CN111546159A

CN111546159A - Polishing head assembly and stone polishing robot

Info

Publication number: CN111546159A
Application number: CN202010515097.5A
Authority: CN
Inventors: 李振; 王学斌; 姜廷锋; 赵长健; 王生贵; 程昊天
Original assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Current assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Priority date: 2020-06-08
Filing date: 2020-06-08
Publication date: 2020-08-18
Anticipated expiration: 2040-06-08
Also published as: CN111546159B

Abstract

The invention relates to the field of intelligent stone nursing, in particular to a polishing head assembly and a stone polishing robot. The polishing head assembly comprises a polishing disc assembly, a rotating frame covering the plurality of polishing disc assemblies and an L-shaped sliding groove. The polishing disc assemblies are sequentially overlapped along the height direction, and the peripheral wall of each polishing disc assembly is provided with a protruding part; the peripheral wall of the rotating frame is provided with a vertical clamping groove extending along the height direction; the L-shaped sliding groove comprises a first clamping groove and a second clamping groove which extend vertically, the first clamping groove is vertically arranged at an opening below the vertical clamping groove, and the second clamping groove is communicated with the lower edge of the rotating frame; the protrusion may be in sliding fit with the vertical slot, the first slot, and the second slot. The stone polishing robot comprises the polishing head assembly. The automatic disassembling device can realize the automatic disassembling of the failed polishing disc assembly and the automatic replacement of the new polishing disc assembly, does not need manual intervention, saves the labor cost, has high working efficiency, and is particularly suitable for the nursing of large-area stone ground.

Description

Polishing head assembly and stone polishing robot

Technical Field

The invention relates to the field of intelligent stone nursing, in particular to a polishing head assembly and a stone polishing robot.

Background

With the development of automation technology and artificial intelligence, the demand of intelligent robots is more and more extensive. The stone polishing robot can carry out operations such as slag removal, nursing and polishing on the stone ground.

After the stone polishing robot works for a period of time, the polishing disk assembly which fails due to abrasion needs to be replaced. The existing polishing disc assembly is replaced manually, so that the polishing disc assembly is long in time consumption and low in working efficiency.

Disclosure of Invention

The invention aims to provide a polishing head assembly which does not need to replace a polishing disc assembly manually, saves labor, improves working efficiency and is particularly suitable for nursing large-area stone ground.

The invention also aims to provide a stone polishing robot, which comprises the polishing head assembly, manual intervention for replacing the polishing disc assembly is not needed, labor is saved, and the working efficiency is high.

In order to realize the purpose, the following technical scheme is provided:

providing a polishing head assembly comprising:

the polishing disc assembly comprises a plurality of polishing disc assemblies which are sequentially overlapped along the height direction, and a bulge part is arranged on the peripheral wall of each polishing disc assembly;

the rotating frame is covered outside the polishing disc assemblies, and is provided with:

a vertical slot extending in the height direction;

the L-shaped sliding groove comprises a first clamping groove and a second clamping groove which extend vertically, the first clamping groove is vertically arranged at an opening below the vertical clamping groove, and the second clamping groove is communicated with the lower edge of the rotating frame;

the protrusion may be in sliding fit with the vertical slot, the first slot, and the second slot.

Furthermore, the first clamping groove comprises a first groove wall and a second groove wall which are opposite up and down and a groove bottom which is connected with the first groove wall and the second groove wall, and an opening below the vertical clamping groove is arranged on the first groove wall in a penetrating mode and is spaced from the groove bottom by a certain distance.

Furthermore, a horizontal movable limiting component is arranged at an opening below the vertical clamping groove on the rotating frame, and the limiting component can be used for enabling the protruding part to vertically move into the first clamping groove and abut against the upper part of the protruding part in the first clamping groove.

Further, spacing subassembly includes:

the sliding assembly is horizontally and slidably arranged on the rotating frame;

the elastic piece is used for driving the sliding assembly to protrude out of the side wall of the vertical clamping groove;

the clamping and stopping piece is clamped with the sliding assembly when the sliding assembly is recovered in the side wall of the vertical clamping groove.

Further, the polishing disc assembly comprises a rotating frame, wherein the rotating frame comprises a top piece which is arranged above the uppermost polishing disc assembly at intervals, and the elastic pressing piece is arranged between the top piece and the uppermost polishing disc assembly.

The polishing disc assembly comprises a polishing disc assembly, a polishing disc assembly and a rotating frame, wherein the polishing disc assembly is arranged on the polishing disc assembly, the.

Furthermore, the mounting seat and/or be provided with the trip on the top spare, the trip with the elasticity pushes down the piece joint.

Further, the protruding portion is provided in plural numbers, and the plural protruding portions are provided at intervals in the circumferential direction of the polishing disc assembly.

Further, the polishing device also comprises a first driving assembly for driving the rotating frame to rotate, and the rotating frame drives the polishing disc assembly to rotate together through the protruding part.

A stone polishing robot comprising a polishing head assembly as described above.

The invention has the beneficial effects that:

in the polishing head assembly and the stone polishing robot comprising the same, the rotating frame drives all the polishing disk assemblies to rotate forwards through the protruding parts, and the polishing disk assembly at the bottommost part is in rotating friction with the ground so as to care the ground. When the bottommost polishing disk assembly fails due to friction, the rotating frame rotates reversely, other polishing disk assemblies except the bottommost polishing disk assembly rotate reversely along with the rotating frame, the bottommost polishing disk assembly is subjected to frictional resistance of the ground, the movement speed of the bottommost polishing disk assembly relative to the ground is static or along the second rotation direction is smaller than that of the polishing disk assembly above the bottommost polishing disk assembly, and the relative movement results in that: the bulge of the bottommost polishing disc assembly is separated from the first clamping groove and moves to the second clamping groove, and the second clamping groove falls off from the rotating frame, so that automatic disassembly of the failed bottommost polishing disc assembly is realized.

Further, after the polishing disc assembly at the bottommost part of the failure drops from the rotating frame, the rest polishing disc assemblies fall to the first clamping groove along the vertical clamping groove, the rotating frame drives the rest polishing disc assemblies to rotate forwards again, and the polishing disc assembly at the bottommost part rubs with the ground so as to continue to nurse the ground.

The automatic disassembling device can realize the automatic disassembling of the failed polishing disc assembly and the automatic replacement of the new polishing disc assembly, does not need manual intervention, saves the labor cost, has high working efficiency, and is particularly suitable for the nursing of large-area stone ground.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

FIG. 1 is a schematic diagram of a polishing head assembly according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a polishing disc assembly according to an embodiment of the present invention;

FIG. 3 is an exploded view of a swivel mount according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a polishing head assembly according to a second embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

fig. 6 is a schematic diagram of an outer side structure of the main support according to the second embodiment of the present invention;

FIG. 7 is a schematic view of the connection between the inner side of the main support and the position-limiting component according to the second embodiment of the present invention;

FIG. 8 is an enlarged view of a portion of FIG. 7 at B;

FIG. 9 is a schematic view of a polishing head assembly (with a main frame hidden) according to a second embodiment of the present invention;

FIG. 10 is an enlarged view of a portion of FIG. 9 at C;

fig. 11 is a schematic structural diagram of a mounting base according to a second embodiment of the present invention;

fig. 12 is a schematic connection diagram of the mounting seat and the main bracket according to the second embodiment of the present invention.

Reference numerals:

10-a first drive assembly;

1-a polishing disc assembly; 2-a rotating frame; 3-a limiting component; 4-elastic pressing piece; 5-mounting a base;

11-a polishing disk; 12-a cleaning pad; 13-needle hook plate;

111-a projection;

21-a top piece; 22-side components; 23-a vertical slot; 24-a first card slot; 25-a second card slot; 241-a first slot wall; 242-a second slot wall; 243-tank bottom;

26-a main support; 27-a connecting frame;

261-a vertical plate; 262-a transverse plate;

2611-an accommodating tank; 2612-avoidance holes; 2613-a receiving indentation; 2614-locating slot; 2615-a limiting part;

31-a catch; 32-a slide assembly; 321-a slide; 3211-a pressing end; 322-a connector; 33-cover plate;

51-a hook; 52-a mating portion; 521-a mating hole; 53-handle.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, cannot be construed as blocking the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

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

The first embodiment is as follows:

the embodiment provides a stone polishing robot that can independently walk on ground, and it includes the frame and sets up the polishing head subassembly in the frame, carries out operations such as scarfing cinder, nursing and polishing to stone material ground through the polishing head subassembly. As shown in fig. 1, the polishing head assembly includes a plurality of polishing disc assemblies 1, a spin stand 2, a first driving assembly (not shown), and a second driving assembly (not shown).

Referring to fig. 2, a plurality of polishing pad assemblies 1 are stacked in sequence from top to bottom, and a protrusion 111 is protruded from the circumferential direction of each polishing pad assembly 1. Illustratively, the polishing pad assembly 1 includes a polishing pad 11 and a cleaning pad 12 disposed on a bottom surface of the polishing pad 11. The cleaning pad 12 is mounted on the polishing plate 11 by means of a hook and loop fastener or a hook plate 13. The protruding portion 111 is provided protruding in the circumferential direction of the polishing disk 11. The projection 111 is preferably integrally formed with the polishing disk 11.

The outer side of a plurality of polishing dish subassemblies 1 is located to the swivel mount 2 cover, corresponds bulge 111 on the swivel mount 2 and is provided with the draw-in groove structure, and during the bulge 111 card was gone into the draw-in groove structure, the assembly of swivel mount 2 and polishing dish subassembly 1 was realized.

The output end of the first driving component is in transmission connection with the rotating shaft of the rotating frame 2 so as to drive the rotating frame 2 to rotate. The first drive assembly is preferably an electric motor. Controlling the forward or reverse rotation of the output of the first drive assembly correspondingly controls the rotation of the turret 2 in a first rotational direction (indicated by the solid arrow in fig. 1) or in a second rotational direction (indicated by the dashed arrow in fig. 1) opposite to the first rotational direction.

The output end of the second driving component is connected with the first driving component and/or the shell of the rotating frame 2 so as to drive the rotating frame 2 and the plurality of polishing disk components 1 to move up and down together, so that the bottommost polishing disk component 1 is contacted with or separated from the ground.

Further, referring to fig. 3, the rotating frame 2 is cylindrical and comprises a top part 21 and side parts 22. The top member 21 is spaced above the uppermost polishing disc assembly 1 and the side members 22 are arranged around the circumference of the polishing disc assembly 1. The slot arrangement provided on the side part 22 comprises a vertical slot 23 and an L-shaped runner in communication.

The vertical catching groove 23 extends in the height direction of the side member 22, and the L-shaped sliding groove is provided at the lower opening of the vertical catching groove 23. The L-shaped chute includes a first slot 24 and a second slot 25 extending vertically. The first clamping groove 24 is perpendicular to the vertical clamping groove 23, and the second clamping groove 25 is communicated with the lower edge of the rotating frame 2. The protrusion 111 may be slidably engaged with the vertical slot 23, the first slot 24, and the second slot 25.

The polishing disc assembly 1 can be sequentially arranged in the rotating frame 2 from the bottom of the rotating frame 2, the circumferential protruding part 111 of the polishing disc assembly 1 is clamped into the vertical clamping groove 23 through the second clamping groove 25 and the first clamping groove 24, and the protruding part 111 of the finally arranged polishing disc assembly 1 is directly clamped into the first clamping groove 24. Conversely, the protrusion 111 may be disengaged from the rotating frame 2 by the second engaging groove 25.

In this embodiment, the first slot 24 includes a first slot wall 241 and a second slot wall 242 opposite to each other and a slot bottom connecting the first slot wall 241 and the second slot wall 242. The lower opening of the vertical slot 23 is disposed through the first slot wall 241. The second engaging groove 25 is disposed in a staggered manner with respect to the vertical engaging groove 24, and the second engaging groove 25 penetrates through the second groove wall 242. Further, the lower opening of the vertical clamping groove 23 is spaced from the groove bottom of the first clamping groove 24 by a certain distance, that is, the groove bottom of the first clamping groove 24 and the side wall of the vertical clamping groove 23 are arranged in a staggered manner, the protruding portion 111 of the bottommost polishing disc assembly 1 is clamped between the first groove wall 241 and the second groove wall 242 and is abutted against the groove bottom, and the protruding portion 111 of the bottommost portion and the rest protruding portions 111 are arranged in a staggered manner. During polishing, the ground applies an upward reaction force to the polishing disc assembly 1, and the first groove wall 241 of the first engaging groove 24 can limit the bottommost protrusion 111 from moving upward, so as to ensure stable contact between the polishing disc assembly 1 and the ground.

Of course, in other embodiments, the groove bottom of the first engaging groove 24 is coplanar with the side walls of the vertical engaging groove 23, that is, all the protruding portions 111 are disposed along the same vertical direction, so that the structure is simple and the processing is convenient. However, in this case, under the action of the upward reaction force applied by the ground, the polishing disc assembly 1 at the bottom tends to move upward along the vertical slot 23, resulting in poor polishing effect.

Preferably, a plurality of protrusions 111 are circumferentially spaced from each other on each polishing disc assembly 1, and correspondingly, a plurality of slot structures are disposed on the rotating frame 2, so as to ensure the transmission stability of the rotating frame 2 and the polishing disc assemblies 1.

The normal working process of the polishing head assembly is as follows:

under the driving of the first driving assembly, the rotating frame 2 drives all the polishing disc assemblies 1 to rotate together along a first rotating direction (indicated by a solid arrow in fig. 1) through the protruding portion 111, and the bottommost polishing disc assembly 1 is in rotating friction with the ground, so as to perform the nursing work of cleaning, waxing, polishing, stone pathological change treatment, stone renovation, ground surface hardening treatment, ground cleaning and the like on the ground.

The process of removing a failed polishing disc assembly 1 is:

when the bottommost polishing disk assembly 1 fails due to friction, the rotating frame 2 rotates in a second rotating direction (indicated by a dashed arrow in fig. 1) under the driving of the first driving assembly, the rest polishing disk assemblies 1 rotate together with the rotating frame 2 except for the bottommost polishing disk assembly 1, and the bottommost polishing disk assembly 1 is subjected to frictional resistance of the ground, and is stationary relative to the ground or moves at a lower speed in the second rotating direction than the polishing disk assemblies 1 above the bottommost polishing disk assembly, and the relative movement results in that: the projection 111 of the bottommost polishing disc assembly 1 moves along the second slot wall 242 of the first slot 24 to the second slot 25. The first drive assembly ceases operation.

Then, the second driving assembly is started to drive the whole structure to rise, and under the action of gravity and related external force (see the following analysis for details), the failed bottommost polishing disc assembly 1 falls off from the rotating frame 2 from the second clamping groove 25, so that the automatic detachment of the failed bottommost polishing disc assembly 1 is realized.

The process of replacing a new polishing disc assembly 1 in place is:

after the failed bottom-most polishing disk assembly 1 falls off the rotating frame 2, the remaining polishing disk assemblies 1 fall along the vertical slots 23 by a predetermined distance, which is the thickness of one polishing disk assembly 1, under the action of gravity and an external force (see the following analysis in detail), until the protrusions 111 of the bottom-most polishing disk assembly 1 in the remaining portion are blocked by the second slot wall 242.

Then, when the first driving assembly is started again, the rotating frame 2 is rotated again in the first rotating direction. In the initial rotation process, the rest of the polishing pad assemblies 1 except the bottommost polishing pad assembly 1 rotate together with the rotating frame 2. After the protrusion 111 of the bottommost polishing disc assembly 1 moves along the second groove wall 242 relative to the rotating frame 2 and abuts against the groove bottom of the first clamping groove 24, all the polishing disc assemblies 1 rotate together with the rotating frame 2, and the bottommost polishing disc assembly 1 rubs against the ground to continue to nurse the ground, so that the new polishing disc assembly 1 is automatically replaced in place.

Repeating the above-mentioned process, after dismantling the polishing dish subassembly 1 of the bottommost that became invalid automatically, remaining upper portion polishing dish subassembly 1 whereabouts, the polishing dish subassembly 1 of bottommost among the surplus part continues to nurse ground, realizes that the automation of the polishing dish subassembly 1 that became invalid is dismantled and the automation of new polishing dish subassembly 1 is changed and targets in place, need not artificial intervention, the cost of using manpower sparingly, work efficiency is high, is particularly useful for the nursing on large tracts of land stone material ground.

Example two:

the difference between this embodiment and the first embodiment is:

referring to fig. 4 and 6, the rotating frame 2 of the present embodiment is a frame structure including a top member 21, a plurality of main brackets 26, and a connecting frame 27 connecting the main brackets 26. A plurality of main holders 26 are provided at intervals in the circumferential direction of the polishing disc assembly 1, and correspond to the protrusions 111 one by one, and the above-described groove structures are provided on the main holders 26. The top piece 21 is connected to the upper end of the main support 26. The top member 21 is spaced above the uppermost polishing disc assembly 1. The top piece 21 is connected to the output of the first drive assembly 10.

Further, the main support 26 of the rotating frame 2 includes two spaced vertical plates 261, and the two vertical plates 261 are connected by a transverse plate 262. The spacing between the two risers 261 forms the vertical catch 23 described above. The first and second vertically extending locking

grooves

24 and 25 open on the bottom most transverse plate 262, and the first locking groove 24 extends to the vertical plate 261.

It should be noted that, during the normal operation of the polishing head assembly and the stage of removing the failed bottommost polishing disk assembly 1, the protrusions 111 of the bottommost polishing disk assembly 1 have a tendency to enter the vertical slots 23 due to the friction of the ground and the upward reaction force, so that the nursing work cannot be performed normally or the failed polishing disk assembly 1 fails to be removed. In addition, when the remaining upper polishing disc assembly 1 falls to the bottommost cross plate 262 and the rotating frame 2 rotates in the first rotating direction again, the protrusions 111 of the remaining bottommost polishing disc assembly 1 also have a tendency to move upward and enter the vertical slots 23, resulting in a failure to replace the new polishing disc assembly 1. For this purpose, referring to fig. 4 and 5, a horizontally movable stop assembly 3 is provided on the rotary frame 2 at the notch of the vertical slot 23, the stop assembly 3 being used to block the protrusion 111 of the bottommost polishing disc assembly 1 from entering the vertical slot 23.

Specifically, referring to fig. 7-10, stop assembly 3 includes a slide assembly 32 and a catch 31. The riser 261 includes an inner side that is proximate to the polishing disc assembly 1 and an outer side that is distal from the polishing disc assembly 1. The inboard bottom of riser 261 (being close to the notch department of vertical draw-in groove 23 promptly), is provided with holding tank 2611, and the notch of holding tank 2611 is seted up towards vertical draw-in groove 23, and the lateral wall of vertical draw-in groove 23 is run through to the notch of holding tank 2611, and the slot bottom of holding tank 2611 is seted up the hole of dodging 2612 that runs through. The vertical plate 261 has a receiving notch 2613 on one side near the connecting frame 27 corresponding to the groove bottom of the receiving groove 2611. The locking piece 31 is rotatably disposed in the receiving recess 2613. The sliding member 32 is horizontally slidably disposed in the receiving groove 2611, and the cover plate 33 is disposed on a side of the sliding member 32 away from the vertical plate 261. The slide assembly 32 includes a slide 321 and a link 322. An elastic member is connected between the sliding member 321 and the groove wall of the receiving groove 2611. One end of the sliding member 321 close to the notch of the receiving groove 2611 is a pressing end 3211, and the pressing end 3211 extends into the vertical slot 23 under the action of the elastic force of the elastic member to press the protruding portion 111 of the bottommost polishing disc assembly 1 to prevent the protruding portion from upwardly entering the vertical slot 23. One end of the link 322 is connected to the slider 321. The sliding member 321 and the connecting member 322 are driven by external force to slide in the accommodating groove 2611 along the direction departing from the vertical slot 23, so that when the abutting end 3211 is recovered in the side wall of the vertical slot 23, the end of the connecting member 322, which is far away from the sliding member 321, extends out of the accommodating groove 2611 through the avoiding hole 2612 and is clamped with the clamping and stopping member 31, at this time, the protrusion 111 can enter the vertical slot 23, and a plurality of polishing disc assemblies 1 can be sequentially loaded into the rotating frame 2 through the second slot 25.

In this embodiment, two risers 261 are provided with limiting component 3. In other embodiments, the spacing assembly 3 may be provided on only one of the risers 261. Preferably, the connecting piece 322 is a screw, is easy to obtain materials and is convenient to disassemble and assemble.

Further, referring to fig. 4 and 9, the polishing head assembly further includes an elastic pressing member 4. Specifically, the resilient hold down member 4 is disposed between the top member 21 and the uppermost polishing disc assembly 1. On the one hand, the resilient hold-down 4 provides the driving force for the fall of the polishing disc assembly 1. On the other hand, at the in-process of polishing head subassembly normal work, elasticity pushes down 4 and supports and press polishing dish subassembly 1, prevents under the ascending reaction force on ground, and polishing dish subassembly 1 rocks from top to bottom, guarantees the stable contact on polishing dish subassembly 1 and ground, guarantees polishing effect. The resilient hold-down 4 is preferably a spring.

After the polishing disc assembly 1 at the bottommost part of the failure falls off from the rotating frame 2, the rest polishing disc assemblies 1 prop open the limiting assembly 3 under the combined action of gravity and the elastic force of the elastic pressing piece 4 so as to vertically fall along the vertical clamping groove 23 for a preset distance.

Referring to fig. 4 and 11, to facilitate mounting of the resilient hold-down member 4, the polishing head assembly further includes a mounting block 5. A mounting seat 5 is provided above the uppermost polishing disc assembly 1, and the end of the resilient hold-down member 4 remote from the top member 21 is connected to the mounting seat 5. Illustratively, a hook 51 is arranged on the mounting seat 5, and the hook 51 is clamped with the elastic lower pressing piece 4 to limit the elastic lower pressing piece 4. Preferably, a hook 51 for engaging with the elastic pressing member 4 is also disposed on one side of the top member 21 close to the mounting seat 5.

Referring to fig. 12, in order to facilitate the sequential installation of a plurality of polishing pad assemblies 1 from the bottom of the rotating frame 2, a limiting portion 2615 is disposed on the rotating frame 2, and an engaging portion 52 corresponding to the limiting portion 2615 is disposed on the mounting seat 5. Before the polishing disc assembly 1 is installed, the fitting portion 52 of the mounting seat 5 is fitted with the limiting portion 2615 to fix the mounting seat 5, and the mounting seat 5 cannot move downwards, so that the mounting seat 5 is prevented from interfering with the installation of the polishing disc assembly 1 or the polishing disc assembly 1 cannot be installed in place. After the polishing disc assembly 1 is completely installed, the fitting portion 52 is separated from the limiting portion 2615, and the mounting seat 5 abuts against the upper surface of the uppermost polishing disc assembly 1 under the action of the elastic pressing member 4.

Specifically, the fitting portion 52 is convexly arranged in the circumferential direction of the mounting seat 5, the fitting portion 52 is inserted into the vertical slot 23, and the fitting hole 521 is arranged on the fitting portion 52. The upper part of the vertical plate 261 is provided with a positioning groove 2614 communicated with the vertical clamping groove 23. The groove wall of the positioning groove 2614 is provided with a limiting portion 2615. The retaining portion 2615 is preferably a protrusion disposed on a groove wall of the positioning groove 2614. The mounting base 5 is rotated, so that the matching portion 52 on the mounting base can move from the vertical slot 23 to the positioning slot 2614, and the matching portion 52 is connected with the limiting portion 2615 through the matching hole 521, thereby fixing the mounting base 5. When the polishing disc assembly 1 is completely installed in place, the mounting base 5 is rotated again to separate the matching portion 52 from the limiting portion 2615, and the matching portion is rotated into the vertical clamping groove 23.

For facilitating the rotation of the handheld mounting base 5, a handle 53 is arranged on the circumferential direction of the mounting base 5. Preferably, handle 53 is formed by cutting a tongue from the edge of mounting base 5 and then bending.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A polishing head assembly, comprising:

the polishing disc assembly (1) comprises a plurality of polishing disc assemblies (1) which are sequentially overlapped along the height direction, and a protruding part (111) is arranged on the peripheral wall of each polishing disc assembly (1);

the rotating frame (2) is covered outside the polishing disc assemblies (1), and the peripheral wall of the rotating frame (2) is provided with:

a vertical slot (23) extending in the height direction;

the L-shaped sliding groove comprises a first clamping groove (24) and a second clamping groove (25) which extend perpendicularly to each other, the first clamping groove (24) is vertically arranged on an opening below the vertical clamping groove (23), and the second clamping groove (25) is communicated with the lower edge of the rotating frame (2);

the protrusion (111) may be slidably fitted with the vertical slot (23), the first slot (24) and the second slot (25).

2. The polishing head assembly according to claim 1, wherein the first clamping groove (24) comprises a first groove wall (241) and a second groove wall (242) which are opposite to each other and a groove bottom (243) which connects the first groove wall (241) and the second groove wall (242), and the lower opening of the vertical clamping groove (23) is penetratingly arranged on the first groove wall (241) and is spaced apart from the groove bottom (243).

3. The polishing head assembly according to claim 1, wherein a horizontally movable limiting assembly (3) is disposed on the rotating frame (2) at a lower opening of the vertical slot (23), and the limiting assembly (3) is used for vertically moving the protrusion (111) into the first slot (24) and pressing the protrusion (111) above the first slot (24).

4. A polishing head assembly according to claim 3, characterized in that the stop assembly (3) comprises:

a sliding component (32) which is horizontally and slidably arranged on the rotating frame (2);

the elastic piece is used for driving the sliding assembly (32) to protrude out of the side wall of the vertical clamping groove (23);

and when the sliding component (32) is recovered in the side wall of the vertical clamping groove (23), the clamping part (31) is clamped with the sliding component (32).

5. The polishing head assembly according to claim 1, further comprising a resilient hold down member (4), wherein the spin stand (2) comprises a top member (21), wherein the top member (21) is spaced above the uppermost polishing disc assembly (1), and wherein the resilient hold down member (4) is disposed between the top member (21) and the uppermost polishing disc assembly (1).

6. The polishing head assembly according to claim 5, further comprising a mounting seat (5), wherein the mounting seat (5) is disposed above the uppermost polishing disk assembly (1), one end of the elastic pressing member (4) away from the top member (21) is connected to the mounting seat (5), and a limiting portion (2615) is further disposed on the rotating frame (2) for limiting the downward movement of the mounting seat (5).

7. Polishing head assembly according to claim 6, wherein a hook (51) is arranged on the mounting seat (5) and/or the top member (21), and the hook (51) is clamped with the elastic pressing member (4).

8. Polishing head assembly according to any of claims 1 to 7, characterized in that the protrusion (111) is provided in plurality, and a plurality of the protrusions (111) are provided at intervals in the circumferential direction of the polishing disc assembly (1).

9. Polishing head assembly according to any of claims 1 to 7, further comprising a first drive assembly (10) for driving the rotating frame (2) in rotation, the rotating frame (2) driving the polishing head assembly (1) in rotation via the protrusion (111).

10. A stone polishing robot comprising a polishing head assembly according to any one of claims 1 to 9.