Building balustrade cleaning robot based on six-freedom-degree parallel mechanism

Abstract

The invention relates to a building balustrade cleaning robot based on a six-freedom-degree parallel mechanism. The building balustrade cleaning robot comprises a lower platform. A bottom plate is arranged on the lower end face of the lower platform. Four universal wheels are symmetrically arranged on the lower end face of the bottom plate. The building balustrade cleaning robot can be freely moved to the side of a balustrade needing to be cleaned through the four universal wheels, and operation is easy and convenient. Six parallel branched chains are mounted on the lower platform, and the upper ends of the six parallel branched chains are evenly mounted on an upper platform. Each parallel branched chain comprises a hollow lower threaded shaft with the lower end welded to the lower platform. A first spherical hinge is mounted on each hollow lower threaded shaft in a threaded connection manner. The upper end of each first spherical hinge is provided with a first sleeve in a threaded connection manner. The upper end of each first sleeve is provided with a first hydraulic cylinder in a threaded connection manner. According to the building balustrade cleaning robot, the stable automatic lifting cleaning function of the indoor balustrade can be achieved, and a new path of automatically cleaning the balustrade is provided.

Description

technical field [0001] The invention relates to building cleaning equipment, in particular to a building guardrail cleaning robot based on a six-degree-of-freedom parallel mechanism. Background technique [0002] With the continuous development of China's economy, high-rise buildings can be seen everywhere. In order to ensure the safety of users, stainless steel guardrails are usually installed before the indoor glass of high-rise buildings. The stainless steel guardrails need to be wiped and cleaned regularly. However, due to the existing indoor stainless steel There are a large number of guardrails, which greatly increases the workload of cleaning personnel, and the manual cleaning of indoor stainless steel guardrails has defects such as slow cleaning speed, poor cleaning effect, and low work efficiency; although most guardrail cleaning equipment in the existing market is aimed at Road guardrails, green guardrails and other outdoor stainless steel guardrails are designed, ...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above problems, the present invention provides a building guardrail cleaning robot based on a six-degree-of-freedom parallel mechanism, which can solve the problems of high labor intensity, slow cleaning speed, poor cleaning effect and low work efficiency in the existing manual cleaning of indoor guardrails. It can also solve the existing hand-held indoor guardrail cleaning equipment, such as small cleaning height adjustment range, equipment shaking during lifting and cleaning, poor cleaning stability, poor cleaning effect, poor rigid support performance, low work efficiency, and cleaning diameter. Unadjustable and small scope of application, etc., can realize the stable automatic lifting and cleaning function of indoor guardrails, and has fast cleaning speed, large cleaning height adjustment range, large cleaning diameter adjustment range, large application range, no shaking phenomenon during the lifting and cleaning process, and stable cleaning. Good rigidity, good rigid support performance, good cleaning effect and high work efficiency, etc., providing a new way to automatically clean the guardrail

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