CN107320021B

CN107320021B - Tunnel and ladder step mopping robot

Info

Publication number: CN107320021B
Application number: CN201710714515.1A
Authority: CN
Inventors: 邹家福; 张文彬; 邹家华; 邹永平
Original assignee: Suining Changfeng Machinery Technology Co Ltd
Current assignee: Suining Changfeng Machinery Technology Co Ltd
Priority date: 2017-08-18
Filing date: 2017-08-18
Publication date: 2020-02-18
Anticipated expiration: 2037-08-18
Also published as: CN107320021A

Abstract

The tunnel and ladder step mopping robot comprises a cleaning pool, a transverse sliding frame, an inner hanging frame, an inner baffle, an outer baffle, an extrusion plate, a stirring and cleaning rod, a clamping jaw clamping arm mechanism, a main arm frame, a connecting frame, an outer hanging frame, a mop, a motor, a hydraulic cylinder and a vehicle body. The front of the vehicle body is provided with a cleaning pool, a clamping jaw clamping arm mechanism and a main arm support. The cleaning pool is internally provided with a horizontal sliding frame, an inner hanging frame, an inner baffle, an extrusion plate, a stirring and washing bar and an outer baffle. The mop is hung on the inner hanging frame. The front ends of the two main arm supports are provided with a connecting frame part. The two outer hanging frames are connected into a front row and a rear row by the connecting frame, and the mop is hung on the outer hanging frames. When mopping, the two connecting frame parts are close to each other side by side. The two rows of mops are used for mopping the floor in turn and cleaning in turn. The clamping jaw clamping arm mechanism takes down, transfers and hangs the mop between the inner hanging frame and the outer hanging frame. The mop is stirred and washed in a washing pool and is squeezed for dehydration. The mopping robot can mop the railway station, the subway tunnel, the ladder step and all the wide floors. The mopping range is two to three meters wide, the obstacle can be avoided from being folded, the water can be used in a crossed mode, and the water is saved.

Description

Tunnel and ladder step mopping robot

Technical Field

The invention belongs to the field of environment-friendly machinery, and particularly relates to a tunnel and ladder step mopping robot.

Background

The existing railway station and subway station have wide tunnel, long ladder step and more ladder steps. Although the floor of the tunnel is dragged by the floor-mopping machine, the floor-mopping machine mostly rotates by a disc and is matched with a small amount of water spraying, and the water absorbing rake is arranged behind the disc to absorb water. Such mopping machines have a narrow mopping area and have a non-clean floor after mopping. Because a thin layer of sewage always needs to be left on the ground, the ground is not clean after mopping, and the mopping is needed for multiple times. A long strip-shaped mop is also arranged in front of or behind the mopping machine. Although the mopping area is wide, the long-strip-shaped mop cannot be automatically cleaned, after a small amount of ground is mopped, the mop is dirty, an operator often continues mopping the ground, and when the operator cleans the mop, some ground is dirty. The ladder step mopping adopts machines such as ladder step mopping machines, but the mopping is also troublesome to clean. In most cases, the ladder steps are still manually dragged and wiped. Particularly, the underground passage and the stair step of the station have frequent times of stopping the train, and the time for mopping the ground each time is often very short, so that more cleaners are needed to mop the ground suddenly. The working efficiency is low, and the labor intensity of workers is high.

Disclosure of Invention

The invention aims to overcome the defects of cleaning a station tunnel and a ladder step in the prior art, and provides a tunnel and ladder step mopping robot which has a wide mopping area and can automatically clean mops at any time, which is hereinafter referred to as a mopping robot.

The invention is realized by the following steps: the tunnel and ladder step mopping robot comprises a cleaning pool, a transverse sliding frame, an inner hanging frame, an inner baffle, an outer baffle, an extrusion plate, a stirring and cleaning rod, a clamping jaw clamping arm mechanism, a main arm frame, a connecting frame, an outer hanging frame, a mop, a motor, a hydraulic cylinder and a vehicle body. The cross sliding frame is arranged in the cleaning pool. And a lifting device is arranged between the two ends of the transverse sliding frame and the shell plate of the cleaning pool. The cleaning pool is arranged in front of the vehicle body. The inner hanging frame is arranged on the horizontal sliding frame. A propelling device is arranged between the vertical slide blocks connected with the end heads of the transverse slide frames at one end of the inner hanging frame. The inner hanging frame is provided with a clamping block and a bayonet. The mop comprises a hanging block, a frame plate and a mop strip. The lower end of the hanging block is connected with the frame plate into a whole, and the handkerchief strip is fixed on the frame plate. The hanging block is provided with a hook and a hanging clip. When the mop is cleaned, the hanging block of the mop is hung on the inner hanging frame, and the hook is hung on the clamping block. The inner baffle is arranged on the inner hanging frame. And a lifting device is arranged between the guide frame and the inner hanging frame which are connected on the inner baffle. The outer baffle plates are arranged on two sides of the cleaning pool. The stirring and washing bar is arranged in the washing pool. The clamping jaw clamping arm mechanism comprises a rear clamping arm, a front clamping arm, a chuck, a clamping jaw and a hydraulic cylinder. The rear end of the rear clamping arm of the clamping jaw clamping arm mechanism is hinged on a turntable above a cleaning pool in front of the vehicle body. The chuck is provided with a device which can make the clamping jaw integrally rotate and make the clamping jaw open and close. The main arm frame comprises a front arm frame, a rear arm frame and a hydraulic cylinder. The main arm frame is provided with two pairs, and the rear end of the two pairs of main arm frames is arranged on the vehicle body below the cleaning pool. The mop is provided with a front row of mops and a rear row of mops, and the front row of mops and the rear row of mops are cleaned in turn and used for mopping the floor in turn. The structure of the mop hung on the outer hanging frame is the same as that of the inner hanging frame. When the mop is cleaned, the clamping jaw and clamping arm mechanism clamps and takes down the mop on the external hanging frame, transfers the mop into a cleaning pool and hangs the mop on the internal hanging frame; after water is injected into the cleaning pool and stirred and cleaned by the stirring and cleaning rod for a set time, the mop descends onto an extrusion plate arranged below the cleaning pool, the inner baffle moves downwards, the outer baffle clamps the outside of the mop, the inner hanging frame moves downwards, and the handkerchief strip is extruded and dehydrated; after the mop is cleaned for a set number of times, the clamping jaw clamping arm mechanism takes the mop in the cleaning pool off the inner hanging frame, transfers the mop to the corresponding vacant outer hanging frame to be hung, sequentially takes the mop off the outer hanging frame, puts the mop into the cleaning pool, and circulates the processes, cleans in turn and mops in turn. The front and the rear external hanging frames are connected together by a connecting frame, the mop is hung on the external hanging frames to form a connecting frame part, and two connecting frame parts are installed on one mopping robot. The middle of the connecting frame is provided with a rack, the two sides of the connecting frame are provided with slideways, a sliding shell is arranged on each slideway, a gear is arranged and connected in each sliding shell, the gear is meshed with the rack, and a driving motor of the gear is arranged on each sliding shell. The upper edge of the sliding shell is fixedly provided with a connector, and the front ends of the two auxiliary main arm supports are respectively hinged with the connector on one sliding shell. When the mopping robot mops and washes the ladder steps, one row of mops in the mops connected to the front and rear rows of outer hanging frames are placed on the ladder steps, and the gear on the sliding shell on each connecting frame part drives the rack to drive the mops to move left and right along the length direction of the ladder steps by a set distance under the driving of the motor, so that the mopping process of one-level ladder steps is completed through mopping and washing. Vertical slide ways are installed on the inner walls of the two sides in the cleaning pool, vertical slide blocks are fixedly connected to the two ends of the transverse sliding frame, and the vertical slide blocks are installed in the vertical slide ways. The two connecting frame parts can be folded inwards in a folding mode, and the two connecting frame parts are folded in a front and back staggered mode and are folded in a rotating mode. The extrusion plate is arranged at the lower side in the cleaning pool. The lower side of the connecting frame is provided with a height limiting wheel. The mopping robot can mop the tunnel and the ladder steps. The vehicle body is provided with a secondary sewage tank, a light sewage tank, a sewage tank and a clear water tank.

The invention has the advantages that: 1. because two rows of mops are arranged, each row of two mops is long, each mop can be as long as about one to one and a half meters, and the width of the mopping robot can be as wide as two to three meters. And when meeting barriers, the two connecting frame parts can be folded, so that the floor mopping efficiency is high. 2. The mop cleaning machine is characterized in that a water tank is arranged on the vehicle body, a cleaning pool is arranged, an extrusion type dewatering device is arranged in the cleaning pool, and a clamping jaw clamping arm mechanism and a main arm frame are arranged on the vehicle body, so that mops can be cleaned in turn and mopped in turn. Not only improves the working efficiency, but also makes the floor cleaner after mopping. 3. The vehicle body is provided with a sewage tank, a secondary sewage tank, a light sewage tank and a clear water tank, so that water is reasonably used alternately, the water-saving effect is obvious, and the effect on water-deficient areas is great. 4. The mopping robot can mop the station tunnel, the ladder step and the platform, and can finish mopping the main ground of the station. 5. The mopping robot has two types of vehicles of unmanned operation and manned operation. By adopting the unmanned vehicle type, the operator on duty can monitor the vehicle in the whole process, and the labor intensity of the operator can be reduced.

Drawings

Fig. 1 is an overall structural view of a tunnel and ladder step mopping robot.

Fig. 2 is a top view of fig. 1.

FIG. 3 is a view showing the installation of the traverse frame in the cleaning tank.

Fig. 4 is a mounting view of the inner hanging frame on the lateral sliding frame.

Fig. 5 is a structure diagram of the corresponding installation positions of the mop and the inner hanging frame.

Fig. 6 is a structural view of the mop in fig. 5 mounted on an inner hanging frame.

Fig. 7 is a structural view of an inner fender structure and an installation position of an inner fender on an inner hanging frame.

Fig. 8 is a view showing the inner barrier mounted on the inner hanging frame.

FIG. 9 is a structural view of the agitation washing apparatus.

FIG. 10 is a view showing the installation structure of the outer baffle and the bar for washing.

FIG. 11 is a drawing showing the dewatering condition of mop press.

Fig. 12 is a drawing of the step of the mopping robot.

Fig. 13 is a view showing the coupling parts in front of the mopping robot being folded.

Fig. 14 is another drawing method of the mopping robot.

In the drawings: the cleaning device comprises a seat cushion 1, an operating panel 2, a vehicle body 3, a shaft pin 4, a hinge seat 5, a rotary table 6, a rear clamping arm 7, a hydraulic cylinder 8, a motor 9, a cleaning pool 10, a front clamping arm 11, a chuck 12, a clamping jaw 13, a connector 14, a sliding shell 15, a connecting frame 16, an external hanging frame 17, a mop 18, a height limiting wheel 19, a front arm frame 20, a rear arm frame 21, a wheel 22, a pedal 23, a rack 24, a slideway 25, a gear 26, an upright slideway 27, an upright slide block 28, a cleaning pool shell plate 29, a bracket 30, a transverse sliding frame 31, a nut 32, a screw rod 33, an internal hanging frame 34, a bayonet 35, a clamping block 36, a concave surface 37, a hook 38, a hook 39, a clamping jaw hook groove 40, a notch 41, a hanging block 42, a frame plate 43, a handkerchief bar 44, a spring 45, a guide frame 46, an internal baffle 47, a rotating shaft 48, a crank 49, a stirring and cleaning lever 50, a roller 51, a support, Cleaning pool bottom plate 58, triangular wheel 59, piston rod 60, supporting slide way 61, supporting slide block 62, hinge 63 and ladder step 64.

Detailed Description

Fig. 1 is an overall configuration diagram of a tunnel and a ladder step washing robot. A cleaning pool 10 is arranged in front of the vehicle body 3, and a motor 9 is arranged on a shell plate on one side of the cleaning pool. The cleaning pool is a rectangular shell. The clamping jaw clamping arm mechanism comprises a front clamping arm 11, a rear clamping arm 7, a hydraulic cylinder 8, a clamping head 12 and a clamping jaw 13. The turntable 6 is mounted at the front upper part of the vehicle body 3. The hinge mount 5 is mounted on the turntable 6. The rear end of the rear clamping arm 7 is connected with the hinge base 5 by a shaft pin 4. The rear end of the front clamping arm 11 is hinged with the front end of the rear clamping arm 7. Hydraulic cylinders 8 are arranged between the rear end of the rear clamping arm and the turntable and between the rear section of the front clamping arm and the rear clamping arm. The front and rear clamping arms are both of a multi-section telescopic arm structure. The front end of the front clamping arm is connected with a clamping head 12. Jaws 13 are mounted on chuck 12. The upper section of the clamping jaw 13 is a two-plate structure, namely a plate clamp. The lower end of the plate clamp is provided with two claw-shaped structures, namely claw clamps. Plate clamps and jaw clamps are collectively referred to as jaws. A hydraulic cylinder is arranged between the chuck and the front end of the front clamping arm. The chuck 12 is provided with a jaw opening and closing device and a jaw integral rotating device, which are conventional and not shown for clarity of the drawing.

The main arm support is arranged below the cleaning pool. The main arm frame comprises a front arm frame 20, a rear arm frame 21 and a hydraulic cylinder 8. The rear end of the rear arm support 21 is hinged on the vehicle body 3. The front end of the rear arm support 21 is hinged with the rear end of the front arm support 20. Hydraulic cylinders 8 are arranged between the rear arm support and the vehicle body and between the rear arm support and the front arm support. The connecting frame 16 connects the front and the rear outer hanging frames 17 into a whole. A sliding shell 15 is arranged on the slideway of the connecting frame 16. The upper surface of the sliding shell 15 is connected with the connecting head 14. The front end of the front arm support is hinged on the connector 14.

The side of the mop 18 is connected with a hanging block which is hung on the outer hanging frame 17. Height limiting wheels 19 are arranged below the connecting frames. Wheels 22 are mounted below the vehicle body. In fig. 1, an operation panel 2, a seat cushion 1, and a pedal 23 are attached to the rear of a vehicle body 3.

Fig. 2 is a plan view of fig. 1. Fig. 2 is a plan view of fig. 1 rotated ninety degrees counterclockwise. The front middle of the vehicle body 3 is provided with a turntable 6. And a rear clamping arm 7 of the clamping jaw clamping arm mechanism is arranged on the turntable. In order to keep the front figure out of the way, the front section of the rear clamping arm 7 and the front clamping arm of the clamping jaw clamping arm mechanism in the figure 1 are both deleted. The washing tank 10 is installed in front of the vehicle body. A motor 9 is arranged on the shell plate at one side of the cleaning pool. The foremost part of the vehicle body is a connecting frame part. The connecting frame part is a general term for arranging all parts connected with each other by mops in order in front of the vehicle body for mopping the ground, including the mops. The connecting frame part is divided into a left frame part and a right frame part. The left frame part and the right frame part have the same structure. The front and the rear sides of the connecting frame 16 are both connected with an external hanging frame 17, and each external hanging frame 17 is provided with a mop 18. The left frame part and the right frame part of the connecting frame part divide the mop 18 into two rows, and each row of the two mops are close side by side. Each link 16 has a rack 24 mounted thereon, as shown in phantom in fig. 2. The rack 24 is provided with a gear 26, and the gear 26 is engaged with the rack 24. The connecting frames on both sides of the rack 24 are provided with slideways 25, and the slideways 25 are provided with sliding shells 15. The slide case 15 can slide right and left on the slide 25. Gears 26 are mounted on the housing walls on either side of the inside of the slide housing. And a motor 9 for driving the gear is arranged on one outer side of the sliding shell relative to the position of the gear shaft. A rotating shaft is arranged in the connector 14, and the rotating angle of the rotating shaft is controlled by a motor or a rotating oil cylinder. The connectors are prior art. The upper edge of the sliding shell is fixedly connected with a transverse block which is connected with the lower end of a rotating shaft in the connector into a whole. The front arm frames 20 of the two main arm frames are respectively hinged with the connectors on the upper sides of the sliding shells of the left frame part and the right frame part. The connector can be adjusted and changed the angle between the left frame part, the right frame part and the front arm frame 20 of the main arm frame. The driving motor 9 of the gear rotates forward and backward for a set angle, namely, the gear is driven to rotate forward and backward, and the rack can be driven to enable the left frame part and the right frame part to integrally move left and right for a set distance. The left-right movement distance is generally within thirty centimeters, and the walking stick is used for dragging and scrubbing stairs. When the land is dragged, the left frame part and the right frame part do not move. The lower edges of the left frame part and the right frame part are both provided with height limiting wheels 19. The height limiting wheel 19 is arranged at the right position in the figure 1, and is used for limiting the height of the left frame part, the right frame part and the ground so that the mop can keep proper pressure to mop the ground.

Fig. 3 is a view showing the installation of the horizontal slide frame in the cleaning tank. The horizontal sliding frame 31 is a hollow tube with a rectangular cross section, and a notch is arranged above the middle of the horizontal sliding frame. The outer sides of the square tubular transverse sliding frame are provided with smooth sliding surfaces. The wash tank 10 is a rectangular housing and is seen lengthwise within the wash tank in figure 3. Vertical slideways 27 are arranged on the inner wall plates at the two ends of the cleaning pool. The vertical slide blocks 28 are fixedly arranged on the two end heads of the transverse slide frame 31. The vertical slide 28 is mounted in the vertical slide 27. The upper parts of the two ends of the transverse sliding frame 31 are fixedly connected with a bracket 30, and the bracket 30 is connected with a rack 24. And a motor 9 and a gear 26 are arranged above the end head of the cleaning pool. The gear 26 is engaged with the rack 24. The motor driving gears at two ends of the cleaning pool set the number of turns in the positive and negative rotation according to the program, and drive the rack to drive the sliding frame to ascend and descend for a set distance.

Fig. 4 is a view showing the attachment of the inner hanging frame to the lateral sliding frame. The inner hanging frame 34 is also a hollow tube with a rectangular cross section. The inner hanging frame is sleeved outside the horizontal sliding frame 31. A gap is also arranged above the middle of the inner hanging frame 34. The inner hanging frame is shorter than the transverse sliding frame. When the middle gap is aligned, two ends of the inner hanging frame are about five centimeters shorter than the transverse sliding frame. On the left side of fig. 4, a motor 9 is mounted on the bracket 30 at the left end of the sliding frame, and a screw rod 33 is connected to the output shaft of the motor 9. A nut 32 is arranged on the upper left end of the inner hanging frame. The screw 33 is screwed into the nut 32. The motor sets the number of turns according to the program forward and backward, and the inner hanging frame is pulled and pushed to move left and right for a set distance under the action of the screw rod nut.

Fig. 5 is a structural view of the installation position of the mop and the inner hanging frame. In fig. 5, the upper part is an inner hanging frame structure, and the lower part is a mop structure. The mop comprises a frame plate 43, a hanging block 42 and a handkerchief bar 44. The upper end of the handkerchief strip 44 is fixed under the frame plate 43. The lower end of the hanging block 42 is connected with the side edge of the middle section of the frame plate 43 into a whole. Two hooks 38 are arranged on the upper surface and the back surface of the hanging block. A notch 41 is arranged in the middle of the hanging block. A hanging card 39 is mounted in the slot 41. Two sides of the notch are respectively provided with a clamping jaw hook groove 40. Two clamping jaw hook grooves are also formed in the front of the hanging block at the same position. A transverse block extends to the left and the right above two sides of the hanging block. The extension transverse block is used for contact guiding with the corresponding part of the upper inner hanging frame in figure 5.

The inner hanging frame is also a rectangular hollow tube. A gap is arranged above the middle part of the inner hanging frame. The gap is used for allowing the clamping jaw to pass through when the clamping jaw clamping arm mechanism clamps the hanging block. The inner hanging frame is provided with a fixture block 36 corresponding to the four hooks 38 on the hanging block. The thickness of the latch 36 is suitably less than the width between the hooks of the hook 38. The inner hanging frame is provided with bayonets 35 at two positions corresponding to the two hooks at the two sides of the front of the hanging block, and the width of the bayonets is wider than that of the hooks. A block 36 is arranged below the bayonet 35, and a hanging space of the hook block in front of the hook is also arranged behind the block. Typically, the width of the hook and the thickness of the block in front of the hook are less than eight millimeters. A bayonet 35 is arranged below the middle gap of the inner hanging frame. The recessed surface 37 provided on the inner hanging frame is used for mounting an inner baffle, which will be described below.

Fig. 6 is a structural view of the mop in fig. 5 mounted on the inner hanging frame. The figure of fig. 6 is a drawing cut from the center of the notch of the inner hanging frame, and the hanging card 39 is not cut. The hanging card 39 is mounted in a notch on the hanging block with a shaft pin 4. The lower end of the hanging card is provided with a right-angle block. The front end of the right-angle block is inserted into the bayonet 35 of the inner hanging frame. A straight pressing block is arranged above the hanging card. A compression spring 45 is arranged between the left side above the pressing block and the rear wall of the notch of the hanging block. Pressing the pressing block above the hanging card. The right-angle block at the lower end of the hanging card exits from the bayonet 35 below the inner hanging frame. When the pressing block above the hanging card is loosened, the pressing block enables the right-angled block at the lower end of the hanging card to be inserted into the bayonet 35 under the pushing of the spring 45. Four hooks 38 on the hanging block are hung on corresponding clamping blocks on the inner hanging frame.

The process of hanging the hanging block of the mop on the inner hanging frame by the clamping jaw clamping arm mechanism is as follows: 1. the jaws are opened to clamp the block from the middle of the front and back of the block in the mop shown in figure 5. The plate clamp part on the clamping jaw presses the hanging card 39 in place, so that the front end of the right-angle block at the lower end of the hanging card retreats into the rear plate surface of the hanging block. The hook body at the front end of the clamping jaw is clamped into the corresponding clamping jaw hook groove 40 at the front and the back of the hanging block. Hooks 38 are on either side of the jaws. 2. The gripper arm mechanism lifts the hanger block and moves to the upper inner hanger frame 34 in figure 5. The clamping jaw is just opposite to the gap in the middle of the inner hanging frame, so that the lower end of the front hook block of each hook is higher than the corresponding clamping block 36 by a certain height according to a program. Then the hanging block is close to the inner hanging frame by the clamping jaw, and binding surfaces including the extending transverse blocks on two sides above the hanging block are attached to corresponding surfaces of the inner hanging frame. Two hooks 38 on the upper side of the hanging block are opposite to the upper side of the clamping block 36. The two hooks below the hanging block enter the bayonet 35 and are opposite to the clamping block 36 at the inner lower part of the bayonet 35. Subsequently, the clamping jaws move the hanging block downwards for a certain distance according to the program, and then the four hooks are hung on the inner hanging frame, as shown in fig. 6. Then, the clamping jaws are loosened, moved away, the pressing block above the hanging card 39 is released, and then the front end of the right-angle block below the hanging card is clamped into the corresponding bayonet 35 of the inner hanging frame. At this time, the hanging block and the mop can not move back and forth, left and right, up and down on the inner hanging frame.

The mop is taken down from the inner hanging frame and the process is carried out reversely. The clamping jaw clamps the hanging block from the center of the inner hanging frame, one side of the clamping jaw is inserted from a notch in the center of the inner hanging frame, and the other side of the clamping jaw presses the pressing block above the hanging card. The right-angle block at the lower end of the hanging block retreats and exits from the bayonet 35. Then, the clamping jaw moves the hanging block upwards for a set height, and each hook exits from the clamping block. The hanging block is taken down, and then the mop can be moved away by the clamping jaw.

The structure of the mop hanging block hung in the middle of the inner hanging frame 34 and the outer hanging frame 17 is the same. The space coordinate positions of the hanging frame and the outer hanging frame in each block are in the program of the automatic control system. The clamping jaw takes down and hangs up the hanging block, and the angle of the front and back clamping arms, the distance of the back clamping arm and the front clamping arm, the extending length of the piston rod of each hydraulic cylinder and the angle of the chuck to rotate are respectively set in the program according to different space positions of the inner hanging frame and the outer hanging frame. The clamping jaw can be positioned accurately. The position sensors are arranged on the attaching surfaces of the inner hanging frame and the outer hanging frame for attaching the mop, which are not shown in the figure, and are more beneficial to the attaching of the hanging blocks of the mop on the inner hanging frame and the outer hanging frame.

Fig. 7 is a view showing the structure of the inner fender and the mounting position of the inner fender to the inner hanger frame. Two long strip-shaped stainless steel metal plates are arranged on two sides of the inner baffle 47, water leakage holes are formed in the metal plates, and two stainless steel plates are arranged at two ends of each metal plate to connect the two long strip-shaped metal plates into a rectangular frame. The upper edges of the two rectangular metal plates are connected with two guide frames 46, and the upper edges of the two guide frames 46 on the two metal plates are correspondingly connected together, as shown in the upper guide frame structure in fig. 7. To reduce weight, each guide 46 is cut out of its middle. The guide frames on both sides are in the same plane with the inner and outer surfaces of the rectangular metal plates on both sides. The inner fender and guide bracket is mounted outside of the lower inner hanger frame 34 in fig. 7. The inner hanging frame is correspondingly provided with a contact surface, namely a concave surface 37 in fig. 7. The depth of the concave surface 37 is suitably greater than the thickness of the metal plate. Two sides of the guide frame 46 slide in the vertical concave surfaces 37 at two sides of the inner hanging frame in a guiding way. The strip-shaped metal plate is clamped on the concave surfaces below two sides of the inner hanging frame, and a proper gap is formed between the strip-shaped metal plate and the concave surfaces, so that the strip-shaped metal plate can slide up and down. The inner hanging frame is shorter than the strip-shaped metal plate. The length of the strip-shaped metal plate is the same as that of the frame plate of the mop. When the mop is installed, the inner baffle plate 47 and the guide frame 46 are installed firstly, and then the hanging block of the mop is installed. When the hanging block on the mop is hung on the inner hanging frame, the corresponding joint surface of the front surface of the hanging block and the inner hanging frame is higher than the height of the inner baffle and the height of the guide frame hung on the inner hanging frame, and the hanging block and the inner hanging frame are not interfered with each other.

Fig. 8 is a view showing a state where the inner barrier is attached to the inner hanging frame, and is also a view showing a lifting device of the inner barrier. Both ends of the sliding frame 31 are installed at both ends of the cleaning tank 10. The inner hanging frame is arranged outside the transverse sliding frame. The inner baffle 47 and the guide frame 46 are installed outside the inner hanging frame. The inner baffle plate needs to be lowered to the lower end of the handkerchief strip of the hung mop and lifted to the height of the frame plate of the mop. In order to enable the inner baffle to be lifted, a support 30 is arranged on the inner hanging frame and close to the vertical side face of the guide frame, and a rack 24 is installed on the support 30. The motor 9 and the gear 26 are provided on the top case of the guide frame 46. The gear 26 is engaged with the rack 24. In fig. 8, the two guide frames are respectively provided with a same gear, a same rack, a same motor and a same bracket at the side edges. When two same motors rotate forward and backward according to a set program to set the revolution, the gears of the two motors are simultaneously lifted and lowered to set the height, and the inner baffle is lifted and lowered to set the height. In fig. 8, the inner baffle is longer than the inner hanging frame, and the length of the inner baffle is the same as that of the mop frame plate.

FIG. 9 is a schematic diagram of the agitation washing apparatus. The stirring and washing device comprises a rotating shaft 48, a crank 49 and a stirring and washing rod 50. The shaft 48, crank 49, and washing bar 50 are integrally connected as shown in FIG. 9. The shaft 48 and the crutcher 50 are parallel to each other and are perpendicular to the crank 49. The crank is made into a plate shape. The stirring and washing rod is a rod-shaped body. A motor is mounted outside the wash tank shell plate 29 at one end of the wash tank. The motor output shaft is connected to the rotating shaft 48 of the agitation washing device. The cleaning pool is provided with two pairs of stirring and cleaning devices.

FIG. 10 is a view showing the structure for mounting the outer shield and the bar for washing. In figure 10 is seen the wash tank with the wall panels removed at both ends. The outer baffle 54 is a perforated stainless steel metal plate. The lower end of the outer baffle is connected to an outer baffle shaft 55. The outer baffle shaft 55 is mounted at both ends on the wall plates at both ends of the cleaning tank, wherein one end does not extend out of the cleaning tank shell plate and the other end extends out of the cleaning tank shell plate. The end of the outer baffle shaft 55 extending beyond the wash tank shell plate has a water seal ring mounted in the shaft hole in the wash tank shell plate, and a torsion spring is mounted between the extended shaft end and the outside of the wash tank shell plate, the torsion spring not being shown in fig. 10. Under the action of the torsion spring, the outer baffle plate always rotates towards the wall plates on the two sides of the cleaning pool. A supporting frame 52 is arranged between the wall plates at two sides of the cleaning pool and an outer baffle plate 54, and the lower end of the supporting frame 52 is connected with a supporting frame shaft 53. The two ends of the support shaft 53 are mounted on the wall plates at the two ends of the cleaning pool, one end of the support shaft does not extend out of the wall plates, the other end of the support shaft extends out of the wall plates and is connected with an output shaft of a driving motor, a water seal ring is mounted between the support shaft extending out of the wall plates and the corresponding shaft sleeve, and the motor is not shown in the figure 10. The upper end of the bracket 52 is connected with a roller 51. The roller 51 always rests on the outer edge of the outer barrier. Referring to the left bracket in fig. 10, when the motor is programmed to rotate forward, i.e. the bracket 52 rotates to the right, the roller 51 pushes the outer baffle to rotate to the right to be vertical; when the motor rotates reversely, the support frame drives the roller to rotate outwards and lean against the shell plate of the cleaning pool. The outer baffle plate also rotates outwards under the action of the spring and always leans against the shell plate of the cleaning pool. Similarly, when the program setting motor rotates forward or backward, the bracket on the right side in fig. 10 also rotates correspondingly to approach or leave the shell plate of the cleaning pool, so that the corresponding outer baffle rotates to the right or left.

In fig. 10 the puddle is stirring the rod of mop. The two stirring and washing bars are stirred and washed left and right in the length direction of the lower sides of the two mops. After the stirring and washing are finished, the stirring and washing rod rotates outwards to be close to a shell plate of the washing pool, as shown in the position of a dotted line in fig. 10, space above the mop in the washing pool is made to be available, and the clamping jaw arm lock mechanism can clamp the mop to take out the washing pool or put the mop into the washing pool to be hung on the inner hanging frame conveniently. On the shell plates at two sides of the cleaning pool, corresponding shell plate positions are arranged to be outwards convex at the contact positions of the outer baffle and the roller, so that the opening space of the outer baffle is expanded. The lower side of the cleaning tank is provided with a squeezing plate 56. The squeeze plate 56 is two elongated perforated plates made of stainless steel or plastic. The width of the support at two sides of the extrusion plate is slightly smaller than that of the frame plate of the mop. The pressing plate is formed in an upwardly convex shape. The squeeze plate tips are seen in fig. 10. The squeeze plate is spaced from the wash basin floor 58 by a suitable distance, the spacing being the drain area. Between the two squeeze plates, i.e., below the middle in fig. 10, is a drain opening 57.

FIG. 11 is a drawing showing the condition of mop press dewatering. When the mop is dehydrated, the stirring and washing bar is deflected on the shell plates at the two sides of the washing pool. The sliding frame descends according to the program and drives the inner hanging frame 34, the mop and the inner baffle plate 47 to descend simultaneously. At the moment, the inner baffle plate also descends to the right position, and the lower end of the inner baffle plate is slightly lower than the lower end of the handkerchief strip. When the mop descends to the right position according to the program, the mop bar of the mop is just placed on the extrusion plate. At this time, the motor connected with the bracket shaft extending out of the end of the shell plate of the cleaning pool rotates according to the program, namely, the bracket rotates towards the mop direction from the position of fig. 10. The roller pushes the outer baffle to rotate towards the mop direction. The upper end of the outer baffle 54 rests against the edge of the mop plate 43. The outer baffle blocks the handkerchief strip below the side of the shelf board. At this time, the bracket is rotated to be vertical to the outer baffle plate, and the roller is pressed against the outer baffle plate, so that the outer baffle plate can bear the relevant side pressure when the handkerchief strip is dehydrated and extruded. The support shaft motor stops rotating and is locked. Subsequently, the inner hanging frame is lowered by a certain amount according to the program, so that the handkerchief strip is slightly squeezed. Then, a propelling device (as shown in fig. 4) arranged at one end of the inner hanging frame moves the inner hanging frame towards one end of the cleaning pool according to a program, so that the frame plate of the mop and other related parts are close to the shell plate at the corresponding end of the cleaning pool. At this time, the direction of the handkerchief strip is bent along one direction in the longitudinal dragging of the handkerchief strip at the lower edge of the mop on the extrusion plate. The cross sliding frame and the related components descend at a set speed according to a program, so that the handkerchief strips are extruded and dehydrated on the extrusion plate. In this case, the compressing of the handkerchief is that the handkerchief is overlapped and compressed along one direction, but not that the handkerchief is randomly compressed. The shelf and associated parts, including the two inner baffles 47 of fig. 11, are lowered simultaneously, the two inner baffles and the connecting plate between the ends of the two inner baffles are lowered into the notches between the two centrally located squeeze plates of fig. 11. The mop and associated linkage are then programmed to rise to a set height, and the mop rod is still properly squeezed. The pushing device at one end of the inner hanging frame makes the inner hanging frame move reversely, namely, the lower part of the handkerchief strip of the mop is pulled to the opposite direction to push the shell plate at the other end of the cleaning pool. The frame plate and the related parts are pressed to set height according to the process, so that the mop is dehydrated again. Therefore, the two ends of the mop are not provided with the baffle plates, and the shell plate of the cleaning pool is used as the baffle plate, so that the dehydration process is completed.

According to the water absorption condition and the weather drying condition of the floor when mopping, the descending height of the frame plate and other related parts when dehydrating, the operator can temporarily press keys for adjustment as required.

After the mop is stirred and washed and dehydrated in the cleaning pool, the clamping jaw clamping arm mechanism takes the mop off the inner hanging frame, takes the cleaning pool out and hangs the mop on the corresponding outer hanging frame in front of the vehicle body. Then, the clamping jaw clamping arm mechanism can clamp the dirty mop from the outer hanging frame, put the dirty mop into a cleaning pool, and hang the dirty mop on the set inner hanging frame for stirring, cleaning and dewatering. The above processes are repeated, so that the mop is alternately cleaned and mopped.

Fig. 12 is a diagram illustrating the steps of the mopping robot. The lower side of the body of the mopping robot is provided with an upstairs going device. The upstairs going device is a widely used prior art and has various structures, and only a triangle wheel structure is illustrated in fig. 12. The triangular wheel 59 is configured to allow for step-by-step up and down steps 64. Only the widthwise ends of two rows of wipes are visible in fig. 12. The mopping robot is mopping the stairs 64 step by step in the upstairs direction. The operator puts the front row of mops on the first-stage ladder step and suspends the rear row of mops in the air. When a set button for mopping the ladder step is pressed, the automatic control system immediately enables the rack arranged on the gear drive connecting frame arranged in the slide shell to move left and right for a certain distance according to a program, even if the mop is mopped for a certain distance left and right in the length direction of the ladder step, the distance can be generally about thirty centimeters left and right, and the mopping of the ladder step is finished. Then, the operator operates the relevant control keys again to enable the vehicle body to go up to the first step, the front row of mops is placed on the last step, and the steps are dragged and washed according to the process. The height limiting wheel is stretched out from the telescopic pipe and placed on the step steps below the dragged step. The walking direction of the height limiting wheel is changed to be consistent with the length direction of the ladder step, so that the mop can walk left and right, and the pressing height of the mop bar is limited. In fig. 12, the front cut portion of the vehicle body faces the left side of the washing tank 10. Two hydraulic cylinders 8 are respectively arranged in parallel right facing the upper end and the lower end of the cleaning pool. The front end of a piston rod 60 in the hydraulic cylinder is connected with a section of supporting slide block 62. The upper and lower ends of the left side of the cleaning tank are respectively connected to the front end of a support slider 62 by hinges 63. A supporting slide way 61 is arranged on the vehicle body below the supporting slide block, and the supporting slide block is arranged in the supporting slide way. In fig. 12, the vehicle body front housing is inclined leftward. At the lower end of the cleaning pool, hinges 63 on supporting slide blocks 62 connected with the ends of piston rods 60 of the two hydraulic cylinders are tightly fixed on a shell in front of the car body, the piston rods of the two hydraulic cylinders at the upper part extend out according to a program, and the right ends of the supporting slide blocks 62 push the upper left side of the cleaning pool rightwards, so that the cleaning pool is kept in a horizontal state all the time. The support slide 62 is still guided on the support slide 61. When the mopping robot mops the ladder steps from the downstairs direction, 1, if the vehicle body in fig. 1 is adopted to move back and forth to mopping the ladder steps, the front row of mops are placed on the ladder steps to be mopped every time, and the rear row of mops are suspended. 2. If the vehicle body 3 does not move downwards in a reversing mode, but the front part of the vehicle body 3 is arranged at the lower part and the rear part is arranged at the upper part, then the rear row mop is placed on the step steps, and the front row mop is suspended. In the step-by-step mopping process of the mopping robot, the mopping alternate cleaning process is the same as that of mopping and washing the flat ground.

Fig. 13 is a view showing a state where the link portion in front of the mopping robot is folded. The connecting frame part is divided into a left frame part and a right frame part. A rotating shaft is arranged in the middle of the connector 14, a transverse block is fixed at the lower end of the rotating shaft, and the transverse block and the sliding shell 15 are connected into a whole. The front ends of the two front arm supports 20 are respectively hinged at two sides of the connecting head 14 on the sliding shell 15 of the left frame part and the right frame part. The axis of rotation in the coupling 14 is driven by a rotary cylinder, not shown, which is known in the art. When the left frame part and the right frame part are folded to avoid obstacles, the automatic control system makes the two front arm frames extend forwards to the respective set lengths and keep the front arm frames fixed, and the gear in the sliding shell drives the corresponding rack to move the set lengths in the set direction. And then, the rotary oil cylinder on the connecting head drives the sliding shell on the left frame part to rotate ninety degrees anticlockwise, and drives the sliding shell on the right frame part to rotate ninety degrees clockwise, and the operation is stopped. The position shown in fig. 13, namely, the transverse position of the left frame part and the right frame part of the mopping robot in fig. 2 is converted into the longitudinal position, so that the front width of the vehicle body is greatly reduced.

Fig. 14 is a drawing of another drawing method of the mopping robot. A front arm frame 20 extends forward a set distance under the control of an automatic control system, so that the positions of the left frame part and the right frame part which are arranged in a row are staggered. Then, the gears in the slide case on the left frame portion move the link frame and the mop of the left frame portion to the right by a set distance, and the gears in the slide case on the right frame portion move the link frame and the mop of the right frame portion to the left by a set distance, that is, they are folded in a state of being shifted from each other as shown in fig. 14.

The mopping robot is suitable for cleaning subway stations, tunnels and steps, underground tunnels, steps, platforms and waiting halls of railway stations, and is used for mopping large-area floors and multi-stage long steps.

The vehicle body is provided with a sewage tank, a secondary sewage tank, a light sewage tank and a clean water tank. When the mop is cleaned, the control system firstly uses water in the secondary sewage tank to clean for the first time, and the cleaned sewage is discharged into the sewage tank; then washing the sewage for the second time by using water in the light sewage tank, and discharging the washed sewage into the sewage tank; then, washing the sewage for the third time by using water in a clean water tank, and discharging the washed water into a secondary sewage tank; and finally, washing the sewage for the fourth time by using water in the clean water tank, and discharging the washed water into the light sewage tank. The vehicle body is provided with the control panel, an operator can automatically set the cleaning times according to the dirt degree of the cleaning and mopping place, the water is reasonably used, the water-saving effect is obvious, and the effect on water-deficient areas is large.

The vehicle body is provided with a storage battery. The removal and installation of the mop on the inner hanging frame and the outer hanging frame, the transfer of the mop, the rotation and locking of the inner hanging frame, and the cleaning and dehydration of the mop are all completed by controlling related execution components by an automatic control system.

Claims

1. Tunnel and ladder step drag washing machine people, its characterized in that:

(1) the tunnel and ladder step mopping robot comprises a cleaning pool, a transverse sliding frame, an inner hanging frame, an inner baffle, an outer baffle, a squeezing plate, a stirring and washing rod, a clamping jaw clamping arm mechanism, a main arm frame, a connecting frame, an outer hanging frame, a mop, a motor, a hydraulic cylinder and a vehicle body;

(2) the transverse sliding frame is arranged in the cleaning pool;

(3) a lifting device is arranged between the two ends of the transverse sliding frame and the shell plate of the cleaning pool;

(4) the cleaning pool is arranged in front of the vehicle body;

(5) the inner hanging frame is arranged on the transverse sliding frame;

(6) a propelling device is arranged between the vertical slide blocks connected with one end of the inner hanging frame and the end of the transverse sliding frame;

(7) the inner hanging frame is provided with a clamping block and a bayonet;

(8) the mop comprises a hanging block, a frame plate and a mop bar;

(9) the lower end of the hanging block is connected with the frame plate into a whole, and the handkerchief strip is fixed on the frame plate;

(10) the hanging block is provided with a hook and a hanging clip;

(11) when the mop is cleaned, the hanging block of the mop is hung on the inner hanging frame, and the hook is hung on the clamping block;

(12) the inner baffle is arranged on the inner hanging frame;

(13) a lifting device is arranged between the guide frame and the inner hanging frame which are connected on the inner baffle;

(14) the outer baffle plates are arranged on two sides of the cleaning pool;

(15) the stirring and washing bar is arranged in the washing pool;

(16) the clamping jaw clamping arm mechanism comprises a rear clamping arm, a front clamping arm, a chuck, a clamping jaw and a hydraulic cylinder;

(17) the rear end of the rear clamping arm of the clamping jaw clamping arm mechanism is hinged to a turntable above a cleaning pool in front of the vehicle body;

(18) the clamping head is provided with a device which can enable the clamping jaw to integrally rotate and enable the clamping jaw to be opened and closed;

(19) the main arm frame comprises a front arm frame, a rear arm frame and a hydraulic cylinder;

(20) the main arm support is provided with two pairs, and the rear end of the two pairs of main arm supports is arranged on the vehicle body below the cleaning pool;

(21) the mop is provided with a front row of mop and a rear row of mop, and the front row of mop and the rear row of mop are cleaned in turn and used for mopping the floor in turn;

(22) the structure of the mop hung on the outer hanging frame is the same as that of the inner hanging frame;

(23) when the mop is cleaned, the clamping jaw and clamping arm mechanism clamps and takes down the mop on the external hanging frame, transfers the mop into the cleaning pool and hangs the mop on the internal hanging frame; after water is injected into the cleaning pool and stirred and cleaned by the stirring and cleaning rod for a set time, the mop descends onto an extrusion plate arranged below the cleaning pool, the inner baffle moves downwards, the outer baffle clamps the outside of the mop, the inner hanging frame moves downwards, and the handkerchief strip is extruded and dehydrated; after the mop is cleaned for a set number of times, the clamping jaw clamping arm mechanism takes the mop in the cleaning pool off the inner hanging frame, transfers the mop to the corresponding vacant outer hanging frame to be hung on the outer hanging frame, sequentially takes the mop off the outer hanging frame, puts the mop into the cleaning pool, circulates the processes, cleans in turn and mops in turn;

(24) the front external hanging frame and the rear external hanging frame are connected together by a connecting frame, the mop is hung on the external hanging frames to form a connecting frame part, and two connecting frame parts are arranged on one mopping robot;

(25) the middle of the connecting frame is provided with a rack, the two sides of the connecting frame are provided with slideways, a sliding shell is arranged on each slideway, a gear is arranged and connected in each sliding shell, the gear is meshed with the rack, and a driving motor of the gear is arranged on each sliding shell;

(26) the upper edge of the sliding shell is fixedly provided with a connector, and the front ends of the two auxiliary main arm supports are respectively hinged with the connector on one sliding shell;

(27) when the mopping robot mops and washes the ladder steps, one row of mops in the mops connected to the front and rear two rows of outer hanging frames are placed on the ladder steps, and the gear on the sliding shell on each connecting frame part drives the rack to drive the mops to move left and right along the length direction of the ladder steps by a set distance under the driving of the motor, so that the mopping process of one-level ladder steps is completed through mopping.

2. The tunnel and ladder step washing robot of claim 1, wherein: vertical slide ways are installed on the inner walls of the two sides in the cleaning pool, vertical slide blocks are fixedly connected to the two ends of the transverse sliding frame, and the vertical slide blocks are installed in the vertical slide ways.

3. The tunnel and ladder step washing robot of claim 1, wherein: the two connecting frame parts can be folded inwards in a folding mode, and the two connecting frame parts are folded in a front and back staggered mode and are folded in a rotating mode.

4. The tunnel and ladder step washing robot of claim 1, wherein: the extrusion plate is arranged at the lower side in the cleaning pool.

5. The tunnel and ladder step washing robot of claim 1, wherein: the lower side of the connecting frame is provided with a height limiting wheel.

6. The tunnel and ladder step washing robot of claim 1, wherein: the mopping robot can mop the tunnel and the ladder steps.

7. The tunnel and ladder step washing robot of claim 1, wherein: the vehicle body is provided with a secondary sewage tank, a light sewage tank, a sewage tank and a clear water tank.