CN110465843A - A kind of ceiling grinder device people - Google Patents
A kind of ceiling grinder device people Download PDFInfo
- Publication number
- CN110465843A CN110465843A CN201910775665.2A CN201910775665A CN110465843A CN 110465843 A CN110465843 A CN 110465843A CN 201910775665 A CN201910775665 A CN 201910775665A CN 110465843 A CN110465843 A CN 110465843A
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- CN
- China
- Prior art keywords
- plate
- lifting device
- ceiling
- along
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
-
- 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
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
-
- 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
-
- 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
-
- 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
Abstract
The present invention relates to architectural engineering robotic technology fields, disclose a kind of ceiling grinder device people, comprising: fuselage and the traveling wheel for driving fuselage mobile；Lifting device, the lifting device are installed on the fuselage, are configured as adjusting oneself height by moving in the Z-axis direction；Grinding device is configured as moving synchronously with the lifting device, and the grinding device includes grinding head and pressure sensitive device, and the grinding head is configured to abut ceiling upwards, and the pressure sensitive device is used to obtain the pressure value of the grinding head in real time；Wherein, the lifting device is according to the pressure value adjust automatically oneself height.The present invention automatically adjusts its height according to the pressure of grinding head and ceiling, to avoid that the fixed polishing phenomenon of grinding head occurs when polishing ceiling.
Description
Technical field
The present invention relates to architectural engineering robotic technology field more particularly to a kind of ceiling grinder device people.
Background technique
It is completed in concreting, after the completion of aluminum dipping form is removed, worker needs to carry out polishing operation for ceiling and metope,
Complete wall surface leveling technique.It polishes relative to inner wall surface, ceiling polishing is more difficult, and worker needs to build scaffold, then
It steps down on scaffold and completes ceiling polishing high altitude operation.
It moves to support grinding head in the vertical direction in addition, although grinding head may be implemented in existing milling robot
Metope is connect, but is easy to happen the fixed polishing ceiling of grinding head in lifting process, causes grinding head often stuck, reduces and make
Industry precision and quality, while grinding head being be easy to cause to wear.
Summary of the invention
It, can be according to the pressure of grinding head and ceiling it is an object of the invention to propose a kind of ceiling grinder device people
Its height is automatically adjusted, to avoid that the fixed polishing phenomenon of grinding head occurs when polishing ceiling while ignore the shadow of landform
It rings.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of ceiling grinder device people, comprising:
Fuselage and traveling wheel for driving fuselage mobile；
Lifting device, the lifting device are installed on the fuselage, are configured as adjusting by moving in the Z-axis direction
Whole oneself height；
Grinding device is configured as moving synchronously with the lifting device, and the upper end of the grinding device is equipped with grinding head
With pressure sensitive device, the grinding head is configured to abut ceiling upwards, and the pressure sensitive device for obtaining in real time
Take the pressure value of the grinding head；
Wherein, the lifting device is according to the pressure value adjust automatically oneself height.
As a kind of preferred embodiment of above-mentioned ceiling grinder device people, the lifting device includes from top to bottom successively
The top plate of arrangement, middle plate and bottom plate, in which:
The top plate is configured to the relatively described middle plate and slides along Z-direction；The middle plate is configured to opposite institute
Bottom plate is stated to slide along Z-direction and the top plate is driven to slide along Z-direction；The grinding device is arranged on the top plate.
As a kind of preferred embodiment of above-mentioned ceiling grinder device people, the lifting device further includes the first strut liter
Falling unit and the second strut lifting device, in which:
The first strut lifting device includes multiple first retinues bars, and one end of the first retinue bar is connected the top
Plate, other end sliding wear the middle plate and the bottom plate；
The second strut lifting device includes multiple second retinue bars, and one end of the second retinue bar is fixedly connected with institute
State middle plate, other end sliding wears the bottom plate.
As a kind of preferred embodiment of above-mentioned ceiling grinder device people, first retinue's bar and second retinue
Bar is not overlapped mutually in the projection of horizontal plane.
As a kind of preferred embodiment of above-mentioned ceiling grinder device people, the grinding device further include:
Rotating module, the rotating module are configured as that the grinding head is enable to swing around first axle and around the second axis
Line rotation；
Buffer module is connected between the rotating module and the pressure sensitive device, and the buffer module can be along Z
Axis direction is flexible.
As a kind of preferred embodiment of above-mentioned ceiling grinder device people, the rotating module includes:
Driving assembly is configured as that the buffer module is driven to rotate around the second axis；And
Connector connect and moves synchronously with the top plate, and driving assembly energy opposite joints are around the first axle string pendulum
It is dynamic.
As a kind of preferred embodiment of above-mentioned ceiling grinder device people, the connector is U-shaped, the connector packet
Two are included along first axle arrangement and vertical opposed limb portion, the driving component includes lantern ring and control cabinet, the control cabinet
Rotation axis extend along the second axis and engaged with lantern ring, the lantern ring is connect with the grinding head, and the lantern ring is along
One axis is rotatably connected between two limb portions of the connector.
As a kind of preferred embodiment of above-mentioned ceiling grinder device people, the buffer module includes top buffer board and bottom
Buffer board connects between the top buffer board and the bottom buffering plate along Z axis elastic connection, the bottom buffering plate and the top plate
It connects, the top buffer board is configured as fixing the connector.
It further include the plane being connected on the top plate as a kind of preferred embodiment of above-mentioned ceiling grinder device people
Mobile device, the 2 D shifting unit be configured to drive the grinding device along the horizontal plane on two mutually orthogonal directions
Upper movement.
As a kind of preferred embodiment of above-mentioned ceiling grinder device people, the 2 D shifting unit includes folded the set
One sliding block, the second sliding block and support plate, first sliding block are connected on the top plate and drive described
Two sliding blocks are slided along X-axis, and second sliding block is arranged on first sliding block and drives the support plate
It is slided along Y-axis, the support plate, which can stretch out first sliding block along the x axis or stretch out described second along the y axis, to be slided
Dynamic model block, the support plate connect the pressure sensitive device.
The invention has the benefit that by pressure sensor Real-time Feedback pressure, according to scheduled pressure value, control polishing
Head remains polishing in a regional scope, if making the height of lifting device after the pressure value of feedback is higher than preset pressure value
Degree declines reduction and abuts against power, otherwise the pressure value of feedback is lower than the height rising increase top for after preset pressure value, making lifting device
By power, the pressure of grinding head and ceiling automatically adjusts its height, so that generation grinding head be avoided to fix when polishing ceiling
Polishing phenomenon.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the ceiling grinder device people that the specific embodiment of the invention provides；
Fig. 2 is the structural schematic diagram when ceiling grinder device people that the specific embodiment of the invention provides extends；
Fig. 3 is the structural schematic diagram of the lifting device for the ceiling grinder device people that the specific embodiment of the invention provides；
Structural schematic diagram when Fig. 4 is the elongation of lifting device shown in Fig. 3；
Fig. 5 is the structural representation of the 2 D shifting unit for the ceiling grinder device people that the specific embodiment of the invention provides
Figure；
Fig. 6 is the exploded view of 2 D shifting unit shown in fig. 5；
Fig. 7 is the structural schematic diagram of the grinding device for the ceiling grinder device people that the specific embodiment of the invention provides；
Fig. 8 is the exploded view of grinding device shown in Fig. 7.
In figure:
1- fuselage；2- lifting device；3- 2 D shifting unit；4- grinding device；21- top plate；Plate in 22-；23- bottom plate；
24- the first strut lifting device；25- the second strut lifting device；The first sliding block of 31-；The second sliding block of 32-；33- branch
Fagging；41- grinding head；42- rotating module；43- buffer module；44- pressure sensitive module；211- top plate protrusive board；241- first
Strut；242- first accompanies bar；243- first motor；The first retarder of 244-；The first diverter of 245-；246- the first screw rod liter
Drop machine；The second strut of 251-；242- second accompanies bar；The second motor of 243-；The second retarder of 244-；The second diverter of 245-；
The second screw lift of 246-；The first slide plate of 310-；311- fixed plate；The second slide plate of 320-；The first support portion of 331-；332-
Two support portions；411- polishing pad；412- hairbrush；421- connector；422- lantern ring；423- control cabinet；431- pushes up buffer board；432-
Bottom buffering plate；433- straight-bar；434- linear bearing；435- spring；4231- motor housing；4232- cylinder case.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
In the description of the present invention unless specifically defined or limited otherwise, term " connected ", " connection ", " fixation " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral；It can be mechanical connection,
It can be electrical connection；It can be directly connected, the company inside two elements can also be can be indirectly connected through an intermediary
Logical or two elements interaction relationship.For the ordinary skill in the art, can be understood with concrete condition above-mentioned
The concrete meaning of term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
In the description of the present embodiment, term " on ", "lower", " right side ", etc. orientation or positional relationships be based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of description and simplification operation, rather than the device or element of indication or suggestion meaning
It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In addition,
Term " first ", " second " are only used to distinguish between description, and have no special meaning.
As depicted in figs. 1 and 2, the present invention provides a kind of ceiling grinder device people, for ceiling of polishing.
Ceiling grinder device people includes: fuselage 1, lays in electrical equipment and power supply；Lifting device 2, including be spaced, be parallel
Top plate 21, middle plate 22 and the bottom plate 23 of setting, middle plate 22 are connected between the top plate 21 and the bottom plate 23, the bottom plate 23
It is connected on the fuselage 1, the top plate 21 and the middle plate 22 are configured as moving in the Z-axis direction respectively；Plane is moved
Dynamic device 3 is configured as on the top plate 21 moving upwards along a pair of mutually orthogonal side；Grinding device 4, lower end and institute
It states 3 elastic connection of 2 D shifting unit and carries out pressure data transmission, the upper end is configured as polishing ceiling and can be in a pair
It is reversed on mutually orthogonal direction, while lifting device 2 is according to the height of pressure data controlroof 21.
The ceiling grinder device people according to the present embodiment, lifting device 2 can control top plate 21 and middle plate 22 separate
The height of bottom plate 23, and then the height of 2 D shifting unit 3 is controlled, 2 D shifting unit 3 can control the horizontal position of grinding device 4
Set, grinding device 4 during the grinding process, can the transmission of real-time perfoming pressure data, and the upper end of grinding device 4 is configured as edge
Its in the horizontal plane two mutually orthogonal axis torsions ignore landform to realize and prevent from abutting against fixed polishing phenomenon
Occur；4 elastic connection 2 D shifting unit of grinding device, therefore can telescopic deformation offer buffer distance；Grinding device 4 is gone back simultaneously
Pressure data is carried out to be transferred to lifting device and then more preferably complete smallpox board concrete uniform grinding operation.
With continued reference to Fig. 1 and Fig. 2, the bottom of fuselage 1 is additionally provided with the mobile traveling wheel of driving fuselage 1, and traveling wheel includes a left side
The steering wheel in front, the universal wheel of right front, the carrying roller of two fixed angles at rear.The present embodiment is realized by setting steering wheel
Autonomous.It should be noted that left and right and rear is not limited to this.
Such as Fig. 3~4, lifting device 2 further includes the first strut lifting device 24, and the first fixing end is connected in middle plate 22
On, the first movable end is connected on top plate 21, and the first strut lifting device 24 drives top plate 21 in the side perpendicular to middle plate 22
It moves back and forth upwards.In the initial state, the spacing distance of top plate 21 and middle plate 22 is most short, and the first strut lifting device 24 is opened
After first operation, top plate 21 is on the contrary when top plate 21 is far from middle plate 22 gradually along the direction of vertical middle plate 22 far from middle plate 22
Longest distance when, after the first strut lifting device 24 opens the second operation, direction of the top plate 21 gradually along vertical middle plate 22 is leaned on
Plate 22 in close.In the present embodiment, top plate 21, middle plate 22 and bottom plate 23 are horizontally disposed, and after the first operation, top plate 21 is lifted upwards
It rises；After second operation, 21 falls downward of top plate.
Lifting device 2 further includes the second strut lifting device 25, and the second fixing end is connected on bottom plate 23, and second is living
Moved end is connected on middle plate 22, and plate 22 is in the direction reciprocating motion perpendicular to bottom plate 23 in the driving of the second strut lifting device 25.
In the initial state, the spacing distance of middle plate 22 and bottom plate 23 is most short, after the second strut lifting device 25 opens third operation,
Middle plate 22 gradually along the direction of vertical base plate 23 far from bottom plate 23, otherwise in plate 22 in the longest distance far from bottom plate 23,
After second strut lifting device 25 opens the 4th operation, middle plate 22 is gradually along the direction of vertical base plate 23 close to bottom plate 23.At this
In embodiment, after third operation, the middle lifting upwards of plate 22；After 4th operation, middle 22 falls downward of plate.
First Power Component includes first motor 243, the first retarder 244, the first diverter 245 and the lifting of the first screw rod
Machine 246, the output end of first motor 243 connect the input terminal of the first retarder 244, the output end connection of the first retarder 244
The input terminal of at least one the first diverter 245, the output end of each first diverter 245 connect at least one first screw rod liter
The output end of the input terminal of drop machine 246, each first screw lift 246 connects first strut 241.
In the present embodiment, middle part lateral arrangement of the first motor 243 along middle plate 22, the first speed reducer 244 connection first
The output end of motor 243, the first speed reducer 244 symmetrically connect two the first diverters 245,245 edge of the first diverter along longitudinal direction
Two the first screw lifts 246 of lateral symmetry connection.
In the present embodiment, four the first screw lifts 246 are arranged in four angles of same rectangle, correspondingly middle plate 22
For rectangle.
Further, middle plate 22 is also in first motor 243, the first retarder 244, the first diverter 245 and the first screw rod liter
Region other than drop machine 246 opens up multiple through-holes, thus mitigate in plate 22 weight.
In the present embodiment, corresponding each first strut 241 of top plate 21 is equipped with top plate protrusive board 211, the prominent top of top plate protrusive board 211
The surface of plate 21, connected first strut 241 in the lower end surface of top plate protrusive board 211, to reduce device original height.
Further, multiple through-holes also are provided on top plate 21, to reduce the weight of top plate 21.
Further, the first strut lifting device 24, which is additionally provided with, accompanies bar 242 along the first of Z-direction, in the present embodiment,
The side of each first strut 241 is correspondingly provided with one first retinue's bar 242, and one end of first retinue's bar 242 is fixedly connected on
On top plate 21, and vertically wear middle plate 22 and bottom plate 23.When the first strut 241 driving top plate 21 moves, first retinue's bar 242
It moves simultaneously, the first strut 241 and first retinue's 242 work compound of bar complete 21 catenary motion of top plate.To improve the first support
The stability that bar lifting device 4 is moved along Z-direction.
Second Power Component includes the second motor 253, the second retarder 254, the second diverter 255 and the lifting of the second screw rod
Machine 256, the output end of the second motor 253 connect the input terminal of the second retarder 254, the output end connection of the second retarder 254
The input terminal of at least one the second diverter 255, the output end of each second diverter 255 connect at least one second screw rod liter
The input terminal of motor 256 drops, and the output end of each second screw lift 256 connects second strut 251.
In the present embodiment, middle part lateral arrangement of second motor 253 along bottom plate 23, the second speed reducer 254 connection second
The output end of motor 253, the second speed reducer 254 symmetrically connect two the second diverters 255,255 edge of the second diverter along longitudinal direction
Two the second screw lifts 256 of lateral symmetry connection.
In the present embodiment, four the second screw lifts 256 are arranged in four vertex of same rectangle, correspondingly bottom plate
23 be rectangle.
Further, bottom plate 23 is also in the second motor 253, the second retarder 254, the first diverter 255 and the first screw rod liter
Supporting zone other than drop machine 256 opens up multiple through-holes, to mitigate the weight of bottom plate 3.
Further, second retinue's bar 252 is additionally provided between middle plate 22 and bottom plate 23, the side correspondence of the second strut 251 is set
There is one second retinue's bar 252, one end of second retinue's bar 252 is fixedly connected on middle plate 22, and vertically wears bottom plate 23.When
When plate 22 moves in the driving of second strut 251, second retinue's bar 252 moves simultaneously, the second strut 251 and second retinue's bar 252
22 catenary motion of plate in work compound completion.Further increase the stability that the second strut lifting device 25 is moved along Z-direction.
It should be noted that the first strut 241, the second strut 251, first retinue's bar 242 and second retinue's bar 252 are in water
Projection in plane is not overlapped, i.e., each bar is offset from each other design, makes 23 stress bearing area of top plate 21, middle plate 22 and bottom plate
It is bigger.
It should be noted that middle part 22 is additionally provided with the through-hole that charger equipment electric wire is connected to bottom plate 23.
In the initial state, the spacing distance of top plate 21 and middle plate 22 is most short, and the first strut lifting device 24 opens first
After operation, top plate 21 gradually moves along Z-direction and far from middle plate 22, on the contrary when top plate 21 the longest far from middle plate 22 away from
From when, the first strut lifting device 24 open second operation after, top plate 21 is gradually along Z-direction close to middle plate 22.If first
Not enough, the second strut lifting device 25 opens third operation to the lifting of strut lifting device 24 distance, and middle plate 22 is gradually along Z-direction
Far from middle plate 22, otherwise for plate 22 in the longest distance far from bottom plate 23, the second strut lifting device 25 opens the 4th behaviour in the middle
After work, middle plate 22 is gradually along Z-direction close to bottom plate 23.
As shown in Figure 5 and Figure 6,2 D shifting unit 3 includes folded the first sliding block 31,32 and of the second sliding block set
Support plate 33, the first sliding block 31 are connected on top plate 21 and the second sliding block 32 are driven to slide along X-axis, the second sliding die
Block 32 is arranged on the first sliding block 31 and support plate 33 is driven to slide along Y-axis, and one end of support plate 33 is from the second sliding die
Block 32 is prominent to install executing agency.Folded the first sliding block 31, the second sliding block 32 and the support plate 203 set further mentions
The height of Sheng Liao executing agency, while saving area occupied.In addition support plate 33 can be moved in X-axis and Y direction, while by
It is prominent from the second sliding block 202 in support plate 33, therefore the grinding device 4 installed in support plate 303 can make grinding device 4
Metope is abutted against, avoids occurring that corner position can not be polished to.
Further, the first output sliding block (output end of the first sliding block 31) of the first sliding block 31 is along the first sliding
The length direction of module 31 moves and is equipped with the first slide plate 310, and the bottom thread of the second sliding block 32 is connected to the first slide plate
On 310；Second output sliding block (output end of the second sliding block 32) of the second sliding block 32 is along the second sliding block 32
Length direction moves and is equipped with the second slide plate 320, and support plate 33 includes the first support portion 331 and the second support portion 332, and first
Support part 331 is threaded on second company's slide plate 320, and the second support portion 332 is connected to the side of the first support portion 331 from second
Sliding block 32 is prominent, and grinding device 4 is arranged on the second support portion 332.Further, to improve the second sliding block 32 with the
The stability of one sliding block 31 movement is additionally provided with corresponding second sliding between the first slide plate 310 and the second sliding block 32
The isometric wide fixed plate 311 of module 32.
Such as Fig. 7 and Fig. 8, grinding device 4 includes grinding head 41, rotating module 42, buffer module 43 and pressure sensitive module
44, wherein grinding head 41 is used to polish to metope (ceiling) piece, and one end of rotating module 42 connects grinding head 41, rotation
Device 42 can drive grinding head 41 to swing around first axle L1 and rotate around second axis L2, first axle L1 and second axis
L2 is in same level and is mutually perpendicular to, and buffer unit 43 is connected to the other end of rotating module 42, and buffer unit 43 can
It stretches along its length, pressure sensitive device 44 is connected to the one end of buffer unit 43 far from rotating device 42 to measure grinding head
41 abut against pressure value.
In the present embodiment, the polishing of grinding head 41 is face-up, rotating module 42, buffer module 43 and pressure inductor 44
Set gradually from top to bottom, pressure inductor 44 is connected support plate 33, grinding head 41 polish ceiling when, can be by rotating module
42 effect swings around first axle L1 and rotates around second axis L2, to prevent grinding head 41 from abutting against fixed polishing phenomenon hair
It is raw, also, buffer module 43 realizes the vertical decrement of grinding head 41, it, can compressed shape when to abut against ceiling excessive for grinding head 41
Become and buffer distance is provided；Pressure sensitive module 44 measures grinding head 41 and abuts against pressure value, and to 2 feedback coefficient of lifting device it is believed that
Breath.
Grinding head 41 includes polishing pad 411 and hairbrush 412, and hairbrush 412 is formed in the circumferential edge of polishing pad 411, at this
In embodiment, polishing pad 411 is rounded, and hairbrush 412 is arranged in the edge of polishing pad 411 in a ring and is arranged upward.
Rotating module 42 includes connector 421, lantern ring 422 and control cabinet 423, and connector 421 is U-shaped and has that there are two perpendicular
To opposed limb portion, inner wall and radially horizontally-opposed two connection wall of the lantern ring 422 with circumferential, the company of lantern ring 422
Wall is connect to be rotatably connected in limb portion around first axle L1, the rotation axis 4232 of control cabinet 423 around second axis L2 rotatably with
Lantern ring 422 engages, and wherein first axle L1 runs through two limb portions and two connection walls, the length of second axis L2 and control cabinet 423
It is parallel to spend direction.
First axle L1 and second axis L2 is respectively positioned on 422 place plane of lantern ring, and two connection walls of lantern ring 422 are opposite to be connected
The limb portion of fitting 421 is swung, and control cabinet 423 vertically wears lantern ring 422 and rotates relative to lantern ring 422, to realize control cabinet 423
(as indicated by arrows in fig. 6) is moved in two orthogonal directions.
Further, the connection wall of lantern ring 422 is equipped with first through hole, and limb portion is equipped with the second through-hole, and lantern ring 422 is inserted by one
Bar is fixed in limb portion, and inserted link wears first through hole and extends into the second through-hole.
Control cabinet 423 include motor housing 4231 and rotation axis 4232, rotation axis 4232 by motor housing 4231 driving from
And lantern ring 422 is rotatably engaged around second axis L2.The outer wall of rotation axis 4232 forms thread groove, the inner wall shape of lantern ring 422
At the baffle-wall cooperated with 4232 outer wall of rotation axis.When rotation axis 4232 rotates, since lantern ring 422 is fixed, 4232 edge of rotation axis
The inner wall of lantern ring 422 is rotated around second axis, while motor housing 4232 being driven to rotate around second axis L2.
It should be noted that motor housing 4231 includes driving box mutually opposed and interconnected and sliding case, rotation axis
Driving portion, the other end of 4232 one end connection driving box are slidably connected in sliding case, and when rotation axis 4232 rotates, are driven
Dynamic case and sliding case keep rotating synchronously.The effect that i.e. rotation axis 4232 is driven case is rotated around second axis L2.
Either one or two of driving box or sliding case it should be noted that one end of polishing pad 411 is connected, thus with control cabinet
423 move synchronously.It is above-mentioned it is found that motor housing 4231 both can along lantern ring 422 inner wall around second axis L2 rotate, can also be with set
Ring 422 is swung around the first axle L1 of connector 421, to complete the rotation of two freedom degrees, and then works as ceiling and device
Bottom supporting surface be it is nonparallel when, motor housing 4231 and lantern ring 422 cooperation keep polishing pad 411 vertical with ceiling always
Positive pressure.
Buffer module 43 includes top buffer board 431, bottom buffering plate 432, straight-bar 433, linear bearing 434 and spring 435, top
Buffer board 431 and bottom buffering plate 432 be spaced it is opposed, several linear bearings 434 be vertically set on top buffer board 431 on, it is several
A straight-bar 433 is corresponding to be worn 434 inside of linear bearing and connects on bottom buffering plate 432, and linear bearing 434 can be sliding along straight-bar 433
It is dynamic, it pushes up and corresponds to straight-bar 433 between buffer board 431 and bottom buffering plate 432 equipped with spring 435, while spring 435 is set in straight-bar
Outside 433.
Linear bearing 434 is fixedly connected with top buffer board 431, when top, buffer board 431 is under pressure, linear bearing 434
It is moved along straight-bar 433, top buffer board 431 is moved by the guiding role of linear bearing 434 and straight-bar 433 to bottom buffering plate 432.
Further, connector 421 is vertically connected on the upper surface (end face far from bottom buffering plate 432) of top buffer board 431.
Further, it pushes up buffer board 431 and bottom buffering plate 432 is rectangle, straight-bar 433, linear bearing 434 and spring 435 are each
There are four and respectively correspond be arranged in top buffer board 431 and bottom buffering plate 432 four angles.
If pressure sensitive module 44 is fixed on the lower surface of bottom buffering plate 432 by bolt stem and connects the (tool of support plate 33
Body is the second support portion 332) to do the movement of synchronized orthogonal direction in same level with support plate 33.
It should be noted that pressure sensitive device 44 is preferably piezoresistive pressure sensor, and when pressure changes, pressure
The monocrystalline silicon piece of resistance pressure transducer generates strain, and the strain resistor for making directly to be diffused in above generates and by measuring pressure at just
The variation of ratio, then corresponding voltage output signal is obtained by bridge circuit.In the present embodiment, monocrystalline silicon piece abuts bottom plate upwards
432, when grinding head 41 abuts against ceiling, 43 compressive deformation of buffer unit and then the promotion pushing monocrystalline silicon piece of bottom plate 432.
When grinding device 4 works, the polishing pad 411 and hairbrush 412 of grinding head 41 can polish to ceiling and metope,
Driving device 42 drives grinding head 41 to twist on two mutually orthogonal directions, to prevent grinding head 41 from abutting against fixed polishing
Phenomenon occurs, and when grinding head 41 abuts against, ceiling is excessive, and buffer module 43 can compressive deformation offer buffer distance；Bottom buffering simultaneously
Pressure is passed to pressure sensitive module 44 by plate 432, and the measurement of pressure sensitive module 44 at this time abuts against pressure value, and to lifting device
2 feedback data information.
The working principle of ceiling grinder device people of the present invention are as follows: the movable pulley group of fuselage 1 moves on the ground,
First strut lifting device 24 driving top plate 21 moves back and forth on the direction perpendicular to middle plate 22, the second strut lifting device 25
Plate 22 moves back and forth on the direction perpendicular to bottom plate 23 in driving, so that the height of grinding device 4 is controlled, when grinding head 41 pushes up
When by ceiling, the meeting compressive deformation of buffer module 43 provides buffer distance, while pressure sensitive module 44 measures grinding head 41
Abutting against pressure value and to 2 feedback data information of lifting device, the pressure value is compared lifting device 2 with preset pressure value,
Adjust the height of lifting device；The rotating module 42 of grinding device 4 can drive grinding head 41 to turn round in two freedom degrees simultaneously
Turn, keep it vertical with ceiling or metope holding always, prevents from abutting against fixed phenomenon of polishing；It is equal to complete smallpox board concrete
Even polishing operation.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of ceiling grinder device people characterized by comprising
Fuselage (1) and traveling wheel for driving the fuselage (1) mobile；
Lifting device (2), the lifting device are installed on the fuselage (1), be configured as by move in the Z-axis direction come
Adjust oneself height；
Grinding device (4) is configured as moving synchronously with the lifting device (2), and the grinding device (4) includes grinding head
(41) and pressure sensitive device (44), the grinding head (41) are configured to abut ceiling upwards, the pressure sensitive dress
(44) are set for obtaining the pressure value of the grinding head (41) in real time；
Wherein, the lifting device (2) is according to the pressure value adjust automatically oneself height.
2. ceiling grinder device people according to claim 1, which is characterized in that the lifting device (2) includes from upper
Top plate (21), middle plate (22) and the bottom plate (23) being sequentially arranged under, in which:
The top plate (21) is configured to the relatively described middle plate (22) and slides along Z-direction；The middle plate (22) is configured as
Can the relatively described bottom plate (23) slided along Z-direction and drive the top plate (21) along Z-direction slide；The grinding device
(4) it is arranged on the top plate (21).
3. ceiling grinder device people according to claim 2, which is characterized in that the lifting device (2) further includes
One strut lifting device (24) and the second strut lifting device (25), in which:
The first strut lifting device (24) includes multiple first retinues bar (242), one end of first retinue bar (242)
Be connected the top plate (21), the other end sliding wear the middle plate (22) and the bottom plate (23)；
The second strut lifting device (25) includes multiple second retinues bar (252), one end of second retinue bar (252)
It is fixedly connected with the middle plate (22), other end sliding wears the bottom plate (23).
4. ceiling grinder device people according to claim 3, which is characterized in that first retinue bar (242) and institute
The projection that second retinue's bar (252) is stated in horizontal plane is not overlapped mutually.
5. ceiling grinder device people according to claim 1-4, which is characterized in that the grinding device (4)
Further include:
Rotating module (42), the rotating module (42) are configured as swinging the grinding head (41) can around first axle (L1)
And it is rotated around second axis (L2)；
Buffer module (43) is connected between the rotating module (42) and the pressure sensitive device (44), the buffering mould
Block (43) can be flexible along Z-direction.
6. ceiling grinder device people according to claim 5, which is characterized in that the rotating module (42) includes:
Driving assembly is configured as that the grinding head (41) is driven to rotate around the second axis (L2)；And
Connector (421) connect and moves synchronously with the top plate (21), and driving assembly energy opposite joints are around the first axle
Line (L1) is swung.
7. ceiling grinder device people according to claim 6, which is characterized in that the connector (421) is U-shaped, institute
Stating connector (421) includes two along first axle (L1) arrangement and vertical opposed limb portion, and the driving component includes lantern ring
(422) and control cabinet (423), the rotation axis (4232) of the control cabinet (423) extend along the second axis (L2) and with set
Ring (422) engagement, the lantern ring (422) connect with the grinding head (41), and the lantern ring (422) rotates along first axle (L1)
It is connected between two limb portions of the connector (421).
8. ceiling grinder device people according to claim 7, which is characterized in that the buffer module (43) includes that top is slow
Punching (431) and bottom buffering plate (432) connect between the top buffer board (431) and the bottom buffering plate (432) along Z axis elasticity
It connects, the bottom buffering plate (432) connect with the top plate (21), and the top buffer board (431) is configured as fixing the connection
Part (421).
9. ceiling grinder device people according to claim 2, which is characterized in that further include being connected in the lifting device
(2) 2 D shifting unit (3) on, the 2 D shifting unit (3) be configured to drive the grinding device (4) along the horizontal plane on
Two mutually orthogonal sides move upwards.
10. ceiling grinder device people according to claim 9, which is characterized in that the 2 D shifting unit (3) includes
Folded the first sliding block (31), the second sliding block (32) and the support plate (33) set, the first sliding block (31) connection
On the top plate (21) and second sliding block (32) can be driven to slide along X-axis, second sliding block (32)
It is arranged on first sliding block (31) and the support plate (33) can be driven to slide along Y-axis, the support plate (33)
First sliding block (31) can be stretched out along X-axis or stretch out second sliding block (32), the support plate along the y axis
(33) the pressure sensitive device (44) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910775665.2A CN110465843B (en) | 2019-08-21 | 2019-08-21 | Ceiling polishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910775665.2A CN110465843B (en) | 2019-08-21 | 2019-08-21 | Ceiling polishing robot |
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| Publication Number | Publication Date |
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| CN110465843A true CN110465843A (en) | 2019-11-19 |
| CN110465843B CN110465843B (en) | 2020-11-03 |
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ID=68512665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910775665.2A Active CN110465843B (en) | 2019-08-21 | 2019-08-21 | Ceiling polishing robot |
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| Country | Link |
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| CN (1) | CN110465843B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111815078A (en) * | 2020-09-02 | 2020-10-23 | 广东博智林机器人有限公司 | Abutted seam polishing path generation method and device, robot and storage medium |
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| Publication number | Publication date |
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| CN110465843B (en) | 2020-11-03 |
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