CN111037392B

CN111037392B - Polishing robot

Info

Publication number: CN111037392B
Application number: CN201911424569.XA
Authority: CN
Inventors: 杨晋; 吴伟明; 崔文哲; 叶才中; 许涛; 桑爱平; 李铁芳; 王鹏俨
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2021-06-08
Anticipated expiration: 2039-12-31
Also published as: WO2021135754A1; CN111037392A

Abstract

The present invention relates to a polishing robot, comprising: a rail frame; the main walking device is movably arranged on the rail frame, and a polishing executing device is arranged on the main walking device; and the auxiliary walking device is movably arranged on the rail frame and used for cooperating with the main walking device, a polishing auxiliary device is arranged on the auxiliary walking device, and the polishing auxiliary device is used for assisting the polishing execution device in polishing. The main walking device and the auxiliary walking device are simplified in structure, weight is reduced greatly, deformation and fracture of the rail frame due to overlarge load can be effectively prevented, and safety and reliability of operation of the polishing robot are improved; when the track section passes through a small turning radius, the main walking device and the auxiliary walking device can be located at different turning angle positions, the excellent curve passing capacity is achieved, the grinding requirements of internal and external corners can be met, and the grinding working performance is improved.

Description

Polishing robot

Technical Field

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

Background

Traditionally, in the building construction process, after concrete pouring, aluminum mould dismantling and other operations are completed, the subsequent construction process is influenced by the phenomena of laitance, explosion point and the like which are easily generated at the aluminum mould abutted seam of the outdoor wall surface, so that the wall surface with the defect needs to be polished. The grinding of the outer wall surface needs workers to attach to the climbing frame, and the high-altitude manual operation is completed outdoors, so that the labor intensity is high, and the danger is high. Based on this, polishing robots capable of automatic or semi-automatic polishing instead of manpower have appeared on the market. The grinding robot integrates all functional units including the grinding head on a walking chassis, so that the grinding robot is complex in structure and large in size, working space of the grinding head is compressed, walking on a path with a small turning radius is difficult to complete, and the problem that a rail frame is easy to deform and break due to overlarge load bearing capacity of a unit area rail frame and fall off the rail frame to cause safety accidents is caused.

Disclosure of Invention

Based on this, it is necessary to provide a polishing robot, and the problem that prior art polishing workspace is limited, and the turn ability of passing through is poor, and the reliability is low is aimed at solving.

The technical scheme is as follows:

a grinding robot, comprising:

a rail frame;

the main walking device is movably arranged on the rail frame, and a polishing executing device is arranged on the main walking device; and

the auxiliary traveling device is movably arranged on the rail frame and used for being matched with the main traveling device in a cooperation mode, a polishing auxiliary device is arranged on the auxiliary traveling device, and the polishing auxiliary device is used for assisting the polishing execution device in polishing.

The polishing robot of the scheme is applied to the construction occasion for polishing and leveling the outer wall of the building after the building is poured and molded, and is different from the prior art in that the walking devices for bearing each functional unit are designed in a split mode, namely, the main walking device and the auxiliary walking device are movably installed on the rail frame, the polishing executing device is installed on the main walking device, and the polishing auxiliary device is installed on the auxiliary walking device. Therefore, the respective composition structures of the main walking device and the auxiliary walking device are greatly simplified, the weight is greatly reduced, and the main walking device and the auxiliary walking device are respectively attached to different parts of the rail frame, so that the load borne by the rail frame in unit area is greatly reduced, the rail frame can be effectively prevented from being deformed and broken due to overlarge load, and the safety and reliability of the operation of the polishing robot are improved; in addition, the main walking device is only used for bearing the polishing executing device, so that the main walking device can be made narrower and smaller, and more space can be reserved for the polishing executing device to work; and when the track section of small turning radius, main running gear and vice running gear can be in different turn angle positions, possess splendid bend trafficability ability, can satisfy the reentrant corner demand of polishing, promote the working property of polishing.

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

in one embodiment, the polishing executing device comprises a lifting driving mechanism arranged on the main walking device, a telescopic abutting mechanism connected with the lifting driving mechanism and a floating polishing device connected with the telescopic abutting mechanism, the polishing auxiliary device comprises an electric cabinet, a dust collector and a battery which are respectively arranged on the auxiliary walking device, the lifting driving mechanism, the telescopic abutting mechanism, the floating polishing device and the dust collector are electrically connected with the electric cabinet, the dust collector is further connected with the floating polishing device, and the battery is electrically connected with the electric cabinet.

In one embodiment, the rail frame comprises a climbing frame, a sky rail and a ground rail which are respectively arranged at the upper end and the lower end of the climbing frame, the main walking device and the auxiliary walking device respectively comprise a frame, a first walking trolley arranged at the top end of the frame and a second walking trolley arranged at the bottom end of the frame, the first walking trolley is movably arranged on the sky rail, and the second walking trolley is movably arranged on the ground rail.

In one embodiment, the first traveling trolley comprises a first rotating joint arranged on the rack, a first traveling chassis connected with the first rotating joint, a second rotating joint arranged on the first traveling chassis, and a first guide wheel set connected with the second rotating joint, wherein the first guide wheel set is matched with the overhead rail roller.

In one embodiment, the second traveling trolley includes a second traveling chassis, a traveling driving element disposed on the second traveling chassis, a traveling wheel set disposed on the second traveling chassis and drivingly connected to the traveling driving element, a third rotating joint connected between the second traveling chassis and the traveling wheel set, and a second guiding wheel set disposed on the traveling wheel set, and the traveling wheel set and the second guiding wheel set are both matched with the ground rail.

In one embodiment, the lifting driving mechanism comprises a lifting driving assembly arranged on a frame, a driving wheel arranged on the frame and connected with the lifting driving assembly, a driven wheel arranged on the frame and longitudinally arranged with the driving wheel at intervals, a driving member sleeved on the driving wheel and the driven wheel, a mounting block arranged on the driving member, a first connecting plate connected with the mounting block, and a lifting guide wheel set arranged on the first connecting plate, wherein the frame is provided with a lifting track, and the lifting guide wheel set is movably arranged in the lifting track.

In one embodiment, the lifting driving mechanism further includes an up limit switch and a down limit switch, which are respectively disposed on the frame and electrically connected to the electric cabinet, wherein the up limit switch is disposed near the driving wheel, and the down limit switch is disposed near the driven wheel.

In one embodiment, the lifting driving mechanism further comprises a wire arranging plate arranged on the first connecting plate; and/or the lifting driving mechanism further comprises a dust scraping plate arranged on the first connecting plate.

In one embodiment, the telescopic abutting mechanism comprises a second connecting plate assembled and fixed with the first connecting plate, a first connecting seat arranged on the second connecting plate, a telescopic arm group connected with the first connecting seat, and a second connecting seat connected with the telescopic arm group, and the floating polishing device is arranged on the second connecting seat.

In one embodiment, the telescopic arm group comprises a telescopic driving piece and a first telescopic arm and a second telescopic arm which are arranged side by side at intervals, the telescopic driving piece comprises a driving seat and a driving arm which are connected with each other, the driving seat is hinged to the second telescopic arm, the driving arm is hinged to the first telescopic arm, two ends of the first telescopic arm are hinged to the first connecting seat and the second connecting seat respectively, and two ends of the second telescopic arm are hinged to the first connecting seat and the second connecting seat respectively.

In one embodiment, the telescopic abutting mechanism further comprises a rotary driving support for outputting a rotary driving force, and the rotary driving support is arranged on the second connecting plate and connected with the first connecting seat.

In one embodiment, the telescopic abutting mechanism further comprises a rotary swinging assembly, the rotary swinging assembly comprises a rotary seat connected with the second connecting seat, a rotary platform rotatably sleeved on the rotary seat and a driving motor arranged on the rotary seat and in driving connection with the rotary platform, and the floating polishing device is connected with the rotary platform.

In one embodiment, the floating polishing device comprises a mounting seat, a polishing head, a polishing driving part and a rotary floating mechanism, wherein the mounting seat comprises a fixed plate and a bracket arranged at an interval with the fixed plate, the polishing head is arranged on the fixed plate, the polishing driving part is arranged between the fixed plate and the bracket and is in driving connection with the polishing head, the rotary floating mechanism comprises an elastic floating body, a sleeve and a universal ball, one end of the sleeve is fixedly connected with the polishing head, the universal ball is rotatably nested in the sleeve and abuts against the polishing head, and the elastic floating body is connected between the universal ball and the bracket.

In one embodiment, the number of the rotary floating mechanisms is four, and four rotary floating mechanisms are arranged in a rectangular shape and are connected between the fixing plate and the bracket; the universal ball comprises a ball body and a rod body connected with the ball body, the ball body is rotatably nested in the sleeve and is abutted to the polishing head, the support seat comprises a seat body and a guide shaft arranged on the seat body, the rod body is rigidly connected with the guide shaft, the elastic floating body is sleeved on the guide shaft, and the elastic floating body is abutted to and arranged between the sleeve and the seat body.

In one embodiment, the floating polishing device further comprises a pressure sensor and a sensor fixing seat, the seat body comprises a first supporting plate and a second supporting plate which are arranged side by side at intervals, the guide shaft is arranged on the second supporting plate and is arranged on the first supporting plate in a sliding penetrating manner, and the pressure sensor is arranged on the second supporting plate and is abutted against the first supporting plate; the sensor fixing seat is arranged on the second supporting plate and fixed with the pressure sensor.

Drawings

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

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

FIG. 3 is an assembly structure diagram of the first traveling carriage and the second traveling carriage according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a retractable leaning mechanism according to an embodiment of the present invention;

FIG. 5 is a rear view of the structure of FIG. 4;

fig. 6 is a schematic structural diagram of a lifting driving mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of the exploded structure of FIG. 6;

fig. 8 is a schematic structural diagram of a floating polishing device according to an embodiment of the present invention.

Description of reference numerals:

10. a rail frame; 11. climbing a frame; 12. a sky rail; 13. a ground rail; 20. a main running device; 30. a secondary running gear; 40. polishing the executing device; 41. a lifting drive mechanism; 411. a lift drive assembly; 412. a driving wheel; 413. a driven wheel; 414. a transmission member; 415. mounting blocks; 416. a first connecting plate; 417. a lifting guide wheel set; 418. an uplink limit switch; 419. a down limit switch; 42. a telescopic abutting mechanism; 421. a second connecting plate; 422. a first connecting seat; 423. a second connecting seat; 424. a telescopic driving member; 424a, driving seat; 424b, driving arm; 425. a first telescopic arm; 426. a second telescopic arm; 427. a rotary drive support; 43. a floating polishing device; 431. a mounting seat; 432. polishing head; 433. polishing the driving piece; 434. a rotary floating mechanism; 435. a pressure sensor; 50. a polishing auxiliary device; 51. an electric cabinet; 52. a vacuum cleaner; 53. a battery; 60. a frame; 61. a lifting rail; 70. a first travelling trolley; 71. a first revolute joint; 72. a first walking chassis; 73. a second revolute joint; 74. a first guide wheel set; 80. a second traveling trolley; 81. a second walking chassis; 82. a travel drive; 83. a traveling wheel set; 84. a third revolute joint; 85. a second guide wheel set; 90. a wire arranging plate; 100. a dust scraping plate; 200. the swing assembly is rotated.

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.

As shown in fig. 1 and 2, a polishing robot according to an embodiment of the present invention is used to replace a conventional manual polishing operation, and perform an efficient and highly accurate automatic polishing and leveling operation on a wall surface to remove manufacturing defects such as floating slurry and explosion points generated on the wall surface. Taking house construction as an example, the polishing robot can polish the outer wall of each floor under construction by being installed outside the wall of the current building floor. After finishing the polishing operation of the wall of the current floor, the robot can climb to the height of the newly-built previous floor by self and continue to perform the polishing operation.

Specifically, the grinding robot includes: a rail frame 10, a main running gear 20 and a sub running gear 30. The rail frame 10 is used for bearing and fixing the main running gear 20 and the auxiliary running gear 30 and providing a track for the two running gears. It can be understood that the configuration of the rail frame 10 should be adapted to the extension configuration of the outer wall of the building, and the grinding robot can move around the outer wall surface and finish grinding the whole wall, so that the difficulty and time consumption of pose adjustment of the grinding robot can be reduced, and the working efficiency can be improved.

In this embodiment, the moving power of the main running gear 20 and the sub running gear 30 is provided by the bottom power chassis (and the second running carriage 80 mentioned in the latter embodiment) installed on the two, but the consistency of power output needs to be ensured to keep a predetermined safety interval between the two, thereby avoiding a collision accident. Alternatively, the secondary running device 30 is arranged downstream of the primary running device 20, i.e., moves together with the primary running device 20. Of course, in other embodiments, the secondary running gear 30 may be arranged upstream of the primary running gear 20.

In order to improve the integrity and safety of the grinding robot, the main running gear 20 and the auxiliary running gear 30 are connected by a wire rope. The number, installation position, arrangement angle, and the like of the wire ropes are not particularly limited.

The main traveling device 20 is movably arranged on the rail frame 10, a polishing executing device 40 is arranged on the main traveling device 20, and the polishing executing device 40 is a direct executing unit for performing polishing operation on the outer wall surface of a building. The auxiliary traveling device 30 is movably arranged on the rail frame 10 and is used for cooperating with the main traveling device 20, a polishing auxiliary device 50 is arranged on the auxiliary traveling device 30, and the polishing auxiliary device 50 is used for assisting the polishing execution device 40 in polishing; for example, supply necessary electric power to the sanding actuator 40.

In conclusion, the technical scheme of the application has the following beneficial effects: the polishing robot of the above scheme is applied to a construction site where the building outer wall is polished and leveled after the building is cast and molded, and is different from the prior art in that the traveling devices for bearing each functional unit are designed separately, that is, the main traveling device 20 and the auxiliary traveling device 30 are movably mounted on the rail frame 10, the polishing execution device 40 is mounted on the main traveling device 20, and the polishing auxiliary device 50 is mounted on the auxiliary traveling device 30. In this way, the respective composition structures of the main running gear 20 and the auxiliary running gear 30 are greatly simplified, the weight is greatly reduced, and the main running gear and the auxiliary running gear are respectively attached to different parts of the rail frame 10, so that the load borne by the rail frame 10 in unit area is greatly reduced, the rail frame 10 can be effectively prevented from being deformed and broken due to overlarge load, and the safety and reliability of the operation of the polishing robot are improved; in addition, as the main walking device 20 is only used for bearing the grinding executing device 40, the main walking device can be made narrower and smaller, and more space can be reserved for the working of the grinding executing device 40; and when the track section of little turning radius, main running gear 20 and vice running gear 30 can be in different turning angle positions, possess splendid bend trafficability ability, can satisfy the negative and positive angle demand of polishing, promote the working property of polishing.

With reference to fig. 1 and fig. 2, the polishing executing device 40 includes a lifting driving mechanism 41 disposed on the main traveling device 20, a telescopic abutting mechanism 42 connected to the lifting driving mechanism 41, and a floating polishing device 43 connected to the telescopic abutting mechanism 42. During operation, the lifting driving mechanism 41 can drive the floating polishing device 43 to move up and down along the outer wall surface of the building in a reciprocating manner, so that the front outer wall can be reliably polished. The telescopic abutting mechanism 42 is used for driving the floating polishing device 43 to abut tightly against the outer wall surface, so that the floating polishing device 43 is in complete and effective contact with the outer wall surface, and polishing efficiency and quality are ensured. The floating polishing device 43 has a floating abdicating capability besides the basic polishing capability, and can avoid rigid contact with the uneven outer wall surface to be damaged.

The auxiliary polishing device 50 comprises an electric cabinet 51, a dust collector 52 and a battery 53 which are respectively arranged on the auxiliary walking device 30, the lifting driving mechanism 41, the telescopic abutting mechanism 42, the floating polishing device 43 and the dust collector 52 are electrically connected with the electric cabinet 51, the dust collector 52 is also connected with the floating polishing device 43, and the battery 53 is electrically connected with the electric cabinet 51. The electric power of the battery 53 can be distributed to the lifting driving mechanism 41, the telescopic abutting mechanism 42, the floating grinding device 43 and the dust collector 52 through the electric cabinet 51 so as to supply the electric power required by the operation of each device. In addition, the electric cabinet 51 can accurately control the above-mentioned equipment to operate cooperatively according to the preset program, and the outer wall surface is polished with high quality and high efficiency. Because the operation in-process of polishing can be essential produce a large amount of dust, dust catcher 52 can in time extract and filter the air of smuggleing secretly the dust, avoids the wind and dust to cause the injury to equipment or personnel, realizes green construction.

The types, operation principles, and the like of the battery 53 and the vacuum cleaner 52 are not particularly limited, and may be selected and used in the prior art according to actual needs of those skilled in the art.

With reference to fig. 1 to fig. 3, in the present embodiment, the rail frame 10 includes a climbing frame 11, and a top rail 12 and a bottom rail 13 respectively disposed at the upper end and the lower end of the climbing frame 11, the main traveling device 20 and the auxiliary traveling device 30 each include a frame 60, a first traveling trolley 70 disposed at the top end of the frame 60, and a second traveling trolley 80 disposed at the bottom end of the frame 60, the first traveling trolley 70 is movably disposed on the top rail 12, and the second traveling trolley 80 is movably disposed on the bottom rail 13. The setting of climbing frame 11 makes polishing robot when accomplishing the current floor outer wall polishing operation back, can climb to newly-built last floor building floor to realize the operation of polishing in succession of different floors. Through the assembly and the cooperation of the first walking trolley 70 and the sky rail 12 and the assembly and the cooperation of the second walking trolley 80 and the ground rail 13, the freedom degree of the upper end and the lower end of the main walking device 20 and the auxiliary walking device 30 in the direction perpendicular to the outer wall surface can be well restrained, so that the main walking device 20 and the auxiliary walking device 30 are prevented from overturning and falling from the rail frame 10, and safety accidents are avoided.

Referring to fig. 3, in an embodiment, the first traveling trolley 70 includes a first rotating joint 71 disposed on the frame 60, a first traveling chassis 72 connected to the first rotating joint 71, a second rotating joint 73 disposed on the first traveling chassis 72, and a first guide wheel set 74 connected to the second rotating joint 73, wherein the first guide wheel set 74 is engaged with the roller of the head rail 12. In this way, the first running carriage 70 can be rotated and swung integrally with respect to the frame 60 via the first rotary joint 71, and the first guide pulley group 74 can be further rotated and swung with respect to the first running chassis 72 via the second rotary joint 73, so that the capability of the main running device 20 and the sub running device 30 to pass through a turning section on the rail frame 10 can be greatly improved in cooperation with each other, and the vibration reduction capability of coping with an impact force in the direction perpendicular to the outer wall surface can be provided. In the present embodiment, the first rotary joint 71 and the second rotary joint 73 are assembled by components such as a catch, a deep groove ball bearing, a center rotary drawer, and a flange seat, and have a capability of rotating 360 degrees in the horizontal direction. Of course, in other embodiments, other rotating structures, devices or apparatuses in the prior art can be used for the first rotating joint 71 and the second rotating joint 73, and all of them are within the protection scope of this application.

In addition, the first guiding wheel set 74 includes two sets of four rubber rollers, the two sets of rubber rollers are respectively installed at the head and tail ends of the first traveling chassis 72 in the length direction (i.e. the traveling direction of the main traveling device 20 and the auxiliary traveling device 30), the top rail 12 is clamped between the two rubber rollers of each set, and at this time, the top rail has good rolling capability, and meanwhile, each rubber roller is abutted against the side direction of the top rail 12, and also has a side direction limiting effect, so that the first traveling trolley 70 is prevented from falling off from the top rail 12.

In an embodiment, the second walking trolley 80 includes a second walking chassis 81, a walking driving member 82 disposed on the second walking chassis 81, a walking wheel group 83 disposed on the second walking chassis 81 and drivingly connected to the walking driving member 82, a third rotating joint 84 connected between the second walking chassis 81 and the walking wheel group 83, and a second guiding wheel group 85 disposed on the walking wheel group 83, and the walking wheel group 83 and the second guiding wheel group 85 are both matched with the ground rail 13. The walking driving member 82 outputs power to drive the walking wheel set 83 to rotate, the second walking trolley 80 can walk on the ground rail 13, that is, the walking power of the main walking device 20 and the auxiliary walking device 30 is provided by the walking driving member 82 arranged at the bottom and the walking wheel set 83 in a matching manner, and the first walking trolley 70 plays a role in passive walking. The second walking trolley 80 moves on the ground rail 13, so that the whole polishing robot is driven to move, the position of the polishing device is changed, and polishing operation on the whole wall is achieved. Of course, in other embodiments, the first carriage 70 and the second carriage 80 may both mount the travel drives 82 and output power simultaneously.

Alternatively, the travel drive 82 is a drive motor, such as, but not limited to, a servo motor, a stepper motor, or the like.

And because the third rotating joint 84 itself can rotate 360 degrees in the circumferential direction, the requirement of the small-turning-radius climbing frame 11 for advancing and passing can be met and adapted, and the problem that the main walking device 20 and the auxiliary walking device 30 are stuck to influence the normal work of the polishing robot is prevented.

It will be appreciated that the third revolute joint 84 is a universal joint-like structure, providing and providing the ability to rotate flexibly.

In this embodiment, the auxiliary traveling device 30 is a part of a traveling carrier of the polishing robot, and plays the role of the multifunctional integrated body. That is, the auxiliary traveling device 30 includes the above-mentioned frame 60, and the frame 60 is provided with a plurality of layers of shelves, and each layer of shelves is vertically arranged in sequence, and the electric cabinet 51, the dust collector 52 and the battery 53 are respectively installed from top to bottom, so as to be favorable to further performing the slimming on the polishing robot, and avoid the interference with the wall surface when the polishing robot turns continuously to the maximum extent.

In addition, in the present solution, the arrangement structure form of different racks 60 is different according to the different roles: the size of the frame 60 on the main running gear 20 can be designed to be narrower to provide a larger movement space for the telescopic abutting mechanism 42, and the outer wall surface grinding requirement of 3m height can be covered by the lifting driving mechanism 41. The frame 60 of the secondary running gear 30 can be designed to be wider in size to provide more installation space for accommodating the electric cabinet 51, the dust collector 52 and the battery 53 and meet the longitudinal storage requirement.

Referring to fig. 6 and 7, the lifting driving mechanism 41 is used to drive the floating polishing device 43 to move up and down along the height direction of the exterior wall surface, and various implementations are possible. In an embodiment of the present disclosure, the lifting driving mechanism 41 includes a lifting driving component 411 disposed on the frame 60, a driving wheel 412 disposed on the frame 60 and connected to the lifting driving component 411, a driven wheel 413 disposed on the frame 60 and longitudinally spaced from the driving wheel 412, a transmission member 414 sleeved on the driving wheel 412 and the driven wheel 413, a mounting block 415 disposed on the transmission member 414, a first connecting plate 416 connected to the mounting block 415, and a lifting guide wheel set 417 disposed on the first connecting plate 416, wherein the frame 60 is provided with a lifting rail 61, and the lifting guide wheel set 417 is movably disposed in the lifting rail 61. The telescopic abutment mechanism 42 and the floating sanding device 43 are mounted with a first connection plate 416. After the lifting driving assembly 411 outputs power, the driving wheel 412 and the driven wheel 413 rotate to drive the transmission member 414 to rotate, and the first connecting plate 416 can be driven to move upwards or descend through the mounting block 415, so that the polishing requirements of the polishing executing device 40 on different areas of the outer wall surface are met, and the lifting driving mechanism 41 is simple in structure, easy to manufacture, and low in use and maintenance cost. And through the cooperation of going up and down guide pulley group 417 and lift track 61 roll, can guarantee that first connecting plate 416 reciprocates steadily and can not take place to rock, avoid unsteady grinding device 43 to take place to rock and influence the quality of polishing.

Preferably, the driving wheel 412 and the driven wheel 413 are both sprockets, the transmission member 414 is a chain, the chain is engaged and sleeved on the two sprockets, the connection strength is higher, the bearing capacity is larger, and the slipping can be effectively prevented from occurring, which affects the lifting and moving efficiency of the floating polishing device 43. Alternatively, the elevation drive assembly 411 is constituted by a rotating motor and a speed reducer. The cross-section of the elevation rail 61 is V-shaped to realize line contact with the elevation guide roller set 417, so that the moving frictional resistance can be reduced, and the load of the elevation driving assembly 411 can be reduced.

In order to avoid a safety accident caused by the first connecting plate 416 and the second connecting plate 421 rushing out of the lifting rail 61 when ascending or descending, the lifting driving mechanism 41 further includes an uplink limit switch 418 and a downlink limit switch 419 respectively disposed on the frame 60 and electrically connected to the electric cabinet 51, the uplink limit switch 418 is disposed near the driving wheel 412, and the downlink limit switch 419 is disposed near the driven wheel 413. At this moment, the ascending limit switch 418 and the descending limit switch 419 can monitor the ascending limit position and the descending limit position of the first connecting plate 416 and the second connecting plate 421 respectively, so as to feed back signals to the electric cabinet 51 in time, and the electric cabinet 51 controls the lifting driving assembly 411 to stop working, thereby avoiding the above problems.

It is understood that the upper limit switch 418 and the lower limit switch 419 may be any detection component used to detect position in the prior art, such as, but not limited to, a photoelectric sensor, a laser sensor, an infrared sensor, etc.

In addition, the elevating driving mechanism 41 further includes a trimming plate 90 disposed on the first connection plate 416. This whole line board 90 can with the tow chain cooperation, realize regular accomodating to the last electric wire that exposes of polishing robot. And the lifting driving mechanism 41 further includes a dust scraping plate 100 provided on the first connection plate 416. When the ash scraping plate 100 is one, the ash scraping plate is arranged on the opposite side of the wire arranging plate 90; and when there are two scraper plates 100, one is installed on the same side of the wire arranging plate 90, and the other is installed on the opposite side. The dust scraping plate 100 is in contact with or in clearance fit with the frame 60, and as the first connecting plate 416 moves up and down, the dust scraping plate 100 can scrape off dust attached to the frame 60 to achieve the purpose of cleaning.

In the scheme, after the floating polishing device 43 finishes the polishing operation of the outer wall surface in the current area, the telescopic abutting mechanism 42 needs to retract, so that the floating polishing device 43 leaves the outer wall surface, and then the lifting driving mechanism 41 acts to drive the floating polishing device 43 and the telescopic abutting mechanism 42 to ascend or descend to other outer wall surface areas together; subsequently, the telescopic abutting mechanism 42 again drives the floating grinding device 43 to contact and abut tightly, so that the grinding work can be continued. Or, in another mode, the floating polishing device 43 is always in abutting contact with the outer wall surface, and only the lifting driving mechanism 41 acts to drive the floating polishing device 43 to slide close to the outer wall surface to replace the polishing area. But this mode can have the great problem of the grinding device 43 that floats and the outer wall face friction wearing and tearing, and this scheme is not preferred.

Referring to fig. 4 and fig. 5, in an embodiment, the retractable abutting mechanism 42 includes a second connecting plate 421 assembled and fixed with the first connecting plate 416, a first connecting seat 422 disposed on the second connecting plate 421, a retractable arm set connected with the first connecting seat 422, and a second connecting seat 423 connected with the retractable arm set, and the floating polishing device 43 is disposed on the second connecting seat 423. By assembling and fixing the second connecting plate 421 and the first connecting plate 416, the telescopic abutting mechanism 42 and the floating polishing device 43 can move up and down synchronously along with the lifting driving mechanism 41. The telescopic arm set can be moved in a telescopic mode, and then the floating grinding device 43 can be driven to be close to or far away from the wall surface to move so as to meet different construction requirements. And when flexible armset extension, can support to push away grinding device 43 top of floating and lean on and compress tightly on outer wall face, with the inseparable complete contact of outer wall face, guarantee polishing quality and efficiency of polishing.

Further, in an embodiment, the telescopic arm set includes a telescopic driving member 424 and a first telescopic arm 425 and a second telescopic arm 426 arranged side by side at an interval, the telescopic driving member 424 includes a driving seat 424a and a driving arm 424b connected to each other, the driving seat 424a is hinged to the second telescopic arm 426, the driving arm 424b is hinged to the first telescopic arm 425, two ends of the first telescopic arm 425 are hinged to the first connecting seat 422 and the second connecting seat 423, respectively, and two ends of the second telescopic arm 426 are hinged to the first connecting seat 422 and the second connecting seat 423, respectively. At this time, four hinge points on the first connecting seat 422 and the second connecting seat 423 form four vertices of a parallelogram, that is, the first telescopic arm 425, the second telescopic arm 426, the first connecting seat 422 and the second connecting seat 423 form a quadrilateral structure. When the driving seat 424a pushes the driving arm 424b to extend or contract, the parallelogram shape approaches a flat length corresponding to the extension of the floating sanding device 43 or a wide length corresponding to the retraction of the floating sanding device 43. So, the grinding device 43 that floats just can accomplish the action of leaning on according to the switching of different processes or different wall shapes are nimble, guarantees that the operation of polishing effectively goes on.

Of course, it should be noted that, in other embodiments, in order to implement the telescopic driving of the floating grinding device 43 to complete the abutting action, other mechanisms or devices with telescopic capability in the prior art may also be adopted, such as, but not limited to, a telescopic rod, a scissor mechanism, etc.

In addition, in this embodiment, the telescopic abutting mechanism 42 further includes a rotation driving support 427 for outputting a rotation driving force, and the rotation driving support 427 is disposed on the second connecting plate 421 and connected to the first connecting seat 422. The rotation driving support 427 can output rotation power, so as to drive the floating polishing head 432 connected with the second connecting plate 421 to have rotation capability, thereby completing the adjustment of the angle and the pose of the mechanical arm group. In addition, since the rotary driving support 427 is composed of the rotary motor and the rotary drum, the overturning moment of the arm group and the floating polishing device 43 can be effectively resisted by virtue of the structural characteristics of the rotary drum, the breakage of some connecting parts with weak connecting strength due to the excessive weight of the front end can be prevented, and the reliability of the device can be effectively enhanced.

With continuing reference to fig. 4 and 5, further, the retractable abutting mechanism 42 further includes a rotary swing assembly 200, the rotary swing assembly 200 includes a rotary base connected to the second connecting base 423, a rotary platform rotatably sleeved on the rotary base, and a driving motor disposed on the rotary base and in driving connection with the rotary platform, and the floating polishing device 43 is connected to the rotary platform. So, driving motor can export power drive rotary platform 92 and rotate around the rotation axis seat to finally drive grinding device 43 that floats and accomplish 90 swing, make the wall of the different roughness of the better adaptation laminating of grinding head 432, or accomplish to polishing to the side at angle catastrophe positions such as negative and positive angle, balcony, guarantee grinding device 43's that floats grinding ability and effect of polishing.

With continued reference to fig. 8, in one embodiment, the floating polishing device 43 includes: a mount 431, a sanding head 432, a sanding drive 433, and a rotary float mechanism 434. The mounting seat 431 comprises a fixing plate and a bracket arranged at an interval with the fixing plate; the polishing head 432 is arranged on the fixing plate; the polishing driving piece 433 is arranged between the fixing plate and the bracket and is in driving connection with the polishing head 432; the rotary floating mechanism 434 comprises an elastic floating body, a sleeve and a universal ball, one end of the sleeve is fixedly connected with the polishing head 432, the universal ball is rotatably nested in the sleeve and abuts against the polishing head 432, and the elastic floating body is connected between the universal ball and the bracket.

The mounting seat 431 is a bearing base body of the floating polishing device 43 and is used for fixing the polishing head 432, the polishing driving member 433 and the rotary floating mechanism 434; the mounting seat 431 is composed of fixing plates and brackets which are arranged at intervals, so that the polishing head 432 can be fixed on the fixing plates, and the polishing driving piece 433 can be arranged between the fixing plates and the brackets and is directly in driving connection with the polishing head 432, thereby reducing unnecessary intermediate power transmission links, enabling the polishing head 432 to perform rotary polishing at a higher rotating speed, and improving polishing efficiency; in addition, because the fixed plate and the bracket are connected with a rotary floating mechanism 434, when the polishing head 432 meets a continuous uneven wall with an inclined surface or an arc surface, the elastic floating body can extend and retract through self deformation, so that the buffering and floating capacity of the polishing head 432 can be provided, and the polishing head 432 can be reliably propped against the wall; and universal ball can rotate towards arbitrary direction in the sleeve this moment for polishing head 432 possesses certain self-adaptation angular adjustment and floating capacity, and polishing head 432 can remove the various unevenness walls of closely laminating all the time of the in-process of polishing, guarantees the effect continuity of polishing, and the wall effect of polishing is better smooth and smooth, and efficiency of polishing is better, the quality of polishing is better.

It is understood that the grinding drive 433 can be, but is not limited to, a rotary motor, a rotary cylinder, a rotary electric cylinder, etc., and in this embodiment the grinding drive 433 is a rotary motor. During assembly, the rotating motor can be installed between the fixing plate and the bracket in a horizontal posture and is directly and rigidly connected with the polishing head 432, power output directly reaches the polishing head 432, intermediate power transmission loss is avoided, the polishing head 432 can obtain higher rotating speed, and therefore the polishing quality and efficiency of the wall are improved. Specifically, the power shaft of the rotating motor is fixedly connected with the polishing head 432 through the polishing head fixing block, so that the connection rigidity can be further improved.

And it can be understood that the universal ball and the inner cylinder wall are in arc contact due to the spherical surface of the outer surface of the universal ball and the smooth and continuous arc surface of the inner cylinder wall of the sleeve. The arc line contact mode can ensure that the universal ball can rotate and roll in any direction and any angle in the sleeve, the friction resistance is small, the polishing head 432 correspondingly changes and floats in the polishing angle, the high adaptability is realized on uneven walls, the polishing head 432 can tightly attach to the front wall and fully participate in polishing operation, and the polishing quality and the polishing efficiency are ensured. Moreover, when the polishing head 432 moves close to the wall, the polishing head 432 continuously changes the angle and continuously floats all the time, so that the wall in a larger area can be smoothly polished, and burrs such as laitance and explosion points can be thoroughly polished.

In this embodiment, the elastic floating member is preferably a floating pressure spring. At the instant of contact between the sanding head 432 and the wall and during the compression process, the floating compression spring contracts to provide cushioning and support, preventing the wall and sanding head 432 from being damaged by rigid impact. And the floating compression spring further provides a floating capability when the sanding head 432 is swung against a different uneven wall, and automatically returns to its original position after the sanding head 432 is removed from contact with the wall.

It is to be understood that the embodiment of the floating pressure spring as the elastic floating member is not limited to the protection scope of the present application, and in other embodiments, the floating pressure spring may be replaced by a member or a structure having equivalent or similar deformation and floating capacity, such as a flexible rubber column, according to actual needs.

In addition, a limiting block is arranged on the fixing plate and connected with the polishing driving piece 433. Specifically, the quantity of stopper is two and at the bottom surface symmetric spacing arrangement of fixed plate, has seted up the through-hole on the stopper, and installation fastening bolt can lock polishing driving piece 433 in the through-hole, guarantees that polishing driving piece 433 installs firmly and does not take place beat and removal, guarantees that power take off is stable.

Preferably, in an embodiment, the number of the rotary floating mechanism 434 is four, and four rotary floating mechanisms 434 are arranged in a rectangular shape and are connected between the fixing plate and the bracket. The four rotary floating mechanisms 434 which are distributed in a rectangular shape are more uniformly connected with the polishing head 432, so that the polishing head 432 is more stable when tightly attached to a wall and rotates at a high speed. The universal ball comprises a ball body and a rod body connected with the ball body, the ball body is rotatably nested in the sleeve and is abutted against the polishing head 432, the support seat comprises a seat body and a guide shaft arranged on the seat body, the rod body is rigidly connected with the guide shaft, the elastic floating body is sleeved on the guide shaft, and the elastic floating body is abutted against and arranged between the sleeve and the seat body. Therefore, the universal ball can be reliably connected with the guide shaft through the rod body and fixed with the base body, the base body provides a rotation base point, the ball body can rotate in the sleeve in an all-directional mode (in any direction), the angle adjusting range of the polishing head 432 is large, the direction change is large, and the applicability to walls with different flatness is stronger.

Preferably, the ball is in clearance fit with the inner cylinder wall of the sleeve. So, the spheroid can not receive or less restriction and the resistance that receives sleeve inner tube wall and possess bigger degree of freedom, and universal ball carries out the angle more easily and floats, adapts to the needs of polishing of more complicated unevenness wall.

Further, the rotary floating mechanism 434 further includes a fixing ring, the fixing ring is sleeved on the guide shaft, and the elastic floating body is arranged between the fixing ring and the seat body in a pressing manner. Therefore, the fixing ring can prevent the universal ball from falling off from the sleeve. Particularly, in this scheme, solid fixed ring is the structure similar to the staple bolt, and not only simple to operate to can the adaptation installation have the guiding axle of different footpaths, perhaps slide on the guiding axle and shift the unsteady pressure spring of the different length of adaptation, the suitability is strong. Of course, in other embodiments, the fixing ring may have other structures, as long as the fixing ring can limit the universal ball from coming out of the sleeve, and the fixing ring is within the protection scope of the present application.

In actual operation, for the purpose of saving energy and reducing consumption, and at the same time avoiding accidents, the polishing head 432 normally starts to rotate and polish after contacting the wall. The close contact between the polishing head 432 and the wall will also greatly affect the polishing quality and efficiency of the wall. Based on this, in a further embodiment, the floating polishing device 43 further includes a pressure sensor 435 electrically connected to the electric cabinet 51, the base includes a first supporting plate and a second supporting plate arranged side by side at an interval, the guiding shaft is arranged on the second supporting plate and slidably arranged on the first supporting plate, and the pressure sensor 435 is arranged on the second supporting plate and abuts against the first supporting plate. Therefore, as the polishing head 432 is gradually pressed against the wall, the reaction pressure applied by the wall is transferred to the fixing ring through the polishing head 432 and the sleeve, the fixing slides along the guide shaft to compress the floating pressure spring, the reaction pressure further pushes the first supporting plate to be close to the second supporting plate, meanwhile, the first supporting plate extrudes the pressure sensor 435, and the pressure sensor 435 can obtain the pressure value for implementing the increase, and transmit the real-time pressure value back to the electric control box 51. Because the preset pressure value that the head 432 of polishing can normally work has been prestored in the electric cabinet 51, therefore when real-time pressure value matches with preset pressure value, electric cabinet 51 just can output the instruction and give driving piece 433 of polishing, begins the rotation by the driving piece 433 of polishing 432 of polishing and polishes the operation to the wall.

Further, the floating polishing device 43 further comprises a sensor fixing seat, the second supporting plate is provided with a mounting hole, the pressure sensor 435 is inserted into the mounting hole, and the sensor fixing seat is arranged on the second supporting plate and fixed with the pressure sensor 435. Thus, the pressure sensor 435 is embedded in the mounting hole, so that the overall thickness of the seat body can be effectively reduced, the overall volume of the floating polishing device 43 is further reduced, and the miniaturization and light-weight design is realized; and then, the pressure sensor 435 is connected with the sensor fixing seat, so that the pressure sensor 435 can be firmly installed, and the pressure value of the pressure sensor 435 can be accurately detected.

In addition, the base body further comprises a slip-off preventing ring, a first support arranged on the first supporting plate and a second support arranged on the second supporting plate, the guide shaft is in sleeve joint with the first support and the second support in a penetrating mode, and the slip-off preventing ring is fixedly arranged at the end portion of the guide shaft and located on one side, away from the first supporting plate, of the second supporting plate. Because the guide shaft is a slender rod body, the first support and the second support are sleeved with the guide shaft, so that the rigidity of the guide shaft can be enhanced, and the guide shaft is supported and fixed. Further, by installing a slip-off preventing ring at the end of the guide shaft, the guide shaft can be prevented from slipping off from below the second blade.

In this scheme, polish head 432 is the combination structure, promptly polish head 432 includes mill dish shell, polish dish, brush and dust absorption pipe to be convenient for change the consume part after long-term work, and remain intact part, reduce cost expenditure. The polishing disc and the dust suction pipe are respectively arranged on the polishing disc shell, the hairbrush is arranged on the polishing disc shell and is surrounded on the periphery of the polishing disc, the polishing disc is provided with a dust suction hole, and the dust suction hole is communicated with the dust suction pipe. Therefore, under the power drive of the grinding driving piece 433, the grinding edges on the grinding disc can realize continuous grinding and smoothing of the wall, and high-quality and high-efficiency grinding operation is completed. The brush is arranged outside the periphery of the polishing disc, so that dust generated in the polishing process can be prevented from overflowing to cause environmental pollution; meanwhile, as the dust suction pipe is connected with the dust collector 52, dust can be sucked into the dust suction pipe through the dust suction hole and finally enters the dust collector 52 to be filtered, the operation mode of polishing and dust collection and purification can effectively give consideration to the operation efficiency and environmental sanitation, and the dust is prevented from damaging equipment or workers.

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. A grinding robot, comprising:

a rail frame;

the auxiliary traveling device is movably arranged on the rail frame and is used for being matched with the main traveling device in a cooperation mode, a polishing auxiliary device is arranged on the auxiliary traveling device, and the polishing auxiliary device is used for assisting the polishing execution device in polishing operation; the main walking device is connected with the auxiliary walking device through a steel wire rope; the polishing executing device comprises a lifting driving mechanism arranged on the main walking device, a telescopic abutting mechanism connected with the lifting driving mechanism and a floating polishing device connected with the telescopic abutting mechanism.

2. The polishing robot as claimed in claim 1, wherein the polishing auxiliary device comprises an electric cabinet, a dust collector and a battery, which are respectively arranged on the auxiliary traveling device, the lifting driving mechanism, the telescopic abutting mechanism, the floating polishing device and the dust collector are electrically connected with the electric cabinet, the dust collector is further connected with the floating polishing device, and the battery is electrically connected with the electric cabinet.

3. The polishing robot as claimed in claim 2, wherein the rail frame comprises a climbing frame, and a top rail and a bottom rail respectively disposed at upper and lower ends of the climbing frame, the main traveling device and the auxiliary traveling device each comprise a frame, a first traveling carriage disposed at a top end of the frame, and a second traveling carriage disposed at a bottom end of the frame, the first traveling carriage is movably disposed on the top rail, and the second traveling carriage is movably disposed on the bottom rail.

4. The grinding robot of claim 3, wherein the first traveling carriage includes a first revolute joint disposed on the frame, a first traveling chassis connected to the first revolute joint, a second revolute joint disposed on the first traveling chassis, and a first guide wheel set connected to the second revolute joint, the first guide wheel set cooperating with the top rail roller.

5. The polishing robot as claimed in claim 4, wherein the second traveling carriage comprises a second traveling chassis, a traveling driving member disposed on the second traveling chassis, a traveling wheel set disposed on the second traveling chassis and drivingly connected to the traveling driving member, a third revolute joint connected between the second traveling chassis and the traveling wheel set, and a second guide wheel set disposed on the traveling wheel set, wherein the traveling wheel set and the second guide wheel set are both engaged with the ground rail.

6. A grinding robot as recited in claim 3 wherein the elevation drive mechanism comprises an elevation drive assembly disposed on the frame, a drive wheel disposed on the frame and connected to the elevation drive assembly, a driven wheel disposed on the frame and spaced longitudinally from the drive wheel, a drive member sleeved on the drive wheel and the driven wheel, a mounting block disposed on the drive member, a first connecting plate connected to the mounting block, and an elevation guide wheel set disposed on the first connecting plate, the frame having an elevation track, the elevation guide wheel set movably disposed in the elevation track.

7. The polishing robot as recited in claim 6, wherein the elevating drive mechanism further comprises an up-limit switch and a down-limit switch disposed on the frame and electrically connected to the electric cabinet, respectively, the up-limit switch being disposed adjacent to the driving wheel, and the down-limit switch being disposed adjacent to the driven wheel.

8. The grinding robot of claim 6, wherein the lift drive mechanism further comprises a leveling plate disposed on the first connecting plate; and/or the lifting driving mechanism further comprises a dust scraping plate arranged on the first connecting plate.

9. The robot of claim 6, wherein the retractable abutting mechanism comprises a second connecting plate assembled and fixed with the first connecting plate, a first connecting seat arranged on the second connecting plate, a retractable arm set connected with the first connecting seat, and a second connecting seat connected with the retractable arm set, and the floating polishing device is arranged on the second connecting seat.

10. The robot polisher of claim 9, wherein the telescopic arm assembly includes a telescopic driving member and a first telescopic arm and a second telescopic arm spaced side by side, the telescopic driving member includes a driving seat and a driving arm connected to each other, the driving seat is hinged to the second telescopic arm, the driving arm is hinged to the first telescopic arm, two ends of the first telescopic arm are hinged to the first connecting seat and the second connecting seat respectively, and two ends of the second telescopic arm are hinged to the first connecting seat and the second connecting seat respectively.

11. The grinding robot of claim 9, wherein the telescoping jacking mechanism further comprises a rotary drive support for outputting a rotary drive force, the rotary drive support being disposed on the second connecting plate and connected to the first connecting seat.

12. The robot of claim 11, wherein the retractable abutting mechanism further comprises a rotary swing assembly, the rotary swing assembly comprises a rotary base connected to the second connecting base, a rotary platform rotatably sleeved on the rotary base, and a driving motor arranged on the rotary base and in driving connection with the rotary platform, and the floating polishing device is connected to the rotary platform.

13. The polishing robot as claimed in any one of claims 2 to 12, wherein the floating polishing device comprises a mounting seat, a polishing head, a polishing driving member and a rotary floating mechanism, the mounting seat comprises a fixed plate and a bracket spaced from the fixed plate, the polishing head is arranged on the fixed plate, the polishing driving member is arranged between the fixed plate and the bracket and is in driving connection with the polishing head, the rotary floating mechanism comprises an elastic floating body, a sleeve and a universal ball, one end of the sleeve is fixedly connected with the polishing head, the universal ball is rotatably nested in the sleeve and abuts against the polishing head, and the elastic floating body is connected between the universal ball and the bracket.

14. The abrading robot of claim 13, wherein the number of rotary floatation mechanisms is four, the four rotary floatation mechanisms being arranged in a rectangle and each connected between the fixed plate and the receptacle; the universal ball comprises a ball body and a rod body connected with the ball body, the ball body is rotatably nested in the sleeve and is abutted to the polishing head, the support seat comprises a seat body and a guide shaft arranged on the seat body, the rod body is rigidly connected with the guide shaft, the elastic floating body is sleeved on the guide shaft, and the elastic floating body is abutted to and arranged between the sleeve and the seat body.

15. The polishing robot as recited in claim 14, wherein the floating polishing device further comprises a pressure sensor and a sensor holder, the base comprises a first supporting plate and a second supporting plate which are arranged side by side at intervals, the guide shaft is arranged on the second supporting plate and slidably arranged on the first supporting plate, and the pressure sensor is arranged on the second supporting plate and abutted against the first supporting plate; the sensor fixing seat is arranged on the second supporting plate and fixed with the pressure sensor.