CN109968133A - A kind of milling robot - Google Patents
A kind of milling robot Download PDFInfo
- Publication number
- CN109968133A CN109968133A CN201910345664.4A CN201910345664A CN109968133A CN 109968133 A CN109968133 A CN 109968133A CN 201910345664 A CN201910345664 A CN 201910345664A CN 109968133 A CN109968133 A CN 109968133A
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- 238000003801 milling Methods 0.000 title claims abstract description 32
- 238000005498 polishing Methods 0.000 claims abstract description 60
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 230000001360 synchronised effect Effects 0.000 claims description 19
- 230000000694 effects Effects 0.000 claims description 4
- 238000000227 grinding Methods 0.000 abstract description 11
- 230000009184 walking Effects 0.000 description 10
- 238000005266 casting Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 239000007769 metal material Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 229910001338 liquidmetal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable 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
- 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
- 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
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
-
- 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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of milling robots, including main body, the mounting rack in main body, and mounting rack is equipped with driving assembly, and driving assembly is equipped with sanding component；Driving assembly drives sanding component to be subjected to displacement respectively with respect to main body along first direction and second direction, when use, driving assembly can drive sanding component mobile to first direction and second direction, adjust the polishing position of sanding component with can be convenient, the polishing area around main body has also been enlarged simultaneously, to improve grinding efficiency.
Description
Technical field
The invention belongs to technical field of mechanical automation more particularly to a kind of milling robots.
Background technique
Casting is a kind of metal heat processing technique, is that liquid metals is cast to the casting cavity being adapted with part shape
In, the method after its cooled and solidified, to obtain product.According to different mold design, each not phase of the product obtained by casting
Together, it can be small parts, equipment blank that can also be large-scale.
There is the redundance other than ontology by the product surface of casting, after needing to cut off redundance, then
By grinding process with the surfaces externally and internally of finishing casting.It except the burr of product surface, is allowed to smooth, is easy to continue to process or reach
Finished product.In general, the tool that polishing uses is grinding machine, grinding wheel grinding machine etc., but these equipment majorities are only applicable to small-sized casting.Work as chance
When to the heavy castings such as such as boiler blank, chimney, it usually needs worker arranges casting using the grinding device of hand-held,
Grinding efficiency is low.
Summary of the invention
The present invention provides a kind of milling robot, for efficiently polishing casting.
The present invention provides a kind of milling robot, the mounting rack including main body and in the main body, the mounting rack
It is equipped with driving assembly, the driving component is equipped with sanding component；The driving component drives the sanding component with respect to institute
Main body is stated to be subjected to displacement respectively along first direction and second direction.
In a kind of embodiment, the driving component includes the first actuator and the second actuator, and described first drives
Moving part is arranged on the mounting rack along first direction, for driving the sanding component to be subjected to displacement along first direction；It is described
Second actuator is arranged in a second direction on first actuator, for driving the sanding component to occur in a second direction
Displacement.
In a kind of embodiment, first actuator and the second actuator are vertical each other, and first driving
Slope shape reinforcer is installed between part and the second actuator, second actuator and slope shape reinforcer are in the first actuator
Drive lower synchronous shift.
In a kind of embodiment, the sanding component includes fixed frame and polishing part, and the fixed frame is connected to institute
It states on driving assembly, is subjected to displacement respectively under driving assembly driving along first direction and second direction, the polishing part passes through
Fixed device is fixed on mounting rack, with fixed frame synchronous shift.
In a kind of embodiment, the fixed device includes the shell connecting with the fixed frame and rotation connection
The first passage worn for the polishing part, the revolving part position are offered on the intracorporal revolving part of the shell, the shell
In in first passage, the polishing part is threaded through in the first passage and is fixedly connected with revolving part.
In a kind of embodiment, the shell includes the first plate for fixed frame connection and supplies the revolving part
Second plate of connection is connected between first plate and the second plate by guide post, and the second plate is fixed in described guide post one end,
The other end is actively located in the first plate；It is also arranged with elastic component in the guide post, is had when between first plate and the second plate
When having first distance, the elastic component is in the raw；Under external force, when between first plate and the second plate away from
When from being less than first distance, deformation occurs for the elastic component；Under no external force or when the external force reduces, the elastic component
It is located remotely from each other first plate and the second plate.
In a kind of embodiment, the revolving part is hinged on second plate, and the revolving part includes two flat
The hinge bar of row setting and the connecting rod for being connected to two hinge bars, form between two hinge bars and connecting rod described in supplying
The fixation channel that polishing part is worn, the polishing part are threaded through in the fixed channel and are consolidated by fastener and the revolving part
It is fixed.
In a kind of embodiment, the main body includes driving wheel, driven wheel and third actuator, the driving wheel and
Synchronous belt is cased on the driven wheel, the third actuator is for driving the driving wheel to rotate.
In a kind of embodiment, the sanding component and driving assembly are located at the mounting rack close to the driving
The side of wheel.
In a kind of embodiment, magnet is installed between the driving wheel bottom and the synchronous belt.
The embodiment of the present invention provides a kind of milling robot, by installing driving assembly, sanding component in main body, uses
When, driving assembly can drive sanding component mobile to first direction and second direction, adjust beating for sanding component with can be convenient
Position is ground, while the polishing area around main body has also been enlarged, to improve grinding efficiency.
It is to be appreciated that the teachings of the present invention does not need to realize whole beneficial effects recited above, but it is specific
Technical solution may be implemented specific technical effect, and other embodiments of the invention can also be realized and not mentioned above
Beneficial effect.
Detailed description of the invention
The following detailed description is read with reference to the accompanying drawings, above-mentioned and other mesh of exemplary embodiment of the invention
, feature and advantage will become prone to understand.In the accompanying drawings, if showing by way of example rather than limitation of the invention
Dry embodiment, in which:
Fig. 1 is the overall structure figure of milling robot；
Fig. 2 is the overall structure figure of running gear in milling robot；
Fig. 3 is the structure chart of driving assembly and sanding component in milling robot；
Fig. 4 is the structure chart of running gear walking component in milling robot.
In figure: 1, main body；11, driving wheel；12, synchronous belt；13, driven wheel；14, third actuator；15, speed reducer；16,
Magnet mounting bracket；17, magnet；2, driving assembly；21, the first actuator；22, slope shape reinforcer；23, the second actuator；
24, intermediate support；241, the first plate；242, the second plate；3, sanding component；31, fixed frame；311, raised；32, shell；
321, the first plate；322, the second plate；323, guide post；324, elastic component；33, polishing part；34, revolving part；341, connecting rod；
342, hinge bar；4, mounting rack；41, strut；42, mounting platform；5, controller；6, connecting shaft.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1 shows the overall structure figure of milling robot of the embodiment of the present invention；Fig. 2 shows polishings of the embodiment of the present invention
The overall structure figure of running gear in robot.
As depicted in figs. 1 and 2, the embodiment of the present invention provides a kind of milling robot, including main body 1 and is set in main body 1
Mounting rack 4, mounting rack 4 be equipped with driving assembly 2, driving assembly 2 be equipped with sanding component 3；Driving assembly 2 drives polishing group
Part 3 is subjected to displacement with respect to main body 1 along first direction and second direction respectively.
When in use, driving assembly 2 can drive sanding component 3 to move with respect to main body 1 to the milling robot of the present embodiment
It is dynamic, to adjust the polishing position of sanding component 3, increase polishing range, while also improving grinding efficiency.Institute of the embodiment of the present invention
The milling robot of offer can be applied to the scenes such as polishing wall, water-cooling wall, boiler, foundry furnace, especially under severe scene, lead to
Milling robot provided by the embodiment of the present invention is crossed, without manually polishing, has ensured the safety of worker.
Mounting rack 4 is fixedly installed in the middle position of main body 1, and mounting rack 4 includes fixed two struts, 41 He on the body 1
The mounting platform 42 being connected between two struts 41, driving assembly 2 are fixed on the upper surface of mounting platform 42, and sanding component 3 connects
It is connected to driving assembly 2, driving assembly 2 is to extending the outside for making sanding component 3 be located at main body 1 on the outside of main body 1.
Fig. 3 shows the structure chart of driving assembly and sanding component in milling robot of the embodiment of the present invention.
As shown in figure 3, in embodiments of the present invention, driving assembly 2 includes the first actuator 21 and the second actuator 23, the
One actuator 21 is arranged on mounting rack 4 along first direction, for driving sanding component 3 to be subjected to displacement along first direction；Second
Actuator 23 is arranged in a second direction on the first actuator 21, for driving sanding component 3 to be subjected to displacement in a second direction.The
One direction is vertical with second direction or first direction and second direction it is in a certain angle.
The milling robot of the present embodiment, the first actuator 21 and the second actuator 23 both preferably straight line mould group, and the
Mobile Slide, the direction of motion and its side of installation of Mobile Slide are equipped on the one side of one actuator 21 and the second actuator 23
To consistent.First actuator 21 be fastened transversely on mounting rack 4 and by the one side containing Mobile Slide just upward, the direction of motion
For first direction.Second actuator 23 is installed on the first actuator 21 and by the one side containing Mobile Slide away from the first driving
Part 21, the direction of motion are second direction, and sanding component 3 is set on the second actuator 23.
In use, driving the first actuator 21 to drive the second driving when needing sanding component 3 to move along first direction
Part 23 and sanding component 3 are moved along first direction, when needing sanding component 3 to move in a second direction, drive the second actuator
23 to drive sanding component 3 to move in a second direction, passes through the adjusting of two different directions, it is convenient to adjust sanding component 3
Polishing position, and increase polishing range, improve the efficiency of polishing.
In embodiments of the present invention, the first actuator 21 and the second actuator 23 are vertical each other, and 21 He of the first actuator
Slope shape reinforcer 22 is installed between second actuator 23, the second actuator 23 and slope shape reinforcer 22 are in the first actuator
The lower synchronous shift of driving 21.
The milling robot of the present embodiment, when installation, the first actuator 21 is transversely mounted, the vertical peace of the second actuator 23
Dress is connected by slope shape reinforcer 22 between the two.Slope shape reinforcer 22 includes that the first plane, the second plane and first are oblique
Face, the first plane, the second plane and the first inclined-plane head and the tail connect, and the first plane is perpendicular to the second plane.Slope shape reinforcer
22 the first plane is fixed with the Mobile Slide on the first actuator 21, and the second plane and the second actuator 23 are far from its slide unit
It fixes on one side, in use, the first actuator 21 drives 22 synchronous shift of the second actuator 23 and slope shape reinforcer, passes through slope
Shape reinforcer 22 is connected to the first actuator 21 and the second actuator 23, can be improved the first actuator 21 and the second actuator 23 it
Between stability and firmness.
In embodiments of the present invention, sanding component 3 includes fixed frame 31 and polishing part 33, and fixed frame 31 is connected to driving group
It on part 2, is subjected to displacement respectively under the driving of driving assembly 2 along first direction and second direction, polishing part 33 passes through fixed device
It is fixed on fixed frame 31, with 31 synchronous shift of fixed frame.
The milling robot of the present embodiment, fixed frame 31 is set on the second actuator 23, parallel with the first actuator 21 to set
It sets, bottom surface both ends are connected with protrusion 311, and polishing part 33 is preferably angle grinder, according to practical situation of polishing, Ke Yi
At least one polishing part 33 is fixed on fixed frame 31.The embodiment of the present invention does not limit the particular number of polishing part 33.Tool
Body, in a kind of specific embodiment of the embodiment of the present invention, polishing part 33 is set as two, and two polishing parts 33 pass through respectively
The lower end of protrusion 311 is set on fixed device.In use, by the transmission of fixed frame 31 and fixed device, polishing part 33 exists
After being subjected to displacement respectively under the driving of driving assembly 2 along first direction and second direction, it is convenient to polish dirt, mention
High grinding efficiency.
Further, it is connected between the second actuator 23 and fixed frame 31 by intermediate support 24, intermediate support 24 is in " L "
Type, including being mutually perpendicular to and the first plate 241 and the second plate 242 of integrally connected, the first plate 241 are fixed on the second driving
On the slide unit of part 23, the second plate 242 is located at the bottom end of the first plate 241 and is connected to fixed frame 31.In use, the second driving
Part 23 drives intermediate support 24 and sanding component 3 synchronous shift in a second direction.
In embodiments of the present invention, fixed device includes the shell 32 connecting with fixed frame 31 and is rotatably connected on shell
Revolving part 34 in 32 offers the first passage worn for polishing part 33 on shell 32, and revolving part 34 is located in first passage,
Polishing part 33 is threaded through in first passage and is fixedly connected with revolving part 34.
The shell 32 of the milling robot of the present embodiment, fixed device is fixedly installed in the protrusion 311 at 31 both ends of fixed frame
Lower end offers the first passage installed for polishing part 33 among shell 32 to realize the connection of fixed device and fixed frame 31,
For the installation of polishing part 33.The specific location of first passage can be selected according to the actual situation, specifically, the present invention is implemented
In a kind of specific embodiment of example, the direction of first passage not only vertical first direction but also vertical second direction.
Revolving part 34 is installed in first passage and realizes along the direction of first passage and rotates, and polishing part 33 is arranged in first
Channel is simultaneously fixedly connected with revolving part 34.In use, by the rotation angle change for adjusting revolving part 34, the polishing of polishing part 33
Angle changes simultaneously therewith, to cope with the metope of different angle.
In embodiments of the present invention, shell 32 includes the first plate 321 connected for fixed frame 31 and connects for revolving part 34
The second plate 322, connected between the first plate 321 and the second plate 322 by guide post 323,323 one end of guide post is fixed on second
Plate 322, the other end are actively located in the first plate 321；Elastic component 324 is also arranged in guide post 323, when the first plate 321 and
When having first distance between two plates 322, elastic component 324 is in the raw；Under external force, when the first plate 321 and
When the distance between two plates 322 are less than first distance, deformation occurs for elastic component 324；Under no external force or when external force reduces,
Elastic component 324 is located remotely from each other the first plate 321 and the second plate 322.
The milling robot of the present embodiment, the first plate 321 are fixedly installed in 311 bottom end of protrusion of fixed frame 31, the second plate
322 are located at immediately below the first plate 321 and are arranged in parallel with the first plate 321, by several between the first plate 321 and the second plate 322
Guide post 323 connects, and being formed by cavity between guide post 323, the first plate 321 and the second plate 322 is first passage.Guiding
The bottom end of column 323 and the upper surface of the second plate 322 are fixed, and top is actively located in the first plate 321.Elastic component 324 is preferably bullet
Spring is sheathed in guide post 323, and elastic component 324 is between the first plate 321 and the second plate 322, one end of elastic component 324
It being fixed on guide post 323 or the second plate 322, the other end is connected to always on the first plate 321, when spring is in equilibrium state,
When being not affected by active force, at this point, there is first distance, when polishing part is in smooth table between the first plate 321 and the second plate 322
When face is polished, the first plate 321 and the second plate 322 are also at first distance, and first distance herein can be according to the reality of polishing part 33
Border installation situation is adjusted by the spring of replacement different length and/or different elastic potential energys.
When encountering convex surfaces during the grinding process, raised surface can squeeze polishing part 33, make polishing part
33 increase, and polishing part 33 drives revolving part 34 to increase, and revolving part 34 drives the second plate 322 to increase, and make the second plate 322 to the first plate
321 directions are mobile, and spring by the pressure of the second plate 322 due to being compressed at this time, between the first plate 321 and the second plate 322
Distance can be less than first distance, thus enable polishing part 33 facilitate polishing protrusion surface.Meanwhile the setting of fixed device
The effect for also acting damping, after convex surfaces are disposed, the first plate 321 and the second plate 322 phase under the force of a spring
It is unlucky dynamic, it is mobile to the direction far from the first plate 321 to make the second plate 322, while driving revolving part 34 is synchronous with polishing part 33 to move
It is dynamic, until the distance between the first plate 321 and the second plate 322 are restored to first distance.
In embodiments of the present invention, revolving part 34 is hinged on the second plate 322, and revolving part 34 includes two disposed in parallel
Hinge bar 342 and the connecting rod 341 for being connected to two hinge bars 342 are formed between two hinge bars 342 and connecting rod 341 for polishing
The fixation channel that part 33 is worn, fixed channel direction are parallel to first passage direction.Polishing part 33 is threaded through in fixed channel simultaneously
It is fixed by fastener and revolving part 34.
The milling robot of the present embodiment, the bottom end of two hinge bars 342 are articulated with the upper surface of the second plate 322, connection
Bar 341 is fixed on the upper end of two hinge bars 342, therefore two hinge bars 342, the second plate 322 and connecting rod 341 form one admittedly
Routing, fixed channel is for wearing and installing for polishing part 33.When installation, polishing part 33 is arranged in fixed channel, then adjust
Then the angle of whole good revolving part 34 fixes the hinge joint between revolving part 34 and the second plate 322 again, be rotated further by it can not,
Finally by the fixed revolving part 34 of fastener and polishing part 33.So set, according to use demand, it can be by adjusting hinge bar
342 and the second angle between plate 322, achieve the purpose that adjust angle between polishing part 33 and fixed device.
Fig. 2 shows the overall structure figures of running gear in milling robot of the embodiment of the present invention；Fig. 4 shows the present invention
The structure chart of running gear walking component in embodiment milling robot.
As shown in Figure 2 and Figure 4, in embodiments of the present invention, main body 1 includes driving wheel 11, driven wheel 13 and third driving
Synchronous belt 12 is cased on part 14, driving wheel 11 and driven wheel 13, third actuator 14 is for driving driving wheel 11 to rotate.
The milling robot of the present embodiment, main body 1 are specially running gear, including two identical and spaced walkings
Component and connecting shaft 6, mounting rack 4 are located between two walking components, are located at its mounting platform 42 close to driving wheel 11, connecting shaft
6 wear two struts 41 of two walking components and mounting rack 4, so that mounting rack 4 is connected with walking component.Walking component include
Driving wheel 11, driven wheel 13 and third actuator 14, third actuator 14 are preferably motor, are installed on driving wheel 11 and driven wheel
Between 13.In use, third actuator 14 drives driving wheel 11 to rotate, driving wheel 11 drives driven wheel 13 to rotate.
Further, walking component further includes speed reducer 15, and speed reducer 15 is installed on the output end of motor and is connected to drive
Driving wheel 11 plays the effect of deceleration.In use, motor rotates, driving wheel 11 is acted on after speed reducer 15.
Further, main body 1 further includes controller 5, and controller 5 is fixed on mounting rack 4 close to one end of driven wheel 13, uses
In control walking component, driving assembly 2 and sanding component 3.
In embodiments of the present invention, sanding component 3 and driving assembly 2 are located at mounting rack 4 close to the driving wheel 11
Side.
The milling robot of the present embodiment, by the way that sanding component 3 and driving assembly 2 are located at one close to driving wheel 11
End, so that entirely the center of gravity of milling robot is close to 11 one end of driving wheel, when sanding component 3 does relative motion with main body 1
When, it will not skid easily between main body 1 and ground, stability when improving mobile.
In embodiments of the present invention, magnet 17 is installed between 11 bottom of driving wheel and synchronous belt 12.
The milling robot of the present embodiment is fixed with magnet mounting bracket between the bottom and synchronous belt 12 of driving wheel 11
16, magnet 17 is installed in 16 bottom of magnet mounting bracket.When running gear operation in the plane with metal material, magnetic
The suction generated between iron 17 and metal material can increase the maximum static friction force of synchronous belt 12 and plane, so that robot be made to exist
It is more firm when plane or oblique general work with metal material.
Motion process:
Third actuator 14 is driven to rotate by controller 5 first, third actuator 14 acts on driving wheel 11, driving wheel
11 drive driven wheel 13 to rotate by synchronous belt 12 again, so that entire milling robot is made to walk, after reaching polishing region, walking
Device stops movement, and controller 5 controls the first actuator 21 and the second actuator 23 to adjust the polishing position of polishing part 33, beats
After mill, milling robot moves to next polishing region.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of milling robot, which is characterized in that including main body (1) and the mounting rack (4) being set on the main body (1), institute
Mounting rack (4) are stated equipped with driving assembly (2), the driving component (2) is equipped with sanding component (3)；The driving component (2)
The relatively described main body (1) of the sanding component (3) is driven to be subjected to displacement respectively along first direction and second direction.
2. robot according to claim 1, which is characterized in that the driving component (2) includes the first actuator (21)
With the second actuator (23), first actuator (21) is arranged on the mounting rack (4) along first direction, for driving
Sanding component (3) is stated to be subjected to displacement along first direction；Described first is arranged in a second direction and drives for second actuator (23)
On moving part (21), for driving the sanding component (3) to be subjected to displacement in a second direction.
3. robot according to claim 2, which is characterized in that first actuator (21) and the second actuator (23)
It is vertical each other, and slope shape reinforcer (22) are installed between first actuator (21) and the second actuator (23), it is described
Second actuator (23) and slope shape reinforcer (22) synchronous shift in the case where the first actuator (21) drive.
4. robot according to claim 1, which is characterized in that the sanding component (3) includes fixed frame (31) and beats
It grinds part (33), the fixed frame (31) is connected on the driving component (2), along first direction under driving assembly (2) driving
It is subjected to displacement respectively with second direction, the polishing part (33) is fixed on fixed frame (31) by fixed device, with fixed frame
(31) synchronous shift.
5. robot according to claim 4, which is characterized in that the fixed device includes connecting with the fixed frame (31)
The shell (32) connect and the revolving part (34) being rotatably connected in the shell (32) are offered for institute on the shell (32)
The first passage that polishing part (33) is worn is stated, the revolving part (34) is located in the first passage, and the polishing part (33) is worn
It is located in first passage and is fixedly connected with revolving part (34).
6. robot according to claim 5, which is characterized in that the shell (32) includes connecting for the fixed frame (31)
The first plate (321) connect and the second plate (322) for the revolving part (34) connection, first plate (321) and the second plate
(322) it is connected between by guide post (323), described guide post (323) one end is fixed on the second plate (322), other end activity
It is arranged in the first plate (321)；
Elastic component (324) are also arranged on the guide post (323), are had when between first plate (321) and the second plate (322)
When having first distance, the elastic component (324) is in the raw；Under external force, when first plate (321) and second
When the distance between plate (322) is less than first distance, deformation occurs for the elastic component (324)；It is under no external force or described
When external force reduces, the elastic component (324) is located remotely from each other first plate (321) and the second plate (322).
7. robot according to claim 6, which is characterized in that the revolving part (34) is hinged on second plate
(322) on, and the revolving part (34) includes two hinge bars (342) of two hinge bars (342) disposed in parallel and connection
Connecting rod (341) forms the fixation worn for the polishing part (33) between two hinge bars (342) and connecting rod (341)
Channel, the polishing part (33) are threaded through in the fixed channel and are fixed by fastener and the revolving part (34).
8. robot according to claim 1, which is characterized in that the main body (1) includes driving wheel (11), driven wheel
(13) and third actuator (14) synchronous belt (12), the third, are cased on the driving wheel (11) and the driven wheel (13)
Actuator (14) is for driving the driving wheel (11) to rotate.
9. robot according to claim 8, which is characterized in that the sanding component (3) and driving assembly (2) are located at
Side of the mounting rack (4) close to the driving wheel (11).
10. robot according to claim 8, which is characterized in that driving wheel (11) bottom and the synchronous belt
(12) magnet (17) are installed between.
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