CN110814897A

CN110814897A - Polishing robot

Info

Publication number: CN110814897A
Application number: CN201910976735.0A
Authority: CN
Inventors: 杨晋; 崔文哲; 刘士伟; 王鹏俨; 叶才中; 吴伟明
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-10-15
Filing date: 2019-10-15
Publication date: 2020-02-21

Abstract

The invention discloses a polishing robot, which comprises a moving device, a polishing device and a polishing device, wherein the moving device can move along a preset path; the lifting device is arranged on the moving device in a lifting manner along the vertical direction; one end of the mechanical arm is connected with the lifting device, and the mechanical arm is provided with an installation surface parallel to the base surface to be polished; according to the grinding robot provided by the embodiment of the invention, the grinding robot provided by the embodiment of the invention is provided with the moving device, the lifting device, the mechanical arm and the grinding device. Can realize that polishing robot can also control the arm and do the lift in the vertical direction when removing on the predetermined path, the arm can also control grinding device simultaneously and treat the base face of polishing and carry out the automation and polish, make polishing robot have higher flexibility, can make polishing robot realize wider polishing through the removal of little distance simultaneously to through the cooperation of each device, realize that polishing robot treats the base face of polishing and carries out the automation and polish, realize higher degree of automation.

Description

Polishing robot

Technical Field

The invention relates to the field of robots, in particular to a polishing robot

Background

In the correlation technique, when the worker polishes the outer wall surface, the worker is required to attach to the climbing frame to perform high-altitude operation outdoors, and the labor intensity and the danger are all raised linearly. Not only can the polishing effect be guaranteed through manual polishing, but also danger easily occurs. And manual polishing by workers increases labor cost and has low working efficiency.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a polishing robot. This polishing robot can realize moving on polishing robot's predetermined route through mobile device, elevating gear, arm and polishing device's cooperation, and the arm can drive polishing device and go up and down in vertical direction when simultaneously can making polishing robot move on predetermined route, has enlarged polishing robot's the scope of polishing.

According to the embodiment of the invention, the polishing robot comprises: a moving device movable along a predetermined path; the lifting device is arranged on the mobile device in a lifting manner along the vertical direction; one end of the mechanical arm is connected with the lifting device, and the mechanical arm is provided with an installation surface parallel to the base surface to be polished; and the grinding device is connected with the mounting surface so as to grind the base surface to be ground in the orientation.

According to the grinding robot provided by the embodiment of the invention, the grinding robot provided by the embodiment of the invention is provided with the moving device, the lifting device, the mechanical arm and the grinding device. Can realize that polishing robot can also control the arm and do the lift in the vertical direction when removing on the predetermined path, the arm can also control grinding device simultaneously and treat the base face of polishing and carry out the automation and polish, make polishing robot have higher flexibility, can make polishing robot realize wider polishing through the removal of little distance simultaneously to through the cooperation of each device, realize that polishing robot treats the base face of polishing and carries out the automation and polish, realize higher degree of automation.

In some embodiments of the invention, the robotic arm comprises: a plurality of arm units connected in sequence, each of the arm units including two arm levers; the two adjacent arm units are connected through the joint fixing seat, and two arm rods in each arm unit are pivotally connected with the joint fixing seat; the two mounting seats are respectively arranged on the head arm unit and the tail arm unit, two arm rods in the corresponding arm units can be pivotally connected with the corresponding mounting seats, the mounting surface is limited on one mounting seat, and the other mounting seat is connected with the lifting device; and the driving parts are arranged on the arm units in a one-to-one correspondence manner.

In some embodiments of the invention, the two arm levers in each of the arm units are always parallel to each other.

In some embodiments of the invention, the abrading device comprises: a frame connected to the mounting surface; the polishing head assembly is used for polishing a base surface to be polished, and the polishing head is movably arranged on the frame along the length direction of the frame; the driving device is arranged on the frame to drive the polishing head assembly to move.

In some embodiments of the invention, the abrading device further comprises: the buffer fixing device is arranged between the mounting surface and the frame and is configured to elastically adjust the pressure of the polishing device on the base surface to be polished.

In some embodiments of the invention, the buffer fixing means comprises: the bottom plate is provided with a pressure sensor; the top plate is arranged on the bottom plate; the vibration damping device is arranged between the top plate and the bottom plate; the floating device is arranged on the top plate and is provided with a body and a floating body capable of moving back and forth relative to the body, and the floating body is in contact fit with the frame.

In some embodiments of the invention, the mobile device comprises: the lifting device is arranged on the moving chassis; the driving moving wheel and the driven moving wheel are arranged below the moving chassis, and the driving moving wheel can drive the moving chassis to move along the preset path.

In some embodiments of the invention, the mobile device further comprises: a guide rail extending along the predetermined path; the guide wheel is arranged at the driving moving wheel and/or the driven moving wheel and can be matched with the guide rail in a guiding mode.

In some embodiments of the invention, the lifting device comprises: the rack extends along the vertical direction and is arranged on the mobile device; the third driving motor is arranged on the rack; the chain mechanism, the chain mechanism includes drive sprocket, driven sprocket and chain, drive sprocket with but the third driving motor transmission links to each other, driven sprocket locates in the frame, the chain cover is established drive sprocket with driven sprocket is outside, the arm one end with the chain links to each other.

In some embodiments of the invention, the grinding robot further comprises: the climbing frame limits a movement space, the moving device and the lifting device are both located in the movement space, and the polishing device can stretch out the movement space.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic front view of a grinding robot according to an embodiment of the present invention;

fig. 2 is a left side schematic view of a grinding robot according to an embodiment of the present invention;

FIG. 3 is a perspective view of a grinding robot according to an embodiment of the present invention;

FIG. 4 is a perspective view of a creel-less grinding robot according to an embodiment of the present invention;

FIG. 5 is a perspective view of the lifting device, i.e., the motion chassis, of the sanding robot in accordance with an embodiment of the present invention;

FIG. 6 is a perspective view of a robotic arm of a sharpening robot according to an embodiment of the present invention;

fig. 7 is a front view of a grinding device of the grinding robot according to an embodiment of the present invention;

fig. 8 is a perspective view of a grinding device of a grinding robot according to an embodiment of the present invention.

FIG. 9 is a schematic front view of a robotic arm for a sharpening robot according to an embodiment of the present invention;

FIG. 10 is a schematic view of a robot arm for a sharpening robot in a retracted state according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a robot arm for a sharpening robot in an extended state according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of an internal configuration of a boom of a robotic arm for a sharpening robot according to an embodiment of the present invention;

fig. 13 is an exploded view of a joint mount of a robot arm for a sharpening robot according to an embodiment of the present invention.

Fig. 14 is a plan view of a grinding device of the grinding robot according to the embodiment of the present invention;

fig. 15 is a side view of a frame in a grinding device of the grinding robot according to an embodiment of the present invention;

fig. 16 is an exploded view of a frame in a grinding device of a grinding robot according to an embodiment of the present invention;

fig. 17 is an exploded view of a sanding head assembly in a sanding device of a sanding robot in accordance with an embodiment of the present invention;

fig. 18 is a perspective view of a grinding head assembly in a grinding apparatus of a grinding robot according to an embodiment of the present invention.

Reference numerals:

a polishing robot 1000;

a robot arm 100;

an arm unit 10; a first arm unit 101; a first arm 1011; a second arm 1012;

a second arm unit 102; a third arm lever 1021; a fourth arm 1022;

a joint fixing base 20; a front fixing plate 201; a rear fixing plate 202; a joint axis assembly 203; a connecting shaft 2031; a bushing 2032; a stopper 2033; a sleeve 2034; a positioning rod 204;

a mounting seat 30; a first mount 301; a second mount 302; a vertical plate 303; an arm plate 304;

a connecting rod 305;

a drive member 40;

a polishing device 200; a frame 1; a top surface 11; a knock ball 111; a bottom surface 12; a sanding head assembly 2; a mounting base 21; the clamping block 211; a first drive motor 22; a polishing disk 23; a brush 24; a drive device 3; a second drive motor 31; a belt drive 32, a drive wheel 321; a driven wheel 322; a belt 323; a buffer fixing device 4; a bottom plate 41; a top plate 42; a vibration damping device 43; a float device 44; a guide rail 5; an anti-collision strip 6; a cover plate 7;

a mobile device 300; a motion chassis 50; a driving moving wheel 60; a driven moving wheel 70; a guide rail 80; a guide wheel 90;

a lifting device 400; a frame 5; a third drive motor 6; a chain mechanism 7; a drive sprocket 71, a driven sprocket 72; a chain 73;

a climbing frame 500.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

A detailed structure of the grinding robot 1000 according to the embodiment of the present invention is described below with reference to fig. 1 to 7.

As shown in fig. 1 to 3, the grinding robot 1000 includes: a moving device 300, a lifting device 400, a robot arm 100, and a polishing device 200. The mobile device 300 may move along a predetermined path; the lifting device 400 is arranged on the mobile device 300 in a lifting manner along the vertical direction; one end of the mechanical arm 100 is connected with the lifting device 400, and the mechanical arm 100 is provided with a mounting surface parallel to the base surface to be polished; the polishing device 200 is connected with the mounting surface to polish the base surface to be polished in an orientation.

As shown in fig. 1 to 3, the moving device 300 may move along a predetermined path, that is, the moving device 300 may move according to a predetermined track, and may drive the polishing robot 1000 to move integrally, so that the polishing robot 1000 may move along the predetermined track, thereby expanding a working range of the polishing robot 1000. Elevating gear 400 along locating mobile device 300 of direction of rise liftable, elevating gear 400 is fixed connection with mobile device 300 promptly, and elevating gear 400 can provide the ability of removing in the vertical direction for other structures, cooperates mobile device 300 simultaneously, can make polishing robot 1000 realize more kinetic energy, also makes polishing robot 1000's working ability stronger, and polishing robot 1000 can be applicable to more operational environment simultaneously.

As shown in fig. 1 to 3, the polishing robot 1000 further includes a mechanical arm 100 and a polishing device 200, the polishing device 200 can be operated to polish the base surface to be polished by the action of the mechanical arm 100, meanwhile, the mechanical arm 100 has a mounting surface parallel to the base surface to be polished, and the polishing device 200 is connected to the mounting surface, so that the polishing device 200 can be always kept in a stable state in the motion process of the mechanical arm 100, and the polishing device 200 can be always kept parallel to the base surface to be polished.

Further, one end of the mechanical arm 100 is connected to the lifting device 400, and the other end of the mechanical arm 100 is connected to the polishing device 200, so that the mechanical arm 100 can move in the vertical direction, and meanwhile, the mechanical arm 100, the polishing device 200 and the moving device 300 are matched, so that the polishing robot 1000 can move in a predetermined path and can also control the mechanical arm 100 to move in the vertical direction. In addition, the mechanical arm 100 is matched with the polishing device 200, so that polishing of a base surface to be polished in a larger area can be realized, the working efficiency of the polishing robot 1000 is higher, and the polishing robot can adapt to more use environments.

Therefore, as shown in fig. 1 to 3, the polishing robot 1000 can control the mechanical arm 100 to lift in the vertical direction while moving on a predetermined path through reasonable matching of the moving device 300, the lifting device 400, the mechanical arm 100 and the polishing device 200, and the mechanical arm 100 can also control the polishing device 200 to automatically polish a to-be-polished base surface, so that the polishing robot 1000 has higher flexibility, and meanwhile, the polishing robot 1000 can achieve polishing in a larger range through small-distance movement, and through matching of the devices, the polishing robot 1000 can achieve automatic polishing of the to-be-polished base surface, and higher automation degree is achieved.

According to the grinding robot 1000 of the embodiment of the present invention, the grinding robot 1000 of the embodiment of the present invention has the moving device 300, the lifting device 400, the robot arm 100, and the grinding device 200 therein. Can realize that polishing robot 1000 can also control arm 100 and do and go up and down in the vertical direction when moving on the predetermined route, arm 100 can also control grinding device 200 simultaneously and treat the base face of polishing and polish automatically, make polishing robot 1000 have higher flexibility, can make polishing robot 1000 realize more extensive polishing through the removal of small distance simultaneously, and the cooperation through each device, realize that polishing robot 1000 treats the base face of polishing and polishes automatically, realize higher degree of automation.

A grinding robot 1000 according to an embodiment of the present invention will be described in detail with reference to fig. 1 to 7.

The overall structure of the grinding robot 1000 is schematically shown in fig. 1-3. Specifically, the polishing robot 1000 includes a moving device 300, a lifting device 400, a robot arm 100, and a polishing device 200. The mobile device 300 may move along a predetermined path; the lifting device 400 is arranged on the mobile device 300 in a lifting manner along the vertical direction; one end of the mechanical arm 100 is connected with the lifting device 400, and the mechanical arm 100 is provided with a mounting surface parallel to the base surface to be polished; the polishing device 200 is connected with the mounting surface to polish the base surface to be polished in an orientation.

Therefore, by the structure, the mechanical arm 100 can be controlled to lift in the vertical direction while the polishing robot 1000 moves on the preset path, meanwhile, the mechanical arm 100 can also control the polishing device 200 to polish a base surface to be polished automatically, so that the polishing robot 1000 has higher flexibility, and meanwhile, the polishing robot 1000 can move through a small distance to polish in a larger range, and the polishing robot 1000 can be matched with each other to polish the base surface to be polished automatically, so that higher automation degree is realized.

As shown in fig. 6, the robot arm 100 for the polishing robot according to the embodiment of the present invention, the robot arm 100 being used for connecting a polishing apparatus 200, includes a plurality of arm units 10, a joint holder 20, two mounts 30, and a plurality of driving members 40, which are connected in sequence.

As shown in fig. 6 and 9 to 13, a robot arm 100 for a grinding robot according to an embodiment of the present invention includes a plurality of arm units 10 connected in series, each of the arm units 10 includes two arms, that is, each of the arm units 10 includes two arms, the two arms are arranged in parallel, and the two arms are arranged in a parallelogram.

As shown in fig. 6 and 9-13, the two arms may be metal arms or non-metal arms. Meanwhile, the arm rod can also have corrosion resistance, so that the arm rod has the characteristic of corrosion resistance, the arm rod is prevented from being corroded by external substances when in use, the service life of the arm rod can be prolonged, the service life of the whole mechanical arm 100 is correspondingly prolonged, and the use consumption of the mechanical arm 100 is reduced.

As shown in fig. 6, two adjacent arm units 10 are connected through the joint fixing seat 20, and two arm levers in each arm unit 10 are pivotably connected to the joint fixing seat 20, so that the rotation flexibility of the arm units 10 can be improved, and the multi-stage extension and retraction of the entire mechanical arm 100 can be realized.

Specifically, two arm levers in each arm unit 10 are pivotally connected to the joint fixing base 20, that is, each arm lever can rotate around the joint fixing base 20, and the two arm levers in each arm unit 10 are both in a relatively parallel position and perform pivotal motion at the same time, so that the rotation flexibility of the arm unit 10 can be improved, and further, the overall multi-stage extension and retraction of the mechanical arm 100 can be realized.

Further, as shown in fig. 6 and fig. 9 to 12, two arm levers in each arm unit 10 are pivotally connected to the joint fixing base 20, so that multi-stage extension and contraction of the robot arm 100 can be achieved, flexible movement of the two arm units 10 can be achieved, and extension and contraction of the robot arm 100 and rotation of the arm units 10 around the joint fixing base 20 are more flexible.

Furthermore, two arm rods in each arm unit 10 adopt a single-axis parallelogram structure, so that when the mechanical arm 100 is wholly stretched, the mounting seat 30 at the tail end is always ensured to be parallel to the outer wall surface, and the polishing work is efficiently performed.

In some embodiments of the present invention, as shown in fig. 6 and fig. 9-13, two of the mounting seats 30 are respectively disposed on the head and the tail of the arm unit 10, and two arms of the corresponding arm unit 10 are pivotally connected to the corresponding mounting seat 30, wherein one of the mounting seats 30 is used for mounting the polishing device 200, and during the movement of the mechanical arm 100, the corresponding fixing surface of the mounting seat 30 connected to the polishing device 200 is always parallel to the outer wall surface.

Specifically, the mechanical arm 100 is pivotally mounted on the joint fixing seat 20 through both the two arm units 10, so that the mechanical arm 100 can extend and retract in two stages, and one side of the mounting seat 30 is kept parallel to the wall surface when the two arm units 10 of the mechanical arm 100 extend and retract. Meanwhile, when the mechanical arm 100 is expanded and contracted in multiple stages, the installation base 30 installed at the tail end of the arm rod is ensured to have consistent posture.

Specifically, the end of each arm lever of two arm levers in each arm unit 10 is pivotally connected to the corresponding mounting seat 30, optionally, the mounting seat 30 may be a steel mounting seat, which can effectively prevent the mounting seat 30 from being damaged due to corrosion of external substances when the entire mechanical arm 100 is used, and the steel mounting seat 30 can prolong the service life of the mounting seat 30, and simultaneously, the whole service life of the mechanical arm 100 can be prolonged, thereby reducing the consumption of the mechanical arm 100. And moreover, the long-term use of the mechanical arm 100 can be ensured, and the working efficiency of the mechanical arm 100 is ensured.

As shown in fig. 6 and 9 to 12, a plurality of the driving members 40 are provided on the plurality of arm units 10 in a one-to-one correspondence. Specifically, the driving member 40 is mounted on the arm rod of the arm unit 10, and two ends of the driving assembly are respectively mounted on different arm rods of the corresponding arm unit 10. The arm unit 10 can pivot around the joint fixing seat 20 through the driving component 40, so that the two arm units 10 can adjust positions to stretch and retract the mechanical arm 100, and the whole mechanical arm 100 can be more automated.

According to the robot arm 100 for the sanding robot according to the embodiment of the present invention, the robot arm 100 for the sanding robot according to the embodiment of the present invention includes a plurality of arm units 10, a joint fixing base 20, two mounting bases 30, and a plurality of driving members 40, which are connected in sequence. While each arm unit 10 comprises two arm levers. The two arm levers in each arm unit 10 are pivotally connected to the joint fixing base 20, that is, each arm lever can rotate around the joint fixing base 20, and the two arm levers in each arm unit 10 are both in a relatively parallel position and perform a pivotal motion at the same time, so that the rotation flexibility of the arm unit 10 can be improved, and multi-stage extension and retraction of the whole mechanical arm 100 can be realized. Two arm rods in each arm unit 10 adopt a single-axis parallelogram structure, so that when the mechanical arm 100 is wholly stretched, the mounting seat 30 at one end is always parallel to the outer wall surface, and the polishing work is efficiently performed. Meanwhile, the arm unit 10 can pivot around the joint fixing seat 20 through the driving member 40, so that the two arm units 10 can adjust positions to extend and retract the mechanical arm 100, and the whole mechanical arm 100 can be more automated.

The overall structure of the robot arm 100 according to the embodiment of the present invention will be described in detail with reference to fig. 6 and 9 to 13.

As shown in fig. 6 and 9 to 12, the plurality of arm units 10 include a first arm unit 101 and a second arm unit 102, respectively, two arms of the first arm unit 101 are parallel to each other, and two arms of the second arm unit 102 are parallel to each other.

Specifically, the two arms in the first arm unit 101 are arranged in parallel, and correspondingly, the two arms in the second arm unit 102 are also arranged in parallel. The first arm unit 101 and the second arm unit 102 are both pivotally connected to the joint fixing base 20, so that the first arm unit 101 and the second arm unit 102 can perform pivotal movement around the joint fixing base 20. Therefore, the multi-stage extension and contraction of the mechanical arm 100 can be realized, and when the first arm unit 101 and the second arm unit 102 of the mechanical arm 100 do pivoting motion around the joint fixing seat 20, the posture of the mounting seat 30 can be kept stable, and the mounting seat 30 is always kept parallel to the wall surface.

As shown in fig. 6 and 9 to 12, the mount 30 in the robot arm 100 for the sharpening robot according to the embodiment of the present invention includes a first mount 30301 and a second mount 30302, the first arm unit 101 is connected to the first mount 30301, and the second arm unit 102 is connected to the second mount 30302, wherein wall surfaces of the first mount 30301 and the second mount 30302 facing away from each other are parallel.

Specifically, two arms of the first arm unit 101 are pivotally connected to the first mounting base 301, two arms of the second arm unit 102 are pivotally connected to the second mounting base 30302, the first mounting base 301 may be a metal mounting base 30, the first mounting base 301 may also be a non-metal mounting base 30, the first mounting base 301 may also have corrosion resistance, corrosion caused by external substances may be prevented, the service life of the first mounting base 301 may be prolonged, the service life of the entire mechanical arm 100 may also be prolonged, and resource consumption may be reduced.

Correspondingly, the second mounting seat 30302 may be a metal mounting seat 30, the second mounting seat 30302 may also be a non-metal mounting seat 30, and the second mounting seat 30302 may also have corrosion resistance, may prevent corrosion from external substances, may improve the service life of the second mounting seat 30302, and may also improve the service life of the entire robot arm 100, and reduce resource consumption.

Further, as can be seen from the above, the wall surfaces of the first mounting base 301 and the second mounting base 30302 which are away from each other are parallel, so that it can be ensured that the first mounting base 301 and the second mounting base 302 are always parallel to the wall surfaces when the robot arm 100 performs telescopic motion, and the working efficiency of the robot arm 100 is ensured.

As shown in fig. 6 and 9 to 12, the first arm unit 101 includes a first arm lever 1011 and a second arm lever 1012, and the second arm unit 102 includes a third arm lever 1021 and a fourth arm lever 1022. The first arm 1011 and the second arm 1012 may be metal arms or non-metal arms. Meanwhile, the first arm rod 1011 and the second arm rod 1012 can also have corrosion resistance, so that the first arm rod 1011 and the second arm rod 1012 have corrosion resistance, the first arm rod 1011 and the second arm rod 1012 are prevented from being corroded by external substances when in use, the service lives of the first arm rod 1011 and the second arm rod 1012 can be prolonged, meanwhile, the service life of the whole mechanical arm 100 is correspondingly prolonged, and the use consumption of the mechanical arm 100 is reduced.

Accordingly, the third arm 1021 and the fourth arm 1022 may be metal arms or non-metal arms. Meanwhile, the third arm lever 1021 and the fourth arm lever 1022 can also have corrosion resistance, so that the third arm lever 1021 and the fourth arm lever 1022 have corrosion resistance, the third arm lever 1021 and the fourth arm lever 1022 are prevented from being corroded by external substances when in use, the service lives of the third arm lever 1021 and the fourth arm lever 1022 can be prolonged, meanwhile, the service life of the whole mechanical arm 100 is correspondingly prolonged, and the use consumption of the mechanical arm 100 is reduced.

Further, as shown in fig. 6 and fig. 9 to 12, both ends of the first arm 1011 are pivotally connected to the first mounting seat 301 and the joint fixing seat 20, respectively, and both ends of the second arm 1012 are pivotally connected to the first mounting seat 301 and the joint fixing seat 20, respectively.

Therefore, by the movement of the first arm 1011 and the second arm 1012, the multi-stage extension and contraction of the robot arm 100 can be realized, and the posture of the first mounting base 301 can be kept stable when the first arm unit 101 of the robot arm 100 performs the pivoting movement around the joint fixing base 20, and the first mounting base 301 is always kept parallel to the wall surface. Specifically, two-stage telescoping of the mechanical arm 100 can be realized, and when the mechanical arm 100 performs two-stage telescoping movement, one side of the first mounting seat 301 can be guaranteed to be always parallel to the wall surface.

Both ends of the third arm lever 1021 are respectively pivotally connected to the second mounting seat 302 and the joint fixing seat 20, and both ends of the fourth arm lever 1022 are respectively pivotally connected to the second mounting seat 302 and the joint fixing seat 20. Accordingly, by the movement of the third arm 1021 and the fourth arm 1022, multi-stage extension and contraction of the robot arm 100 can be achieved, and the second mounting seat 302 can be kept stable in posture when the second arm unit 102 of the robot arm 100 performs pivoting movement around the joint fixing seat 20, and the second mounting seat 302 is always kept parallel to the wall surface. Specifically, two-stage telescoping of the mechanical arm 100 can be realized, and when the mechanical arm 100 performs two-stage telescoping movement, one side of the second mounting base 302 can be guaranteed to be always parallel to the wall surface.

As shown in fig. 13, the joint fixing base 20 of the robot arm 100 for the grinding robot according to the embodiment of the present invention includes a front fixing plate 201, a rear fixing plate 202, a plurality of joint axis assemblies 203, and a plurality of positioning rods 204.

Specifically, through the cooperation between front fixing plate 201, rear fixing plate 202, a plurality of joint axle subassemblies 203 and a plurality of locating levers 204, can guarantee that the connection of first arm unit 101 and second arm unit 102 is stable, can guarantee from this that arm 100 is at the during operation, efficient work can be stabilized to first arm unit 101 and second arm unit 102, prevents that arm 100 is when doing multistage concertina movement, and first arm unit 101 and second arm unit 102 deviate from.

As shown in fig. 13, a plurality of through holes are formed in the front fixing plate 201, and specifically, the size of each through hole is matched with the plurality of joint shaft assemblies 203 and the plurality of positioning rods 204. Therefore, the first arm unit 101, the second arm unit 102 and the joint fixing seat 20 can be firmly and reliably mounted, and the first arm unit 101 and the second arm unit 102 are prevented from being separated when the mechanical arm 100 does multi-stage telescopic motion.

As shown in fig. 13, the rear fixing plate 202 is disposed opposite to the front fixing plate 201, and a plurality of through holes are correspondingly formed in the rear fixing plate 202, and specifically, the size of each through hole is respectively matched with the plurality of joint axis assemblies 203 and the plurality of positioning rods 204. Therefore, the first arm unit 101, the second arm unit 102 and the joint fixing seat 20 can be firmly and reliably mounted, and the first arm unit 101 and the second arm unit 102 are prevented from being separated when the mechanical arm 100 does multi-stage telescopic motion.

As shown in fig. 13, both ends of a plurality of joint shaft assemblies 203 are connected to the front fixing plate 201 and the rear fixing plate 202, respectively, and each arm is connected to the joint shaft assembly 203. Specifically, the front ends and the rear ends of the plurality of joint shaft assemblies 203 are respectively fixedly mounted on the front fixing plate 201 through the through holes on the front fixing plate 201, and correspondingly, the front ends and the rear ends of the plurality of joint shaft assemblies 203 are respectively fixedly mounted on the rear fixing plate 202 through the through holes on the front fixing plate 201.

Therefore, the joint shaft assembly 203 is a pivot connection member, the joint shaft assembly 203 mainly functions as a rotation shaft, and each arm lever is connected with the joint shaft assembly 203, specifically, the front end of each arm lever is pivotally connected with the shutdown fixing base through the joint shaft assembly 203, which is beneficial for the first arm unit 101 and the second arm unit 102 to rotate on the joint fixing base 20, so that the mechanical arm 100 can realize multi-stage expansion and contraction, and the postures of the first mounting base 301 and the second mounting base 302 at the tail ends are ensured to be consistent.

Similarly, the two ends of the plurality of positioning rods 204 are respectively connected to the front fixing plate 201 and the rear fixing plate 202, and the plurality of positioning rods 204 are disposed at a distance from each other. That is, two ends of the positioning rods 204 are respectively connected to the front fixing plate 201 and the rear fixing plate 202, specifically, the front ends and the rear ends of the positioning rods 204 are respectively fixed to the front fixing plate 201 through the through holes on the front fixing plate 201, and correspondingly, the front ends and the rear ends of the positioning rods 204 are respectively fixed to the rear fixing plate 202 through the through holes on the front fixing plate 201.

Therefore, the positions of the front fixing plate 201 and the rear fixing plate 202 can be corresponded by the positioning rods 204, and the situation that the positions of the front fixing plate 201 and the rear fixing plate 202 are misplaced, the joint fixing seat 20 is mistakenly installed, or the joint fixing seat 20 is used in a problem is prevented.

As shown in fig. 13, the joint shaft assembly 203 includes a connecting shaft 2031, a bushing 2032, a stopper 2033, and a bushing 2034.

Specifically, the bushings 2032 are respectively sleeved at two ends of the connecting shaft 2031, and the bushings 2032 are connected to the front fixing plate 201 or the rear fixing plate 202; the stop 2033 is connected to the liner 2032; the shaft sleeve 2034 is sleeved outside the connecting shaft 2031, and the arm lever is connected to the shaft sleeve 2034. The first arm unit 101 and the second arm unit 102 can rotate on the joint fixing base 20, and the first arm unit 101 and the second arm unit 102 can be prevented from falling off from the joint fixing base 20 when the mechanical arm 100 performs telescopic motion.

Specifically, the outside cover of connecting axle 2031 is equipped with axle sleeve 2034, and the length of connecting axle 2031 is greater than the length of axle sleeve 2034, simultaneously, bush 2032 is all installed at both ends around the connecting axle 2031, the inboard of bush 2032 cup joints with the inside of axle sleeve 2034, the front and back tip of connecting axle 2031 pegs graft with the through-hole on preceding fixed plate 201 and the after-fixing board 202 respectively, simultaneously separation blade 2033 is by the corresponding position of the through-hole of the lateral surface of preceding fixed plate 201 and after-fixing board 202, with the both ends joint of connecting axle 2031 and with connecting axle 2031 fixed between preceding fixed plate 201 and after-fixing board 202.

Therefore, the connecting shaft 2031 is located inside the shaft sleeve 2034, when the joint shaft assembly 203 rotates, the connecting shaft 2031 is located inside the shaft sleeve 2034 and rotates, the connecting shaft 2031 can be protected, meanwhile, the connecting shaft 2031 can be prevented from being damaged by external substances, the mechanical arm 100 can be made to stretch and retract, the mechanical arm 100 cannot work due to the damage of the connecting shaft 2031, the shaft sleeve 2034 can protect the connecting shaft 2031, meanwhile, the service life of the mechanical arm 100 can be prolonged, and the working efficiency of the mechanical arm 100 is guaranteed. Further, the stopper 2033 can prevent the position of the connecting shaft 2031 from shifting, thereby ensuring the normal use of the joint shaft assembly 203.

In other words, the connecting shafts 2031 are located in the bushings 2034, so that wear caused by rotation of the connecting shafts 2031 is reduced, and the bushings 2032 connect the front fixing plate 201 and the rear fixing plate 202, and prevent the arm lever from falling off during rotation by the limit of the stopping pieces 2033.

First mount 301 second mount 302 first mount 301 first arm unit 101 second mount 302 second arm unit 102 first arm unit 101 second arm unit 102 first mount 301 second mount 302 as shown in fig. 2-6, mount 30 includes: a vertical plate 303, two arm plates 304 disposed opposite to each other, and two connecting rods 305.

Specifically, two oppositely disposed arm plates 304 are vertically connected to the vertical plate 303, and the two arm plates 304 are disposed apart from each other. Both ends of the two connecting rods 305 are connected to the two arm plates 304, respectively, and the two arm levers in the arm unit 10 are rotatably connected to the two connecting rods 305, respectively.

Further, the ends of the first arm 1011 and the second arm 1012 of the first arm unit 101 are pivotally connected to the two wall plates by two connecting rods 305, and correspondingly, the ends of the third arm 1021 and the fourth arm 1022 of the second arm unit 102 are pivotally connected to the two wall plates by two connecting rods 305. One end through first arm unit 101 is connected with joint fixing base 20, one end is connected with first mount pad 30, the one end of second arm unit 102 is connected with joint fixing base 20 simultaneously, one end is connected with the second mount pad, can realize the multistage flexible of arm 100, can make arm 100 when doing multistage flexible simultaneously, can guarantee that mount pad 30 is parallel with the wall, grinding device 200 fixed on mount pad 30 also keeps parallel with the wall all the time, the step of adjustment grinding device 200 position has been saved, make the work of polishing go on high-efficiently.

As shown in fig. 6 and 9-12, the robot arm 100 for the grinding robot further comprises a driving member 40, wherein the driving member 40 is configured to be telescopic, and two ends of each driving member 40 are respectively and pivotally connected with two arm levers in the same arm unit 10.

Specifically, there are two driving members 40, one end of the telescopic end of one driving member 40 is pivotally connected to the first arm 1011, and the other end of the telescopic end of the driving member 40 is pivotally connected to the second arm 1012. Accordingly, one end of the telescopic end of the other driving member 40 is pivotally connected to the third arm 1021, and the other end of the telescopic end of the driving member 40 is pivotally connected to the fourth arm 1022. Further, two driving members 40 are respectively located at both sides of the two arm units 10.

Therefore, no matter the driving part 40 contracts or stretches, only the distance between the first arm unit 101 and the second arm unit 102 is adjusted, the installation seat 30 is always guaranteed to be parallel to the wall surface, the polishing device 200 fixed on the installation seat 30 is also always kept parallel to the wall surface, the step of adjusting the position of the polishing device 200 is saved, and polishing work can be efficiently carried out.

Further, provide power through driving piece 40, can realize that the mechanical arm 100 degree of automation that is used for polishing robot is higher, reduces the human consumption, improves work efficiency.

As shown in fig. 7 to 8 and 14 to 18, the polishing apparatus 200 of the polishing robot 1000 is schematically constructed. The polishing apparatus 200 includes: frame 1, sanding head subassembly 2, drive arrangement 3.

The frame 1 provides a mounting base for mounting other components of the polishing apparatus 200, and serves to secure the polishing apparatus 200 in stability.

Wherein, the frame 1 can be a running rule imitating structure. Optionally, frame 1 is rectangle plane frame 1, and frame 1's upper surface is the rectangle horizontal plane, can level and smooth laminating with the wall, and the convenience is leaned on with the outer wall top, and frame 1 adopts the design of imitative guiding ruler, both can guarantee grinding device 200's stability simultaneously.

As shown in fig. 7, the sanding head assembly 2 is used for sanding a base surface to be sanded, and the sanding head assembly 2 is movably provided on the frame 1 in the length direction of the frame 1. Optionally, the polishing head assembly 2 can be a rigid polishing structure, the polishing head assembly 2 can also be a flexible polishing structure, the rigid polishing structure can polish the outer wall fast, and the flexible polishing structure can polish the outer wall more carefully.

As shown in fig. 7, the driving means 3 is provided on the frame 1 to drive the sanding head assembly 2 in motion. Drive arrangement 3 can provide power for grinding device 200's the head subassembly 2 of polishing, makes the head subassembly 2 of polishing remove along frame 1's length direction, can make the head subassembly 2 of polishing carry out quick reciprocal polishing to same wall, improves grinding device 200's degree of automation, reduces the manpower consumption, can improve work efficiency greatly.

According to the polishing apparatus 200 of the embodiment of the present invention, the polishing apparatus 200 of the embodiment of the present invention includes a frame 1, a polishing head assembly 2, a driving apparatus 3, and a buffer fixing apparatus 4. Wherein the frame 1 may ensure the stability of the grinding device 200. Drive arrangement 3 can provide power for grinding device 200's the head subassembly 2 of polishing, makes the head subassembly 2 of polishing remove along frame 1's length direction, can make the head subassembly 2 of polishing carry out quick reciprocal polishing to same wall, improves grinding device 200's degree of automation, reduces the manpower consumption, can improve work efficiency greatly.

As shown in fig. 7, the frame 1 comprises a top surface 11 and a bottom surface 12, the top surface 11 facing the base surface to be sanded, and the drive means 3 being located between the top surface 11 and the bottom surface 12.

Specifically, frame 1 is rectangle plane frame 1, and frame 1's top surface 11 is the rectangle horizontal plane, can level and smooth laminating with the wall, and the convenience is leaned on with the outer wall in the top, and frame 1 adopts the design of imitative guiding ruler, both can guarantee grinding device 200's stability, also can prevent that grinding device 200 from excessively polishing to outer wall.

Further, the polishing apparatus 200 further includes a buffer fixing device 4. The buffering fixing device 4 is connected with the frame 1, and the buffering fixing device 4 is arranged on one side, far away from a base surface to be polished, of the frame 1. Further, the buffering fixing device 4 can play a role in buffering when the frame 1 is in contact with the wall surface.

The overall structure of the sharpening device 200 is described in detail below with reference to fig. 7-8 and 14-15.

The top surface 11 and the bottom surface 12 of the frame 1 are oppositely arranged, the top surface 11 and the bottom surface 12 have the same size, and the top surface 11 and the bottom surface 12 of the frame 1 are hollow.

As shown in fig. 15 and 16, the top surface 11 of the frame 1 is provided with a plurality of knock balls 111 for contacting the base surface to be ground, and the knock balls 111 are rotatable with respect to the top surface 11.

Optionally, the pressing ball 111 may be made of an elastic material, which may prevent the top surface 11 of the frame 1 from being worn due to excessive pressure when the top surface 11 of the frame 1 contacts the wall. And meanwhile, excessive grinding of the wall surface by the grinding head assembly 2 caused by excessive pressure can be prevented.

As shown in fig. 17 and 18, the sanding head assembly 2 includes a mounting base 21, a first drive motor 22, a sanding disc 23, and a brush 24.

Wherein, mount pad 21 links to each other with drive arrangement 3 transmission, first driving motor 22, and first driving motor 22 is located on mount pad 21. The grinding disc 23 is in driving connection with the first drive motor 22. The brush 24 is provided on the side of the polishing disc 23 facing the base surface to be polished.

Specifically, the mounting seat 21 is slidably mounted on the bottom surface 12 of the frame 1, and the mounting seat 21 is movable along the length direction of the frame 1. The first driving motor 22 is disposed on the mounting base 21, and an end portion of an output shaft of the first driving motor 22 is connected to the polishing disc 23, in other words, the output shaft of the driving motor rotates to drive the polishing disc 23 to rotate, so that the driving motor provides stable power supply for the rotation of the polishing disc 23.

The polishing disc 23 is provided with a brush 24, optionally, the brush 24 may be a soft brush 24, and the brush 24 is a soft brush 24, which can perform fine polishing on the outer wall. Further, the brush 24 may also be a bristle brush 24, and the bristle brush 24 may quickly polish the exterior wall.

Further, the brush 24 is arranged around the polishing disc 23, so that dust generated by polishing can be effectively reduced, and excessive dust generated during polishing is prevented from entering the polishing device 200 to influence the work of the polishing device 200.

As shown in fig. 8, the driving device 3 includes: a second drive motor 31 and a belt drive 32.

Specifically, the second driving motor 31 is provided on the frame 1, and an output shaft end of the second driving motor 31 is connected to the belt driving device 32.

The belt driving device 32 comprises a driving wheel 321, a driven wheel 322 and a belt 323, the driving wheel 321 is in transmission connection with the second driving motor 31, the driven wheel 322 is arranged on the frame 1, the belt 323 is sleeved outside the driving wheel 321 and the driven wheel 322, and the mounting base 21 is fixedly connected with the belt 323.

In other words, the second driving motor 31 is mounted on the bottom surface 12 of the frame 1, the driving gear 321 is mounted on the output shaft end of the second driving motor 31, the driven gear 322 is fixedly mounted on one side of the bottom surface 12 of the frame 1, which is the principle of the second driving motor 31, and the driving gear are connected by the belt 323.

Therefore, the second driving motor 31 provides power for the driving wheel 321, and the driving wheel 321 drives the driven wheel 322 to rotate through the belt 323, so that the second driving motor 31, the driving wheel 321, the belt 323 and the driven wheel 322 constitute the driving device 3.

Further, provide power for action wheel 321 through second driving motor 31, can realize the power supply through second driving motor 31, make action wheel 321 and follow driving wheel 322 pass through belt 323 and form a transmission structure, can realize grinding device 200's automation, reduce the manpower consumption, promote work efficiency.

As shown in fig. 8, the mount base 21 is provided with a clamp block 211, and the clamp block 211 is clamped on the belt 323.

Specifically, a clamping block 211 is installed on the side surface of the installation base 21, that is, the clamping block 211 is fixedly connected with the installation base 21, and the clamping block 211 is clamped on the belt. It can be seen that the second driving motor 31 provides power to the driving wheel 321, the driving wheel 321 drives the driven wheel 322 to rotate via the belt 323, and meanwhile, the movement of the belt 323 can drive the sanding head assembly 2 to slide along the length direction of the frame 1 via the clamping block 211.

Thus, the second driving motor 31, the driving pulley 321, the belt 323, and the driven pulley 322 constitute the driving device 3. At the same time, the sanding head assembly 2 can be slid along the length of the frame 1 by the cooperation of the belt 323 with the clamping block 211. The base face that makes polishing head subassembly 2 can treat to polish carries out quick reciprocal polishing, and the work efficiency of the grinding device 200 of improvement reduces the manpower consumption. Simultaneously, the degree of automation of the polishing device 200 can also be improved.

As shown in fig. 7-8 and 14-16, the sharpening device 200 also comprises a guide rail 5.

As shown in fig. 16, a guide rail 5 is provided on the frame 1 and extends along the length of the frame 1, and the sanding head assembly 2 is movably engaged with the guide rail 5.

Specifically, the guide rail 5 may be disposed in the middle of the bottom surface 12 of the frame 1, the guide rail 5 is slidably connected to the mounting seat 21 of the polishing head assembly 2, and the polishing head assembly 2 can move in the length direction along the guide rail 5 in the frame 1 through the sliding connection between the guide rail 5 and the mounting seat 21.

Therefore, the guide rail 5 can provide motion guide for the grinding head assembly 2, so that the grinding head assembly 2 can do linear reciprocating motion along the guide rail 5, and the grinding head assembly 2 is guaranteed to grind in a straight line. It is prevented that the polishing stroke of the polishing head assembly 2 is inexpensive to cause the polishing effect of the polishing apparatus 200 to fail to meet the demand.

Further, the driving wheel 321 is powered by the second driving motor 31, and the driving wheel 321 drives the driven wheel 322 to rotate through the belt 323, so that the second driving motor 31, the driving wheel 321, the belt 323 and the driven wheel 322 form the driving device 3. Then, the belt 323 in the driving device 3 is matched with the clamping block 211 in the polishing head assembly 2, so that the driving device 3 drives the polishing head assembly 2 to reciprocate in the frame 1, and the overall automation degree of the polishing device 200 is improved.

As shown in fig. 7 and 8, the cushioning device of the grinding apparatus 200 according to the embodiment of the present invention includes a base plate 41, a top plate 42, a vibration damping device 43, and a floating device 44.

Wherein, the bottom plate 41 is provided with a pressure sensor 411. The top plate 42 is provided on the bottom plate 41. The damper device 43 is provided between the top plate 42 and the bottom plate 41. A float device 44 is provided on the top plate 42, the float device 44 having a body and a float reciprocally movable relative to the body, the float being in contact engagement with the frame 1.

In other words, the top plate 42 is provided on the bottom plate 41, the pressure sensor 411 is provided on the bottom plate 41, the damper is provided between the top plate 42 and the bottom plate 41, the float device 44 is provided on the top plate 42, and the float device 44 is connected to the bottom surface 12 of the frame 1.

Specifically, when grinding device 200 and wall laminating, grinding device 200 receives the certain pressure that the wall transmitted, and damping device can guarantee frame 1 and wait to polish the basal plane contact and produce the flexible of the small circle when leaning on the pressure effect, transmits pressure for pressure sensor 411, makes frame 1 can be more accurate and wait to polish the basal plane and accomplish whole leaning on the process.

As shown in fig. 7, the base surface to be polished is uneven, and at this time, the frame 1 can be pushed against the base surface to be polished through the floating device 44, so that fine adjustment at a small angle is generated, the polishing precision can be ensured, and the polishing effect can be improved.

Further, with pressure sensor 411 can transmit the pressure that produces when frame 1 contacts with the wall for grinding device 200, prevent that grinding device 200 from excessively polishing the outer wall, lead to the unevenness of outer wall after polishing. The grinding accuracy may be lowered.

As shown in fig. 16, the polishing apparatus 200 further includes: bumper strips 6 and cover sheets 7. The bumper strip 6 is arranged on one side of the frame 1 facing the base surface to be polished. A cover plate 7 is provided on the frame 1 to isolate at least the drive means 3 from the base surface to be sanded.

Specifically, the crashproof strip 6 is the division bar of rectangle frame form, and simultaneously crashproof strip 6 can be the rubber material, and crashproof strip 6 can be for having the division bar of buffering and wear-resisting characteristic promptly. The cover plate 7 is arranged on the top surface 11 of the frame 1, and meanwhile, the cover plate 7 is positioned on the top surface 11 of the frame 1 and inside the bumper strip 6.

Optionally, the bumper strip 6 can be the frame form division bar of rubber material, and the bumper strip 6 can keep apart certain distance with frame 1 and outer wall, and bumper strip 6 has certain buffering and wear-resisting characteristic. The cover plate 7 is a mesh surface and the position of the cover plate 7 on the frame 1 is higher than the height of the drive unit 3 and sanding head assembly 2 inside the frame 1.

Specifically, the anticollision strip 6 can keep apart certain distance with frame 1 and outer wall, makes frame 1 and outer wall guarantee certain distance, prevents that frame 1 from bumping with outer wall at the removal in-process to lead to grinding device 200's frame 1 or wait to polish the base face and receive the damage because of the collision. The main effect of apron 7 is just to treat the base face of polishing and keeps apart with polishing head subassembly 2 with drive arrangement 3 of grinding device 200 inside, prevents that grinding device 200 from when treating the base face of polishing and polishing, and the dust that the in-process of polishing produced gets into guide rail 5 and drive arrangement 3 from driving wheel 322 and action wheel 321, produces and blocks up, influences the normal operating of device.

Further, the bumper strip 6 can be the frame 1 of rubber material, and the bumper strip 6 is located on the top surface 11 of frame 1 to the bumper strip 6 needs to have certain buffering and wear-resisting characteristic. Meanwhile, the cover plate 7 is a net-shaped surface, and the position of the cover plate 7 on the frame 1 is higher than the height of the driving device 3 and the sanding head assembly 2 inside the frame 1.

Therefore, the bumper strip 6 can ensure that the frame 1 and the base surface to be polished do not collide in the moving process, and the frame 1 or the base surface to be polished is damaged. The apron 7 can keep apart the base face of waiting to polish and the inside drive arrangement 3 of grinding device 200 and the subassembly 2 of polishing head, prevents that grinding device 200 from when treating the base face of polishing and polishing, and the dust that the in-process of polishing produced gets into guide rail 5 and drive arrangement 3 from driving wheel 322 and action wheel 321, produces and blocks up, influences the normal operating of device.

As shown in fig. 1 to 5, the moving device 300 of the grinding robot 1000 includes: a motion chassis 50, a driving moving wheel 60, and a driven moving wheel 70.

The lifting device 400 is arranged on the moving chassis 50; the driving moving wheel 60 and the driven moving wheel 70 are disposed under the moving chassis 50, and the driving moving wheel 60 can drive the moving chassis 50 to move along the predetermined path.

The motion chassis 50 may provide a platform for installing the driving moving wheels 60 and the driven moving wheels 70, the driving moving wheels 60 and the driven moving wheels 70 may move the polishing robot 1000 along a predetermined path, so that the polishing robot 1000 moves along a moving path without shifting a moving position of the polishing robot 1000, and simultaneously, the polishing robot 1000 may have a moving capability by cooperation of the driving moving wheels 60 and the driven moving wheels 70, so that a large polishing range of the polishing robot 1000 may be larger.

As shown in fig. 1-5, the moving device 300 further includes a guide rail 80 and a guide wheel 90.

As shown in fig. 1-5, the guide rail 80 extends along the predetermined path. And can provide a fixed track for the movement of the robot, prevent the movement of the robot from deviating.

Alternatively, the moving device 300 may be further provided with a second guide rail positioned above the grinding robot 1000 and corresponding to the guide rail 80. The second guide rail can make the operation of the polishing robot 1000 more stable with the cooperation of the first guide rail 80, can prevent the polishing robot 1000 from appearing wrongly when moving, and can also improve the stability of the polishing robot 1000 when moving. .

The guide wheel 90 is provided at the driving moving wheel 60 or the driven moving wheel 70 and is guidably engaged with the guide rail 80. Specifically, the guide wheel 90 may be matched with the guide rail 80, the guide wheel 90 may play a role in guiding, and may guide the movement of the polishing robot 1000, and meanwhile, the guide wheel 90 may be used to steer the polishing robot 1000 within a small range.

As shown in fig. 1 to 5, the lifting device 400 includes a frame 5, a third driving motor 6, and a chain mechanism 7. Frame 5 extends and locates along vertical direction on the mobile device 300, third driving motor 6 locates on the frame 5, chain mechanism 7 includes drive sprocket 71, driven sprocket 72 and chain 73, drive sprocket 71 with but third driving motor 6 transmission links to each other, driven sprocket 72 locates on the frame 5, chain 73 cover is established drive sprocket 71 with driven sprocket 72 is outside, arm 100 one end with chain 73 links to each other.

Specifically, the rack 5 provides a mounting platform for mounting other components, the third driving motor 6 provides power for the chain mechanism, the chain mechanism 7 forms a transmission mechanism through the matching of the driving chain wheel 71, the driven chain wheel 72 and the chain 73, and meanwhile, the third driving motor 6 can provide power for the chain mechanism 7 through the connection of the output shaft of the third driving motor 6 and the driving chain wheel 71, so that the lifting of the lifting device 400 can be realized, the lifting adjustment of the polishing device 200 can be realized, and the polishing range is further expanded.

The grinding robot 1000 as in fig. 1-4 further comprises a creel 500. The climbing frame 500 defines a movement space in which the moving device 300 and the lifting device 400 are both located, and the polishing device 200 may extend out of the movement space.

Alternatively, the climbing frame 500 may be the technical frame 1, the climbing frame 500 may also be the non-metallic frame 1, and the climbing frame 500 may provide a support and a mounting platform for mounting other structures.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A grinding robot, comprising:

a moving device movable along a predetermined path;

the lifting device is arranged on the mobile device in a lifting manner along the vertical direction;

one end of the mechanical arm is connected with the lifting device, and the mechanical arm is provided with an installation surface parallel to the base surface to be polished;

and the grinding device is connected with the mounting surface so as to grind the base surface to be ground in the orientation.

2. The abrading robot of claim 1, wherein the robotic arm comprises:

a plurality of arm units connected in sequence, each of the arm units including two arm levers;

the two adjacent arm units are connected through the joint fixing seat, and two arm rods in each arm unit are pivotally connected with the joint fixing seat;

the two mounting seats are respectively arranged on the head arm unit and the tail arm unit, two arm rods in the corresponding arm units can be pivotally connected with the corresponding mounting seats, the mounting surface is limited on one mounting seat, and the other mounting seat is connected with the lifting device; and

the driving pieces are arranged on the arm units in a one-to-one correspondence mode.

3. An abrading robot according to claim 2, characterized in that the two arm levers in each arm unit are always parallel to each other.

4. An abrading robot according to claim 2, characterized in that the abrading device comprises:

a frame connected to the mounting surface;

the polishing head assembly is used for polishing a base surface to be polished, and the polishing head is movably arranged on the frame along the length direction of the frame;

the driving device is arranged on the frame to drive the polishing head assembly to move.

5. An abrading robot according to claim 4, characterized in that the abrading device further comprises:

the buffer fixing device is arranged between the mounting surface and the frame and is configured to elastically adjust the pressure of the polishing device on the base surface to be polished.

6. An abrading device as defined in claim 5, wherein the buffer holding means comprises:

the bottom plate is provided with a pressure sensor;

the top plate is arranged on the bottom plate;

the vibration damping device is arranged between the top plate and the bottom plate;

the floating device is arranged on the top plate and is provided with a body and a floating body capable of moving back and forth relative to the body, and the floating body is in contact fit with the frame.

7. An abrading robot according to claim 1, characterized in that the moving means comprises:

the lifting device is arranged on the moving chassis;

the driving moving wheel and the driven moving wheel are arranged below the moving chassis, and the driving moving wheel can drive the moving chassis to move along the preset path.

8. The abrading robot of claim 7, wherein the moving means further comprises:

a guide rail extending along the predetermined path;

the guide wheel is arranged at the driving moving wheel and/or the driven moving wheel and can be matched with the guide rail in a guiding mode.

9. An abrading robot according to claim 1, characterized in that the lifting means comprise:

the rack extends along the vertical direction and is arranged on the mobile device;

the third driving motor is arranged on the rack;

the chain mechanism, the chain mechanism includes drive sprocket, driven sprocket and chain, drive sprocket with but the third driving motor transmission links to each other, driven sprocket locates in the frame, the chain cover is established drive sprocket with driven sprocket is outside, the arm one end with the chain links to each other.

10. An abrading robot according to any of claims 1-9, further comprising:

the climbing frame limits a movement space, the moving device and the lifting device are both located in the movement space, and the polishing device can stretch out the movement space.