds the No. six ear seats on No. two fixed platforms, and No. seven pneumatic cylinders are installed through the round pin axle to No. six ear seats, and the top of No. seven pneumatic cylinder is installed on No. seven ear seats through the round pin axle, and No. seven ear seats are installed on No. two movable platforms. According to the invention, the R pair is formed when the sixth lug seat rotates, the P pair is formed when the seventh hydraulic cylinder moves, and the R pair is formed when the seventh lug seat rotates during working, so that an RPR type second parallel branch chain is formed, and finally a 4-RPR parallel mechanism is formed through the second fixed platform, the four RPR type second parallel branch chains and the second movable platform, and the 4-RPR parallel mechanism also has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like. When the cleaning device works, firstly, the cleaning angle of the cleaning device is adjusted according to the inclination of a place to be cleaned relative to a floor, the fifth hydraulic cylinder starts to work, the fifth hydraulic cylinder drives the square adjusting block to move up and down, the square adjusting block is driven by the fifth hydraulic cylinder to stably move up and down under the limit auxiliary action of the four positioning round rods, meanwhile, the angle conversion branched chain starts to work, the sixth hydraulic cylinder on the angle conversion branched chain drives the rib plate on the cleaning device to rotate, the rib plate drives the connecting plate to rotate on the second L-shaped connecting rod, the function of adjusting the cleaning angle of the cleaning device is realized through the work of the fifth hydraulic cylinder and the sixth hydraulic cylinder, when the cleaning beam on the cleaning device is away from the place to be cleaned, the fifth hydraulic cylinder and the sixth hydraulic cylinder stop working, then the driving motor starts to work, the driving motor drives the rotating shaft to rotate, the roller drives the cleaning beam to clean the spider web on the suspended ceiling and the ceiling of the indoor building, meanwhile, the two dust absorption branch chains positioned on the two sides of the roller start to work, and the miniature dust collectors on the dust absorption branch chains continuously absorb dust falling in the cleaning process, so that the function of automatically cleaning the indoor building is realized.

As a preferable technical scheme, the four hydraulic cylinders and the five hydraulic cylinders are all multi-stage hydraulic cylinders, and the multi-stage hydraulic cylinders are large in expansion range, so that the hydraulic cylinder is convenient to work.

When the locking device is used, the locking device is moved to a place needing to be cleaned of an indoor building through the four universal wheels, a cleaner determines a proper working angle according to actual conditions, the rotating motor starts to work, the locking mounting table can stably rotate under the driving of the rotating motor due to the limiting auxiliary motion of the four L-shaped limiting rods and the annular convex edge, the locking mounting table synchronously drives the four locking branched chains to rotate, and the rotating motor stops working when the locking device reaches the proper cleaning working angle; then, the fixed locking angle of the locking branched chain is adjusted according to the shape of the supporting part at the place required to be cleaned, only the locking branched chain in the required fixed direction needs to be adjusted according to the principle of proximity, a third hydraulic cylinder on the corresponding adjusting branched chain starts to work, the third hydraulic cylinder drives a first L-shaped connecting rod to rotate on a straight connecting rod through a third lug seat, the third hydraulic cylinder stops working when the inner side surface of a square mounting piece welded at the top end of the first L-shaped connecting rod is parallel to the supporting part at the place required to be cleaned, and finally the cleaning device is movably fixed on the supporting part at the place required to be cleaned through four mounting holes, so that the condition that the cleaning device can move randomly in the working process is prevented after the fixing is well performed, a cleaner can clean the cleaning function boldly, and the working; when the height of a place to be cleaned of an indoor building is higher and a supporting position needs to be heightened, the fourth hydraulic cylinder starts to work, the fourth hydraulic cylinder drives the cleaning manipulator to work upwards, meanwhile, the cleaning manipulator drives the four rigid lifting branched chains to work, two upper bending parts on the lifting sliding piece move upwards at two lower bending parts on the lifting sliding piece, the lifting sliding piece drives the dovetail-shaped sliding column on the lifting fixed piece to move, the lifting sliding piece is welded on the lifting fixed piece in an inclined manner, so that the lifting sliding piece also moves in an inclined direction, the dovetail-shaped sliding column on the lifting fixed piece is driven to move on the dovetail-shaped sliding chute, if a certain distance is not high enough, the fourth hydraulic cylinder is required to continue to work, when the lower limiting block moves to the shielding piece of the upper limiting block, the lower limiting block is blocked by the shielding piece, and the lifting sliding piece moves to the highest position, at the moment, the fourth hydraulic cylinder stops working, the lower lifting slide sheet and the fourth hydraulic cylinder provide a supporting function for the upper lifting slide sheet in the whole height lifting process of the lower lifting slide sheet, the lifting process is relatively stable, no shaking condition exists, the stable height lifting adjusting function of the invention is realized, and the working efficiency is high; then the cleaning angle of the cleaning device is adjusted according to the inclination of the place to be cleaned relative to the floor, the fifth hydraulic cylinder starts to work, the fifth hydraulic cylinder drives the square adjusting block to move up and down, the square adjusting block is driven by the fifth hydraulic cylinder to stably move up and down under the limit auxiliary action of the four positioning round rods, meanwhile, the angle conversion branched chain starts to work, the sixth hydraulic cylinder on the angle conversion branched chain drives the rib plate on the cleaning device to rotate, the rib plate drives the connecting plate to rotate on the second L-shaped connecting rod, the function of adjusting the cleaning angle of the cleaning device is realized through the work of the fifth hydraulic cylinder and the sixth hydraulic cylinder, when the cleaning beam on the cleaning device is away from the place to be cleaned at a proper position, the fifth hydraulic cylinder and the sixth hydraulic cylinder stop working, then the driving motor starts to work, the driving motor drives the rotating shaft to rotate, and, the roller drives the cleaning beam to clean the indoor suspended ceiling and the spider web on the ceiling, when a plurality of spider webs are wound on the cleaning beam, the cleaning beam needs to be cleaned, firstly, the cleaning bolt fixed between the two cleaning arc plates is opened, then an operator manually operates the cleaning arc plates to move upwards, as each cleaning beam penetrates through the corresponding cleaning round hole of the cleaning arc plate, the upwards movement of the cleaning arc plates directly collects the spider webs wound on the cleaning beam to the top end of the cleaning beam by virtue of the limiting and blocking effect of the cleaning round hole, then the cleaner is treated by an external cleaning rod, after the treatment is finished, the cleaning arc plates are moved to the lower part and are fixed again by the cleaning bolt, meanwhile, the two dust absorption branch chains positioned at two sides of the roller start to work, and the miniature dust collector on the dust absorption branch chains continuously absorbs dust in the cleaning process, and as the second fixed platform, the four RPR-type second parallel branch chains, The second movable platform forms a 4-RPR parallel mechanism, the 4-RPR parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like, the miniature dust collector arranged between the two clamping rings can always keep a stable state in the rotation regulation of a dust collection angle and the dust collection process by virtue of the advantages of the 4-RPR parallel mechanism, the dust collection effect is good, and the working efficiency is high, so that the function of automatically cleaning indoor buildings is realized, in addition, the first ear seat of the invention forms an R pair when rotating, the first hydraulic cylinder forms a P pair when moving, the ball hinge forms an S pair when working, so that a first RPS type parallel branch chain is formed, finally, a 3-RPS parallel mechanism is formed by the first fixed platform, the three first RPS type parallel branch chains and the first movable platform, and the parallel support branch chain in the invention is a 3-RPS parallel mechanism, the 3-RPS parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like, and the function of stably and rigidly supporting the square mounting table is realized by the four 3-RPS parallel mechanisms by virtue of the advantages of the parallel mechanisms, and meanwhile, the invention has good stability and good shock absorption performance by virtue of the advantages of the parallel mechanisms.

The invention has the beneficial effects that:

1. the parallel supporting branched chain is a 3-RPS parallel mechanism, the 3-RPS parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like, the function of stably and rigidly supporting the square mounting table is realized by four 3-RPS parallel mechanisms by virtue of the advantages of the parallel mechanism, and the parallel supporting branched chain also has good stability and good shock absorption performance by virtue of the advantages of the parallel mechanism;

2. the cleaning manipulator above the locking installation platform can do stable rotary motion through the limit auxiliary motion of the rotary motor between the four L-shaped limit rods and the annular convex edge, so that the function of adjusting the rotating angle of the cleaning manipulator is realized, the square installation sheet on the first L-shaped connecting rod is driven to rotate on the straight connecting rod through the third hydraulic cylinder on the adjusting branched chain, the fixed locking angle of the locking branched chain is effectively adjusted, the function of adjusting the fixed angle of the cleaning manipulator is realized, the condition that the cleaning manipulator moves randomly in the working process is prevented after the cleaning manipulator is fixed, the cleaning manipulator can clean the cleaning manipulator boldly, and the working efficiency is improved;

3. according to the invention, the cleaning manipulator is driven to perform lifting adjustment under the height lifting adjustment of the four rigid lifting branched chains through the fourth hydraulic cylinder, and the lifting sliding pieces on the rigid lifting branched chains are supported by the lower lifting sliding pieces and the fourth hydraulic cylinder in the whole height lifting process of the lower lifting sliding pieces, so that the lifting process is relatively stable without shaking, the stable height lifting adjustment function of the cleaning manipulator is realized, the height adjustment performance is good, and the working efficiency is high;

4. the cleaning angle adjusting function of the cleaning device is realized through the work of the fifth hydraulic cylinder and the sixth hydraulic cylinder on the angle conversion branched chain, so that the cleaning angle adjusting function is realized, the application range is wide, and the working efficiency is high;

5. the cleaning beam on the roller is driven by the driving motor to clean the spider web on the ceiling and the ceiling of an indoor building, and two cleaning arc plate cleaners can collect the spider web wound on the cleaning beam to the top end for rapid treatment, and dust generated in the cleaning process is continuously absorbed by the miniature dust collector on the dust absorption branched chain, so that the cleaning device integrates the cleaning function and the dust removal function into a whole, has a large application range and high working efficiency, and forms a 4-RPR parallel mechanism by virtue of a fixed platform II, four RPR-type parallel branched chains II and a movable platform II, so that the miniature dust collector arranged between two clamping rings can always keep a stable state in the processes of rotatably adjusting the dust absorption angle and absorbing dust by virtue of the 4-RPR parallel mechanism, and has the advantages of good dust absorption effect, high cleaning speed and high working efficiency;

6. the invention solves the problems of low cleaning speed, high labor intensity, low automation degree, poor rigid supporting performance of equipment, poor stability of equipment, poor damping performance of equipment, nonadjustable fixed angle, nonadjustable rotating angle, poor height adjusting performance, small application range, low working efficiency and the like in the manual cleaning mode of the indoor building by the conventional height auxiliary equipment, realizes the automatic cleaning function of the indoor building, does not need manual operation, and has the advantages of high cleaning speed, good rigid supporting performance of equipment, good stability of equipment, good damping performance of equipment, adjustable fixed angle, adjustable rotating angle, good height adjusting performance, large application range, high working efficiency and the like, thereby providing a new way for automatically cleaning the indoor building.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the self-stabilizing support device of the present invention;

FIG. 3 is a full sectional view of the self-stabilizing support apparatus of the present invention;

FIG. 4 is a schematic view of the locking adjustment mechanism of the present invention;

FIG. 5 is a full cross-sectional view of the locking adjustment mechanism of the present invention;

FIG. 6 is a schematic structural diagram of the locking circular table, the rigid lifting branched chain, the fourth hydraulic cylinder and the supporting circular table of the present invention;

FIG. 7 is a schematic diagram of the construction of a rigid lifting branch of the present invention;

FIG. 8 is a left side view of the rigid lifting branch of the present invention;

FIG. 9 is a cross-sectional view taken along line A-A of FIG. 8 in accordance with the present invention;

FIG. 10 is a cross-sectional view taken along line B-B of FIG. 8 in accordance with the present invention;

FIG. 11 is a schematic view of the structure between the lower lifting/lowering fixing plate, the lower lifting/lowering sliding plate, the fixing bolt and the upper limiting block according to the present invention;

FIG. 12 is a diagram illustrating the structure of a limiting block according to the present invention;

FIG. 13 is a perspective view of the present invention between the lift tab and the lift stator;

FIG. 14 is a schematic view of the cleaning robot of the present invention;

FIG. 15 is a full sectional view of the cleaning robot of the present invention;

FIG. 16 is a schematic view of the structure between the rotating shaft, the drum, the cleaning beam, the cleaning arc plate and the cleaning bolt of the present invention;

FIG. 17 is a schematic view of the cleaning arc plate of the present invention.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

As shown in fig. 1 to 17, a building environment-friendly cleaning machine comprises a self-stabilizing supporting device 1, wherein the self-stabilizing supporting device 1 has good rigid supporting performance, good stability and good shock absorption performance, a locking adjusting device 2 is installed in the middle of the upper end face of the self-stabilizing supporting device 1, the fixed angle and the rotating angle of the locking adjusting device 2 are adjustable, four rigid lifting branched chains 3 are symmetrically installed on the upper end face of the locking adjusting device 2 through screws, the rigid lifting branched chains 3 have good height lifting adjusting performance, four hydraulic cylinders 4 are installed in the middle of the upper end face of the locking adjusting device 2, cleaning manipulators 5 are installed at the top ends of the four rigid lifting branched chains 3 and the four hydraulic cylinders 4, the cleaning angles of the cleaning manipulators 5 are adjustable, the application range is large, functions of automatically cleaning a suspended ceiling, a spider net on the ceiling, dust and the like can be realized, and the cleaning manipulators 5 are driven by the four hydraulic cylinders 4 under the height adjustment of the four rigid lifting branched chains And carrying out automatic cleaning.

The self-stabilizing supporting device 1 comprises a fixed circular truncated cone 11, four universal wheels 12 are symmetrically arranged on the lower end face of the fixed circular truncated cone 11, the self-stabilizing supporting device is moved to a place required to be cleaned by an indoor building through the four universal wheels 12, four parallel supporting branched chains 13 are uniformly arranged on the upper end face of the fixed circular truncated cone 11 along the circumferential direction, an L-shaped pillar 14 is arranged in the middle of the upper end face of each parallel supporting branched chain 13, an installation wafer 14a is arranged at the tail end of each L-shaped pillar 14, each installation wafer 14a is arranged on a connecting sheet 15a through a screw, each connecting sheet 15a is welded on the lower end face of a square installation table 15, the square installation table 15 is stably supported through the four parallel supporting branched chains 13, a positioning hollow shaft 16 is welded in the middle of the lower end face of the square installation table 15, and the lower end of the positioning hollow shaft 16, the positioning hollow shaft 16 can vertically move up and down on the main positioning shaft 17, the main positioning shaft 17 plays a role in limiting, so that the square mounting table 15 can only vertically move up and down under the limitation of the positioning hollow shaft 16, the phenomenon of left-right shaking motion cannot occur, the stability of the equipment is improved, and the bottom end of the main positioning shaft 17 is welded in the middle of the upper end face of the fixed round table 11; four upper positioning shafts 15b are symmetrically welded on the lower end face of the square mounting table 15, a limiting spring 18 is sleeved on each of the four upper positioning shafts 15b, the lower end of each limiting spring 18 is sleeved on the corresponding lower positioning shaft 11a, each lower positioning shaft 11a is welded on the upper end face of the fixed circular truncated cone 11, the lower positioning shafts 11a and the upper positioning shafts 15b play a role in limiting the positions of the limiting springs 18, and the limiting springs 18 enable the square mounting table to have good shock absorption performance; the parallel supporting branched chain 13 comprises a first fixed platform 131 welded on the upper end surface of the fixed circular truncated cone 11, three first parallel branched chains 132 are uniformly arranged on the upper end surface of the first fixed platform 131 along the circumferential direction, the upper ends of the three first parallel branched chains 132 are uniformly arranged on a first movable platform 133, and the middle part of the upper end surface of the first movable platform 133 is provided with a corresponding L-shaped pillar 14; the parallel branched chain 132 comprises a lug seat 1321 of which the lower end is welded on the upper end face of the fixed platform 131, a hydraulic cylinder 1322 is installed on the lug seat 1321 through a pin shaft, the top end of the hydraulic cylinder 1322 is connected with a connecting cylinder 1323 through threads, a ball hinge 1324 is connected onto the connecting cylinder 1323 through threads, the upper end of the ball hinge 1324 is installed on a triangular seat 1325 through threads, and the triangular seat 1325 is welded on the lower end face of the movable platform 133. In the invention, an R pair is formed when the first lug seat 1321 rotates, a P pair is formed when the first hydraulic cylinder 1322 moves, and an S pair is formed when the ball hinge 1324 works, so that an RPS type first parallel branch chain 132 is formed, and finally a 3-RPS parallel mechanism is formed through the first fixed platform 131, the three RPS type first parallel branch chains 132 and the first movable platform 133, wherein the parallel support branch chain 13 in the invention is a 3-RPS parallel mechanism, and the 3-RPS parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like, and the invention realizes the function of stably and rigidly supporting the square mounting table 15 through the four 3-RPS parallel mechanisms by virtue of the advantages of the parallel mechanism, and simultaneously has good stability and good shock absorption performance by virtue of the parallel mechanism.

The locking adjusting device 2 comprises a lower locking circular table 21 with the lower end face welded on a square mounting table 15, a rotating motor 22 is mounted in the middle of the lower locking circular table 21 through a motor base, a locking mounting table 23 is fixedly connected to an output shaft of the rotating motor 22, four L-shaped limiting rods 23a are uniformly arranged on the lower end face of the locking mounting table 23 along the circumferential direction, the four L-shaped limiting rods 23a are connected with an annular convex edge 24 in a sliding fit mode, the lower end of the annular convex edge 24 is welded on the lower locking circular table 21, and the locking mounting table 23 can stably rotate under the driving of the rotating motor 22 due to the limiting movement of the four L-shaped limiting rods 23a and the annular convex edge 24, so that the locking adjusting device has a function of rotation adjustment; four second hydraulic cylinders 25 are symmetrically installed on the upper end face of the locking installation platform 23, the middle parts of the four second hydraulic cylinders 25 are respectively fixed on four Z-shaped fixed seats 26, and the bottom ends of the four Z-shaped fixed seats 26 are symmetrically installed on the locking installation platform 23 through screws; the top ends of the four second hydraulic cylinders 25 are provided with rhombic lifting blocks 27, four locking branched chains 28 are symmetrically welded on four side surfaces of the rhombic lifting blocks 27, the four locking branched chains 28 are connected with the locking mounting table 23 through the adjusting branched chains 29, the fixed locking angles of the corresponding locking branched chains 28 are adjusted through the adjusting branched chains 29, when the supporting part of a place to be cleaned is inclined or irregular, the locking branched chains 28 are adjusted to be proper and fixed locking angles only through the adjusting branched chains 29, the condition that the cleaning device is moved randomly in the working process is prevented after the fixing is finished, a cleaner can clean the cleaning device boldly, and the working efficiency is improved; the locking branched chain 28 comprises a straight connecting rod 281 welded on the corresponding side surface of the rhombic lifting block 27, two first lifting lugs 281a are arranged at the top end of the straight connecting rod 281, a second lifting lug 282a is arranged between the two first lifting lugs 281a through a pin shaft, the second lifting lug 282a is welded on the first L-shaped connecting rod 282, a square mounting piece 283 is welded at the top end of the first L-shaped connecting rod 282, four mounting holes are symmetrically formed in the square mounting piece 283, and the locking branched chain is movably fixed on a supporting part of a place needing to be cleaned through the four mounting holes; the adjusting branched chain 29 comprises second lug seats 291 welded on the locking mounting table 23, third hydraulic cylinders 292 are mounted between the second lug seats 291 through pin shafts, the top ends of the third hydraulic cylinders 292 are mounted between the third lug seats 293 through pin shafts, and the third lug seats 293 are welded on the side wall of the first L-shaped connecting rod 282; four top columns 210 are symmetrically welded on the upper end face of the rhombic lifting block 27, upper locking round tables 211 are installed at the upper ends of the four top columns 210, and the four top columns 210 play a role in rigidly supporting the upper locking round tables 211. When the cleaning machine works, firstly, a cleaner determines a proper working angle according to actual conditions, the rotating motor 22 starts to work, the locking mounting table 23 can stably rotate under the driving of the rotating motor 22 due to the limiting auxiliary motion of the four L-shaped limiting rods 23a and the annular convex edge 24, the locking mounting table 23 synchronously drives the four locking branched chains 28 to rotate, and the rotating motor 22 stops working when the cleaning machine reaches the proper working angle; then, the fixed locking angle of the locking branched chain 28 is adjusted according to the shape of the supporting part of the place needing to be cleaned, only the locking branched chain 28 in the needed fixed direction needs to be adjusted according to the principle of proximity, the third hydraulic cylinder 292 on the corresponding adjusting branched chain 29 starts to work, the third hydraulic cylinder 292 drives the first L-shaped connecting rod 282 to rotate on the straight connecting rod 281 through the third lug seat 293, the third hydraulic cylinder 292 stops working when the inner side surface of the square mounting piece 283 welded at the top end of the first L-shaped connecting rod 282 is parallel to the supporting part of the place needing to be cleaned, finally, the cleaning device is movably fixed on the supporting part of the place needing to be cleaned through the four mounting holes, the situation that the cleaning device moves randomly in the working process is prevented after the fixing, a cleaning person can clean the cleaning device by a large margin, and the working efficiency is.

The rigid lifting branched chain 3 comprises a lower lifting fixing piece 31 which is arranged on the upper end surface of an upper locking circular truncated cone 211 through a screw, a lower lifting sliding piece 32 is welded on the lower lifting fixing piece 31 in an inclined shape, two upper limiting blocks 34 are symmetrically arranged at the upper end of the middle part of the lower lifting sliding piece 32 through a fixing bolt 33, an upper lifting sliding piece 35 is arranged on the lower lifting sliding piece 32 in a sliding fit mode, the upper lifting sliding piece 35 can move on the lower lifting sliding piece 32, an upper lifting fixing piece 36 is welded on the upper lifting sliding piece 35, a dovetail-shaped sliding column 37 is welded on the upper lifting fixing piece 36, the dovetail-shaped sliding column 37 is connected with the dovetail-shaped sliding groove 38 in a sliding fit mode, the dovetail-shaped sliding column 37 can move back and forth on the dovetail-shaped sliding groove 38, the two ends of the dovetail-shaped sliding groove 38 are closed, and the closed state avoids the phenomenon that the dovetail-shaped sliding column 37 moves, the cleaning manipulator 5 is arranged at the upper ends of the dovetail sliding grooves 38 on the four rigid lifting branched chains 3; the lower lifting slide sheet 32 comprises a lower plane bottom 32a with the lower end welded on the lower lifting fixing sheet 31, two sides of the lower plane bottom 32a are respectively and integrally formed with a lower bending part 32b which is bent inwards, the lower bending part 32b is a concave bending limiting sliding part at two sides, the upper end of the middle part of each lower bending part 32b is respectively provided with an opening, an upper limiting block 34 is arranged at the corresponding opening of each lower bending part 32b through a fixing bolt 33, the opening of the lower bending part 32b is used for installing the upper limiting block 34, the lower bending part 32b is of an inwards bending structure, the distance between the two lower bending parts 32b is very small, and if the lower bending part 32b is not provided with an opening, the function of installing the upper limiting block 34 through the fixing bolt 33 is difficult to realize; the upper limiting block 34 comprises a base block 341, two nut holes 34a are symmetrically arranged on the base block 341, two fixing nuts 342 are respectively arranged on the two nut holes 34a, the fixing nuts 342 are firstly arranged on the nut holes 34a before the upper limiting block 34 is arranged, because the space between the lower lifting slide sheet 32 and the upper lifting slide sheet 35 is very small, otherwise, once the lifting slide sheet 35 is arranged, the fixing nuts 342 are difficult to be arranged, and each fixing nut 342 passes through the lower bent part 32b on the lower lifting slide sheet 32 and is connected with the fixing bolt 33, the upper limiting block 34 is fixed on the lower lifting slide sheet 32 through the fixing bolt 33, a shielding sheet 343 is integrally formed at the lower end of the side surface of the base block 341 and plays a shielding role, when the lower end of the upper lifting slide sheet 35 moves to the shielding sheet 343, the sliding distance of the upper lifting slide sheet 35 on the lower lifting slide sheet 32 is limited, an L-shaped hook column 344 is integrally formed at the upper end of the base block 341, and the upper end of the L-shaped hook column 344 is hooked at the upper end of the lower bending part 32b of the lower lifting slide sheet 32; the upper lifting slide sheet 35 comprises an upper plane bottom 35a of which the upper end is welded on the upper lifting fixing sheet 36, the upper plane bottom 35a is connected with a lower plane bottom 32a on the lower lifting slide sheet 32 in a sliding fit mode, two sides of the upper plane bottom 35a are respectively and integrally formed with an upper bending part 35b which is bent inwards, the upper bending parts 35b are also concave bending limiting sliding parts at two sides, and the inner wall of each upper bending part 35b is connected with the outer wall of the corresponding lower bending part 32b in a sliding fit mode; the upper bending part 35b can move in the lower bending part 32b, the bottom end of the upper plane bottom 35a is symmetrically provided with two lower limiting blocks 35c corresponding to the shielding sheets 343 on the two upper limiting blocks 34, the lower limiting blocks 35c play a limiting role, and when the lower limiting blocks 35c move to the shielding sheets 343 of the upper limiting blocks 34, the lower limiting blocks 35c are blocked by the shielding sheets 343, which is the highest moving position of the up-down sliding sheet 35. When the cleaning machine works, when the height of a place to be cleaned of an indoor building is higher and a supporting position needs to be heightened, the fourth hydraulic cylinder 4 starts to work, the fourth hydraulic cylinder 4 drives the cleaning manipulator 5 to work upwards, meanwhile, the cleaning manipulator 5 drives the four rigid lifting branched chains 3 to work, two upper bending parts 35b on the lifting sliding piece 35 move upwards at two lower bending parts 32b on the lower lifting sliding piece 32, the lifting sliding piece 35 drives the dovetail-shaped sliding column 37 on the lifting fixing piece 36 to move, because the lifting sliding piece 32 is welded on the lifting fixing piece 31 in an inclined shape, the lifting sliding piece 35 also moves in an inclined direction, the dovetail-shaped sliding column 37 on the lifting fixing piece 36 is driven to move on the dovetail-shaped sliding groove 38, if the lifting sliding piece moves for a certain distance, the fourth hydraulic cylinder 4 needs to work continuously, and when the lower limiting block 35c moves to the shielding piece 343 of the upper limiting block 34, the lower limit block 35c is blocked by the blocking piece 343, the upper lifting slide sheet 35 moves to the highest position, the fourth hydraulic cylinder 4 stops working at the moment, the lower lifting slide sheet 32 and the fourth hydraulic cylinder 4 provide a supporting function for the upper lifting slide sheet 35 in the whole height lifting process of the lower lifting slide sheet 32, the lifting process is relatively stable, no shaking condition exists, the stable height lifting adjusting function of the invention is realized, and the working efficiency is high.

The cleaning manipulator 5 comprises a supporting round table 51 arranged at the top ends of a dovetail sliding groove 38 and a fourth hydraulic cylinder 4, a fifth hydraulic cylinder 52 is arranged in the middle of the upper end face of the supporting round table 51, a square adjusting block 53 is arranged at the top end of the fifth hydraulic cylinder 52, four limiting holes are symmetrically formed in the square adjusting block 53, four positioning round rods 54 are symmetrically welded on the upper end face of the supporting round table 51, the four positioning round rods 54 are respectively arranged on the four limiting holes of the square adjusting block 53 in a penetrating mode, and the four positioning round rods 54 play a role in limiting the movement direction of the square adjusting block 53, so that the square adjusting block 53 can stably move up and down under the driving of the fifth hydraulic cylinder 52; four cleaning devices 55 are uniformly arranged on the upper end face of the supporting circular truncated cone 51 along the circumferential direction through screws, the cleaning devices 55 can automatically clean indoor building suspended ceilings, spider webs and dust on the ceilings, the cleaning function and the dust removal function are integrated, an angle conversion branched chain 56 is respectively arranged between the four cleaning devices 55 and four side faces of the square adjusting block 53, and the cleaning angle of the cleaning devices 55 is adjusted through the angle conversion branched chain 56 and the five-number hydraulic cylinder 52; the angle conversion branched chain 56 comprises a fourth lug seat 561 welded on the side face of the square adjusting block 53, a sixth hydraulic cylinder 562 is mounted on the fourth lug seat 561 through a pin shaft, the top end of the sixth hydraulic cylinder 562 is mounted on a fifth lug seat 563 through a pin shaft, and the fifth lug seat 563 is welded on the inner side face of the rib plate 553 a; the cleaning device 55 comprises a second L-shaped connecting rod 551 which is installed on the upper end surface of the supporting circular truncated cone 51 through a screw, the tail end of the second L-shaped connecting rod 551 is provided with two third lifting lugs 551a, a fourth lifting lug 552a is installed between the two third lifting lugs 551a through a pin shaft, the fourth lifting lug 552a is arranged in the middle of the lower end surface of the connecting plate 552, the connecting plate 552 can rotate on the second L-shaped connecting rod 551, two supporting vertical plates 553 are symmetrically welded on the upper end surface of the connecting plate 552, a rib plate 553a is welded between the lower ends of the two supporting vertical plates 553, the rib plate 553a plays a role in enhancing the supporting strength of the two supporting vertical plates 553, and an angle conversion branched chain 56 is installed between the inner side surface of the; a rotating shaft 554 is arranged between the upper ends of the two supporting vertical plates 553 through a bearing, a driving motor 555 is arranged at the tail end of the rotating shaft 554 through a coupler, the driving motor 555 is arranged on a motor support plate 556 through a motor base, and the motor support plate 556 is welded on the side wall corresponding to the supporting vertical plates 553; the middle part of the rotating shaft 554 is provided with a roller 557 through a key, the upper end and the lower end of the roller 557 are uniformly provided with cleaning beams 557a, the rotating shaft 554 is driven by the driving motor 555 to rotate, the rotating shaft 554 drives the roller 557 to rotate, the roller 557 drives the cleaning beams 557a to clean spider nets on indoor building suspended ceilings and ceilings, the cleaning beams 557a at the upper end and the lower end of the roller 557 are respectively provided with a cleaning arc plate 558, and the two cleaning arc plates 558 are connected through cleaning bolts 558 a; the cleaning arc plates 558 are of a semicircular structure, the cleaning arc plates 558 correspond to the roller 557 structure, installation and operation of the cleaning arc plates 558 are convenient, cleaning round holes 558b are uniformly arranged on the outer walls of the cleaning arc plates 558 along the circumferential direction, cleaning bundles 557a are correspondingly arranged on each cleaning round hole 558b in a penetrating mode, the cleaning round holes 558b play a role of blocking spider nets wound on the cleaning bundles 557a, four mounting lugs 558c are symmetrically arranged on two sides of each cleaning arc plate 558, the mounting lugs 558c of the two cleaning arc plates 558 are connected through cleaning bolts 558a, when a large number of spider nets are wound on the cleaning bundles 557a, cleaning is needed, the cleaning bolts 558a fixed between the two cleaning arc plates 558 are firstly opened, then an operator manually operates the cleaning arc plates 558 to move upwards, and each cleaning bundle 557a is arranged on the corresponding cleaning round hole 558b of the cleaning arc plates 558, the cleaning arc plates 558 move upwards to directly gather the spider web wound on the cleaning bundles 557a to the top ends of the cleaning bundles 557a under the limit and blocking action of the cleaning circular holes 558b, then a cleaner can process the cleaning beams through an external cleaning rod, and after the processing is finished, the cleaning arc plates 558 move to the lower part and are fixed again through the cleaning bolts 558 a; a dust absorption support plate 553b is welded between the two supporting vertical plates 553, two sides of the dust absorption support plate 553b are symmetrically provided with two dust absorption branch chains 559, certain dust can fall off in the indoor building spider web cleaning process, and the fallen dust can absorb dust in time through the two dust absorption branch chains 559, so that the dust generated in the cleaning process is prevented from falling onto the floor, the workload is reduced, and the working efficiency is improved; the dust collection branch chain 559 comprises a second fixed platform 5591 arranged on the upper end surface of the dust collection support plate 553b, four second parallel branch chains 5592 are uniformly arranged on the upper end surface of the second fixed platform 5591 along the circumferential direction, a second movable platform 5593 is arranged on the upper end surface of the four second parallel branch chains 5592, two clamp rings 5594 are symmetrically arranged on the upper end surface of the second movable platform 5593, a miniature dust collector 5595 is arranged between the two clamp rings 5594, and the miniature dust collector 5595 is dust collection equipment bought in the existing market; no. two parallelly connected branch 5592 includes that the lower extreme welds No. six ear seats 5592a on No. two fixed platforms 5591, and No. seven pneumatic cylinder 5592b is installed through the round pin axle to No. six ear seats 5592a, and the top of No. seven pneumatic cylinder 5592b is installed on No. seven ear seats 5592c through the round pin axle, and No. two movable platforms 5593 are installed to No. seven ear seats 5592 c. According to the invention, an R pair is formed when the six-ear seat 5592a rotates, a P pair is formed when the seven hydraulic cylinder 5592b moves, and an R pair is formed when the seven-ear seat 5592c rotates, so that an RPR type second parallel branch 5592 is formed, finally, a 4-RPR parallel mechanism is formed through the second fixed platform 5591, the four RPR type second parallel branch 5592 and the second movable platform 5593, and the 4-RPR parallel mechanism also has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like, and the miniature dust collector 5595 arranged between the two snap rings 5594 can always keep a stable state in the rotation regulation of a dust collection angle and the dust collection process by virtue of the 4-RPR parallel mechanism, so that the dust collection effect is good, and the working efficiency is high. When the cleaning device works, firstly, the cleaning angle of the cleaning device 55 is adjusted according to the inclination of a place to be cleaned relative to a floor, the fifth hydraulic cylinder 52 starts to work, the fifth hydraulic cylinder 52 drives the square adjusting block 53 to move up and down, the square adjusting block 53 is driven by the fifth hydraulic cylinder 52 to stably move up and down by means of the limit auxiliary action of the four positioning round rods 54, meanwhile, the angle conversion branched chain 56 starts to work, the sixth hydraulic cylinder 562 on the angle conversion branched chain 56 drives the rib plate 553a on the cleaning device 55 to rotate, the rib plate 553a drives the connecting plate 552 to rotate on the second L-shaped connecting rod 551, the function of adjusting the cleaning angle of the cleaning device 55 is realized by the work of the fifth hydraulic cylinder 52 and the sixth hydraulic cylinder 562, when the cleaning beam 557a on the cleaning device 55 is away from the proper position of the place to be cleaned, the fifth hydraulic cylinder 52 and the sixth hydraulic, then the driving motor 555 starts to work, the driving motor 555 drives the rotating shaft 554 to rotate, the rotating shaft 554 drives the roller 557 to rotate, the roller 557 drives the cleaning beam 557a to clean the ceiling and the spider web on the ceiling of the indoor building, meanwhile, the two dust absorption branch chains 559 positioned on two sides of the roller 557 start to work, and the micro dust collectors 5595 on the dust absorption branch chains 559 continuously absorb dust falling in the cleaning process, so that the function of automatically cleaning the indoor building is realized.

The type of the fourth hydraulic cylinder 4 and the type of the fifth hydraulic cylinder 52 are both multi-stage hydraulic cylinders, and the telescopic range of the multi-stage hydraulic cylinders is large, so that the hydraulic cylinder is convenient to work.

When the device is used, the device is moved to a place needing to be cleaned of an indoor building through the four universal wheels 12, a cleaner determines a proper working angle according to actual conditions, the rotating motor 22 starts to work, the locking mounting table 23 can stably rotate under the driving of the rotating motor 22 due to the limiting auxiliary motion of the four L-shaped limiting rods 23a and the annular convex edge 24, the locking mounting table 23 synchronously drives the four locking branched chains 28 to rotate, and the rotating motor 22 stops working when the device reaches the proper cleaning working angle; then, the fixed locking angle of the locking branched chain 28 is adjusted according to the shape of the supporting part of the place to be cleaned, only the locking branched chain 28 in the required fixed direction needs to be adjusted according to the principle of proximity, the third hydraulic cylinder 292 on the corresponding adjusting branched chain 29 starts to work, the third hydraulic cylinder 292 drives the first L-shaped connecting rod 282 to rotate on the straight connecting rod 281 through the third lug seat 293, the third hydraulic cylinder 292 stops working when the inner side surface of the square mounting sheet 283 welded at the top end of the first L-shaped connecting rod 282 is parallel to the supporting part of the place to be cleaned, and finally the cleaning device is movably fixed on the supporting part of the place to be cleaned through four mounting holes, so that the situation that the cleaning device can move randomly in the working process is prevented after the fixing, a cleaning person can clean the supporting part of the cleaning device greatly, and the working efficiency is; when the place to be cleaned of the indoor building is higher in height and needs to be heightened to a supporting position, the fourth hydraulic cylinder 4 starts to work, the fourth hydraulic cylinder 4 drives the cleaning manipulator 5 to work upwards, meanwhile, the cleaning manipulator 5 drives the four rigid lifting branched chains 3 to work, two upper bending parts 35b on the lifting sliding piece 35 move upwards on two lower bending parts 32b on the lifting sliding piece 32, the lifting sliding piece 35 drives the dovetail-shaped sliding column 37 on the lifting fixing piece 36 to move, the lifting sliding piece 35 also moves in the inclined direction due to the fact that the lifting sliding piece 32 is welded on the lifting fixing piece 31 in an inclined shape, the dovetail-shaped sliding column 37 on the lifting fixing piece 36 is driven to move on the dovetail-shaped sliding groove 38, if the lifting sliding piece moves for a certain distance, the fourth hydraulic cylinder 4 needs to work continuously, when the lower limiting piece 35c moves to the shielding piece 343 of the upper limiting block 34, the lower limit block 35c is blocked by the blocking piece 343, the up-down sliding piece 35 moves to the highest position, at this time, the fourth hydraulic cylinder 4 stops working, the up-down sliding piece 35 has the support function of the down-down sliding piece 32 and the fourth hydraulic cylinder 4 in the whole height up-down process of the down-down sliding piece 32, the up-down process is relatively stable, no shaking condition exists, the stable height up-down adjusting function of the invention is realized, and the working efficiency is high; then the cleaning angle of the cleaning device 55 is adjusted according to the inclination of the place to be cleaned relative to the floor, the fifth hydraulic cylinder 52 starts to work, the fifth hydraulic cylinder 52 drives the square adjusting block 53 to move up and down, the square adjusting block 53 is driven by the fifth hydraulic cylinder 52 to move up and down stably under the limit auxiliary action of the four positioning round rods 54, meanwhile, the angle conversion branched chain 56 starts to work, the sixth hydraulic cylinder 562 on the angle conversion branched chain 56 drives the rib plate 553a on the cleaning device 55 to rotate, the rib plate 553a drives the connecting plate 552 to rotate on the second L-shaped connecting rod 551, the function of adjusting the cleaning angle of the cleaning device 55 is realized through the work of the fifth hydraulic cylinder 52 and the sixth hydraulic cylinder 562, when the cleaning beam 557a on the cleaning device 55 is at a proper position away from the place to be cleaned, the fifth hydraulic cylinder 52 and the sixth hydraulic cylinder 562 stop working, and then the driving motor 555 starts to work, the driving motor 555 drives the rotating shaft 554 to rotate, the rotating shaft 554 drives the roller 557 to rotate, the roller 557 drives the cleaning bundles 557a to clean spider webs on ceilings and ceilings of indoor buildings, when a large number of spider webs are wound on the cleaning bundles 557a, cleaning is needed, firstly, cleaning bolts 558a fixed between two cleaning arc plates 558 are opened, then an operator manually operates the cleaning arc plates 558 to move upwards, each cleaning bundle 557a penetrates through a corresponding cleaning circular hole 558b of the cleaning arc plate 558, the upwards movement of the cleaning arc plates 558 directly converges the spider webs wound on the cleaning bundles 557a to the top ends of the cleaning bundles 557a under the limiting and blocking effect of the cleaning circular holes 558b, then the cleaning worker can process the cleaning rods, after the processing, the cleaning arc plates 558 move to the lower side and are fixed again through the cleaning bolts 558a, and simultaneously, two dust absorption branched rollers 559 positioned at two sides of the cleaning branched rollers 557 start working, the miniature dust collector 5595 on the dust collection branched chain 559 continuously absorbs dust falling in the cleaning process, because the second fixed platform 5591, the four RPR type second parallel branched chains 5592 and the second movable platform 5593 form a 4-RPR parallel mechanism, the 4-RPR parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like, the miniature dust collector 5595 arranged between the two snap rings 5594 can always keep a stable state in the rotation regulation of dust collection angle and the dust collection process by virtue of the advantages of the 4-RPR parallel mechanism, the dust collection effect is good, the working efficiency is high, thereby realizing the function of automatically cleaning indoor buildings, and the first ear seat 1321 forms a P pair when rotating, the first 1322 hydraulic cylinder moves, and the ball hinge 1324 forms a S pair when working, thereby forming the RPS type first parallel branched chain 132, finally, a 3-RPS parallel mechanism is formed by the first fixed platform 131, the three RPS type first parallel branch chains 132 and the first movable platform 133, the parallel support branch chain 13 in the invention is the 3-RPS parallel mechanism, the 3-RPS parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like, the four 3-RPS parallel mechanisms are used for realizing the function of stably and rigidly supporting the square mounting table 15 by virtue of the advantages of the parallel mechanism, and the invention has good stability and good shock absorption performance by virtue of the advantages of the parallel mechanism, thereby solving the problems of low cleaning speed, high labor intensity, low automation degree, poor rigid support performance of equipment, poor stability of equipment, poor shock absorption performance of equipment, low cleaning speed, low labor intensity, low automation degree, poor rigid support performance of equipment, poor shock absorption performance of equipment, low vibration absorption performance of equipment and the like in the existing method of manually cleaning indoor buildings by, The fixed angle is not adjustable, the rotating angle is not adjustable, the height adjustment performance is poor, the application range is small, the working efficiency is low and the like, and the aim is achieved.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a building environmental protection cleaning machine which characterized in that: the self-stabilizing device comprises a self-stabilizing supporting device (1), wherein a locking adjusting device (2) is arranged in the middle of the upper end face of the self-stabilizing supporting device (1), four rigid lifting branched chains (3) are symmetrically arranged on the upper end face of the locking adjusting device (2) through screws, a fourth hydraulic cylinder (4) is arranged in the middle of the upper end face of the locking adjusting device (2), and a cleaning manipulator (5) is arranged at the top ends of the four rigid lifting branched chains (3) and the fourth hydraulic cylinder (4);

the self-stabilizing supporting device (1) comprises a fixed circular truncated cone (11), four universal wheels (12) are symmetrically arranged on the lower end face of the fixed circular truncated cone (11), four parallel supporting branched chains (13) are uniformly arranged on the upper end face of the fixed circular truncated cone (11) along the circumferential direction, an L-shaped pillar (14) is arranged in the middle of the upper end face of each parallel supporting branched chain (13), an installation wafer (14a) is arranged at the tail end of each L-shaped pillar (14), each installation wafer (14a) is arranged on one connecting sheet (15a) through a screw, each connecting sheet (15a) is welded on the lower end face of a square installation table (15), a positioning hollow shaft (16) is welded in the middle of the lower end face of the square installation table (15), the lower end of the positioning hollow shaft (16) is sleeved on a main positioning shaft (17), and the bottom end of the main positioning shaft (17) is welded in the; four upper positioning shafts (15b) are symmetrically welded on the lower end face of the square mounting table (15), a limiting spring (18) is sleeved on each of the four upper positioning shafts (15b), the lower end of each limiting spring (18) is sleeved on the corresponding lower positioning shaft (11a), and each lower positioning shaft (11a) is welded on the upper end face of the fixed round table (11);

the locking adjusting device (2) comprises a lower locking round table (21) with a lower end face welded on a square mounting table (15), a rotating motor (22) is mounted in the middle of the lower locking round table (21) through a motor base, a locking mounting table (23) is fixedly connected to an output shaft of the rotating motor (22), four L-shaped limiting rods (23a) are uniformly arranged on the lower end face of the locking mounting table (23) along the circumferential direction, the four L-shaped limiting rods (23a) are connected with an annular convex edge (24) in a sliding fit manner, and the lower end of the annular convex edge (24) is welded on the lower locking round table (21); four second hydraulic cylinders (25) are symmetrically mounted on the upper end face of the locking mounting platform (23), the middle parts of the four second hydraulic cylinders (25) are respectively fixed on the four Z-shaped fixing seats (26), and the bottom ends of the four Z-shaped fixing seats (26) are symmetrically mounted on the locking mounting platform (23) through screws; the top ends of the four second hydraulic cylinders (25) are provided with rhombic lifting blocks (27), four side faces of each rhombic lifting block (27) are symmetrically welded with four locking branched chains (28), and the four locking branched chains (28) are connected with the locking mounting platform (23) through adjusting branched chains (29); four top columns (210) are symmetrically welded on the upper end face of the rhombic lifting block (27), and an upper locking circular table (211) is installed at the upper ends of the four top columns (210);

the rigid lifting branched chain (3) comprises a lower lifting fixing piece (31) which is installed on the upper end surface of the upper locking circular truncated cone (211) through a screw, a lower lifting sliding piece (32) is welded on the lower lifting fixing piece (31) in an inclined shape, two upper limiting blocks (34) are symmetrically installed at the upper end of the middle part of the lower lifting sliding piece (32) through a fixing bolt (33), an upper lifting sliding piece (35) is installed on the lower lifting sliding piece (32) in a sliding fit mode, an upper lifting fixing piece (36) is welded on the upper lifting sliding piece (35), a dovetail-shaped sliding column (37) is welded on the upper lifting fixing piece (36), the dovetail-shaped sliding column (37) is connected with a dovetail-shaped sliding groove (38) in a sliding fit mode, and two ends of the dovetail-shaped sliding groove (38) are closed, the upper ends of the dovetail sliding grooves (38) on the four rigid lifting branched chains (3) are provided with cleaning manipulators (5); the lower lifting slide sheet (32) comprises a lower plane bottom (32a) with the lower end welded on the lower lifting fixing sheet (31), two sides of the lower plane bottom (32a) are respectively and integrally formed with a lower bending part (32b) which is bent inwards, the upper end of the middle part of each lower bending part (32b) is respectively provided with an opening, and an upper limiting block (34) is arranged at the corresponding opening of each lower bending part (32b) through a fixing bolt (33); the upper limiting block (34) comprises a base block (341), two nut holes (34a) are symmetrically formed in the base block (341), a fixing nut (342) is respectively installed on each nut hole (34a), each fixing nut (342) penetrates through a lower bending part (32b) on the lower lifting slide sheet (32) and is connected with a fixing bolt (33), a shielding sheet (343) is integrally formed at the lower end of the side surface of the base block (341), an L-shaped hook column (344) is integrally formed at the upper end of the base block (341), and the upper end of the L-shaped hook column (344) is hooked at the upper end of the lower bending part (32b) of the lower lifting slide sheet (32);

the cleaning manipulator (5) comprises a supporting round table (51) arranged at the top ends of a dovetail sliding groove (38) and a fourth hydraulic cylinder (4), a fifth hydraulic cylinder (52) is arranged in the middle of the upper end face of the supporting round table (51), a square adjusting block (53) is arranged at the top end of the fifth hydraulic cylinder (52), four limiting holes are symmetrically formed in the square adjusting block (53), four positioning round rods (54) are symmetrically welded on the upper end face of the supporting round table (51), and the four positioning round rods (54) are respectively arranged on the four limiting holes of the square adjusting block (53) in a penetrating mode; four cleaning devices (55) are uniformly arranged on the upper end surface of the supporting circular truncated cone (51) along the circumferential direction through screws, and an angle conversion branched chain (56) is respectively arranged between the four cleaning devices (55) and the four side surfaces of the square adjusting block (53); the cleaning device (55) comprises a second L-shaped connecting rod (551) which is installed on the upper end face of the supporting circular truncated cone (51) through a screw, the tail end of the second L-shaped connecting rod (551) is provided with two third lifting lugs (551a), a fourth lifting lug (552a) is installed between the two third lifting lugs (551a) through a pin shaft, the fourth lifting lug (552a) is arranged in the middle of the lower end face of the connecting plate (552), the upper end face of the connecting plate (552) is symmetrically welded with two supporting vertical plates (553), a rib plate (553a) is welded between the lower ends of the two supporting vertical plates (553), and an angle conversion branched chain (56) is installed between the inner side face of the rib plate (553a) and the corresponding side face; a rotating shaft (554) is mounted between the upper ends of the two supporting vertical plates (553) through a bearing, a driving motor (555) is mounted at the tail end of the rotating shaft (554) through a coupler, the driving motor (555) is mounted on a motor support plate (556) through a motor base, and the motor support plate (556) is welded on the side wall corresponding to the supporting vertical plates (553); the middle part of the rotating shaft (554) is provided with a roller (557) through a key, the upper end and the lower end of the roller (557) are uniformly provided with cleaning beams (557a), the cleaning beams (557a) at the upper end and the lower end of the roller (557) are respectively provided with a cleaning arc plate (558), and the two cleaning arc plates (558) are connected through a cleaning bolt (558 a); a dust absorption support plate (553b) is welded between the two supporting vertical plates (553), and two dust absorption branch chains (559) are symmetrically arranged on two sides of the dust absorption support plate (553 b);

the angle conversion branched chain (56) comprises a fourth lug seat (561) welded on the side face of the square adjusting block (53), a sixth hydraulic cylinder (562) is mounted on the fourth lug seat (561) through a pin shaft, the top end of the sixth hydraulic cylinder (562) is mounted on a fifth lug seat (563) through a pin shaft, and the fifth lug seat (563) is welded on the inner side face of the rib plate (553 a);

the cleaning arc plates (558) are of a semicircular structure, cleaning round holes (558b) are uniformly formed in the outer walls of the cleaning arc plates (558) along the circumferential direction, cleaning bundles (557a) correspondingly penetrate through each cleaning round hole (558b), four mounting lugs (558c) are symmetrically arranged on two sides of each cleaning arc plate (558), and the mounting lugs (558c) of the two cleaning arc plates (558) are connected through cleaning bolts (558 a);

the dust collection branch chain (559) comprises a second fixed platform (5591) arranged on the upper end surface of the dust collection support plate (553b), four second parallel branch chains (5592) are uniformly arranged on the upper end surface of the second fixed platform (5591) along the circumferential direction, a second movable platform (5593) is arranged on the upper end surface of the four second parallel branch chains (5592), two clamp rings (5594) are symmetrically arranged on the upper end surface of the second movable platform (5593), and a miniature dust collector (5595) is arranged between the two clamp rings (5594); no. two parallelly connected branch chains (5592) include No. six ear seats (5592a) of lower extreme welding on No. two fixed platforms (5591), and No. seven pneumatic cylinders (5592b) are installed through the round pin axle to No. six ear seats (5592a), and install on No. seven ear seats (5592c) through the round pin axle on the top of No. seven pneumatic cylinder (5592b), and No. two movable platforms (5593) are installed to No. seven ear seats (5592 c).

2. The building environment-friendly cleaning machine as claimed in claim 1, wherein: parallelly connected support branched chain (13) are including welding No. one fixed platform (131) on fixed round platform (11) up end, No. one fixed platform (131) up end along circumferencial direction evenly install three parallelly connected branched chain (132) No. one, three parallelly connected branched chain (132) upper end evenly install on moving platform (133) No. one, move platform (133) up end mid-mounting have corresponding L type pillar (14).

3. The building environment-friendly cleaning machine as claimed in claim 2, wherein: a parallelly connected branch chain (132) include that the lower extreme welds ear seat (1321) on a fixed platform (131) up end, pneumatic cylinder (1322) are installed through the round pin axle to ear seat (1321), there is connecting cylinder (1323) on the top of pneumatic cylinder (1322) through threaded connection, there is ball hinge (1324) through threaded connection on connecting cylinder (1323), install on three corner seats (1325) through the screw thread ball hinge (1324) upper end, three corner seats (1325) weld on the lower terminal surface of moving platform (133) one number.

4. The building environment-friendly cleaning machine as claimed in claim 1, wherein: the locking branched chain (28) comprises a straight connecting rod (281) welded on the corresponding side face of the rhombic lifting block (27), two first lifting lugs (281a) are arranged at the top end of the straight connecting rod (281), a second lifting lug (282a) is installed between the two first lifting lugs (281a) through a pin shaft, the second lifting lug (282a) is welded on the first L-shaped connecting rod (282), a square mounting piece (283) is welded at the top end of the first L-shaped connecting rod (282), and four mounting holes are symmetrically formed in the square mounting piece (283).

5. The building environment-friendly cleaning machine as claimed in claim 1, wherein: adjust branch chain (29) and install No. three pneumatic cylinders (292) including No. two ear seats (291) of welding on locking mount table (23) between No. two ear seats (291) through the round pin axle, the top of No. three pneumatic cylinders (292) is installed between No. three ear seats (293) through the round pin axle, and No. three ear seats (293) weld on the lateral wall of a L type connecting rod (282).

6. The building environment-friendly cleaning machine as claimed in claim 1, wherein: go up and fall gleitbretter (35) including upper end welding last plane bottom (35a) on last lift stationary blade (36), go up plane bottom (35a) and go up and down to link to each other through sliding fit between lower plane bottom (32a) on gleitbretter (32) down, go up plane bottom (35a) both sides respectively integrated into one piece have one upward bending (35b) of incurving, the inner wall of every upward bending (35b) links to each other through sliding fit between the outer wall that corresponds lower bending (32b) respectively, the bottom symmetry of going up plane bottom (35a) is provided with two lower spacing blocks (35c) corresponding with shielding piece (343) on two upper spacing blocks (34).

7. The building environment-friendly cleaning machine as claimed in claim 1, wherein: the type of the fourth hydraulic cylinder (4) and the type of the fifth hydraulic cylinder (52) are both multi-stage hydraulic cylinders.