CN112123059B

CN112123059B - Polishing device and polishing equipment

Info

Publication number: CN112123059B
Application number: CN202011006019.9A
Authority: CN
Inventors: 张格森; 程德考; 张涛; 孙晋祥; 全鑫
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-09-23
Filing date: 2020-09-23
Publication date: 2022-03-01
Anticipated expiration: 2040-09-23
Also published as: CN112123059A

Abstract

The invention discloses a polishing device and polishing equipment, wherein the polishing device comprises: a base; the floating mechanism is arranged on the base and can float back and forth along the polishing feeding direction; the polishing assembly is used for polishing the working surface; the follow-up mechanism comprises a first pivoting piece, a second pivoting piece and a follow-up plate, wherein one end of the first pivoting piece is connected with the follow-up plate, the other end of the first pivoting piece is connected with the grinding assembly, so that the grinding assembly can rotate around a first direction, one end of the second pivoting piece is connected with the follow-up plate, the other end of the second pivoting piece is connected with the floating mechanism, so that the follow-up plate can rotate around a second direction, and the second direction is perpendicular to the first direction. The invention reduces the vibration caused by the polishing operation through the floating mechanism, improves the adaptability to the concave-convex change of the wall surface, realizes that the polishing device always compresses the wall surface through the follow-up mechanism, and improves the operation efficiency.

Description

Polishing device and polishing equipment

Technical Field

The invention relates to the technical field of building equipment, in particular to a polishing device and polishing equipment.

Background

At present, no full-automatic polishing equipment or polishing device of a robot applied to indoor concrete wall surfaces of buildings exists in the industry, and the traditional polishing operation is carried out by manually holding an electric polishing tool. Hand-held grinding tool is leaned on the manual work to compress tightly the wall and is polished, and intensity of labour is big, and automatic level is low, and leans on the uneven wall of manual adjustment adaptation entirely, and the operating efficiency is low, and site noise and dust pollution are big, produce harm to the human body easily.

Secondly, some grinding device of the operation of polishing possess the function of floating, but, most of this kind of grinding device with float function can only float along the unidirectional direction, lead to compressing tightly on unevenness's wall of the unable adaptability of dish of polishing, unable adaptation concrete wall operation of polishing.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the polishing device can float and swing adaptively, so that the polishing device is pressed on an uneven wall surface, and better polishing operation is realized.

The invention also provides the polishing equipment applying the polishing device, so that the influence of polishing operation on the polishing equipment is reduced, the movement precision of the execution tail end of the polishing equipment is reduced, the operation efficiency is improved, and the polishing cost is reduced.

According to an embodiment of the present invention, a polishing apparatus includes: a base; the floating mechanism is arranged on the base and can float back and forth along the polishing feeding direction; the polishing assembly is used for polishing the working surface; the follow-up mechanism comprises a first pivoting piece, a second pivoting piece and a follow-up plate, wherein one end of the first pivoting piece is connected with the follow-up plate, the other end of the first pivoting piece is connected with the grinding assembly, so that the grinding assembly can rotate around a first direction, one end of the second pivoting piece is connected with the follow-up plate, the other end of the second pivoting piece is connected with the floating mechanism, so that the follow-up plate can rotate around a second direction, and the second direction is perpendicular to the first direction.

According to the polishing device provided by the embodiment of the invention, the vibration caused by polishing operation is reduced through the floating mechanism, a good vibration damping and buffering effect is achieved, the adaptability to the concave-convex change of the wall surface is improved, and the polishing components connected to the follow-up plate can swing upwards in two mutually perpendicular directions through the first pivot piece and the second pivot piece of the follow-up mechanism, so that the polishing device can be always pressed against the wall surface, the polishing quality can be ensured, and the operation efficiency can be improved.

In some embodiments, the first pivot member is provided at both ends of the follower plate in a vertical direction, and the first direction is a vertical direction; the second pivoting pieces are arranged at two ends of the follow-up plate in the horizontal direction, and the second direction is the horizontal direction.

In some embodiments, the abrading device further comprises: the polishing device comprises a polishing assembly, a plurality of stretching elastic pieces, a plurality of polishing units and a floating mechanism, wherein the polishing assembly is arranged on the polishing assembly, the polishing units are arranged on the polishing assembly, the floating mechanism is arranged on the polishing assembly, and the polishing units are arranged on the polishing assembly.

In some embodiments, the float mechanism comprises: the fixed seat is arranged on the base; the second pivoting piece is arranged on the floating seat; the floating elastic pieces are arranged at intervals along the circumferential direction, one end of each floating elastic piece is connected with the floating seat, and the other end of each floating elastic piece is connected with the base.

In some embodiments, the abrading device further comprises: the feeding mechanism is arranged between the fixed seat and the base to drive the fixed seat to perform feeding motion along the direction perpendicular to the grinding surface, and the feeding mechanism can provide grinding pressure of the grinding assembly on the working surface.

In some embodiments, the abrading device further comprises: the detection piece is used for detecting the deformation of the floating elastic piece, and the detection data of the detection piece is combined with the quantity of the floating elastic piece to control the feeding quantity of the feeding mechanism so as to enable the polishing assembly to polish the working face at constant pressure.

In some embodiments, the float mechanism further comprises: the two ends of the floating seat along the first direction and/or the two ends of the floating seat along the second direction are/is provided with the guide assemblies, one end of each guide assembly is connected with the floating seat, and the other end of each guide assembly is connected with the fixed seat; the adjusting part is arranged between the floating elastic part and the fixed seat, the adjusting part is telescopically arranged on the base, and the adjusting part is connected with the floating elastic part to adjust the pre-pressing deformation of the floating elastic part.

In some embodiments, an accommodating space is defined between the lower portion of the fixing seat and the base, and the feeding mechanism is disposed in the accommodating space and includes: the guide rail is arranged on the base, and the fixed seat is in sliding fit with the guide rail; the telescopic driving part is connected with the fixed seat to drive the fixed seat to move along the polishing feeding direction.

In some embodiments, the grinding assembly comprises: the protective cover is connected with the first pivoting piece, and one end of the protective cover facing to the working surface is provided with a containing groove; the driving piece is arranged on the shield; the polishing disc is arranged in the containing groove; the overload protection piece, the driving piece is connected to overload protection piece's one end and the other end is connected the polishing dish, the driving piece passes through overload protection piece drives the polishing dish rotates.

According to the embodiment of the invention, the grinding equipment comprises the grinding device.

According to the polishing device of the embodiment of the invention, through the polishing device 1000, the polishing component 700 at the tail end of the polishing device can be adaptively pressed on the uneven wall surface during operation, and the polishing component 700 can be pressed on the wall surface all the time, so that the polishing device 1000 can be adopted to reduce the motion precision of the execution tail end of the polishing device, improve the operation efficiency and reduce the polishing cost.

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

Drawings

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

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

FIG. 2 is an exploded view of a sanding device in accordance with an embodiment of the present invention;

FIG. 3 is a left side view of FIG. 1;

FIG. 4 is a first diagram illustrating a partial structure according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a floating mechanism according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a part of the mechanism in the embodiment of the invention.

Reference numerals:

1000. a polishing device;

100. a base; 99. a base floor; 98. a base back plate; 97. a side plate; 96. a guide rail seat;

200. a feed mechanism; 199. a guide rail; 198. a slider; 197. a telescopic driving member; 196. a floating joint; 195. a connecting plate;

300. a floating mechanism; 298. a fixed seat; 289. a base plate; 288. a fixing plate; 287. a rib plate; 286. a sensor holder; 297. a floating seat; 296. a guide assembly; 269. a guide sleeve; 268. a bolt; 267. a guide shaft; 266. a screw; 265. a gasket; 264. tabletting; 263. a cushion pad; 295. a floating elastic member; 294. an adjustment member;

400. a detection member; 500. a travel switch;

600. a follow-up mechanism; 596. a first pivot member; 569. a horizontal hinged support; 568. horizontally hinging the lug; 597. a follower plate; 598. a second pivot member; 589. a vertical hinge lug; 588. a vertical hinged support; 587. a rotating shaft;

700. polishing the assembly; 698. a shield; 689. a containing groove; 697. grinding disc; 696. a drive shaft; 695. a nut; 693. an overload protection member; 692. a drive member;

800. stretching the elastic member; 799. and (5) pulling the plate.

Detailed Description

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

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.

In the description of the present invention, "a plurality" means two or more unless otherwise specified.

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

A polishing apparatus 1000 according to an embodiment of the present invention will be described below with reference to the drawings.

As shown in fig. 1, an abrading device 1000 according to an embodiment of the present invention includes: base 100, floating mechanism 300, grinding assembly 700, follower mechanism 600.

The floating mechanism 300 is provided on the base 100, and can float back and forth along the grinding feed direction, thereby absorbing the axial vibration impact during the grinding operation. The grinding assembly 700 is used to grind a work surface.

The follow-up mechanism 600, the follow-up mechanism 600 includes a first pivot member 596, a second pivot member 598, a follow-up plate 597, one end of the first pivot member 596 is connected with the follow-up plate 597 and the other end is connected with the grinding assembly 700 so that the grinding assembly 700 can rotate around a first direction, one end of the second pivot member 598 is connected with the follow-up plate 597 and the other end is connected with the floating mechanism 300 so that the follow-up plate 597 can rotate around a second direction, wherein the second direction is perpendicular to the first direction. When grinding device 1000 compresses tightly the wall, grinding component 700 can change the contained angle with relocation mechanism 300 along with the unsmooth and inclination of wall, improves the adaptability of grinding component 700 operation, reduces the requirement of grinding device 1000 and wall depth of parallelism, reduce cost.

It should be noted that the following mechanism 600 and the floating mechanism 300 are functionally combined to make the grinding assembly 700 have a good obstacle crossing function, and when the grinding assembly 700 encounters an obstacle such as a steel bar foreign object, the grinding assembly 700 can smoothly pass through by swinging of the grinding assembly 700 and floating of the floating mechanism 300.

According to the polishing device 1000 of the embodiment of the invention, the polishing device 1000 reduces the vibration caused by the polishing operation through the floating mechanism 300, plays a good role in vibration reduction and buffering, and improves the adaptability to the concave-convex change of the wall surface, and the polishing assembly 700 connected to the follow-up plate 597 can swing upwards in two mutually perpendicular directions through the first pivoting piece 596 and the second pivoting piece 598 of the follow-up mechanism 600, so that the polishing device 1000 can always press the wall surface, the polishing quality can be ensured, and the operation efficiency can be improved.

In some embodiments, both ends of the follower plate 597 in the vertical direction are provided with the first pivot member 596, and the first direction is the vertical direction. Specifically, as shown in fig. 1 and 6, the first pivot member 596 includes: the horizontal hinge lug 568 and the horizontal hinge base 569 are fixed at the upper end and the lower end of the follow-up plate 597, the two groups of horizontal hinge lugs 568 are fixed on the grinding assembly 700, the horizontal hinge lugs 568 are connected with the horizontal hinge base 569 through a rotating shaft 587, and the rotating shaft 587 is fixed on the horizontal hinge base 569 through screws 266. The hinged arrangement of the two sets of horizontal hinge eyes 568 and the horizontal hinge supports 569 allows the sanding assembly 700 to swing horizontally about a vertical axis. Both ends of the follower plate 597 in the horizontal direction are provided with second pivot members 598, and the second direction is the horizontal direction. Specifically, as shown in fig. 1 and 6, the first pivot member 596 includes: the vertical hinge joint 589 and the vertical hinge seats 588, wherein two groups of vertical hinge joints 589 are fixed at the left end and the right end of the follow-up plate 597, the two groups of vertical hinge seats 588 are fixed on the floating mechanism 300, the vertical hinge seats 588 are connected with the vertical hinge joints 589 through rotating shafts 587, and the rotating shafts 587 are fixed on the vertical hinge seats 588 through screws 266. The hinged arrangement of the two sets of vertical hinge blocks 588 and vertical hinge eyes 589 allows the sanding assembly 700 to swing up and down about a horizontal axis. Through above-mentioned this mode, horizontal hinge structure and perpendicular hinge structure combination can realize that grinding device 1000 passes through the swing of follow-up plate 597 around two directions at the contact working face to the compressing tightly of adaptability guarantees the quality of polishing on the working face.

It should be noted that the two sets of horizontal hinge eyes 568 may also be fixed to the grinding assembly 700, the two sets of horizontal hinge seats 569 may also be fixed to the upper and lower ends of the follower plate 597, the two sets of vertical hinge eyes 589 may also be fixed to the floating mechanism 300, and the two sets of vertical hinge seats 588 may also be fixed to the left and right ends of the follower plate 597, which have the same effect and are not described herein again.

In some embodiments, the first direction and the second direction are the same horizontal direction. For example, the polishing apparatus 1000 is used for polishing a wall surface of a ceiling, in which the first direction and the second direction are the same horizontal direction, and the polishing apparatus 1000 implements the forward and backward direction and the leftward and rightward direction swing of the polishing assembly 700 through the following mechanism 600. The description is given by way of example of wall sanding of a ceiling, however this is not to be construed as limiting the scope of the invention.

As shown in fig. 3 and 6, in some embodiments, the abrading device 1000 further comprises: a plurality of tensile elastic members 800, the plurality of tensile elastic members 800 being disposed at intervals along a circumferential direction of the sanding assembly 700, one end of the tensile elastic members 800 being connected to the sanding assembly 700 and the other end thereof being connected to the floating mechanism 300. Specifically, the tensile elastic member 800 is a tension spring, one end of which is connected to the floating mechanism 300, the other end of which is connected to the polishing assembly 700 through a pulling plate 799, and the pulling plate 799 is rigidly connected to the polishing head assembly. The three groups of tension springs are uniformly distributed at an included angle of 120 degrees along the axis direction of the polishing component 700, one group of tension springs are positioned right above the polishing component 700, and the tension forces of the three groups of tension springs are equal in the vertical and horizontal directions, so that the tension forces of the three groups of tension springs are mutually offset. It is worth mentioning that the cooperation of the plurality of tensile elastic members 800 and the follower 600 realizes that the polishing assembly 700 swings around the axis of the polishing assembly 700 within a certain angle, for example, so that the polishing disc 697 in the polishing process can always press the wall surface when the polishing device 1000 has an included angle of less than 5 degrees relative to the wall surface and the concave-convex change of the wall surface is less than 20 mm.

As shown in fig. 2 and 5, in some embodiments, the float mechanism 300 includes: a fixed seat 298, a floating seat 297, a plurality of floating elastic members 295. The fixing base 298 is disposed on the base 100. Specifically, the fixing base 298 includes: a bottom plate 289, a fixing plate 288 and two rib plates 287, which are connected and fixed by screws 266. A second pivot 598 is provided on the floating seat 297. A plurality of floating elastic members 295 are circumferentially spaced apart, and one end of the floating elastic member 295 is connected to the floating seat 297 and the other end is connected to the base 100. Specifically, the elastic component 295 that floats is the spring, and grinding device 1000 can absorb the axial vibration impact of the operation in-process of polishing through the compressibility of spring, and grinding device 1000 realizes that grinding device 1000 is invariable relatively at the unsmooth change time of wall within 3mm through the quantity and the spring rate coefficient that match the spring, need not other mechanism regulation, and grinding assembly 700 alright in order to laminate wall smooth movement, invariable grinding pressure and stable grinding speed make the quality of polishing be superior to the quality of artificially polishing.

As shown in fig. 4, in some embodiments, the abrading device 1000 further comprises: the feeding mechanism 200, the feeding mechanism 200 is disposed between the fixing base 298 and the base 100 to drive the fixing base 298 to perform a feeding motion along a direction perpendicular to the polishing surface, and the feeding mechanism 200 can provide a polishing pressure of the polishing assembly 700 to the working surface. For example, the feeding direction is forward and backward, the feeding mechanism 200 adjusts the grinding assembly 700 to gradually approach and press the grinding assembly on the wall surface for grinding operation, and meanwhile, the feeding mechanism 200 applies an operating force perpendicular to the grinding surface to the grinding assembly 700, thereby controlling the grinding pressure. It should be noted that the polishing device 1000 can control the constant polishing pressure of the wall surface through the feeding mechanism 200 and the floating elastic member 295.

As shown in fig. 2 and 4, in some embodiments, the polishing apparatus 1000 further includes: the detecting member 400 is used for detecting the deformation amount of the floating elastic member 295, and the detection data of the detecting member 400 combined with the number of the floating elastic members 295 can be used for controlling the feeding amount of the feeding mechanism 200, so that the grinding assembly 700 can grind the working surface at constant pressure. For example, the detection piece 400 is a displacement sensor or a pressure sensor, when the detection piece 400 is a displacement sensor, the displacement sensor judges the deformation of the floating elastic piece 295 by detecting the distance change between the fixed seat 298 and the floating seat 297, the polishing device 1000 further obtains the polishing pressure by calculation, when the deformation of the floating elastic piece 295 is too large due to the uneven change of the wall surface, the polishing device 1000 adjusts the feeding mechanism 200 according to the value detected and fed back by the displacement sensor so as to ensure the relatively constant polishing pressure of the polishing operation, and the good polishing quality is ensured. If the deformation of the floating elastic member 295 is x, the grinding pressure F is the product of the number a of the floating elastic members 295, the deformation x and the spring rate k: and F is akx. The detecting member 400 is a pressure sensor which directly detects pressure for controlling the feeding amount of the feeding mechanism 200, so that the grinding assembly 700 polishes the working surface at a constant pressure. It should be noted that the polishing apparatus 1000 can polish a wall surface by constant pressure control, and can be applied to a work scene having a pressure requirement on a work surface, for example, a scene having a constant work pressure or a small pressure variation.

As shown in fig. 2, in some embodiments, the fixing base 298 is provided with a sensor bracket 286, and the detecting member 400 is provided on the fixing base 298 through the sensor bracket 286. The sensor bracket 286 is fixed to the rib 287 by screws 266, providing a mounting space for the detecting member 400.

As shown in fig. 2, in some embodiments, the polishing apparatus 1000 further comprises: travel switch 500, travel switch 500 are established on the fixing base 298 of relocation mechanism 300, travel switch 500 is grinding device 1000 information feedback device, travel switch 500 is the spacing secondary protect function on grinding device 1000, because concrete indoor ceiling height is inconsistent, when grinding device 1000 plans the route and surpasss the on-the-spot height or the on-the-spot foreign matter is protruding time travel switch 500 provides spacing information feedback, avoids grinding device 1000 striking protruding foreign matter or ceiling.

As shown in fig. 5, in some embodiments, the float mechanism 300 further comprises: a guide assembly 296, and an adjustment member 294. Both ends of the floating seat 297 along the first direction and/or both ends of the floating seat 296 along the second direction are provided with guide assemblies 296, and one end of each guide assembly 296 is connected with the floating seat 297 and the other end is connected with the fixed seat 298. Guide assemblies 296 are disposed at both ends of the floating seat 297 along the first direction, one end of each guide assembly 296 is connected to the floating seat 297 and the other end is connected to the fixed seat 298, the initial distance between the floating seat 297 and the fixed seat 298 is determined by the length of the guide assembly 296, the initial tension between the floating seat 297 and the fixed seat 298 is determined by the rigidity and the pre-compression deformation of the floating elastic members 295, and the adjustable distance between the floating seat 297 and the fixed seat 298 is determined by the maximum compression of the floating elastic members 295. Alternatively, both ends of the floating seat 297 along the second direction are provided with the guiding assemblies 296, one end of the guiding assembly 296 is connected to the floating seat 297 and the other end is connected to the fixing seat 298, and the influence factors of the initial distance, the initial tension force and the adjustable distance between the floating seat 297 and the fixing seat 298 are not changed, and are not further described herein. Of course, both ends of the floating seat 297 along the first direction and the second direction may be provided with a guide assembly 296, one end of the guide assembly 296 is connected to the floating seat 297 and the other end is connected to the fixing seat 298, and the influence factors of the initial distance, the initial tension force and the adjustable distance between the floating seat 297 and the fixing seat 298 are not changed, and are not described herein again.

As shown in fig. 5, in some embodiments, two sets of guide members 296 and six sets of floating elastic members 295 are disposed between the fixed seat 298 and the floating seat 297. Two sets of guide assemblies 296 and four sets of floating elastic elements 295 are symmetrically arranged relative to the left and right structure sizes of the floating seat 297 and the fixed plate 288, so that the uniform stress of the floating seat 297 is ensured. The two sets of floating elastic members 295 are designed and installed at positions determined according to the bending moment of the weight of the mechanism installed on the floating seat 297 relative to the guide assembly 296, so as to balance the moment generated by the load of the mechanism installed on the floating seat 297, so that the floating seat 297 can freely extend and contract relative to the guide assembly 296, thereby reducing the extension and contraction resistance and wear of the floating mechanism 300 and prolonging the service life of the floating mechanism 300.

As shown in fig. 2, specifically, the guide assembly 296 includes: the guide shaft 267 is fixed on a fixing plate 288 through a bolt 268, one end of the guide shaft 267 is fixed on a floating seat 297 through a bolt 266, the other end of the guide shaft 267 penetrates through the guide sleeve 269 to be connected with the cushion 263, and the pressing plate 264 and the cushion 265 are connected with the guide shaft 267 through the bolt 266 and press the cushion 263.

As shown in fig. 2, the adjusting member 294 is disposed between the floating elastic member 295 and the fixing base 298, the adjusting member 294 is telescopically disposed on the fixing base 298, and the adjusting member 294 is connected to the floating elastic member 295 to adjust the amount of pre-compression deformation of the floating elastic member 295.

As shown in fig. 2, in some embodiments, the adjusting member 294 is an adjusting screw, which is mounted on the fixed seat 298 and is screwed to adjust the amount of pre-compression deformation of the floating elastic member 295, thereby affecting the initial tension between the floating seat 297 and the fixed seat 298.

As shown in fig. 4, in some embodiments, an accommodating space (not shown) is defined between the lower portion of the fixing seat 298 and the base 100, and the feeding mechanism 200 is disposed in the accommodating space, in this way, the structure is compact, and space saving is facilitated. The feeding mechanism 200 includes: the guide rail 199 and the telescopic driving piece 197, the guide rail 199 is arranged on the base 100, and the fixed seat 298 is in sliding fit with the guide rail 199; the retractable driving member 197 is connected to the fixing base 298 to drive the fixing base 298 to move along the polishing feeding direction.

Specifically, the telescopic driving member 197 is any one of a feed electric push rod, an air cylinder, and a hydraulic cylinder, so as to provide telescopic motion, and of course, the telescopic driving member 197 may also be other moving mechanisms, which will not be described herein.

As shown in fig. 4, in some embodiments, the feeding mechanism 200 further comprises: the connecting plate 195, the floating joint 196, the slide block 198 and the telescopic driving piece 197 are feeding electric cylinders; the feeding electric cylinder and the two groups of guide rails 199 are fixed on the base 100 through screws 266, two ends of the floating joint 196 are respectively connected with a piston rod of the feeding electric cylinder and a connecting plate 195, and the connecting plate 195 and the sliding block 198 are connected with a fixed seat 298 of a floating mechanism 300 through the screws 266. The grinding assembly 700 is installed on the floating mechanism 300 through the follow-up mechanism 600, the feed electric cylinder stretches and retracts to drive the floating mechanism 300 to stretch and retract relative to the base 100, and the grinding assembly 700 is pressed or far away from a ground wall surface. It is noted that the feeding mechanism 200, in combination with the floating mechanism 300 and the detecting member 400, realizes constant pressure control of the sanding operation, and the feeding mechanism 200 provides a sanding pressure in which the sanding unit 700 presses the wall surface.

As shown in fig. 2, in some embodiments, the sharpening assembly 700 comprises: shield 698, drive 692, sanding disk 697, overload protector 693. The shield 698 is connected to the first pivot member 596, and the end of the shield 698 facing the working surface has a receiving groove 689, and the shield 698 plays a role of protection, wherein the receiving groove 689 can provide a mounting space of related components. A driving member 692 is disposed on the shield 698, and the driving member 692 is used to drive the polishing disk 697 to rotate, so as to provide the rotational driving force required for polishing. A sanding disc 697 is disposed within the pocket 689, the diameter of the sanding disc 697 being related to the maximum size of any one of the components of the abrading device 1000. Specifically, the polishing device 1000 reduces the length structure size of the whole polishing device 1000 by connecting the feeding mechanism 200, the floating mechanism 300 and the following mechanism 600 in parallel, and simultaneously compresses the maximum size of related components such as the feeding mechanism 200, the floating mechanism 300 and the following mechanism 600 within the diameter of the polishing disc 697 by carrying out miniaturization optimization design on parts of the whole polishing device 1000, so that the coverage rate of the polishing device 1000 is greatly improved, the whole polishing device 1000 has a compact structure and large floating compression amount and following swing amount, and the flexibility of the polishing device 1000 for adapting to wall surface changes is greatly improved. Drive piece 692 and the other end connection mill 697 are connected to overload protection piece 693's one end, drive piece 692 drives through overload protection piece 693 and grinds mill 697 and rotate, overload protection piece 693 provides the guard action, make grinding device 1000 protect drive piece 692 and the cutter of polishing (promptly mill the dish 697) of polishing when starting and crossing the barrier through overload protection function, improve grinding device 1000's adaptability and continuous operation ability, can reduce the vibration because of the wall is not smooth to be aroused simultaneously, and the service life is prolonged.

In some embodiments, the drive 692 is any of an electric motor, a pneumatic motor, and a hydraulic motor.

As shown in fig. 2, in some embodiments, the driving member 692 is a motor, the overload protection member 693 is an overload clutch, and the sanding assembly 700 further comprises: brush 691, drive shaft 696, pressing piece 264 and nut 695. The shroud 698 has a suction port (not shown) for connection to a suction device (not shown) and a brush 691 is secured to the shroud 698 to prevent the abrasive dust from spreading to the environment. The motor is fixed on the shield 698, and the output shaft of the motor is connected with the overload clutch to provide grinding power for the grinding disc 697. The output end of the overload clutch is connected with a transmission shaft 696, and a polishing disc 697 is fixed on the output shaft of the motor through a pressing sheet 264 and a nut 695. The motor drives the transmission shaft 696 to rotate to realize the rotation of the polishing disc 697. The overload clutch protects the polishing disc 697 and the motor from overload damage in the operation process, when the torque applied to the polishing disc 697 exceeds a set value, the overload clutch interrupts the torque transmission between the motor and the transmission shaft 696, and when the torque applied to the polishing disc 697 is less than the set value, the overload clutch resets to automatically connect the torque transmission between the motor and the transmission shaft 696.

In some embodiments, the overload protection member 693 is a ball torque limiter capable of automatically resetting, and automatically disengages when the polishing disc 697 is higher than a set torque value, the motor idles the polishing disc 697 to stop rotating, and automatically resets when external resistance is smaller than the set torque value, the motor drives the polishing disc 697 to continue polishing operation, so that the motor and the polishing disc 697 are protected from being damaged when the polishing device 1000 passes through an obstacle, the service life of the polishing device 1000 is prolonged, vibration caused by uneven wall surface can be reduced, and the adaptability of the complex working condition of the polishing device 1000 is improved.

As shown in fig. 4, in some embodiments, the base 100 includes: the base comprises a base bottom plate 99, a base back plate 98, side plates 97 and a guide rail seat 96, wherein the base back plate 98 is arranged behind the base bottom plate 99, the two side plates 97 are respectively arranged at the left side and the right side of the base back plate 98, the bottoms of the two side plates 97 are connected with the base bottom plate 99, the guide rail seat 96 is arranged on the base bottom plate 99, and the base bottom plate 99, the base back plate 98, the side plates 97 and the guide rail seat 96 are connected through bolts 268. The fixed seat 298 of the floating mechanism 300 is provided on the rail seat 96 through the rail 199.

An embodiment of the sanding device 1000 of the present invention is described below with reference to fig. 1-6.

A grinding device 1000 comprises a base 100, a feeding mechanism 200, a floating mechanism 300, a detection piece 400, a travel switch 500, a follow-up mechanism 600, a grinding assembly 700 and a tensile elastic piece 800.

The base 100 includes: the polishing device comprises a base bottom plate 99, a base back plate 98, side plates 97 and guide rail seats 96, wherein the base back plate 98 is fixed at the rear end of the base bottom plate 99, the side plates 97 are arranged on the left and right, the left and right side plates 97 are respectively fixed at the left and right ends of the base bottom plate 99 and are connected with the base back plate 98, the two guide rail seats 96 are respectively fixed on the left and right sides of the base bottom plate 99, the base back plate 98, the side plates 97 and the guide rail seats 96 are connected through bolts 268, and other mechanism components of the polishing device 1000 are all installed on a base 100.

The feeding mechanism 200 includes: the two guide rails 199 are respectively fixed on the corresponding guide rail seat 96 through screws 266, the two guide rails 199 are respectively provided with the corresponding slide blocks 198, the two slide blocks 198 can respectively slide back and forth on the corresponding two guide rails 199, the slide blocks 198 are connected on a floating mechanism 300 through the screws 266, the telescopic driving piece 197 is arranged between the two guide rails 199, the telescopic driving piece 197 is fixed on a base bottom plate 99 through the screws 266, the telescopic driving piece 197 is an electric feeding cylinder, the telescopic end of the telescopic driving piece 197 is connected with the floating joint 196, the floating joint 196 is connected with the connecting plate 195, and the connecting plate 195 is connected with the floating mechanism 300 through the screws 266.

The floating mechanism 300 includes: fixing base 298, floating base 297, guide assembly 296, floating elastic piece 295, regulating piece 294, fixing base 298 includes: bottom plate 289, fixed plate 288, two gusset 287, sensor support 286, bottom plate 289 front end is fixed with vertical fixed plate 288, fixed plate 288 back bottom plate 289 top is fixed with two gusset 287, left side gusset 287 top is fixed with sensor support 286, bottom plate 289, fixed plate 288, gusset 287, sensor support 286 links to each other fixedly through screw 266, bottom plate 289 pass through screw 266 respectively with two sliders 198, connecting plate 195 fixed connection, drive floating mechanism 300 and slide from beginning to end on guide rail 199 under the drive of feeding the electric cylinder, be connected with detection piece 400 on the sensor support 286, be equipped with floating seat 297 in the front of fixed plate 288. The floating seat 297 is connected to the fixed plate 288 by two sets of guide members 296 and six sets of floating springs 295. The guide assembly 296 includes: the guide sleeve 269 is fixed on the fixing plate 288 through the bolt 268, the screw 266 is fixed at the rear end of the guide shaft 267, the screw 266 penetrates through the gasket 265, the pressing plate 264 and the cushion 263 in sequence and is fastened on the guide shaft 267, and the guide shaft 267 penetrates through the guide sleeve 269 and is fixed on the floating plate through the screw 266. The floating elastic member 295 is a spring, the front end of the floating elastic member 295 is fixed on the floating seat 297, the rear end of the floating elastic member 295 is connected with the adjusting member 294, the adjusting member 294 is an adjusting screw, the adjusting member 294 is mounted on the fixing plate 288, and the pre-pressure deformation amount of the floating elastic member 295 is adjusted by the adjusting member 294.

The detecting element 400 is a displacement sensor, the detecting element 400 is fixed above the sensor support 286, the detecting element 400 detects the distance between the floating seat 297 and the fixing plate 288, and provides the data information of the compression amount of the spring to provide the feedback information for the constant pressure control.

Travel switch 500 is fixed on the right side of detection piece 400 and is grinding device 1000 information feedback device, avoids grinding device 1000 striking protruding foreign matter or ceiling.

The following mechanism 600 includes: a second pivot 598, a follower plate 597, a first pivot 596, the second pivot 598 connecting the follower plate 597 with the floating seat 297, the second pivot 598 comprising: the vertical hinge joint 589, the axis of rotation 587, two sets of vertical hinge joints 588 are fixed on the floating seat 297, two sets of vertical hinge joint 589 are fixed on the follower plate 597, the vertical hinge joint 589 and the vertical hinge joint 589 are connected through the axis of rotation 587, the axis of rotation 587 is fixed on the vertical hinge joint 588 through the screw 266. The hinged arrangement of the two sets of vertical hinge eyes 589 and the vertical hinge eyes 589 allows the sanding assembly 700 to swing up and down. A first pivot member 596 connects the follower plate 597 with the sharpening assembly 700, the first pivot member 596 comprising: the horizontal hinge lug 568, the horizontal hinge seat 569 and the rotating shaft 587, wherein the two groups of horizontal hinge seats 569 are fixed on the follow-up plate 597, the two groups of horizontal hinge lugs 568 are fixed on the grinding assembly 700 and are connected through the two groups of rotating shafts 587, and the two groups of rotating shafts 587 are fixed on the horizontal hinge seats 569 through the screws 266. The hinged arrangement of the two sets of horizontal hinge eyes 568 and the horizontal hinge mount 569 provides for horizontal swinging of the sanding assembly 700.

The grinding assembly 700 includes: the grinding device comprises a protective cover 698, a grinding disc 697, a transmission shaft 696, a nut 695, a pressing sheet 264, an overload protection part 693, a driving part 692 and a brush 691, wherein the protective cover 698 is connected with a follow-up mechanism 600 through two groups of horizontal hinge lugs 568, the forward surface of the protective cover 698 is provided with a containing groove 689, the grinding disc 697 is contained in the containing groove 689, the grinding disc 697 rotates around the transmission shaft 696, the transmission shaft 696 penetrates through the axle center of the grinding disc 697 to be screwed with the nut 695 and the pressing sheet 264 to fasten the grinding disc 697, the transmission shaft 696 is arranged on the overload protection part 693, the overload protection part 693 is a ball torque limiter, the overload protection part 693 is arranged on the driving part 692, when the torque applied to the grinding disc 697 exceeds a set value, the overload protection part 693 is separated from the torque transmission between the driving part 692 and the transmission shaft 696, the driving part is a motor, and the whole driving part penetrates through the follow-up plate 597 and a floating seat 297 to be fixed on the fixing plate 691. The brush 691 is circumferentially fixed in front of the shield 698 to block dust from diffusing into the environment.

The stretching elastic members 800 are tension springs, one ends of the three stretching elastic members 800 are connected with the floating plate, the other ends of the three stretching elastic members 800 are connected with the shield 698 through a pulling plate 799, and the pulling plate 799 is rigidly connected with the shield 698. The three groups of tensile elastic members 800 are uniformly distributed along the axis direction of the polishing disk 697 at included angles of 120 degrees, and one group is positioned right above the polishing head disk.

The combination of the floating mechanism 300 and the feeding mechanism 200 can accurately control the pressing force between the polishing disc 697 and the wall surface, i.e. the polishing pressure, the movable end of the electric cylinder of the feeding mechanism 200 extends out to drive the floating mechanism 300 and the polishing assembly 700 to move until the compression amount of the spring reaches a set value (i.e. the distance between the floating seat 297 and the fixing plate 288 is reduced by a set value) after the polishing disc 697 presses the wall surface, and the polishing pressure is the product of the number of the springs and the total compression amount of the spring (including the initial compression amount of the springs). Different polishing operating modes correspond different pressure of polishing, and the pressure through the flexible of feeding the electric jar and the floating spring provides steady and accurate pressure control of polishing, can realize the accurate control of pressure of polishing and can avoid polishing the vibration again to the influence of feeding the electric jar, has effectively prolonged the life-span of feeding the electric jar.

When grinding device 1000 polishes the operation to vertical wall, provide pressure of polishing for polishing disc 697 through feed mechanism 200, when meetting the bellied condition of wall, the elastic component 295 that floats is automatic to be compressed, the detection piece 400 detects the compression volume, grinding device 1000 calculates and reaches pressure of polishing, grinding device 1000 controls flexible driving piece 197 shrink, pressure of polishing remains invariable all the time, work as about the condition to the wall slope, at the extrusion line of wall, the subassembly 700 of polishing is through following mechanism 600 around floating seat 297 swing adaptation wall slope.

A grinding apparatus (not shown) of an embodiment of the present invention is described below.

A polishing apparatus according to an embodiment of the present invention includes the polishing device 1000 described above.

In some embodiments, the abrading apparatus is an abrading robot and abrading device 1000 is an actuator of the abrading robot. The polishing robot realizes through follower 600 that polishing device 1000 exists at relative wall and is less than 5 degrees contained angles and the unsmooth change of wall and is less than 20 mm's operating mode under, and the operation in-process of polishing is polished set 697 and is compressed tightly the wall all the time, reduces polishing robot's positioning accuracy and actuating mechanism motion accuracy, improves the operating efficiency, reduces polishing robot cost. Meanwhile, the polishing pressure of the polishing device 1000 is relatively constant when the number and the rigidity coefficient of the springs are matched, so that the polishing pressure is relatively constant when the wall surface is changed in a +/-3 mm mode, the adjustment of a robot executing mechanism or a feeding mechanism 200 is not needed, the polishing disc 697 can be attached to the wall surface to move smoothly, and the polishing quality is superior to the manual polishing quality due to the constant polishing pressure and the stable polishing speed. Moreover, the grinding robot enables the grinding device 1000 to normally operate when the included angle between the perpendicularity of the robot actuating mechanism and the concrete wall surface is less than 5 degrees due to the fact that the ground is uneven through the follow-up mechanism 600, the requirement of the robot on the flatness of the ground is reduced, and the adaptability of the robot to the operation environment is improved.

Other constructions and operations of the grinding apparatus 1000 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

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

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

Claims

1. An abrading device, comprising:

a base;

the floating mechanism is arranged on the base and can float back and forth along the polishing feeding direction;

the polishing assembly is used for polishing the working surface;

a follower mechanism including a first pivot member, a second pivot member, a follower plate, the first pivot member having one end connected to the follower plate and the other end connected to the sanding assembly such that the sanding assembly is rotatable about a first direction, the second pivot member having one end connected to the follower plate and the other end connected to the float mechanism such that the follower plate is rotatable about a second direction, wherein the second direction is perpendicular to the first direction;

the two ends of the follow-up plate along the vertical direction are both provided with the first pivoting pieces, and the first direction is the vertical direction;

the second pivoting pieces are arranged at the two ends of the follow-up plate along the horizontal direction, and the second direction is the horizontal direction; wherein, grinding device still includes:

the elastic stretching piece is connected with the polishing assembly at one end and connected with the floating mechanism at the other end.

2. The abrading device of claim 1, wherein the tensile resilient member is a plurality of tensile resilient members spaced apart along a circumference of the abrading assembly.

3. The abrading device of claim 1, wherein the float mechanism comprises:

the fixed seat is arranged on the base;

the second pivoting piece is arranged on the floating seat;

the floating elastic pieces are arranged at intervals along the circumferential direction, one end of each floating elastic piece is connected with the floating seat, and the other end of each floating elastic piece is connected with the base.

4. A sanding device as defined in claim 3, further comprising:

the feeding mechanism is arranged between the fixed seat and the base to drive the fixed seat to perform feeding motion along the direction perpendicular to the grinding surface, and the feeding mechanism can provide grinding pressure of the grinding assembly on the working surface.

5. An abrading device as defined in claim 4, further comprising:

the detection piece is used for detecting the deformation of the floating elastic piece, and the detection data of the detection piece is combined with the quantity of the floating elastic piece to control the feeding quantity of the feeding mechanism so as to enable the polishing assembly to polish the working face at constant pressure.

6. The abrading device of claim 3, wherein the float mechanism further comprises:

the two ends of the floating seat along the first direction and/or the two ends of the floating seat along the second direction are/is provided with the guide assemblies, one end of each guide assembly is connected with the floating seat, and the other end of each guide assembly is connected with the fixed seat;

the adjusting part is arranged between the floating elastic part and the fixed seat, the adjusting part is telescopically arranged on the fixed seat, and the adjusting part is connected with the floating elastic part to adjust the prepressing deformation of the floating elastic part.

7. The polishing apparatus as set forth in claim 4, wherein a receiving space is defined between a lower portion of the holder and the base, and the feed mechanism is provided in the receiving space, the feed mechanism including:

the guide rail is arranged on the base, and the fixed seat is in sliding fit with the guide rail;

the telescopic driving part is connected with the fixed seat to drive the fixed seat to move along the polishing feeding direction.

8. The abrading device of claim 1, wherein the abrading assembly comprises:

the protective cover is connected with the first pivoting piece, and one end of the protective cover facing to the working surface is provided with a containing groove;

the driving piece is arranged on the shield;

the polishing disc is arranged in the containing groove;

the overload protection piece, the driving piece is connected to overload protection piece's one end and the other end is connected the polishing dish, the driving piece passes through overload protection piece drives the polishing dish rotates.

9. An abrading device, characterized in that it comprises an abrading means according to any of claims 1-8.