An Indoor Building Cleaning Robot Based on Parallel Mechanism

Abstract

The invention relates to a robot for cleaning an interior architecture based on a parallel mechanism. The robot comprises a self-stabilization supporting device, wherein the self-stabilization supporting device has good rigid supporting performance, stable performance and vibration reducing performance; a cleaning manipulator is arranged in the middle of the upper end face of the self-stabilization supporting device; the cleaning manipulator is adjustable in cleaning angle and wide in application range, can realize the functions of automatically cleaning a ceiling, and spider webs and dust on the ceiling and the like; the interior architecture is automatically cleaned by the cleaning manipulator; the self-stabilization supporting device comprises a fixed circular table; and four universal wheels are symmetrically arranged on the lower end face of the fixed circular table. The robot disclosed by the invention is moved to a place required to be cleaned, of the interior architecture through the four universal wheels; and four parallel supporting branched chains are uniformly arranged on the upper end face of the fixed circular table along the axial direction. According to the robot disclosed by the invention, a function of automatically cleaning the interior architecture can be realized, and a new path for automatically cleaning the interior architecture is provided.

Description

technical field [0001] The invention relates to the technical field of building environmental protection, in particular to an indoor building cleaning robot based on a parallel mechanism. Background technique [0002] With the continuous development of social economy, all kinds of high-rise buildings stand in forests, but with the continuous growth of the number of high-rise buildings, there are more and more cleaners who maintain the environmental protection and hygiene of high-rise buildings. The scope of cleaning includes floors, glass windows, and walls. Ceramic tiles, suspended ceilings or ceilings, etc., there are already many sweeping robots and window cleaning robots on the market, which can solve the cleaning problem of floors and glass windows without manual cleaning, but the dust and cobwebs on wall tiles, suspended ceilings and ceilings All need to manually stand on the high-level auxiliary equipment for regular processing, and no automatic cleaning equipment has...

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Problems solved by technology

[0003] In order to solve the above problems, the present invention provides an indoor building cleaning robot based on a parallel mechanism, which can solve the problems of slow cleaning speed, high labor intensity, low degree of automation, and rigid support of equipment in the manual cleaning of indoor buildings through existing high-level auxiliary equipment. Poor performance, poor equipment stability, poor equipment shock absorption performance, small scope of application and low work efficiency, etc., can realize the automatic cleaning function of indoor buildings without manual operation, and has the advantages of fast cleaning speed, good rigid support performance of equipment, and equipment With the advantages of good stability, good shock absorption performance, wide application range and high work efficiency, it provides a new way to automatically clean indoor buildings

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