CN110202450A - Milling robot - Google Patents
Milling robot Download PDFInfo
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- CN110202450A CN110202450A CN201910599434.0A CN201910599434A CN110202450A CN 110202450 A CN110202450 A CN 110202450A CN 201910599434 A CN201910599434 A CN 201910599434A CN 110202450 A CN110202450 A CN 110202450A
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- elevating mechanism
- main body
- inductor
- several
- induction
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- 238000003801 milling Methods 0.000 title claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 135
- 238000005498 polishing Methods 0.000 claims abstract description 104
- 230000003028 elevating effect Effects 0.000 claims abstract description 66
- 238000006073 displacement reaction Methods 0.000 claims abstract description 25
- 238000000227 grinding Methods 0.000 claims abstract description 21
- 230000006698 induction Effects 0.000 claims description 85
- 210000004209 hair Anatomy 0.000 claims description 45
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 239000000126 substance Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010009 beating Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000009711 regulatory function 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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
-
- 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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- 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
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
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- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of milling robots, including main body and the grinding device being connect with the main body, the grinding device includes elevating mechanism and workpiece polishing mechanism, the workpiece polishing mechanism is connected on the elevating mechanism, on the body, the elevating mechanism is subjected to displacement for controlling the relatively described main body of the workpiece polishing mechanism for the elevating mechanism connection；Location sensitive mechanism is additionally provided between the elevating mechanism and the main body, the location sensitive mechanism is used to incude the displacement that the relatively described main body of the elevating mechanism occurs, for carrying out polishing operation.
Description
Technical field
The present invention relates to grinding technology field more particularly to a kind of milling robots.
Background technique
In building construction process, it is often necessary to use various types of steel pipes or pipeline, pipeline weld and install
In the process, it requires to be related to the polishing operation to pipeline, to facilitate the smooth development of subsequent handling.
Currently, the polishing of pipeline is mostly to be carried out by worker using sander, but environment is unfavorable for worker's progress in pipeline
Polishing work, bruting process worker operation intensity is big, and is easy to generate situations such as not polishing.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of milling robot, for carrying out polishing operation.
The present invention provides a kind of milling robot, including main body and the grinding device being connect with the main body, the polishing
Device includes elevating mechanism and workpiece polishing mechanism, and the workpiece polishing mechanism is connected on the elevating mechanism, the elevating mechanism connection
On the body, the elevating mechanism is subjected to displacement for controlling the relatively described main body of the workpiece polishing mechanism；The elevator
Location sensitive mechanism is additionally provided between structure and the main body, the location sensitive mechanism is opposite for incuding the elevating mechanism
The displacement that the main body occurs.
In a kind of embodiment, the location sensitive mechanism includes induction zone and inductor, and the inductor is used for
Incude the position of the induction zone；On the body, the induction zone is arranged in the elevating mechanism for the inductor setting
On, the induction zone is subjected to displacement with the relatively described inductor of displacement of the elevating mechanism；Or, the inductor is arranged in institute
It states on elevating mechanism, on the body, the inductor is with the displacement of the elevating mechanism with respect to institute for the induction zone setting
Induction zone is stated to be subjected to displacement.
In a kind of embodiment, the inductor includes inductor support and several induction pieces, several inductions
Part is arranged in the inductor support, and the inductor support is fixed with the elevating mechanism；If the induction zone includes
Dry sensing chip, several sensing chips are fixed with the main body, and several sensing chips and several induction pieces correspond；
Or, several induction pieces are arranged in the inductor support, the inductor support is fixed with the main body；The sense
Answering area includes several sensing chips, and several sensing chips are fixed with the elevating mechanism, several sensing chips with it is several described
Induction pieces correspond.
In a kind of embodiment, several induction pieces are light emitters, several described for incuding light
Sensing chip is used to block the light in front of the corresponding induction pieces.
In a kind of embodiment, several induction pieces are built up in side by side in the inductor support, several described
Sensing chip is integrally formed, the stepped front for being set to the induction pieces.
In a kind of embodiment, the elevating mechanism includes crane and linear actuator, and the crane passes through
Linear actuator sliding connection is on the body.
In a kind of embodiment, the workpiece polishing mechanism is by elastic component elastic connection on the elevating mechanism.
In a kind of embodiment, the polishing roller includes the first rotation hair roller and the second rotation hair roller, the first rotation hair
For rotation cant between roller and the second rotation hair roller on the contrary, the two first rotation hair rollers are symmetrical arranged, described second revolves hair roller
Between the two first rotation hair rollers.
In a kind of embodiment, first gap, second rotation hair roller position are formed between the two first rotation hair rollers
In the rear of the first gap, and the width of the first gap is less than the width of the second rotation hair roller.
In a kind of embodiment, the workpiece polishing mechanism further includes the driving motor for driving the polishing roller to rotate, institute
It states driving motor and is connected with current sensor.
Milling robot provided in an embodiment of the present invention polishes to target operation face by grinding device, in sander
After device people determines target operation face, workpiece polishing mechanism and target operation face contact are made by elevating mechanism, by workpiece polishing mechanism to mesh
Mark working face is polished, and the displacement of lifting device is determined by location sensitive mechanism, polishing operation is realized, in bruting process
Middle milling robot it is stable, be not necessarily to manual polishing, grinding efficiency is high, polishes high-quality.
Detailed description of the invention
Fig. 1 shows a kind of positive structure schematic of milling robot of the embodiment of the present invention；
Fig. 2 shows a kind of bottom substance schematic diagrams one of milling robot of the embodiment of the present invention；
Fig. 3 shows the structural schematic diagram of grinding device of the embodiment of the present invention；
Fig. 4 shows a kind of bottom substance schematic diagram two of milling robot of the embodiment of the present invention；
Fig. 5 shows a kind of side structure schematic diagram of milling robot of the embodiment of the present invention；
Fig. 6 shows the part schematic diagram of location sensitive of embodiment of the present invention mechanism.
Wherein, appended drawing reference is as follows: 1, main body；11, car body；121, driving wheel；122, driven wheel；13, fixed part；2, it beats
Mill apparatus；21, elevating mechanism；211, crane；212, linear actuator；22, workpiece polishing mechanism；221, polishing roller；2211, first
Revolve hair roller；2212, the second rotation hair roller；222, polishing roller support；23, elastic component；231, guide rod；232, spring；3, location sensitive
Mechanism；31, induction zone；311, sensing chip；32, inductor；321, inductor support；322, induction pieces；41, preceding camera；42,
Cross laser sensor；44, rear camera；43, resilient cushion.
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 a kind of positive structure schematic of milling robot of the embodiment of the present invention；Fig. 2 shows realities of the present invention
Apply a kind of bottom substance schematic diagram one of milling robot of example.
Referring to Fig. 1 and Fig. 2, the embodiment of the present invention provides a kind of milling robot, connect including main body 1 and with main body 1
Grinding device 2, grinding device 2 include elevating mechanism 21 and workpiece polishing mechanism 22, and workpiece polishing mechanism 22 is connected on elevating mechanism 21, are risen
Descending mechanism 21 connects on the body 1, and elevating mechanism 21 is subjected to displacement for controlling workpiece polishing mechanism 22 with respect to main body 1；Elevating mechanism
Location sensitive mechanism 3 is additionally provided between 21 and main body 1, location sensitive mechanism 3 is sent out for incuding elevating mechanism 21 with respect to main body 1
Raw displacement.
Milling robot provided in an embodiment of the present invention is for polishing to target surface, in the milling robot pair
Target surface carries out in bruting process, realizes the relative displacement between workpiece polishing mechanism 22 and main body 1 by elevating mechanism 21, from
And make the milling robot be suitable for a variety of environment under polishing work, by location sensitive mechanism 3 incude workpiece polishing mechanism 22 with
The relative position of main body 1 can be used in determining displacement opposite between elevating mechanism 21 and main body 1, to be more advantageous to control
Control of the milling robot processed to lifting device.The operation stability of milling robot in bruting process is improved, while improving and beating
Grind quality.
Specifically, the milling robot is suitable for plane and nonplanar object, it is particularly suitable for curved surface polishing, is such as managed
The polishing of the curved surfaces such as road wall, curved wall, arched top, arcuate bottom.It is first when the milling robot needs to polish to designated position
The driving movement of main body 1 is first passed through, milling robot is moved to specified position.Then it is adjusted by elevating mechanism 21, makes to polish
Mechanism 22 can be sticked polishes in object face surface, when object working face has larger protrusion, control lifting
Mechanism 21 rises, and lifts on workpiece polishing mechanism 22, determines lift amount by position induction device, at this time can be to the target for having larger protrusion
Object working face is polished.When there is deep recess in target operation face, control elevating mechanism 21 declines, and passes through position induction device
Determine slippage, workpiece polishing mechanism 22 declines, at this time can be to there is larger recessed object working face to polish.In this way, can make
Milling robot is suitable for a variety of polishing environment.
You need to add is that main body of the embodiment of the present invention 1 includes car body 11 and uses in order to facilitate the movement of milling robot
In the driving mechanism that control car body 11 is displaced, driving mechanism includes driving wheel 121, driven wheel 122 and driving motor.Wherein, it drives
Driving wheel 121 and driven wheel 122 and ground face contact simultaneously connects with car body 11, and driving motor is installed on car body 11, and it is electric to pass through driving
Machine rotates driving wheel 121, to realize the movement of car body 11, as needed, driving wheel 121 and driven wheel 122 can be selected as
Wheel with friction lines.Control cabinet can also be arranged on car body 11 to realize to milling robot control.
Fig. 3 shows the structural schematic diagram of grinding device of the embodiment of the present invention.
Referring to Fig. 3, in embodiments of the present invention, elevating mechanism 21 includes crane 211 and linear actuator 212, lifting
Frame 211 is connected on the body 1 by the sliding of linear actuator 212.
Specifically, upper lift and decline in order to realize elevating mechanism 21, the embodiment of the present invention is right by linear actuator 212
Crane 211 is controlled.Wherein, in a kind of embodiment, the front of main body 1, which is installed with to slide for crane 211, to be connected
The fixed part 13 connect.Fixed part 13 is kept fixed by way of being fixedly connected with main body 1.Specifically being fixedly connected can be spiral shell
Tether connect, be clamped, welding it is any.The sliding of crane 211 is connected on fixed part 13, and is not contacted with car body 11, is gone up and down
The sliding in the relatively fixed portion 13 of frame 211 is controlled by linear actuator 212, and one end of linear actuator 212 is fixed on fixed part
On 13, one end is connected on crane 211.Workpiece polishing mechanism 22 is installed on crane 211, with changing for 211 position of crane
Become and is changed.
So set, can be realized admittedly when needing to adjust the position of workpiece polishing mechanism 22 by controlling linear actuator 212
The position determined between portion 13 and crane 211 changes, to realize the purpose for changing 22 position of workpiece polishing mechanism.
The embodiment of the present invention is not defined the concrete shape of fixed part 13 and crane 211, and fixed part 13 can be
With main body 1 realize connection fixed plate, or with car body 11 realize connection fixed frame, fixed part 13 can also and car body
11 are integrally formed, i.e., car body 11 can be used as the use of fixed part 13 in itself.It is fixed for the sliding path of guided lifting frame 211
Offer the sliding slot being embedded for crane 211 in portion 13, sliding slot can be arc or linear, it is preferred that sliding slot is
Strip straight trough perpendicular to the ground makes crane 211 be oriented to sliding by sliding slot and changes at a distance from ground, and being realized with this makes to polish
The change of mechanism 22 and working face distance.
In a kind of specific embodiment, fixed part 13 is U-shaped fixed frame, before one side U-shaped side is fixed on car body 11
Side, other side U-shaped side offer sliding slot perpendicular to the ground, and crane 211 is L shape sliding rack, are provided with insertion on one side
The sliding block of sliding slot.212 one end of linear actuator is fixed on fixed part 13, and the other end is fixed in sliding rack, and driving straight line drives
Dynamic device 212 realizes the oriented sliding in the relatively fixed portion 13 of sliding rack by the guiding of sliding block sliding slot.
In another specific embodiment, fixed part 13 and car body 11 are integrally formed, and crane 211 is in opening direction
Inverted U-shaped frame, the U-shaped side of 211 side of crane is installed with sliding block, the sliding slot being embedded for sliding block, sliding block is offered on car body 11
It is embedded in sliding slot, 212 one end of linear actuator is fixed on car body 11, and the other end is fixed in sliding rack, drives linear drives
Device 212 realizes the oriented sliding in the relatively fixed portion 13 of sliding rack, passes through the guiding of sliding block sliding slot.
Linear actuator 212 is any one of electric putter, electric operator, hydraulic cylinder and cylinder, and preferably electricity pushes away
The fixing end of bar, electric putter is connect with fixed part 13, and the telescopic rod of electric putter is connect with crane 211.By controlling telescopic rod
It is flexible, i.e., the sliding of controllable crane 211 changes the distance between crane 211 and fixed part 13.
In embodiments of the present invention, workpiece polishing mechanism 22 is by 23 elastic connection of elastic component on elevating mechanism 21.Specifically,
Workpiece polishing mechanism 22 includes polishing roller 221 and polishing roller support 222, and polishing roller support 222 is being risen by 23 elastic connection of elastic component
It drops on frame 211, polishing roller 221 is rotatably connected in polishing roller support 222.Elastic component 23 includes guide rod 231 and spring 232, is led
One end of bar 231 is installed in polishing roller support 222, and the other end of guide rod 231 is threaded through on crane 211, and guide rod 231
The one end being threaded through on crane 211 is also connected with the stop nut that limitation crane 211 deviates from guide rod 231.Spring 232 is arranged
On guide rod 231, spring 232 makes crane 211 have the trend abutted with stop nut always.It is installed in a kind of spring 232
In mode, spring 232 is set on guide rod 231, and one end of spring 232 is abutted with polishing roller support 222 or fixed, spring 232
The other end abut with crane 211 or fixed, and spring 232 is in compressive state always.In another 232 side of installation of spring
In formula, spring 232 is set on guide rod 231, and one end of spring 232 is fixed on guide rod 231, the other end and liter of spring 232
It drops frame 211 to abut or fix, and spring 232 is in compressive state always.So, it can be achieved that workpiece polishing mechanism 22 and elevating mechanism 21
Elastic connection.To enable workpiece polishing mechanism 22 to carry out automatic adjusument according to target surface, it is applicable in workpiece polishing mechanism 22
In plane and non-planar polishing.Enable workpiece polishing mechanism 22 to be sticked always to polish in object face surface, raising is beaten
The operation stability of milling robot during mill, while improving polishing quality.
In one embodiment, spring 232 is extension spring 232.Workpiece polishing mechanism 22 is moved to polishing working face, this
When shunk by control electric putter, make crane 211 to moving down, drive workpiece polishing mechanism 22 to move down to polishing working face, work as polishing
After mechanism 22 touches polishing working face, polishing work can be carried out.
Fig. 4 shows a kind of bottom substance schematic diagram two of milling robot of the embodiment of the present invention；Fig. 5 shows the present invention
A kind of side structure schematic diagram of milling robot of embodiment.
Referring to fig. 4 and Fig. 5, in embodiments of the present invention, polishing roller 221 includes the first rotation hair roller 2211 and the second rotation hair roller
2212, the rotation cant between the first rotation hair roller 2211 and the second rotation hair roller 2212 is on the contrary, two first rotation hair rollers 2211 are symmetrically set
It sets, the second rotation hair roller 2212 is located between two first rotation hair rollers 2211.
Specifically, the first rotation hair roller 2211 and the second rotation hair roller 2212 are connected to crane by roller support 222 of polishing
On 211, the rotation cant of the first rotation hair roller 2211 and the second rotation hair roller 2212 is on the contrary, can be to the working face polished
Multi-angle is polished, and grinding effect is improved.
In embodiments of the present invention, first gap is formed between two first rotation hair rollers 2211, the second rotation hair roller 2212 is located at
The rear of first gap, and the width of first gap is less than the width of the second rotation hair roller 2212.
It is located at the rear of first gap by the second rotation hair roller 2212, and the width of first gap is less than the second rotation hair roller
2212 width makes the first rotation hair roller 2211 and the second rotation hair roller 2212 have the polishing region of overlapping, can guarantee working face into
The purpose that row is sufficiently polished.
The front and back of first rotation hair roller 2211 and the second rotation hair roller 2212 is arranged in order to adapt to curved surface in the front-back direction, using drum
Shape structure, it is intermediate it is hairless be curved surface in order to adapt to left and right directions, hair roller uses drum organization, can better conform to curved surface.Hair roller
Compared with steel wire roller, longer life expectancy, grinding effect is more preferable.
In embodiments of the present invention, workpiece polishing mechanism 22 further includes the driving motor that driving polishing roller 221 rotates, driving motor
It is connected with current sensor.Roller 221 polish during the grinding process, needs to drive by driving motor, polishing roller 221 is enable to exist
Opposite working is rotated in the case where contact working face, and is connect by current sensor with driving motor, can be passed through
Current sensor detects the electric current of driving motor, when the pressure of polish roller 221 and the face contact that works is big, the load of driving motor
Become larger, the current strength that such energization flow sensor detects is greater than the pressure hour of polishing roller 221 and the face contact that works
Current strength passes through the electric current of detection driving motor, it may be determined that the contact pressure between polishing roller 221 and working face, in this way,
When the contact pressure between roller 221 and working face of polishing is excessive or too small, can be adjusted in time by elevating mechanism 21,
To make the contact pressure of workpiece polishing mechanism 22 and target operation face stablize in the state of suitable polishing.
In other embodiments, the mode of the contact pressure between detection polishing roller 221 and working face can also pass through
The pressure of polishing roller 221 and the face contact that works directly is detected in polishing 221 surface of roller installing pressure sensor, or in elastic component 23
Upper installing pressure sensor, the pressure detected between elastic component 23 and crane 211 obtain.
Fig. 6 shows the part schematic diagram of location sensitive of embodiment of the present invention mechanism.
Referring to Fig. 6, in embodiments of the present invention, location sensitive mechanism 3 includes induction zone 31 and inductor 32, inductor 32
Position for sensitive area 31；Inductor 32 is arranged on the body 1, and induction zone 31 is arranged on elevating mechanism 21, induction
Area 31 is subjected to displacement with the displacement relative induction device 32 of elevating mechanism 21；Or, inductor 32 is arranged on elevating mechanism 21, induction
Area 31 is arranged on the body 1, and inductor 32 is subjected to displacement with the displacement relative induction area 31 of elevating mechanism 21.
The embodiment of the present invention incudes the relative position between grinding device 2 and main body 1, cooperation by location sensitive mechanism 3
Elevating mechanism 21 is adjusted the position between grinding device 2 and main body 1, to guarantee workpiece polishing mechanism 22 and polishing working face
Pressure remain in a stable range.Elastic component 23 makes the milling robot during the grinding process, has adaptive
Regulatory function is answered, and during milling robot automatic adjusument, it can be to workpiece polishing mechanism 22 and beating by current sensor
Pressure between mill working face is monitored, and is adjusted elevating mechanism 21 in real time by monitored results, can so be guaranteed sander
The pressure of structure 22 and polishing working face remains in a stable range, and then improves polishing quality.
In a kind of embodiment, inductor 32 is installed on the body 1, and induction zone 31 is installed on crane 211, sense
Area 31 is answered to be located in the induction range of inductor 32, so that inductor 32 be enable to sense induction zone 31, induction zone 31 and liter
211 synchronous shift of frame, inductor 32 and 1 synchronous shift of main body are dropped, and is not directly contacted between induction zone 31 and inductor 32, such as
This can be obtained unique situation between main body 1 and grinding device 2 by the misalignment in 32 sensitive area 31 of inductor.
In another embodiment, inductor 32 is installed on crane 211, and induction zone 31 is installed on the body 1,
Induction zone 31 is located in the induction range of inductor 32, so that inductor 32 be enable to sense induction zone 31, induction zone 31 with
1 synchronous shift of main body, inductor 32 and 211 synchronous shift of crane, and be not directly contacted between induction zone 31 and inductor 32,
In this way, passing through the misalignment in 32 sensitive area 31 of inductor, it can be obtained unique feelings between main body 1 and grinding device 2
Condition.
In embodiments of the present invention, inductor 32 includes inductor support 321 and several induction pieces 322, several induction pieces
322 are arranged in inductor support 321, and inductor support 321 and elevating mechanism 21 are fixed；Induction zone 31 includes several inductions
Piece 311, several sensing chips 311 and main body 1 are fixed, and several sensing chips 311 are corresponded with several induction pieces 322；Or, several senses
Part 322 is answered to be arranged in inductor support 321, inductor support 321 and main body 1 are fixed；Induction zone 31 includes several inductions
Piece 311, several sensing chips 311 and elevating mechanism 21 are fixed, and several sensing chips 311 are corresponded with several induction pieces 322.
Since the induction stroke of induction pieces 322 is limited, for the induction line degree of location sensitive of embodiment of the present invention mechanism 3
Degree, induction pieces of the embodiment of the present invention 322 are several, and sensing chip 311 is quantity corresponding with induction pieces 322, preferably greater than
Two, it can the induction stroke of location sensitive mechanism 3 is made to be up to the induction stroke of two induction pieces 322.Meanwhile working as part
When the induction stroke of induction pieces 322 is overlapped, by the travel position for detecting each induction pieces 322, additionally it is possible to main body 1 and lifting
Position between frame 211 is further determined that, the accuracy that location sensitive mechanism 3 determines displacement is improved.
In embodiments of the present invention, several induction pieces 322 are built up in side by side in inductor support 321, several sensing chips 311
It is integrally formed, the stepped front for being set to induction pieces 322.
Specifically, induction pieces 322 are built up in inductor support side by side in a kind of wherein mounting means of induction pieces 322
On 321, quantity is three, and three induction pieces 322 is made to detect same one stroke.The quantity of sensing chip 311 is three, three sensing chips
311 be integrally formed and length differ, one end is stepped wherein, and three sensing chips 311 are separately positioned on three induction pieces 322
Front, so that three induction pieces 322 is detected the displacement of corresponding sensing chip 311 respectively, to improve the accuracy of position detection.
In embodiments of the present invention, several induction pieces 322 are light emitters, for incuding light, several sensing chips
311 for blocking the light in corresponding 322 front of induction pieces.
When the adjusting between elevating mechanism 21 and main body 1 is by manual adjustment, artificial judgment crane 211 and main body 1 it
Between position when, can be by light emitters as induction pieces 322, specifically, light emitters are cross laser transmitting
The corresponding cross laser of light emitters is radiated on corresponding sensing chip 311 by device, according to cross on each sensing chip 311
The position of laser can quickly judge the relative position between crane 211 and main body 1.And since sensing chip 311 is staged,
Light sensor is cross, according to the shape of the laser on each sensing chip 311, the stage can be respectively set, further speed up
Position between artificial judgment crane 211 and main body 1.For example, sensing chip 311 is installed on crane 211, inductor 32 is filled
If on the body 1, sensing chip 311 is large, medium and small three pieces, the two is in positive contraposition, and cross laser transmitter is formed in big induction
Shape on piece 311 is just complete, and when elevating mechanism 21 in main body 1 with respect to lifting, sensing chip 311 rises, cross laser transmitting
Device is motionless, when on small sensing chip 311 without laser image, i.e., the stroke of small sensing chip 311 has been lifted on elevating mechanism 21, in this way,
When can quickly judge the position between crane 211 and main body 1.
Likewise, machine judges 211 He of crane when the adjusting between elevating mechanism 21 and main body 1 is by machine adjustments
When position between main body 1, cross laser sensor 42 can also be used, by sensor emission cross laser, and be detected
Hot spot on sensing chip 311 judges the position between crane 211 and main body 1.And also due to stepped setting, Ke Yitong
It crosses and whether detects glossing up on sensing chip 311 and quickly judge positional relationship between crane 211 and main body 1, reduce operation
Pressure, raising judge speed.
In conjunction with the above embodiments, the embodiment of the present invention also provides a kind of concrete application scene, implements when using the present invention
When the milling robot that example provides polishes to duct wall.Firstly, starting motor, makes the rotation of roller 221 of polishing, passes through control and drive
Motivation structure portable grinder device people is to needing position of polishing.At this time by shrinking electric putter, make elevating mechanism 21 with respect under main body 1
It moves, to make workpiece polishing mechanism 22 and target operation face contact, the curent change of motor is detected by current sensor, when electric current increases
After being added to suitable load, electric putter stops shrinking, and milling robot starts to polish to working face.
Polishing with milling robot to duct wall, when being polishing to the position lifted on duct wall, polish roller 221 and pipeline
The interface pressure of the position lifted on wall increases, at this point, the electric current of current sensor detection motor increases, when electric current increase to it is super
Descending mechanism 21 is raised after crossing suitable load, in electric putter, increase with respect to main body 1 elevating mechanism 21, is driven on polishing roller 221
It rises, at this point, the interface pressure for the position lifted on polishing roller 221 and duct wall reduces, current sensor detects the electric current of motor
Reduce, electric putter stopping above pushing away after being returned to suitable load, and polishing roller 221 continues to polish.So set, make workpiece polishing mechanism 22 with
The contact pressure in target operation face is stablized in the state of suitable polishing.
Polishing with milling robot to duct wall, when being polishing to the recessed position of duct wall, polish roller 221 and pipeline
The interface pressure of the recessed position of wall reduces, at this point, the electric current of current sensor detection motor reduces, when electric current be reduced to it is low
After suitable load, electric putter pushes elevating mechanism 21, declines elevating mechanism 21 with respect to main body 1, drives under polishing roller 221
Drop, at this point, the interface pressure for the position lifted on polishing roller 221 and duct wall increases, current sensor detects the electric current of motor
Increase, electric putter stopping above pushing away after being returned to suitable load, and polishing roller 221 continues to polish.So set, make workpiece polishing mechanism 22 with
The contact pressure in target operation face is stablized in the state of suitable polishing.
In the process, the specific model of the raising and lowering of elevating mechanism 21 can be sensed by position induction device
It encloses.
You need to add is that in embodiments of the present invention, crane 211 is also rotatably connected to preceding camera 41, for true
Surely it polishes position, the top of preceding camera 41 is additionally provided with the cross laser sensor 42 with camera synchronous shift, and cross swashs
Optical sensor 42 is imaged as cross, can find weld seam direction and its vertical direction accurately by the matching degree of weld seam and cross hairs,
Realize weld seam precise positioning, preceding camera 41 is for judging whether position while welding is correct.1 rear of main body is additionally provided with rear camera
44, rear camera 44 is for judging grinding effect.It is mounted on resilient cushion 43 below preceding camera 41 and rear camera 44, to
Guarantee the stability of preceding camera 41 and rear camera 42.
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 and the grinding device being connect with the main body, the polishing dress
It sets including elevating mechanism and workpiece polishing mechanism, the workpiece polishing mechanism is connected on the elevating mechanism, and the elevating mechanism is connected to
In the main body, the elevating mechanism is subjected to displacement for controlling the relatively described main body of the workpiece polishing mechanism；The elevating mechanism
Location sensitive mechanism is additionally provided between the main body, the location sensitive mechanism is for incuding the elevating mechanism with respect to institute
State the displacement of main body generation.
2. milling robot according to claim 1, which is characterized in that the location sensitive mechanism includes induction zone and sense
Device is answered, the inductor is used to incude the position of the induction zone；The inductor is arranged on the body, the induction zone
It is arranged on the elevating mechanism, the induction zone is subjected to displacement with the relatively described inductor of displacement of the elevating mechanism；
Or, the inductor is arranged on the elevating mechanism, the induction zone setting on the body, the inductor with
The relatively described induction zone of the displacement of the elevating mechanism is subjected to displacement.
3. milling robot according to claim 2, which is characterized in that the inductor includes inductor support and several
Induction pieces, several induction pieces are arranged in the inductor support, and the inductor support and the elevating mechanism are solid
It is fixed；The induction zone includes several sensing chips, and several sensing chips are fixed with the main body, several sensing chips with it is several
The induction pieces correspond；
Or, several induction pieces are arranged in the inductor support, the inductor support is fixed with the main body；Institute
Stating induction zone includes several sensing chips, and several sensing chips are fixed with the elevating mechanism, several sensing chips with it is several
The induction pieces correspond.
4. milling robot according to claim 3, which is characterized in that several induction pieces are light emitters,
For incuding light, several sensing chips are used to block the light in front of the corresponding induction pieces.
5. milling robot according to claim 3, which is characterized in that several induction pieces are built up in the sense side by side
It answers on device bracket, several sensing chips are integrally formed, the stepped front for being set to the induction pieces.
6. milling robot according to claim 1, which is characterized in that the elevating mechanism includes that crane and straight line drive
Dynamic device, the crane are connected on the body by linear actuator sliding.
7. milling robot according to claim 1, which is characterized in that the workpiece polishing mechanism passes through elastic component elastic connection
On the elevating mechanism.
8. milling robot according to claim 1, which is characterized in that the polishing roller includes the first rotation hair roller and second
Hair roller is revolved, the rotation cant between the first rotation hair roller and the second rotation hair roller is on the contrary, the two first rotation hair rollers are symmetrical
Setting, the second rotation hair roller are located between the two first rotation hair rollers.
9. milling robot according to claim 8, which is characterized in that it is empty to form first between the two first rotation hair rollers
Gap, the second rotation hair roller is located at the rear of the first gap, and the width of the first gap is less than the second rotation hair roller
Width.
10. milling robot according to claim 7, which is characterized in that the workpiece polishing mechanism, which further includes that driving is described, to be beaten
The driving motor of grinding roller rotation, the driving motor are connected with current sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599434.0A CN110202450A (en) | 2019-07-04 | 2019-07-04 | Milling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599434.0A CN110202450A (en) | 2019-07-04 | 2019-07-04 | Milling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110202450A true CN110202450A (en) | 2019-09-06 |
Family
ID=67796190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910599434.0A Pending CN110202450A (en) | 2019-07-04 | 2019-07-04 | Milling robot |
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| Country | Link |
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| CN (1) | CN110202450A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111702591A (en) * | 2020-06-17 | 2020-09-25 | 北京史河科技有限公司 | Polishing and derusting equipment |
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| CN104942668A (en) * | 2015-05-25 | 2015-09-30 | 江苏科瑞欣机械有限公司 | Ground laser grinding machine |
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Effective date of registration: 20200520 Address after: Room 601-48, floor 6, building 1, yard 1, Shangdi East Road, Haidian District, Beijing 100000 Applicant after: BEIJING SHIHE TECHNOLOGY Co.,Ltd. Applicant after: Zhejiang Institute of Special Equipment Science Address before: 100083 Beijing Haidian District Zhongguancun East Road No. 1 Courtyard No. 8 Building CG05-253 Applicant before: BEIJING SHIHE TECHNOLOGY Co.,Ltd. |