CN108756177A - The working method of construction milling robot - Google Patents
The working method of construction milling robot Download PDFInfo
- Publication number
- CN108756177A CN108756177A CN201810625061.5A CN201810625061A CN108756177A CN 108756177 A CN108756177 A CN 108756177A CN 201810625061 A CN201810625061 A CN 201810625061A CN 108756177 A CN108756177 A CN 108756177A
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- China
- Prior art keywords
- motor
- sandpaper
- jack
- driving
- adjustment
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Classifications
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- 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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
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- 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
- B24B27/0007—Movable machines
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- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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- 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
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- 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
-
- 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
- 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
- B24B7/186—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like with disc-type tools
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
A kind of working method of construction milling robot, milling robot include chassis mechanism, floor stand mechanism, workpiece polishing mechanism, inhale dedusting mechanism, detecting and controlling system.Chassis mechanism is connect with floor stand mechanism exists side by side in chassis mechanism, workpiece polishing mechanism is mounted in floor stand mechanism, it inhales dedusting mechanism to connect in chassis mechanism and with workpiece polishing mechanism, detecting and controlling system controls chassis mechanism by detection, floor stand mechanism, workpiece polishing mechanism, inhales dedusting mechanism work.
Description
Technical field
The present invention relates to a kind of robot decorated automatically suitable for metope more particularly to a kind of construction sanders
The working method of device people.
Background technology
Under construction to the metope of the complete cement surface of mud, Puttying is carried out, is commonly called as scraping great Bai；After Puttying to metope into
Row polish flat it is smooth after, then carry out scraping imitative porcelain or mopping, the work of current this Puttying is completed by manually, to wall
It is also to be completed by manually that face, which carries out polishing, and labor intensity is big, and efficiency is low, and quality depends on proficiency of workers, and worker is also
Build a framework, with sandpaper scraping bit by bit, worker work one day it is very tired；There is hand to take electronic sandpaper machine, but electricity is held with hand
Dynamic sandpaper machine polishing, worker work one day it is also very tired；But key is that dust caused by polishing is too big, too to the body harm of people
Greatly, not only dirty but also tired even if with protection to having very big harm the body of people, and rising steadily with wage for workmen, engineering at
This increase, and more and more young men are unwilling to be engaged in heavy manual labor, robot substitutes people to complete Puttying
Work requirements are very urgent.
Invention content
The object of the present invention is to provide a kind of working methods of construction milling robot.
To achieve the above object, the technical solution adopted by the present invention is：A kind of construction milling robot, including bottom
Frame mechanism, workpiece polishing mechanism, inhales dedusting mechanism, detecting and controlling system at floor stand mechanism.Chassis mechanism is connect with floor stand mechanism exists side by side
Chassis mechanism, workpiece polishing mechanism are mounted in floor stand mechanism, are inhaled dedusting mechanism and are connect in chassis mechanism and with workpiece polishing mechanism, are detected
Control system controls chassis mechanism by detection, floor stand mechanism, workpiece polishing mechanism, inhales dedusting mechanism work.
According to the milling robot, it is characterized in that：Chassis mechanism is by chassis, driving wheel, adjustment wheel, attached driving wheel, thousand
Jin top, jack lifting motor, jack lifting motor fixing piece, driving motor, driving motor transmission mechanism composition；On chassis
Have a bottom plate, jack lifting motor by shaft joint and jack bolt axis connection, by jack lifting motor fixing piece with
Jack is fixedly connected, and the top of jack is fixedly connected with jack fixing piece, and jack fixing piece is fixed on chassis, and thousand
The bottom on jin top is fixedly connected with adjustment wheel；Driving motor is fixed under chassis, is driven by driving motor transmission mechanism
Wheel, the movement of attached driving wheel.
According to the milling robot, it is characterized in that：Floor stand mechanism is made of stand, elevating movement mechanism, brace；
Stand is made of two upright bars and more cross bars, and elevating movement mechanism is to be respectively fixed with to lead on two faces of two upright bars
Rail, two sliding blocks are respectively fitted on two guide rails and are slidably connected with guide rail, and lifter plate is fixedly connected with two sliding blocks, at two
It is respectively fixed with rack on corresponding two faces of upright bar, two lifting motors are fixed on lifter plate, two lifting motors point
It is not fixedly connected with lifter wheel, the engagement of lifting tooth wheel and rack constitutes gear drive, and one end of brace is fixed with stand to be connected
It connects, the other end is fixedly connected with one end of chassis, and one end of stand is fixedly mounted on the other end of chassis, chassis, stand, oblique pull
Bar forms a triangle.
According to the milling robot, it is characterized in that：Workpiece polishing mechanism is by fixed seat, dust cover, adjustment motor gear, sand
Turbin generator fixed seat, dust cover dust mouth, spring, adjustment motor, slide, sand round motor, sandpaper backing plate, adjustment rack composition；
Slide is slidably connected in fixed seat and constitutes prismatic pair, and adjustment rack, adjustment rack and adjustment are fixedly connected on slide
Motor gear engagement constitutes gear drive, and adjustment motor gear is fixed on adjustment motor, and adjustment motor is fixed on lifter plate,
Sand round motor fixing seat sliding bar, sand round motor fixing seat and sand round motor fixing seat sliding bar hinge are slidably connected in slide
Connection, is cased with spring on sand round motor fixing seat sliding bar and between sand round motor fixing seat and slide, and sand round motor is solid
Reservation is fixedly connected with dust cover, and sand round motor is fixed in sand round motor fixing seat, and sandpaper is fixedly connected on sand round motor
Backing plate, sandpaper backing plate are installed with sandpaper in dust cover on sandpaper backing plate.
According to the milling robot, it is characterized in that：It inhales dedusting mechanism to be made of dust exhaust apparatus, dust-extraction unit, dust suction
Device is fixed on the bottom plate of chassis, and dust-extraction unit is fixedly mounted in dust exhaust apparatus, and dust cover dust mouth is inhaled with dust exhaust apparatus
Dirt mouth is linked together by pipe.
According to the milling robot, it is characterized in that：Detecting and controlling system is by rangefinder one, rangefinder two, rangefinder
Three, travel switch, governor circuit composition, rangefinder one, rangefinder two, rangefinder three, travel switch connect with governor circuit respectively
It connects, travel switch is separately fixed at the top and lower part of stand, and governor circuit is electric with adjustment motor, sand round motor, driving respectively
Machine, jack lifting motor, lifting motor connection.
According to the milling robot, it is characterized in that：Driving motor transmission mechanism forms, and wherein transmission device is machinery
Transmission.
According to the milling robot, it is characterized in that：Jack is rack-jack.
The working method of the construction milling robot, including：When work, first robot is put with respect to metope
It is good, the position of robot is adjusted by showing distance of the stand away from wall on control panel, then lifting motor works sandpaper
Backing plate is put into most bottom, and travel switch is closed at this time, and sends this signal to governor circuit, opens the manipulated key of control panel,
Governor circuit starts adjustment motor by internal driving gating circuit, and the sandpaper backing plate for being installed with sandpaper is allowed to be leaned on to metope
Closely, after sandpaper and metope contact, governor circuit stops adjustment motor by internal driving gating circuit, opens control panel
Automatic key, start sand round motor, dust exhaust apparatus, lifting motor, lifting motor rotation drives lifter wheel rotation, lifter wheel
It is engaged with rack and constitutes gear drive, lifter wheel drives lifter plate to move upwards；
Because slidably connecting slide in fixed seat and constituting prismatic pair, there is a straight slot in fixed seat, be fixedly connected on slide
Rack is adjusted, adjustment rack engages with adjustment motor gear and constitutes gear drive, and adjustment motor gear is fixed on adjustment motor,
Adjustment motor is fixed on lifter plate, slidably connects sand round motor fixing seat sliding bar in slide, sand round motor fixing seat with
Sand round motor fixing seat sliding bar hinge connection, on sand round motor fixing seat sliding bar and in sand round motor fixing seat and slide
Between be cased with spring, sand round motor fixing seat is fixedly connected with dust cover, and sand round motor is fixed in sand round motor fixing seat, husky
The motor bar of turbin generator is connect by bearing with sand round motor fixing seat, and sandpaper backing plate, sandpaper are fixedly connected on sand round motor
Backing plate is installed with sandpaper in dust cover on sandpaper backing plate；So lifter wheel drives the sandpaper for being installed with sandpaper
Backing plate moves upwards, at the same the dust polished from dust cover by dust cover dust mouth through in hose inspiration dust exhaust apparatus, dedusting
Device is dusted dust, and sandpaper polishes flat putty in the movement of metope on the wall, when the sand for being installed with sandpaper
When Paper baseplate is to top, the travel switch at top is closed at this time, and sends this signal to governor circuit, and governor circuit is by input
The program and datamation entered, governor circuit start adjustment motor automatically by internal driving gating circuit and rotate backward,
Due to sand round motor fixing seat and sand round motor fixing seat sliding bar hinge connection, sandpaper is easier parallel contact metope；
After sandpaper is detached with metope, gear on driving motor engage connection with driving gear, drive gear, belt pulley one and
Driving wheel is coaxial, and belt pulley two and attached driving wheel are coaxial, and belt pulley one is connect with belt pulley two by synchronous belt drive, driving electricity
Machine drives sliding tooth rotation, driving gear band to move belt pulley one, driving wheel rotation, and belt pulley one drives belt pulley two, attached driving wheel
Rotation, driving wheel rotate simultaneously with attached driving wheel, and entire robot is driven to travel forward along metope, move certain distance, master control
Circuit compares the data of rangefinder one, rangefinder two, and when data cannot be met the requirements, governor circuit is automatically by interior
The driving gating circuit in portion starts jack lifting motor, and jack lifting motor is connected by shaft joint and jack bolt axis
It connects, is fixedly connected with very heavy ejector pin by jack lifting motor fixing piece, upper junction plate and the jack fixing piece of jack
It is fixedly connected, jack fixing piece is fixed on chassis, and the lower connecting plate of jack is fixedly connected with adjustment wheel；Jack lifts
Motor rotation drives shaft joint and jack bolt shaft rotation dynamic, and helical axis rotation drives jack lifting, so as to adjust stand with
After the depth of parallelism of metope, governor circuit starts adjustment motor by internal driving gating circuit, allows and is installed with sandpaper
Sandpaper backing plate is close to metope, and after sandpaper and metope contact, governor circuit passes through internal driving gating circuit and stops adjustment
Motor simultaneously starts sand round motor, dust exhaust apparatus, and governor circuit starts lifting motor, driving electricity by internal driving gating circuit
Machine works, and lifting motor rotation drives lifter wheel rotation, the engagement of lifting tooth wheel and rack to constitute gear drive, lifter wheel band
Dynamic lifter plate moves downward, and to drive the sandpaper backing plate for being installed with sandpaper to move downward, lifting motor work will be fixed
Be equipped with sandpaper sandpaper backing plate be put into most bottom after, the travel switch of stand bottom is closed, and sends this signal to master control electricity
Road, governor circuit stops lifting motor by internal driving gating circuit and works, so on circulate, when robot motion arrives
When metope corner, rangefinder three sends data-signal to governor circuit, when reaching the minimum value of program setting, master control electricity
Road stops driving motor rotation by internal driving gating circuit, during the work time, in order to increase the stability of robot,
Sandbag can be put on the bottom plate of chassis carries out counterweight.
The beneficial effects of the invention are as follows：
1, the high degree of automation easy to operate compared with artificial, work efficiency is high, and use cost is low.
2, polishing, dedusting, digital mobile integration can be achieved, speed is fast.
3, it without building a framework, has a safety feature.
4, people can be freed from heavy manual labor, the operable more robots of a people work at the same time.
5, harm of the dust of the materials generation such as polishing putty to worker can be removed, it is environmentally protective.
Description of the drawings
Fig. 1 is the side view of embodiment one in the present invention.
Fig. 2 is the front view of embodiment one in the present invention.
Fig. 3 is the rearview of embodiment one in the present invention.
Fig. 4 is the vertical view of embodiment one in the present invention.
Fig. 5 is the upward view of embodiment one in the present invention.
Fig. 6 is the schematic three dimensional views of embodiment in the present invention.
Fig. 7 is the workpiece polishing mechanism schematic diagram in embodiment in the present invention
Fig. 8 is the sectional view of workpiece polishing mechanism in embodiment in the present invention.
Fig. 9 is the schematic three dimensional views of workpiece polishing mechanism in embodiment in the present invention.
Figure 10 is electrical equipment control connection diagram in the present invention.
In attached drawing：1, guide rail；2, dust cover；3, driving motor gear；4, driving wheel；5, adjustment wheel；6, chassis；7, dust suction
Device；8, humidifier；9, brace；10, rangefinder two；11, cross bar；12, rack；13, lifter plate；14, jack fixing piece；
15, attached driving wheel；16, jack lifting motor；17, jack lifting motor fixing piece；18, very heavy ejector pin；19, jack is upper
Lower connector；20, the frame of jack；21, rangefinder three；22, sandpaper backing plate；23, rangefinder one；24, lifting motor one；
25, cross bar；26, lifter wheel；27, lifting motor two；28, sliding block；29, driving motor；30, gear is driven；31, belt pulley
One；32, belt pulley two；33, upright bar；34, motor gear is adjusted；35, sand round motor fixing seat；36, dust cover dust mouth；37,
Spring；38, motor is adjusted；39, fixed seat；40, slide；41, sand round motor；42, rack is adjusted；43, sand round motor fixing seat
Sliding bar；44, governor circuit；45, travel switch.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments：
The present invention is milling robot, as shown in Fig. 1,2,3,4,5,10, a kind of milling robot, including chassis mechanism, stand
Dedusting mechanism, detecting and controlling system, are inhaled at workpiece polishing mechanism by mechanism.Chassis mechanism is by chassis 6, driving wheel 4, adjustment wheel 5, attached driving wheel
15, jack, jack lifting motor 16, jack lifting motor fixing piece 17, driving motor 28, driving motor transmission mechanism
Composition；There are bottom plate, jack lifting motor 16 to pass through very heavy jacking by shaft joint and jack bolt axis connection on chassis 6
Drop 16 fixing piece of motor is fixedly connected with very heavy ejector pin 18, and the upper connector 19 of jack is fixed with jack fixing piece 14 to be connected
It connects, jack fixing piece 14 is fixed on chassis 6, and the lower connector 19 of jack is fixedly connected with adjustment wheel 5；Driving motor 28
It is fixed under chassis 6, drives driving wheel 4, attached driving wheel 15 to move by 28 transmission mechanism of driving motor；Floor stand mechanism by stand,
Elevating movement mechanism, brace 9 form；The fixed frame that stand is made of two upright bars 33 and more cross bars 25, elevating movement machine
Structure is that guide rail 1 is respectively fixed on two faces of two upright bars 33, two sliding blocks 28 be respectively fitted on two guide rails 1 and with lead
Rail 1 is slidably connected, and lifter plate 13 is fixedly connected with two sliding blocks 28, is fixed respectively on corresponding two faces of two upright bars 33
There are rack 12, two lifting motors 24,27 to be fixed on lifter plate 13, two lifting motors 24,27 have been respectively fixedly connected with liter
Gear 26 drops, and lifter wheel 26 is engaged with rack 12 constitutes gear drive, and one end of brace 9 is fixedly connected with stand, another
End is fixedly connected with one end of chassis 6, and one end of stand is fixedly mounted on the other end of chassis 6, chassis 6, stand, brace 9
Form a triangle；Workpiece polishing mechanism is by fixed seat 39, dust cover 2, adjustment motor gear 34, sand round motor fixing seat 35, anti-
Dust hood dust mouth 36, spring 37, adjustment motor 38, slide 40, sand round motor 41, sandpaper backing plate 22, adjustment rack 42 form；?
Slide 40 is slidably connected in fixed seat 39 and constitutes prismatic pair, is had a straight slot in fixed seat 39, is fixedly connected on slide 40
Rack 42 is adjusted, adjustment rack 42 engages with adjustment motor gear 34 and constitutes gear drive, and adjustment motor gear 34 is fixed on tune
On whole motor 38, adjustment motor 38 is fixed on lifter plate 13, and sand round motor fixing seat sliding bar is slidably connected in slide 40
43, sand round motor fixing seat 35 and 43 hinge connection of sand round motor fixing seat sliding bar, in sand round motor fixing seat sliding bar 43
Above and it being cased with spring 37 between sand round motor fixing seat and slide 40, sand round motor fixing seat 35 is fixedly connected with dust cover 2,
Sand round motor 41 is fixed in sand round motor fixing seat 35, and the motor bar of sand round motor 41 passes through bearing and sand round motor fixing seat
35 connect, and sandpaper backing plate 22 is fixedly connected on sand round motor 41, and sandpaper backing plate 22 is solid on sandpaper backing plate 22 in dust cover 2
Dingan County is equipped with sandpaper；It inhales dedusting mechanism to be made of dust exhaust apparatus, dust-extraction unit, dust exhaust apparatus is fixed on the bottom plate of chassis 6, is removed
Dirt device is fixedly mounted in dust exhaust apparatus, and dust cover dust mouth is linked together with dust exhaust apparatus suction inlet by pipe；Detection
Control system is made of rangefinder 1, rangefinder 2 10, rangefinder 3 21, travel switch 45, governor circuit 44, rangefinder one
23, rangefinder 2 10, rangefinder 3 21, travel switch 45 are connect with governor circuit 44 respectively, and travel switch 45 is separately fixed at
The top and lower part of stand 33, governor circuit 44 respectively with adjustment motor 38, sand round motor 41, driving motor 29, very heavy jacking
Motor 16 drops, lifting motor 24,27 connects.
According to the milling robot, it is characterized in that：Driving motor transmission mechanism forms, and wherein transmission device is machinery
Transmission.
According to the milling robot, it is characterized in that：Jack is rack-jack.
It is described further with reference to specific embodiment：
Above-mentioned jack is rack Horizontal jack, is also scissor-like jack.
Above-mentioned driving motor 29, jack lifting motor 16, lifting motor 24,27, sand round motor 41, adjustment motor 38 are
Stepper motor.
Above-mentioned driving motor transmission transmission device is driving gear 30, belt pulley 1, belt pulley 2 32, drives gear
30, belt pulley 1 and driving wheel 4 are coaxial, and belt pulley 2 32 and attached driving wheel 15 are coaxial, the gear on driving motor 29 and driving
The engagement connection of gear 30, belt pulley 1 are connect with belt pulley 2 32 by synchronous belt drive.
Above-mentioned dust exhaust apparatus is dust catcher 7, and dust-extraction unit is humidifier 8.
When work, first robot is put well with respect to metope, by showing that distance of the stand 33 away from wall adjusts on control panel
Sandpaper backing plate 22 is put into most bottom by the position of good robot, the then work of lifting motor 24,27, and travel switch 45 is closed at this time,
And send this signal to governor circuit 44, the manipulated key of control panel is opened, governor circuit 44 is gated by internal driving
Circuit start adjusts motor 38, makes the sandpaper backing plate 22 for being installed with sandpaper close to metope, after sandpaper and metope contact,
Governor circuit 44 stops adjustment motor 38 by internal driving gating circuit, opens the automatic key of control panel, starts sand round
Motor 41, dust catcher 7, lifting motor 24,27, lifting motor 24,27 rotation drive lifter wheel 26 rotate, lifter wheel 26 with
The engagement of rack 12 constitutes gear drive, and lifter wheel 26 drives lifter plate 13 to move upwards.
Because slidably connecting slide 40 in fixed seat 39 and constituting prismatic pair, there are a straight slot, slide 40 in fixed seat 39
On be fixedly connected with adjustment rack 42, adjustment rack 42 with adjustment motor gear 34 engage composition gear drive, adjustment motor tooth
Wheel 34 is fixed on adjustment motor 38, and adjustment motor 38 is fixed on lifter plate 13, and sand round motor is slidably connected in slide 40
Fixed seat sliding bar 43, sand round motor fixing seat 35 and 43 hinge connection of sand round motor fixing seat sliding bar, it is solid in sand round motor
Be cased with spring 37 on reservation sliding bar 43 and between sand round motor fixing seat and slide 40, sand round motor fixing seat 35 with it is dust-proof
Cover 2 is fixedly connected, and sand round motor 41 is fixed in sand round motor fixing seat 35, and the motor bar of sand round motor 41 passes through bearing and sand
Turbin generator fixed seat 35 connects, and sandpaper backing plate 22 is fixedly connected on sand round motor 41, and sandpaper backing plate 22 is husky in dust cover 2
It is installed with sandpaper on Paper baseplate 22；So lifter wheel 24,27 drives the sandpaper backing plate 22 for being installed with sandpaper upward
The dust for moving, while polishing is from dust cover 2 by dust cover dust mouth 36 through in hose inspiration dust catcher 7, humidifier 8 is to powder
Dirt is dusted, and sandpaper polishes flat putty in the movement of metope on the wall, when the sandpaper backing plate 22 for being installed with sandpaper
When to top, the travel switch 45 at top is closed at this time, and sends this signal to governor circuit 44, and governor circuit 44 is by input
The program and datamation entered, governor circuit 44 start adjustment motor 38 automatically by internal driving gating circuit and reversely turn
Dynamic, due to sand round motor fixing seat 35 and 43 hinge connection of sand round motor fixing seat sliding bar, sandpaper is easier parallel contact wall
Face.
After sandpaper is detached with metope, gear on driving motor 29 engage connection with driving gear 30, drive gear 30,
Belt pulley 1 and driving wheel 4 are coaxial, and belt pulley 2 32 and attached driving wheel 15 are coaxial, and belt pulley 1 is with belt pulley 2 32 by same
Belt transmission connection is walked, the driving driving gear 30 of driving motor 29 rotates, and driving gear 30 drives belt pulley 1, driving wheel 4
Rotation, belt pulley 1 drive belt pulley 2 32, attached driving wheel 15 to rotate, and driving wheel 4 rotates simultaneously with attached driving wheel 15, drive entire
Robot travels forward along metope, move certain distance, governor circuit 44 by rangefinder 1, rangefinder 2 10 data into
Row comparison, when data cannot be met the requirements, governor circuit 44 starts very heavy jacking automatically by internal driving gating circuit
Motor 16 drops, and jack lifting motor 16 is fixed by shaft joint and jack bolt axis connection by jack lifting motor
Part 17 is fixedly connected with very heavy ejector pin 18, and the upper junction plate 19 of jack is fixedly connected with jack fixing piece 14, and jack is solid
Determine part 14 to be fixed on chassis 6, the lower connecting plate 19 of jack is fixedly connected with adjustment wheel 5；Jack lifting motor 16 rotates
Drive shaft joint and jack bolt shaft rotation dynamic, helical axis rotation drives jack lifting, so as to adjust the flat of stand and metope
After row degree, governor circuit 44 starts adjustment motor 38 by internal driving gating circuit, allows the sandpaper for being installed with sandpaper
Backing plate 22 is close to metope, and after sandpaper and metope contact, governor circuit 44 passes through internal driving gating circuit and stops adjustment
Motor 38 simultaneously starts sand round motor 41, dust catcher 7, and governor circuit 44 starts lifting motor by internal driving gating circuit
24,27, driving motor 29 works, and the rotation of lifting motor 24,27 drives lifter wheel 26 to rotate, and lifter wheel 26 is nibbled with rack 12
It closes and constitutes gear drive, lifter wheel 26 drives lifter plate 13 to move downward, to drive the sandpaper pad for being installed with sandpaper
Plate 22 moves downward, after the sandpaper backing plate 22 for being installed with sandpaper is put into most bottom by the work of lifting motor 24,27, stand bottom
Travel switch 45 be closed, and send this signal to governor circuit 44, governor circuit 44 passes through internal driving gating circuit
Stop lifting motor 24,27 to work, so on circulate, when robot motion is to metope corner, rangefinder 3 21 will count
It is believed that number sending governor circuit 44 to, when reaching the minimum value of program setting, governor circuit 44 passes through internal driving gating
Circuit stops driving motor 29 and rotates, during the work time, can be on the bottom plate of chassis 6 in order to increase the stability of robot
It puts sandbag and carries out counterweight.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and protection domain is defined, under the premise of not departing from design concept of the present invention, ordinary engineering and technical personnel in this field
To all variations and modifications that technical scheme of the present invention is made, protection scope of the present invention should all be fallen into.
Claims (1)
1. a kind of working method of construction milling robot, construction milling robot includes chassis mechanism, stands
Frame mechanism, inhales dedusting mechanism, detecting and controlling system at workpiece polishing mechanism；Chassis mechanism is connect with floor stand mechanism exists side by side in chassis mechanism,
Workpiece polishing mechanism is mounted in floor stand mechanism, is inhaled dedusting mechanism and is connect in chassis mechanism and with workpiece polishing mechanism, detecting and controlling system
Chassis mechanism is controlled by detection, floor stand mechanism, workpiece polishing mechanism, inhales dedusting mechanism work；Workpiece polishing mechanism is by fixed seat, dust-proof
Cover, adjustment motor gear, sand round motor fixing seat, dust cover dust mouth, spring, adjustment motor, slide, sand round motor, sandpaper
Backing plate, adjustment rack composition；Slide is slidably connected in fixed seat and constitutes prismatic pair, and adjustment tooth is fixedly connected on slide
Item, adjustment rack engage with adjustment motor gear and constitute gear drive, and adjustment motor gear is fixed on adjustment motor, adjustment electricity
Machine is fixed on lifter plate, and sand round motor fixing seat sliding bar, sand round motor fixing seat and sand round electricity are slidably connected in slide
Machine fixed seat sliding bar hinge connection, covers on sand round motor fixing seat sliding bar and between sand round motor fixing seat and slide
There are spring, sand round motor fixing seat to be fixedly connected with dust cover, sand round motor is fixed in sand round motor fixing seat, sand round motor
On be fixedly connected with sandpaper backing plate, sandpaper backing plate is installed with sandpaper in dust cover on sandpaper backing plate；
Chassis mechanism is by chassis, driving wheel, adjustment wheel, attached driving wheel, jack, jack lifting motor, jack lifting motor
Fixing piece, driving motor, driving motor transmission mechanism composition；Have bottom plate on chassis, jack lifting motor by shaft joint with
Jack bolt axis connection is fixedly connected by jack lifting motor fixing piece with jack, the top of jack with it is very heavy
Top fixing piece is fixedly connected, and jack fixing piece is fixed on chassis, and the bottom of jack is fixedly connected with adjustment wheel；Driving electricity
Machine is fixed under chassis, drives driving wheel, attached driving wheel to move by driving motor transmission mechanism；
It inhales dedusting mechanism to be made of dust exhaust apparatus, dust-extraction unit, dust exhaust apparatus is fixed on the bottom plate of chassis, and dust-extraction unit is fixed
In dust exhaust apparatus, dust cover dust mouth is linked together with dust exhaust apparatus suction inlet by pipe；
Floor stand mechanism is made of stand, elevating movement mechanism, brace；Stand is made of two upright bars and more cross bars, is risen
Drop motion be that guide rail is respectively fixed on two faces of two upright bars, two sliding blocks be respectively fitted on two guide rails and with
Guide rail is slidably connected, and lifter plate is fixedly connected with two sliding blocks, and tooth is respectively fixed on corresponding two faces of two upright bars
Item, two lifting motors are fixed on lifter plate, and two lifting motors have been respectively fixedly connected with lifter wheel, lifter wheel and tooth
Item engagement constitutes gear drive, and one end of brace is fixedly connected with stand, and the other end is fixedly connected with one end of chassis, stand
One end be fixedly mounted on the other end of chassis, chassis, stand, brace form a triangle；
Detecting and controlling system is made of rangefinder one, rangefinder two, rangefinder three, travel switch, governor circuit, rangefinder one,
Rangefinder two, rangefinder three, travel switch are connect with governor circuit respectively, and travel switch is separately fixed at the top of stand under
Portion, governor circuit are connect with adjustment motor, sand round motor, driving motor, jack lifting motor, lifting motor respectively；
The working method of the construction milling robot, including：When work, robot is put well with respect to metope first, is led to
The position for showing that distance of the stand away from wall adjusts robot is crossed on control panel, and sandpaper backing plate is put in then lifting motor work
To most bottom, travel switch is closed at this time, and sends this signal to governor circuit, opens the manipulated key of control panel, master control electricity
Road starts adjustment motor by internal driving gating circuit, makes the sandpaper backing plate for being installed with sandpaper close to metope, when
After sandpaper is contacted with metope, governor circuit stops adjustment motor by internal driving gating circuit, opens oneself of control panel
Dynamic key, starts sand round motor, dust exhaust apparatus, lifting motor, and lifting motor rotation drives lifter wheel rotation, lifter wheel and tooth
Item engagement constitutes gear drive, and lifter wheel drives lifter plate to move upwards；
Because slidably connecting slide in fixed seat and constituting prismatic pair, there is a straight slot in fixed seat, be fixedly connected on slide
Rack is adjusted, adjustment rack engages with adjustment motor gear and constitutes gear drive, and adjustment motor gear is fixed on adjustment motor,
Adjustment motor is fixed on lifter plate, slidably connects sand round motor fixing seat sliding bar in slide, sand round motor fixing seat with
Sand round motor fixing seat sliding bar hinge connection, on sand round motor fixing seat sliding bar and in sand round motor fixing seat and slide
Between be cased with spring, sand round motor fixing seat is fixedly connected with dust cover, and sand round motor is fixed in sand round motor fixing seat, husky
The motor bar of turbin generator is connect by bearing with sand round motor fixing seat, and sandpaper backing plate, sandpaper are fixedly connected on sand round motor
Backing plate is installed with sandpaper in dust cover on sandpaper backing plate；So lifter wheel drives the sandpaper for being installed with sandpaper
Backing plate moves upwards, at the same the dust polished from dust cover by dust cover dust mouth through in hose inspiration dust exhaust apparatus, dedusting
Device is dusted dust, and sandpaper polishes flat putty in the movement of metope on the wall, when the sand for being installed with sandpaper
When Paper baseplate is to top, the travel switch at top is closed at this time, and sends this signal to governor circuit, and governor circuit is by input
The program and datamation entered, governor circuit start adjustment motor automatically by internal driving gating circuit and rotate backward,
Due to sand round motor fixing seat and sand round motor fixing seat sliding bar hinge connection, sandpaper is easier parallel contact metope；
After sandpaper is detached with metope, gear on driving motor engage connection with driving gear, drive gear, belt pulley one and
Driving wheel is coaxial, and belt pulley two and attached driving wheel are coaxial, and belt pulley one is connect with belt pulley two by synchronous belt drive, driving electricity
Machine drives sliding tooth rotation, driving gear band to move belt pulley one, driving wheel rotation, and belt pulley one drives belt pulley two, attached driving wheel
Rotation, driving wheel rotate simultaneously with attached driving wheel, and entire robot is driven to travel forward along metope, move certain distance, master control
Circuit compares the data of rangefinder one, rangefinder two, and when data cannot be met the requirements, governor circuit is automatically by interior
The driving gating circuit in portion starts jack lifting motor, and jack lifting motor is connected by shaft joint and jack bolt axis
It connects, is fixedly connected with very heavy ejector pin by jack lifting motor fixing piece, upper junction plate and the jack fixing piece of jack
It is fixedly connected, jack fixing piece is fixed on chassis, and the lower connecting plate of jack is fixedly connected with adjustment wheel；Jack lifts
Motor rotation drives shaft joint and jack bolt shaft rotation dynamic, and helical axis rotation drives jack lifting, so as to adjust stand with
After the depth of parallelism of metope, governor circuit starts adjustment motor by internal driving gating circuit, allows and is installed with sandpaper
Sandpaper backing plate is close to metope, and after sandpaper and metope contact, governor circuit passes through internal driving gating circuit and stops adjustment
Motor simultaneously starts sand round motor, dust exhaust apparatus, and governor circuit starts lifting motor, driving electricity by internal driving gating circuit
Machine works, and lifting motor rotation drives lifter wheel rotation, the engagement of lifting tooth wheel and rack to constitute gear drive, lifter wheel band
Dynamic lifter plate moves downward, and to drive the sandpaper backing plate for being installed with sandpaper to move downward, lifting motor work will be fixed
Be equipped with sandpaper sandpaper backing plate be put into most bottom after, the travel switch of stand bottom is closed, and sends this signal to master control electricity
Road, governor circuit stops lifting motor by internal driving gating circuit and works, so on circulate, when robot motion arrives
When metope corner, rangefinder three sends data-signal to governor circuit, when reaching the minimum value of program setting, master control electricity
Road stops driving motor rotation by internal driving gating circuit, during the work time, in order to increase the stability of robot,
Sandbag can be put on the bottom plate of chassis carries out counterweight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810625061.5A CN108756177B (en) | 2016-08-24 | 2016-08-24 | Working method of polishing robot for building construction |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610717704.XA CN106271940B (en) | 2016-08-24 | 2016-08-24 | Milling robot |
| CN201810625061.5A CN108756177B (en) | 2016-08-24 | 2016-08-24 | Working method of polishing robot for building construction |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610717704.XA Division CN106271940B (en) | 2016-08-24 | 2016-08-24 | Milling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108756177A true CN108756177A (en) | 2018-11-06 |
| CN108756177B CN108756177B (en) | 2020-08-11 |
Family
ID=57616117
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810625057.9A Withdrawn CN108818189A (en) | 2016-08-24 | 2016-08-24 | Construction milling robot |
| CN201610717704.XA Active CN106271940B (en) | 2016-08-24 | 2016-08-24 | Milling robot |
| CN201810625058.3A Expired - Fee Related CN108797975B (en) | 2016-08-24 | 2016-08-24 | Wall putty polishing robot for building construction |
| CN201810625061.5A Active CN108756177B (en) | 2016-08-24 | 2016-08-24 | Working method of polishing robot for building construction |
Family Applications Before (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810625057.9A Withdrawn CN108818189A (en) | 2016-08-24 | 2016-08-24 | Construction milling robot |
| CN201610717704.XA Active CN106271940B (en) | 2016-08-24 | 2016-08-24 | Milling robot |
| CN201810625058.3A Expired - Fee Related CN108797975B (en) | 2016-08-24 | 2016-08-24 | Wall putty polishing robot for building construction |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN108818189A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110814898A (en) * | 2019-10-15 | 2020-02-21 | 广东博智林机器人有限公司 | Grinding device and grinding robot with same |
| CN111251104A (en) * | 2020-03-09 | 2020-06-09 | 上海雅跃智能科技有限公司 | Outer wall polishing robot |
| CN112025485A (en) * | 2020-08-10 | 2020-12-04 | 李景乔 | Wiring groove contact plane grinding equipment for building decoration |
| CN113579881A (en) * | 2020-04-30 | 2021-11-02 | 广东博智林机器人有限公司 | Polishing equipment and polishing robot with same |
| CN114178921A (en) * | 2020-09-14 | 2022-03-15 | 广东博智林机器人有限公司 | Polishing robot |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263235A (en) * | 2017-08-14 | 2017-10-20 | 罗厚镇 | A kind of building wall automatically grinding pre-processing device |
| CN110125750B (en) * | 2019-05-17 | 2021-03-26 | 巢湖学院 | Semi-automatic wall grinding device |
| CN110355687A (en) * | 2019-07-04 | 2019-10-22 | 无锡中车时代智能装备有限公司 | Robot electric end face milling tools |
| CN111546079B (en) * | 2020-05-10 | 2021-06-15 | 绍兴市卓诚新材料有限公司 | Double-axis equipment frame body of motor pump casing casting equipment |
| CN111890153A (en) * | 2020-08-05 | 2020-11-06 | 程诗栋 | Building outer wall equipment of polishing |
| CN111993188A (en) * | 2020-09-01 | 2020-11-27 | 谢永乐 | Wall skin removing device for interior decoration |
| CN112045550A (en) * | 2020-09-15 | 2020-12-08 | 赖宗剑 | Mirror surface aluminum plate burnishing machine of polishing speed and dynamics adjustable |
| CN113714879A (en) * | 2021-09-18 | 2021-11-30 | 海南承宏环境工程有限公司 | Building wall surface construction equipment |
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| US3948005A (en) * | 1975-01-03 | 1976-04-06 | Whitsett Jack W | Ceiling grinding apparatus |
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- 2016-08-24 CN CN201810625057.9A patent/CN108818189A/en not_active Withdrawn
- 2016-08-24 CN CN201610717704.XA patent/CN106271940B/en active Active
- 2016-08-24 CN CN201810625058.3A patent/CN108797975B/en not_active Expired - Fee Related
- 2016-08-24 CN CN201810625061.5A patent/CN108756177B/en active Active
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| CN2551988Y (en) * | 2002-06-22 | 2003-05-21 | 张利珍 | Portable sampling gun |
| CN1445425A (en) * | 2003-01-24 | 2003-10-01 | 柯干兴 | Sander for polishing wall space |
| CN1624271A (en) * | 2004-06-10 | 2005-06-08 | 柯干兴 | Wall / roofing polishing grinding machine |
| CN105579210A (en) * | 2014-04-15 | 2016-05-11 | 直立混凝土抛光股份有限公司 | Method and apparatus for applying a uniform texture to a substantially vertical, surface |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110814898A (en) * | 2019-10-15 | 2020-02-21 | 广东博智林机器人有限公司 | Grinding device and grinding robot with same |
| CN111251104A (en) * | 2020-03-09 | 2020-06-09 | 上海雅跃智能科技有限公司 | Outer wall polishing robot |
| CN113579881A (en) * | 2020-04-30 | 2021-11-02 | 广东博智林机器人有限公司 | Polishing equipment and polishing robot with same |
| CN113579881B (en) * | 2020-04-30 | 2022-10-18 | 广东博智林机器人有限公司 | Polishing equipment and polishing robot with same |
| CN112025485A (en) * | 2020-08-10 | 2020-12-04 | 李景乔 | Wiring groove contact plane grinding equipment for building decoration |
| CN114178921A (en) * | 2020-09-14 | 2022-03-15 | 广东博智林机器人有限公司 | Polishing robot |
| CN114178921B (en) * | 2020-09-14 | 2023-08-15 | 广东博智林机器人有限公司 | Polishing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108756177B (en) | 2020-08-11 |
| CN108818189A (en) | 2018-11-16 |
| CN106271940A (en) | 2017-01-04 |
| CN108797975B (en) | 2020-08-18 |
| CN106271940B (en) | 2018-08-17 |
| CN108797975A (en) | 2018-11-13 |
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| CB03 | Change of inventor or designer information |
Inventor after: Xu Lingling Inventor after: Ying Zhixiong Inventor after: Wang Bin Inventor after: Other inventor requests not to publish the name Inventor before: Request for anonymity |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20200722 Address after: 321000 second floor, building 1, No.999, Huadu Road, Chengxi New District, Yongkang City, Jinhua City, Zhejiang Province Applicant after: ZHEJIANG XINHUA CONSTRUCTION Co.,Ltd. Address before: 213000 Changzhou, Jiangsu New District Liaohe Road, No. 666 Applicant before: Ge Junhua |
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