CN106271941A - Intelligence wall surface grinding machine device people - Google Patents
Intelligence wall surface grinding machine device people Download PDFInfo
- Publication number
- CN106271941A CN106271941A CN201610858256.5A CN201610858256A CN106271941A CN 106271941 A CN106271941 A CN 106271941A CN 201610858256 A CN201610858256 A CN 201610858256A CN 106271941 A CN106271941 A CN 106271941A
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- China
- Prior art keywords
- sanding
- polishing
- wall surface
- intelligence
- polishing head
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/182—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like for walls and ceilings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/02—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
A kind of intelligence wall surface grinding machine device people, including sanding and polishing head, sanding and polishing head is provided with start stop switch, wall surface grinding machine device people also includes casing, for by robot absorption absorbent module on metope be used for realizing the walking assembly that robot walks along wall, described absorbent module is arranged on bottom of shell, described bottom of shell side installs walking assembly, and described bottom of shell installs described sanding and polishing head；Installing intelligence sanding and polishing controller in casing, described intelligence sanding and polishing controller includes: be used for, according to the size treating sanding and polishing metope, setting reference frame and according to the demarcating module demarcating Stroke Control track；For the intelligent operation control module according to Stroke Control TRAJECTORY CONTROL sanding and polishing head operation.The invention provides a kind of robot manipulation, avoid decoration worker causing actual bodily harm, improving work efficiency, the intelligent wall surface grinding machine device people of lifting polishing effect.
Description
Technical field
The invention belongs to grinding apparatus, relate to a kind of for house decoration metope sanding and polishing equipment, particularly metope
Milling robot.
Background technology
During house decoration, need metope is carried out sanding and polishing, generally use sanding and polishing machine manually to locate
Reason, sanding and polishing machine belongs to a kind of electric tool, electric including shell, sanding and polishing head and the driving for driving sanding and polishing head
Machine, the hand-held described sanding and polishing machine of decoration worker carries out polishing operation, produces bigger dust during polishing, and finishing environment is poor,
It is positioned at dusty space for a long time, easily human body is damaged.
Owing to manual type carries out sanding and polishing, work efficiency is relatively low；It addition, the height of sanding and polishing quality, very great Cheng
Depend on degree that the experience of decoration worker, sanding and polishing effect cannot be effectively ensured；Working environment is poor, easily to decoration worker
Cause actual bodily harm.
Summary of the invention
In order to the work efficiency overcoming existing metope sanding and polishing mode is relatively low, polishing effect is poor, easily to upfitter
People causes the deficiency of actual bodily harm, the invention provides a kind of robot manipulation, avoids decoration worker causing actual bodily harm, carrying
High workload efficiency, the intelligent wall surface grinding machine device people of lifting polishing effect.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of intelligence wall surface grinding machine device people, including sanding and polishing head, described sanding and polishing head is provided with start stop switch, described
Wall surface grinding machine device people also includes casing, for by robot absorption absorbent module on metope be used for realizing Robot
The walking assembly of wall walking, described absorbent module is arranged on bottom of shell, and described bottom of shell side installs walking assembly,
Described bottom of shell installs described sanding and polishing head；
Installing intelligence sanding and polishing controller in described casing, described intelligence sanding and polishing controller includes: for basis
Treat the size of sanding and polishing metope, set reference frame and demarcate the demarcating module of Stroke Control track；For according to stroke
Control the intelligent operation control module of TRAJECTORY CONTROL sanding and polishing head operation；The start stop switch of described sanding and polishing head, absorption group
The driving means of part and walking assembly is all connected with described intelligent operation control module.
Further, described absorbent module is negative-pressure adsorption assembly, Electrostatic Absorption assembly or magnetic suck assembly.According to difference
Use occasion, negative-pressure adsorption assembly, Electrostatic Absorption assembly or magnetic suck assembly can be selected, naturally it is also possible to select other classes
The absorbent module of type；It addition, among absorbent module, the size of absorption affinity can also be adjusted, in order to be applicable to various difference
The metope of type.
Described walking mechanism includes crawler belt or wheel, according to different metopes, it is possible to use different walking mechanisms, such as carries out
Band or wheel, it would however also be possible to employ crawler belt and the combination of roller.
Further, described intelligence wall surface grinding machine device people also includes the flatness of degree of plainness for wall surface after measuring processing
Measurement module, the outfan of described roughness measurement module is connected with described intelligence sanding and polishing controller, described intelligence polishing
Polishing controller also includes:
What after processing measurement obtained, degree of plainness for wall surface Distribution Value and the flatness threshold value preset compared is flat
Whole degree comparison module；
For thinking defective when certain site flatness is less than the flatness threshold value preset and in place according to this region institute
Put control range controlling mechanism and carry out the feedback compensation processing module of feedback compensation operation.
Further, described roughness measurement module is laser measuring apparatus.It is of course also possible to adopt in other ways.
The lower section of described sanding and polishing head arranges suction port, and described suction port arranges the first centrifugal fan, described suction port
Being connected with the upper end of sweep-up pipe, the lower end of described sweep-up pipe arranges the second centrifugal fan and connects filter assemblies.In the program, logical
Crossing the first centrifugal fan and the second centrifugal fan can regulate the size of suction, can this suction assist so that whole robot is inhaled
Attached it is positioned on metope, it is possible to effectively promote the loading capacity of whole robot；It addition, sweep-up pipe is telescopic structure, it is possible to
Length according to robot stroke carries out free adjustment；The dust suction scope of described suction port includes the lower section of each sanding and polishing head
Further, a filter bag can also be set at suction port, be used for collecting dust, for some specific environmental requirement
Occasion, such as exterior finish etc., can play collect dust effect；When the total amount of filter bag increases, can be according to intelligence
Control the first centrifugal fan and the second centrifugal fan strengthens suction.
Described filter assemblies is water tank, and the lower end of described sweep-up pipe is stretched in the water body of described water tank.It is of course also possible to adopt
In other ways.
The processing end of described sanding and polishing head for carry circle jaggy, the cross section of described notch side linearly, this polishing
Rubbing head can realize rotating and two kinds of motion modes of translation, uses motion of translation when processing the edge of metope, works as place
Rotary movement is then used during reason metope mid portion.In the program, the processing part of sanding and polishing head, is all that employing is existing
Structure, the design of this shape belongs to a preferred scheme, it is contemplated that treat that the side of sanding and polishing and corner there may be arc
The situation of shape and the scheme that designs.The shape of processing end, carries out specific aim according to the shape treating sanding and polishing metope and chooses.
The bottom center of described casing is provided with leading grinding and polishing shaven head, and the side of described casing is provided with auxiliary sanding and polishing head, institute
State auxiliary sanding and polishing head to be connected with the flexible module of the spacing of metope with for regulating auxiliary sanding and polishing head；Described flexible module
Being arranged in steering mechanism, described steering mechanism is fixed in casing.Described auxiliary sanding and polishing head has two effects, first institute
Stating leading grinding and polishing shaven head and be positioned at the middle part of bottom of shell, two side areas has blind area, by the effect of auxiliary sanding and polishing head, beats auxiliary
Grinding and polishing shaven head is arranged on side before and after walking assembly, so can the blind area part of casing place work surface be polished, real
Existing non-blind area operation；It addition, described auxiliary sanding and polishing head can be applicable to the process at edge corner, will by steering mechanism
Auxiliary sanding and polishing head stretches out, it is possible to whole corner is carried out complete sanding and polishing.Auxiliary sanding and polishing head at this can be two
Individual, it is also possible to be four, it is respectively arranged two before and after such as left side, right side, is set according to the needs of use occasion.
Described sanding and polishing head is provided with the pressure adjusting part for regulating sanding and polishing pressure.Group is regulated by pressure
Part, can effectively adjust to reach good sanding and polishing effect according to different metope material situations.
Described sanding and polishing head can be one, it is also possible to is multiple；When multiple, can be regular arrangement,
Such as array is arranged；It can also be non-regular arrangement；Different quantity can be carried out according to different use occasions to arrange.?
In milling robot running, all sanding and polishing heads can be controlled and be in duty, it is also possible to only control wherein one
Part sanding and polishing head is in running order.The pressure of each sanding and polishing head of same milling robot is to maintain unanimously
's.
Described sanding and polishing head is connected with the flexible module of the spacing of metope with for regulating sanding and polishing head；Described stretch
Contracting module is arranged in steering mechanism, and described steering mechanism is fixed in casing；By the design of this structure, irregular when running into
When metope, such as metope are provided with a groove, by flexible module, grinding head can be goed deep into bottom portion of groove and polish, separately
Outward, by the action of steering mechanism, the sidewall of groove can be also carried out sanding and polishing；Described sanding and polishing head can 360 ° of rotations
Turn.
Described intelligence sanding and polishing controller also includes communication module.Can be connected with controlling computer by this communication module
Connect, it is achieved unit controls；Or this communication module is connected with controlling administrative center, this control administrative center and every intelligent metope
Milling robot composition intelligent network, it is achieved control based on network；Or be this communication module and communication terminal (such as hands
Machine) connect, realize remotely controlling by communication terminal, it is possible to the duty of real-time query polishing, such as, pass through video
Remotely monitoring polishing quality.
In the present invention, abandon manually-operated mode, sanding and polishing head has been arranged on climbing robot, passes through machine
People realizes sanding and polishing operation；According to treating the size of sanding and polishing metope, set reference frame and also demarcate Stroke Control track,
According to Stroke Control TRAJECTORY CONTROL sanding and polishing head operation, it addition, the distance between sanding and polishing head and metope to be polished also may be used
To realize regulation.
It addition, the driving means of the activate switch of sanding and polishing head, absorbent module and walking assembly is all thrown with intelligence polishing
Optical controller is attached, described intelligence sanding and polishing controller, it is possible to control starting or stoping of sanding and polishing machine, it is possible to control
Absorbent module processed and the motion of walking assembly；Treating the metope of sanding and polishing in the face of one, according to the size of metope, setting
Reference frame also demarcates Stroke Control track, then according to control track to carry out intelligentized control.
After operation completes, it is additionally provided with the measurement module for detecting flatness, whole plane after scan operation
Flatness, if be detected that certain flatness is less than predetermined threshold value, it is believed that this position existing defects；By controlling Stroke Control machine
Structure arrives this position, and is again started up sanding and polishing head and carries out adding work, until whole metope meets the requirement of flatness, so
Sanding and polishing quality has been effectively ensured.
When milling robot is positioned at the height of setting, it can be made slack by control, now sanding and polishing head continues
Continuous work, it is possible to achieve service intermittent mechanism, it is adaptable to the preferable metope of some wearability；It is of course also possible to use continuously
Working mechanism, as long as sanding and polishing job requirements can be met.
Further, during due to polishing, a lot of dust can be produced, described sanding and polishing head also has a suction port, described
Suction port is connected with the upper end of sweep-up pipe, and the lower end of described sweep-up pipe connects filter assemblies, is entered by the dust that sanding and polishing produces
Row is collected by filtration, and is substantially improved the environmental quality of fitting space；Filter assemblies can preferentially use water tank, will be under sweep-up pipe
End is passed through in the water of water tank, is deposited in the water body of water tank by dust；It is of course also possible to adopt in other ways.It addition, dust amasss
Filter effect can be affected after Lei, can be in the way of being timed replacing, the most each 3 hours or 6 hours, when arriving replacing
Between, display screen prompting or mobile phone reminding etc. can be carried out, in order to ensure normal work.
The power supply of whole device, can use accumulator, it would however also be possible to employ external civil power, the charging of described accumulator
Mode, can be wired mode, it would however also be possible to employ wireless mode realizes.
Beneficial effects of the present invention is mainly manifested in: robot manipulation, avoid causing decoration worker actual bodily harm, raising
Work efficiency, lifting polishing effect.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of intelligence wall surface grinding machine device people.
Fig. 2 is the schematic diagram of intelligence sanding and polishing controller.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
Seeing figures.1.and.2, a kind of intelligence wall surface grinding machine device people, including sanding and polishing head, described sanding and polishing head is provided with
Start stop switch, described wall surface grinding machine device people also includes casing 1, for absorbent module 2 and adsorbed on metope by robot
For realizing the walking assembly 3 that robot walks along wall, described absorbent module is arranged on bottom of shell, described casing 2 end
Portion's side installs walking assembly 3, installs described sanding and polishing head bottom described casing 1；
Installing intelligence sanding and polishing controller 4 in described casing 1, described intelligence sanding and polishing controller 4 includes:
Treat the size of sanding and polishing metope for basis, set reference frame and according to the mark demarcating Stroke Control track
Cover half block 41；
For the intelligent operation control module 42 according to Stroke Control TRAJECTORY CONTROL sanding and polishing head operation；
The driving means of the start stop switch of described sanding and polishing head 1, absorbent module and walking assembly 3 is all grasped with described intelligence
Make control module 42 to connect.
Further, described absorbent module is negative-pressure adsorption assembly, Electrostatic Absorption assembly or magnetic suck assembly.According to difference
Use occasion, negative-pressure adsorption assembly, Electrostatic Absorption assembly or magnetic suck assembly can be selected, naturally it is also possible to select other classes
The absorbent module of type；It addition, among absorbent module, the size of absorption affinity can also be adjusted, in order to be applicable to various difference
The metope of type.
Further, described walking mechanism 3 includes crawler belt or wheel, according to different metopes, it is possible to use different walkings
Mechanism, such as crawler belt or wheel, it would however also be possible to employ crawler belt and the combination of roller.
Further, described intelligence wall surface grinding machine device people also includes the flatness of degree of plainness for wall surface after measuring processing
Measurement module 5, the outfan of described roughness measurement module 5 is connected with described intelligence sanding and polishing controller 4, and described intelligence is beaten
Grinding and polishing optical controller 4 also includes:
What after processing measurement obtained, degree of plainness for wall surface Distribution Value and the flatness threshold value preset compared is flat
Whole degree comparison module 43；
For thinking defective when certain site flatness is less than the flatness threshold value preset and in place according to this region institute
Put control range controlling mechanism and carry out the feedback compensation processing module 44 of feedback compensation operation.
Further, described roughness measurement module 5 is laser measuring apparatus.It is of course also possible to adopt in other ways.
The lower section of described sanding and polishing head 1 arranges suction port, and described suction port arranges the first centrifugal fan, described suction port
Being connected with the upper end of sweep-up pipe, the lower end of described sweep-up pipe arranges the second centrifugal fan and connects filter assemblies.In the program, logical
Crossing the first centrifugal fan and the second centrifugal fan can regulate the size of suction, can this suction assist so that whole robot is inhaled
Attached it is positioned on metope, it is possible to effectively promote the loading capacity of whole robot；It addition, sweep-up pipe is telescopic structure, it is possible to
Length according to robot stroke carries out free adjustment；The dust suction scope of described suction port includes the lower section of each sanding and polishing head
Further, a filter bag can also be set at suction port, be used for collecting dust, for some specific environmental requirement
Occasion, such as exterior finish etc., can play collect dust effect；When the total amount of filter bag increases, can be according to intelligence
Control the first centrifugal fan and the second centrifugal fan strengthens suction.
Described filter assemblies 7 is water tank, and the lower end of described sweep-up pipe is stretched in the water body of described water tank.It is of course also possible to
Adopt in other ways.
The processing end of described sanding and polishing head 1 for carry circle jaggy, the cross section of described notch side linearly, this polishing
Rubbing head can realize rotating and two kinds of motion modes of translation, uses motion of translation when processing the edge of metope, works as place
Rotary movement is then used during reason metope mid portion.In the program, the processing part of sanding and polishing head, is all that employing is existing
Structure, the design of this shape belongs to a preferred scheme, it is contemplated that treat that the side of sanding and polishing and corner there may be arc
The situation of shape and the scheme that designs.The shape of processing end, carries out specific aim according to the shape treating sanding and polishing metope and chooses.
The bottom center of described casing is provided with leading grinding and polishing shaven head, and the side of described casing is provided with auxiliary sanding and polishing head, institute
State auxiliary sanding and polishing head to be connected with the flexible module of the spacing of metope with for regulating auxiliary sanding and polishing head；Described flexible module
Being arranged in steering mechanism, described steering mechanism is fixed in casing.Described auxiliary sanding and polishing head has two effects, first institute
Stating leading grinding and polishing shaven head and be positioned at the middle part of bottom of shell, two side areas has blind area, by the effect of auxiliary sanding and polishing head, beats auxiliary
Grinding and polishing shaven head is arranged on side before and after walking assembly, so can the blind area part of casing place work surface be polished, real
Existing non-blind area operation；It addition, described auxiliary sanding and polishing head can be applicable to the process at edge corner, will by steering mechanism
Auxiliary sanding and polishing head stretches out, it is possible to whole corner is carried out complete sanding and polishing.Auxiliary sanding and polishing head at this can be two
Individual, it is also possible to be four, it is respectively arranged two before and after such as left side, right side, is set according to the needs of use occasion.
Described sanding and polishing head 1 is provided with the pressure adjusting part for regulating sanding and polishing pressure.Group is regulated by pressure
Part, can effectively adjust to reach good sanding and polishing effect according to different metope material situations.
Described sanding and polishing head 1 can be one, it is also possible to is multiple；When multiple, can be regular arrangement,
Such as array is arranged；It can also be non-regular arrangement；Different quantity can be carried out according to different use occasions to arrange.?
In milling robot running, all sanding and polishing heads can be controlled and be in duty, it is also possible to only control wherein one
Part sanding and polishing head is in running order.The pressure of each sanding and polishing head of same milling robot is to maintain unanimously
's.
Described sanding and polishing head is connected with the flexible module of the spacing of metope with for regulating sanding and polishing head；Described stretch
Contracting module is arranged in steering mechanism, and described steering mechanism is fixed in casing；By the design of this structure, irregular when running into
When metope, such as metope are provided with a groove, by flexible module, sanding and polishing head can be goed deep into bottom portion of groove and polish,
It addition, by the action of steering mechanism, the sidewall of groove can be also carried out sanding and polishing；Described sanding and polishing head can 360 ° of rotations
Turn.
Described intelligence sanding and polishing controller 4 also includes communication module 45.Can be with control computer by this communication module
Connect, it is achieved unit controls；Or this communication module is connected with controlling administrative center, this control administrative center and every intelligent wall
Face milling robot composition intelligent network, it is achieved control based on network；Or be this communication module with communication terminal (such as
Mobile phone) connect, realize remotely controlling by communication terminal, it is possible to the duty of real-time query polishing, such as by regarding
Frequency remotely monitoring polishing quality.
The scheme of the present embodiment, has abandoned manually-operated mode, is arranged on climbing robot by sanding and polishing head, logical
Cross robot and realize sanding and polishing operation；According to treating the size of sanding and polishing metope, set reference frame and also demarcate stroke control
Track processed, according to Stroke Control TRAJECTORY CONTROL sanding and polishing head operation, it addition, between sanding and polishing head and metope to be polished away from
From realizing regulation.
It addition, the driving means of the activate switch of sanding and polishing head 1, absorbent module and walking assembly 3 is all polished with intelligence
Polishing controller 4 is attached, described intelligence sanding and polishing controller 4, it is possible to control starting or stoping of sanding and polishing machine, energy
Enough control absorbent module and the motion of walking assembly；The metope of sanding and polishing is being treated in the face of one, according to the size of metope,
Set reference frame and demarcate Stroke Control track, then according to control track to carry out intelligentized control.
After operation completes, it is additionally provided with the measurement module for detecting flatness, whole plane after scan operation
Flatness, if be detected that certain flatness is less than predetermined threshold value, it is believed that this position existing defects；By controlling Stroke Control machine
Structure arrives this position, and is again started up sanding and polishing head and carries out adding work, until whole metope meets the requirement of flatness, so
Sanding and polishing quality has been effectively ensured.
When milling robot is positioned at the height of setting, it can be made slack by control, now sanding and polishing head continues
Continuous work, it is possible to achieve service intermittent mechanism, it is adaptable to the preferable metope of some wearability；It is of course also possible to use continuously
Working mechanism, as long as sanding and polishing job requirements can be met.
Further, during due to polishing, a lot of dust can be produced, described sanding and polishing head also has a suction port, described
Suction port is connected with the upper end of sweep-up pipe, and the lower end of described sweep-up pipe connects filter assemblies, is entered by the dust that sanding and polishing produces
Row is collected by filtration, and is substantially improved the environmental quality of fitting space；Filter assemblies can preferentially use water tank, will be under sweep-up pipe
End is passed through in the water of water tank, is deposited in the water body of water tank by dust；It is of course also possible to adopt in other ways.It addition, dust amasss
Filter effect can be affected after Lei, can be in the way of being timed replacing, the most each 3 hours or 6 hours, when arriving replacing
Between, display screen prompting or mobile phone reminding etc. can be carried out, in order to ensure normal work.
The metope of the present embodiment is to refer to the various walls that house decoration process relates to, the surrounding metope in such as room, outer
Wall or end face etc., can be vertical plane, plane or inclined-plane.
The power supply of whole device, can use accumulator, it would however also be possible to employ external civil power, the charging of described accumulator
Mode, can be wired mode, it would however also be possible to employ wireless mode realizes.
Content described in the embodiment of this specification is only enumerating of the way of realization to inventive concept, the guarantor of the present invention
The scope of protecting is not construed as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention is also and in this area skill
Art personnel according to present inventive concept it is conceivable that equivalent technologies means.
Claims (10)
1. an intelligent wall surface grinding machine device people, including sanding and polishing head, described sanding and polishing head is provided with start stop switch, its feature
It is: described wall surface grinding machine device people also includes casing, for by robot absorption absorbent module on metope be used for reality
The walking assembly that existing robot walks along wall, described absorbent module is arranged on bottom of shell, and described bottom of shell side is pacified
Dress walking assembly, described bottom of shell installs described sanding and polishing head；
Installing intelligence sanding and polishing controller in described casing, described intelligence sanding and polishing controller includes:
Treat the size of sanding and polishing metope for basis, set reference frame and according to the calibration mold demarcating Stroke Control track
Block；
For the intelligent operation control module according to Stroke Control TRAJECTORY CONTROL sanding and polishing head operation；
The driving means of the start stop switch of described sanding and polishing head, absorbent module and walking assembly all controls with described intelligent operation
Module connects.
2. intelligence wall surface grinding machine device people as claimed in claim 1, it is characterised in that: described absorbent module is negative-pressure adsorption
Assembly, Electrostatic Absorption assembly or magnetic suck assembly.
3. intelligence wall surface grinding machine device people as claimed in claim 1 or 2, it is characterised in that: described walking mechanism includes crawler belt
Or wheel.
4. intelligence wall surface grinding machine device people as claimed in claim 1 or 2, it is characterised in that: described intelligence metope sanding and polishing
Device also includes the roughness measurement module of degree of plainness for wall surface after measuring processing, the outfan of described roughness measurement module
Being connected with described intelligence sanding and polishing controller, described intelligence sanding and polishing controller also includes:
The flatness that degree of plainness for wall surface Distribution Value compares with the flatness threshold value preset after processing measurement obtained
Comparison module；
For thinking defective when certain site flatness is less than the flatness threshold value preset, and control according to this position, region
Robot processed carries out the feedback compensation processing module of feedback compensation operation.
5. intelligence wall surface grinding machine device people as claimed in claim 4, it is characterised in that: described roughness measurement module is laser
Measuring instrument.
6. intelligence wall surface grinding machine device people as claimed in claim 1 or 2, it is characterised in that: the lower section of described sanding and polishing head
Arranging suction port, described suction port arranges the first centrifugal fan, and described suction port is connected with the upper end of sweep-up pipe, described sweep-up pipe
Lower end the second centrifugal fan is set and connects filter assemblies.
7. intelligence wall surface grinding machine device people as claimed in claim 6, it is characterised in that: described filter assemblies is water tank, described
The lower end of sweep-up pipe is stretched in the water body of described water tank.
8. intelligence wall surface grinding machine device people as claimed in claim 1 or 2, it is characterised in that: the processing of described sanding and polishing head
End is for carrying circle jaggy, and the cross section of described notch side is linearly.
9. the intelligent wall surface grinding machine device people as described in one of claims 1 to 3, it is characterised in that: in the bottom of described casing
Centre is provided with leading grinding and polishing shaven head, and the side of described casing is provided with auxiliary sanding and polishing head, described auxiliary sanding and polishing head be used for regulating
Auxiliary sanding and polishing head is connected with the flexible module of the spacing of metope；Described flexible module is arranged in steering mechanism, described turn
It is fixed in casing to mechanism.
10. the intelligent wall surface grinding machine device people as described in one of claims 1 to 3, it is characterised in that: described intelligence sanding and polishing
Controller also includes communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610858256.5A CN106271941A (en) | 2016-09-28 | 2016-09-28 | Intelligence wall surface grinding machine device people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610858256.5A CN106271941A (en) | 2016-09-28 | 2016-09-28 | Intelligence wall surface grinding machine device people |
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| CN106271941A true CN106271941A (en) | 2017-01-04 |
Family
ID=57715586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610858256.5A Pending CN106271941A (en) | 2016-09-28 | 2016-09-28 | Intelligence wall surface grinding machine device people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106271941A (en) |
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| WO2017157193A1 (en) * | 2016-03-14 | 2017-09-21 | 朱德进 | Intelligent wall polishing device |
| CN108637860A (en) * | 2018-04-18 | 2018-10-12 | 武汉理工大学 | High ferro white body automation wire-drawing frame and method based on Robot Hand-eye control |
| CN109227223A (en) * | 2017-07-10 | 2019-01-18 | 蓝思科技（长沙）有限公司 | A kind of processing method of sapphire product with the level and its equipment of use |
| CN109940501A (en) * | 2019-04-19 | 2019-06-28 | 江阴科玛金属制品有限公司 | Cold roll surface debris automatic polishing device |
| CN110977620A (en) * | 2019-11-13 | 2020-04-10 | 广东博智林机器人有限公司 | Wall polishing method and polishing robot |
| CN111203766A (en) * | 2020-04-20 | 2020-05-29 | 广东博智林机器人有限公司 | Wall surface polishing path planning method, device, equipment and medium |
| WO2021114653A1 (en) * | 2019-12-09 | 2021-06-17 | 中国电子科技集团公司第二十八研究所 | Three-dimensional space wall-climbing and polishing robot, and polishing efficiency control method |
| GB2586426B (en) * | 2019-12-09 | 2022-03-30 | 28Th Res Inst China Electronics Tech Group Corp | Three-dimensional space wall-climbing polishing robot and polishing efficiency control method |
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| WO2021114653A1 (en) * | 2019-12-09 | 2021-06-17 | 中国电子科技集团公司第二十八研究所 | Three-dimensional space wall-climbing and polishing robot, and polishing efficiency control method |
| GB2586426B (en) * | 2019-12-09 | 2022-03-30 | 28Th Res Inst China Electronics Tech Group Corp | Three-dimensional space wall-climbing polishing robot and polishing efficiency control method |
| CN111203766A (en) * | 2020-04-20 | 2020-05-29 | 广东博智林机器人有限公司 | Wall surface polishing path planning method, device, equipment and medium |
| CN111203766B (en) * | 2020-04-20 | 2020-08-14 | 广东博智林机器人有限公司 | Wall surface polishing path planning method, device, equipment and medium |
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Application publication date: 20170104 |