CN110962001B

CN110962001B - Polishing device and polishing robot

Info

Publication number: CN110962001B
Application number: CN201911182310.9A
Authority: CN
Inventors: 姜盛坤; 张丹; 刘士伟; 夏跃荣
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-11-27
Filing date: 2019-11-27
Publication date: 2021-04-27
Anticipated expiration: 2039-11-27
Also published as: CN110962001A

Abstract

The invention relates to a polishing device and a polishing robot, comprising: a buffer mechanism; the torsion mechanism is arranged on the buffer mechanism; the polishing head is arranged on the torsion mechanism; and the distance detection mechanism comprises at least three distance sensors, and the at least three distance sensors are arranged on the polishing end surface of the polishing head at intervals. At this moment, a virtual polishing plane can be determined by the at least three distance sensors, the virtual polishing plane has the significance that the at least three distance sensors can simultaneously detect the distances between different parts of the polishing head and the wall surface, and the distances detected by the distance sensors are the same, namely, the distances between the parts of the polishing disc and the wall surface are the same. So far, the polishing disc can gradually press close to the wall surface in a correct posture and finally completely lean against the wall surface, and the polishing disc is guaranteed to have excellent polishing efficiency and polishing quality.

Description

Polishing device and polishing robot

Technical Field

The invention relates to the technical field of construction robots, in particular to a polishing device and a polishing robot.

Background

Traditionally, after a building is cast and formed, the wall needs to be polished to eliminate rough structures at joints and other parts and improve the forming smoothness of the building wall. The vast majority of situations still stop in the trade at present and rely on the sense of touch and the manual operation of polishing of the manual wall of completion of the handheld angle mill of workman self, and not only inefficiency, intensity of labour is big, and the quality of polishing can't guarantee moreover. Based on this, some polishing robots capable of simulating manual wall surface polishing gradually appear on the market, and the core part of each polishing robot is a polishing head. The prior polishing head is mainly composed of a polishing disc, a torsion mechanism and a pressure sensor. During operation, the polishing disc needs to be abutted against the wall to be polished, whether the pressure sensor is used for detecting whether the polishing disc is abutted in place is detected, and finally, the floating rotation capacity of the polishing disc is provided through the torsion mechanism so as to finish the polishing operation of the wall with different flatness.

However, just because torsion mechanism's existence, can lead to the unable accurate contact pressure who detects the mill and the wall of pressure sensor, and then just can't accurate confirm whether complete, effective top of mill and wall realization leans on, cause the mill to polish inefficiency, the quality of polishing not good enough.

Disclosure of Invention

Based on this, it is necessary to provide a grinding device and polishing robot, aims at solving prior art and makes the wall top lean on incompletely, leads to polishing inefficiency, the poor problem of quality of polishing.

The technical scheme is as follows:

in one aspect, the present application provides a polishing device, comprising:

a buffer mechanism;

the torsion mechanism is arranged on the buffer mechanism;

the polishing head is arranged on the torsion mechanism; and

the distance detection mechanism comprises at least three distance sensors, and the at least three distance sensors are arranged on the polishing end face of the polishing head at intervals.

The grinding device of above-mentioned scheme is used and is equipped in polishing robot, for the concrete wall to pouring after the shaping carries out the direct execution unit of the operation of polishing, it compares in prior art can be fine solution wall top lean on incompletely, the problem that quality and efficiency are poor of polishing. Particularly, the polishing head is a direct execution component for finishing wall polishing operation, the torsion mechanism is directly connected with the polishing head, so that the polishing head has rotary floating capacity, can adapt to the wall polishing requirements with different flatness, the buffer mechanism is connected with the torsion mechanism, the buffer capacity is guaranteed to be possessed when the polishing head is pushed against the wall, and rigid impact with the wall is avoided, so that the polishing head or the wall is damaged. Further, because the distance detection mechanism is additionally arranged on the polishing head, specifically, the distance detection mechanism is at least three distance sensors arranged on the polishing end face of the polishing head at intervals, at least three distance sensors can determine a virtual polishing plane, the virtual polishing plane has the significance that the at least three distance sensors can simultaneously detect the distances between different parts of the polishing head and the wall surface, and the distances detected by the distance sensors can be ensured to be the same (the detected distance value can be 0 to any natural number), that is, the distances between the parts of the polishing disc and the wall surface can be ensured to be the same. So far, under the continuous feedback of this testing result, the dish of polishing just can be with correct gesture progressively press close to the wall and finally lean on with the wall complete top, guarantee that the dish of polishing has splendid efficiency of polishing and the quality of polishing.

The technical solution of the present application is further described below:

in one embodiment, the distance detection mechanism further comprises at least three elastic expansion pieces, the number of the elastic expansion pieces is matched with that of the distance sensors, the polishing head comprises a polishing shell and a polishing disc arranged in the polishing shell, the at least three elastic expansion pieces are arranged on the polishing end face of the polishing shell at intervals, the distance sensors are arranged on the elastic expansion pieces in a one-to-one correspondence manner, and the distance sensors are higher than the polishing disc in a non-working state.

In one embodiment, the polishing head further comprises a lock catch and a driving piece for outputting rotary power, the driving piece is arranged on the side wall of the polishing shell, which is far away from the polishing head, a driving shaft of the driving piece penetrates through the center of the polishing shell and the center of the polishing disc, and the lock catch is locked with the driving shaft and fixes the polishing disc in the polishing shell in a buckled manner.

In one embodiment, the torsion mechanism comprises a torsion frame and a torsion connection assembly, the driving member is connected with the torsion frame through the torsion connection assembly, and the torsion connection assembly is used for enabling the grinding head to have rotary floating capacity.

In one embodiment, the torsion connection assembly comprises a mounting seat provided with a spherical groove and a ball rotatably arranged in the spherical groove, the mounting seat is further connected with the torsion frame, and the ball is further connected with the driving piece; or, twist reverse coupling assembling including the mount pad that is equipped with the sphere recess and rotate set up in spheroid in the sphere recess, the mount pad still with the driving piece is connected, the spheroid still with twist reverse the frame and connect.

In one embodiment, the torsion mechanism further includes a limiting member, the limiting member is disposed on an end surface of the torsion frame facing the driving member, and the limiting member and the driving member are arranged in a spaced and opposing manner.

In one embodiment, the number of the limiting members is at least two, and the at least two limiting members are circumferentially arranged on an end surface of the torsion frame facing the driving member at intervals.

In one embodiment, the buffer mechanism comprises a buffer frame and a telescopic adjusting component arranged in the buffer frame, and the twisting frame is movably arranged on the buffer frame and connected with the telescopic adjusting component.

In one embodiment, the telescopic adjusting assembly comprises a permanent magnet arranged at the end part of the torsion frame and an electromagnet arranged on the end wall of the buffer frame far away from the torsion frame, and a telescopic cavity is formed between the permanent magnet and the electromagnet.

In one embodiment, the outer wall of the twisting frame is provided with a limiting groove, and the buffer frame is provided with a folded edge which is used for being abutted against the groove wall on any side of the limiting groove.

In one embodiment, the buffering mechanism further comprises a distance meter, the distance meter is arranged at one end, far away from the electromagnet, of the buffering frame, and the distance meter is used for being matched with the torsion frame or the permanent magnet or the electromagnet.

In addition, the application also provides a grinding robot, which comprises the grinding device.

Drawings

Fig. 1 is a schematic structural diagram of a polishing apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic front view of the structure of FIG. 1;

FIG. 3 is a schematic top view of the structure of FIG. 1;

fig. 4 is a sectional view of fig. 3 taken along line a-a.

Description of reference numerals:

10. a buffer mechanism; 11. a buffer frame; 111. folding edges; 12. a permanent magnet; 13. an electromagnet; 14. a telescoping chamber; 15. a range finder; 20. a torsion mechanism; 21. a torsion frame; 211. a limiting groove; 22. a torsion connection assembly; 23. a limiting member; 30. polishing head; 31. grinding the shell; 32. grinding disc; 321. a dust extraction hole; 33. locking; 34. a drive member; 40. a distance detection mechanism; 41. a distance sensor; 50. a dust extraction pipe.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

It will be understood that when an element is referred to as being "secured to," "disposed on" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; the specific manner of fixedly connecting one element to another element can be implemented by the prior art, and will not be described herein, and preferably, a screw-threaded connection is used.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The terms "first" and "second" used herein do not denote any particular order or quantity, but rather are used to distinguish one element from another.

The application claims protection a polishing robot belongs to the construction robot field, and it can replace the operation mode of traditional manpower manual polishing building wall, adopts full automation mode to carry out the work of polishing, greatly reduced workman intensity of labour, improvement polishing quality and efficiency.

In this scheme, the polishing robot includes but is not limited to frame, running gear, electrical control equipment and grinding device. The walking mechanism, the electric control equipment and the grinding device are respectively arranged at preset positions of the rack, and the rack plays a role of bearing a main body. The traveling mechanism is electrically connected with the electric control equipment, so that the polishing robot has traveling capacity, the operation place can be randomly replaced according to the working requirement, and the maneuvering capacity of the polishing robot is improved. And the grinding device is connected with the electric control equipment, so that the grinding operation of the wall surface can be completed.

Traditionally, grinding devices have adopted two working principles to act: namely reciprocating linear grinding and rotary grinding. The present disclosure will be described with an emphasis on a rotary polishing manner.

As shown in fig. 1 and 2, a polishing apparatus according to an embodiment of the present application includes: the device comprises a buffer mechanism 10, a torsion mechanism 20, a polishing head 30 and a distance detection mechanism 40. The torsion mechanism 20 is arranged on the buffer mechanism 10; the polishing head 30 is arranged on the torsion mechanism 20; the distance detection mechanism 40 includes at least three distance sensors 41, and the at least three distance sensors 41 are arranged on the polishing end surface of the polishing head 30 at intervals.

To sum up, the implementation of the technical scheme of the application has the following beneficial effects: the grinding device of above-mentioned scheme is used and is equipped in polishing robot, for the concrete wall to pouring after the shaping carries out the direct execution unit of the operation of polishing, it compares in prior art can be fine solution wall top lean on incompletely, the problem that quality and efficiency are poor of polishing. Specifically, the polishing head 30 is a direct execution component for finishing wall surface polishing operation, the torsion mechanism 20 is directly connected with the polishing head 30, so that the polishing head 30 has rotary floating capacity and can adapt to the wall surface polishing requirements with different flatness, the buffer mechanism 10 is connected with the torsion mechanism 20, the buffer capacity is ensured when the polishing head 30 abuts against the wall surface, and rigid impact with the wall surface is avoided, so that the polishing head 30 or the wall surface is prevented from being damaged.

Further, because the distance detection mechanism 40 is designed and additionally installed on the polishing head 30, specifically, the distance detection mechanism 40 is at least three distance sensors 41 arranged on the polishing end surface of the polishing head 30 at intervals, at this time, at least three distance sensors 41 can determine a virtual polishing plane, the virtual polishing plane has the significance that at least three distance sensors 41 can simultaneously detect the distances between different parts of the polishing head 30 and the wall surface, and the distances detected by the distance sensors 41 can be ensured to be the same (the detected distance value can be 0 to any natural number), that is, the distances between the parts of the polishing head 32 and the wall surface can be ensured to be the same. So far, under the continuous feedback of this testing result, the dish 32 of polishing just can be with correct gesture progressively close to the wall and finally lean on with the wall complete top, guarantee that the dish 32 of polishing has splendid efficiency of polishing and the quality of polishing.

With continued reference to fig. 1 and 3, in the present embodiment, the polishing head 30 includes a polishing shell 31 and a polishing disc 32 disposed inside the polishing shell 31, and the polishing shell 31 serves as a bearing substrate for the polishing disc 32, so as to ensure that the polishing disc 32 is firmly mounted. The sanding disc 32 is a direct performing component that performs a sanding operation on a wall surface. In addition, the grinding head 30 further comprises a lock catch 33 and a driving member 34 for outputting rotary power, the driving member 34 is disposed on a side wall of the grinding shell 31 facing away from the grinding head 30, a driving shaft of the driving member 34 penetrates through the center of the grinding shell 31 and the center of the grinding disc 32, and the lock catch 33 is locked with the driving shaft and fixes the grinding disc 32 in the grinding shell 31 in a buckled manner. In an embodiment, the driving member 34 is a motor, and a power shaft of the motor sequentially penetrates through center holes of the polishing shell 31 and the polishing disc 32 and then is locked and fixed with the lock catch 33, so that the motor, the polishing disc 32 and the polishing shell 31 can be reliably assembled and connected, and the high and compact structural strength of the polishing head 30 is ensured. The motor drives the polishing disc 32 and the polishing shell 31 to rotate stably at a high speed, so that the phenomena of deflection and flutter can be prevented, and the polishing finish of the wall surface is influenced.

It should be noted that the lock catch 33 has a structure similar to a flange, and can be locked with the polishing disc 32 and the polishing shell 31 through bolts, so that the connecting strength is high, the assembly and disassembly are convenient, and the operation is convenient and labor-saving.

In addition, in consideration of actual work, when the polishing head 30 polishes the wall surface, a large amount of dust is generated, the dust scatters around, the dust invades into the interior of the polishing robot, can cause short circuit and other service life influences on circuits and electrical components, and meanwhile, the dust can cause damage to the health of surrounding workers. Based on this, in a further embodiment, a dust extraction hole 321 is further formed in the middle area of the polishing disc 32 along the circumferential direction, a dust extraction pipe 50 is connected to the polishing disc 32, one end of the dust extraction pipe 50 is connected to the dust extraction hole 321, and the other end of the dust extraction pipe is connected to a dust remover pre-installed on the polishing robot, so that the effects of removing dust while polishing can be achieved, and the harm caused by polishing dust is effectively eliminated.

Further, in an embodiment, the distance detection mechanism 40 further includes at least three elastic telescopic members, the number of which is adapted to the number of the distance sensors 41. Alternatively, the elastic expansion member may be, but is not limited to, a spring, which is simple in structure and easy to implement. The polishing disc 32 comprises a disc body and polishing teeth arranged on the polishing surface of the disc body, the number of the polishing teeth is multiple, the polishing teeth are arranged along the circumferential direction of the disc body at even intervals, and the polishing disc 32 can be guaranteed to have higher polishing efficiency and quality. At least three elastic telescopic piece interval set up in on the terminal surface of polishing of shell 31, preferably, the quantity of elastic telescopic piece is four, and shell 31 of polishing is circular, and four elastic telescopic pieces use 90 as interval hoop evenly distributed on the terminal surface of shell 31 of polishing, can guarantee to detect the precision. The distance sensors 41 are correspondingly arranged on the elastic expansion pieces, and the distance sensors 41 are higher than the polishing disc 32 in a non-working state. Since the distance sensor 41 is higher than the end surface of the polishing disc 32 in the initial state, it is possible to avoid interference of the detection result caused by the polishing teeth on the polishing disc 32 contacting the wall surface before the distance sensor 41 contacts the wall surface. The distance sensor 41 is arranged on the spring, so that after the polishing head 30 contacts the wall surface, the spring provides a certain compression retreating stroke, and the polishing disc 32 can be smoothly propped against the wall surface, and meanwhile, the wall surface cannot extrude and damage the distance sensor 41.

With continued reference to fig. 2 and 4, in the present embodiment, the twisting mechanism 20 includes a twisting frame 21 and a twisting connection assembly 22, the driving member 34 is connected to the twisting frame 21 through the twisting connection assembly 22, and the twisting connection assembly 22 is used to provide the sanding head 30 with a rotational floating capability. Because the driving piece 34 is connected with the torsion connection assembly 22, the whole polishing head 30 can have rotary floating capacity, the polishing head 30 can be adaptive to wall surfaces with different concave-convex or inclined surfaces, the polishing head 30 is tightly and completely abutted against the wall surfaces, the applicability of the polishing head 30 is improved, and the polishing effect is ensured.

In one embodiment, the torsion connection assembly 22 includes a mounting seat having a spherical recess and a ball rotatably disposed in the spherical recess, the mounting seat is further connected to the torsion frame 21, and the ball is further connected to the driving member 34; or, twist reverse coupling assembling 22 including be equipped with the spherical recess the mount pad and rotate set up in spheroid in the spherical recess, the mount pad still with driving piece 34 is connected, the spheroid still with it connects to twist reverse frame 21. At this moment, because mount pad and spheroid are sphere assembled joint, therefore both can cooperate and constitute the ball pivot subassembly, and the ball pivot subassembly can provide X, Y, Z three direction degrees of freedom, and the arbitrary one direction of X, Y, Z orientation is rotatory to the self-adaptation according to the unevenness condition of different wall, satisfies the top of various wall and leans on and the needs of polishing.

Of course, in other embodiments, universal couplings or the like may be used in place of the ball and socket assemblies, so long as rotation of the sanding head 30 in any direction is achieved.

With reference to fig. 2 and fig. 4, the torsion mechanism 20 further includes a limiting member 23, the limiting member 23 is disposed on an end surface of the torsion frame 21 facing the driving member 34, and the limiting member 23 and the driving member 34 are disposed opposite to each other at a distance. In this embodiment, the position limiting member 23 is a cylinder made of an elastic damping material, one end of the position limiting member is fixed on the torsion frame 21, and the other end of the position limiting member is suspended and points to the motor and forms a gap with the back of the motor. It should be noted that the size of the gap directly determines the degree of the deflection of the sanding disc 32, i.e., controls the degree of inclination of the wall surface to which the sanding head 30 can adapt. It can be understood that, the locating part 23 in this scheme of preferred adopts and can dismantle the connection, therefore can be according to different wall needs, replaces the locating part 23 of different length, makes the head of polishing 30 possess different torsional capacities to satisfy the processing needs. When the polishing head 30 deflects to a certain extent so that the motor collides with the limiting member 23, the limiting member 23 can further prevent the polishing head 30 from being excessively twisted, which affects the polishing effect.

Preferably, in this embodiment, the number of the limiting members 23 is at least two, and the at least two limiting members 23 are disposed on an end surface of the torsion frame 21 facing the driving member 34 at intervals along the annular direction. Therefore, different limiting members 23 can limit and block the twisting of the polishing head 30 in different directions, and the working efficiency and reliability of the polishing head 30 can be further ensured.

With reference to fig. 1, fig. 2 and fig. 4, in the present embodiment, the buffering mechanism 10 includes a buffering frame 11 and a telescopic adjusting component disposed in the buffering frame 11, and the twisting frame 21 is movably disposed on the buffering frame 11 and connected to the telescopic adjusting component. Through setting up flexible adjusting part for when the head of polishing 30 lies in the wall top and leans on or breaks away from the contact wall, can the self-adaptation move of stretching out and drawing back, satisfy the top and lean on the buffering requirement, simultaneously through setting for flexible adjusting part's flexible volume, can also accurate control the volume of polishing (the thickness of polishing promptly) of head of polishing 30 to the wall, realize the accurate polishing of ration.

In a conventional polishing device, the rear end of the polishing head 30 is also provided with the buffer mechanism 10, but the buffer mechanism 10 is generally formed by using a spring as a main buffer component, and the elastic expansion force of the spring is used for offsetting the rigid impact when the polishing head 30 is propped against the wall surface and pushing the polishing head 30 to prop against the wall surface. However, the actual situation is: the strength of concrete for pouring is different according to different buildings or different construction index requirements, and the strength grade is generally selected from C15-C80. The spring with a single K value cannot be suitable for concrete with different strength grades, so that the spring with adaptive elasticity (K value) needs to be frequently replaced according to the concrete hardness of the current wall surface, and the grinding head 30 can be guaranteed to be always reliably supported. However, the operation mode causes the problems of low operation efficiency, complex operation and high labor intensity.

With reference to fig. 4, in order to solve the above problem, the present disclosure provides a buffer mechanism 10 with a novel structure, a main portion of the buffer mechanism 10 is a telescopic adjustment assembly, in an embodiment, the telescopic adjustment assembly includes a permanent magnet 12 disposed at an end portion of the torsion frame 21, and an electromagnet 13 disposed on an end wall of the buffer frame 11 away from the torsion frame 21, and a telescopic cavity 14 is formed between the permanent magnet 12 and the electromagnet 13. The magnitude of the magnetic force of the electromagnet 13 can be flexibly adjusted by controlling the magnitude of the current led into the electromagnet 13 (which is equivalent to the replacement of springs with different elastic forces in the traditional technology); since the electromagnet 13 and the permanent magnet 12 have magnetic poles of the same cylinder, the electromagnet 13 can apply a repulsive force to the permanent magnet 12, and the magnitude of the repulsive force is consistent with the magnitude change rule of the magnetic force of the electromagnet 13. So through the biography power characteristic, finally just can provide the buffer power and the buffering surplus that polish head 30 is different, make polish head 30 can adapt to the top of the concrete wall that has different intensity grades lean on and polish needs. The presence of the expansion chamber 14 allows sufficient stroke margin for the relative expansion and contraction movement between the permanent magnet 12 and the electromagnet 13, thereby preventing the permanent magnet 12 and the electromagnet 13 from colliding and interfering with each other.

It can be understood that the so-called buffer is actually characterized in that the torsion frame 21 slides in the buffer frame 11 in a telescopic manner, and when the torsion frame 21 is separated from the buffer frame 11 or is impacted in order to avoid the torsion frame 21 sliding in a telescopic manner to a limit position, the outer wall of the torsion frame 21 is provided with a limit groove 211, the buffer frame 11 is provided with a folded edge 111, and the folded edge 111 is used for abutting against the groove wall of any side of the limit groove 211. Thus, the hem 111 abuts against both side groove walls of the stopper groove 211, and the hem 111 can restrict excessive slippage of the torsion frame 21, thereby preventing the above-mentioned problem.

In addition, in actual work, the grinding robot is often required to finish a concrete layer with a specific thickness on a wall (namely, the flatness of the wall can be understood to be corrected). To meet this requirement, in a further embodiment, the damping mechanism 10 further includes a distance meter 15, the distance meter 15 is disposed at an end of the damping frame 11 away from the electromagnet 13, and the distance meter 15 is configured to cooperate with the torsion frame 21 or the permanent magnet 12 or the electromagnet 13. Optionally, distancer 15 is laser range finder 15, and it can carry out real-time measurement to the top of buffer frame 11 and the interval of turning round the bottom of frame 21, and this measurement change value is corresponding to the concrete layer thickness that requires to polish the wall of getting rid of promptly to realize the accurate polishing of ration, further promote polishing robot's working property.

The working modes of the polishing robot in the scheme are two, one mode is to polish and polish the wall surface, and the other mode is to correct the flatness of the wall surface (namely to polish the wall surface in a quantitative thickness).

Specifically, the working flow of grinding and polishing is as follows: firstly, the repulsive force of the electromagnet 13 is adjusted according to the current hardness of the wall concrete so as to effectively control the moving distance of the torsion mechanism 20 in the buffer frame 11 along the direction vertical to the wall surface during polishing; after each distance sensor 41 feeds back a signal, the driving part 34 is started, the driving part 34 drives the polishing head 30 to rotate at a high speed, and the polishing robot moves to drive the polishing head 30 to finish polishing and polishing operations of rough structures such as wall joints and the like.

The process flow of the flatness correction is as follows: firstly, the repulsive force of the electromagnet 13 is adjusted according to the current hardness of the wall concrete so as to effectively control the moving distance of the torsion mechanism 20 in the buffer frame 11 along the direction vertical to the wall surface during polishing; after each distance sensor 41 feeds back a signal, the distance X from the bottom end of the torsion frame 21 currently detected by the rear distance meter 15 to the bottom end is calculated. Assuming that the thickness to be polished is Y, starting the driving part 34 at the moment, increasing the repulsive force of the electromagnet 13, detecting the distance Z from the bottom end of the torsion frame 21 to the distance Z in real time by the distance meter 15, and if X-Z is more than or equal to Y at a certain moment, indicating that the wall surface is polished by Y thickness; then the polishing robot is moved away, and the polishing head 30 is separated from the wall surface, so that the wall surface flatness correction operation is completed.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An abrading device, comprising:

a buffer mechanism;

the torsion mechanism is arranged on the buffer mechanism;

the polishing head is arranged on the torsion mechanism; and

the distance detection mechanism comprises at least three distance sensors, and the at least three distance sensors are arranged on the polishing end surface of the polishing head at intervals; the polishing head comprises a polishing disc, and the distance sensor is higher than the polishing disc in a non-working state; the distance detection mechanism further comprises at least three elastic telescopic pieces, the number of the elastic telescopic pieces is matched with that of the distance sensors, the polishing head further comprises a polishing shell, the elastic telescopic pieces are arranged on the polishing end face of the polishing shell at intervals, and the distance sensors are arranged on the elastic telescopic pieces in a one-to-one correspondence mode.

2. The abrading device of claim 1, wherein the abrading disc is disposed within the abrading housing.

3. The polishing device as claimed in claim 2, wherein the polishing head further comprises a lock catch and a driving member for outputting rotational power, the driving member is disposed on a side wall of the polishing shell facing away from the polishing head, and a driving shaft of the driving member passes through a center of the polishing shell and a center of the polishing disc, the lock catch is locked with the driving shaft and fixes the polishing disc in the polishing shell in a buckled manner.

4. The sanding device of claim 3, wherein the torsion mechanism includes a torsion frame and a torsion connection assembly through which the drive member is connected to the torsion frame, the torsion connection assembly being configured to provide the sanding head with rotational float capability.

5. The polishing apparatus as set forth in claim 4, wherein the torsion connection assembly includes a mounting seat having a spherical recess and a ball rotatably disposed in the spherical recess, the mounting seat further connected to the torsion frame, the ball further connected to the driving member; or, twist reverse coupling assembling including the mount pad that is equipped with the sphere recess and rotate set up in spheroid in the sphere recess, the mount pad still with the driving piece is connected, the spheroid still with twist reverse the frame and connect.

6. The polishing apparatus as set forth in claim 4, wherein the torsion mechanism further includes a stopper provided on an end surface of the torsion frame facing the driving member, and the stopper is disposed in spaced-apart opposition to the driving member.

7. The polishing apparatus as set forth in claim 6, wherein the number of the stoppers is at least two, and at least two of the stoppers are provided at circumferential intervals on an end surface of the torsion frame facing the driving member.

8. The polishing device as recited in claim 4, wherein the buffer mechanism comprises a buffer frame and a telescopic adjusting component arranged in the buffer frame, and the torsion frame is movably arranged on the buffer frame and connected with the telescopic adjusting component.

9. The sanding device of claim 8, wherein the telescoping adjustment assembly includes a permanent magnet disposed on an end of the torsion frame and an electromagnet disposed on an end wall of the bumper frame distal from the torsion frame, a telescoping cavity being formed between the permanent magnet and the electromagnet.

10. The polishing device as claimed in claim 8, wherein the outer wall of the torsion frame is provided with a limiting groove, and the buffer frame is provided with a folded edge for abutting against the groove wall on either side of the limiting groove.

11. The polishing apparatus as claimed in claim 9, wherein the buffering mechanism further comprises a distance meter disposed at an end of the buffering frame away from the electromagnet, and the distance meter is configured to cooperate with the torsion frame or the permanent magnet or the electromagnet.

12. An abrading robot comprising an abrading device according to any of the claims 1-11.