CN112792644A

CN112792644A - Automatic building wall surface polishing robot and automatic polishing method

Info

Publication number: CN112792644A
Application number: CN202110128498.XA
Authority: CN
Inventors: 周擎坤; 段攀; 刘业; 余卓; 叶程恺
Original assignee: Hunan Highengine Intelligent Technology Co ltd
Current assignee: Hunan Highengine Intelligent Technology Co ltd
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2021-05-14

Abstract

The invention discloses an automatic building wall surface polishing robot and a polishing method, wherein the polishing robot comprises a robot, a movement mechanism and a polishing mechanism; the movement mechanism comprises a sliding trolley, a lifting guide rail and a lifting driving piece, and the lifting guide rail is arranged on the sliding trolley; the robot is arranged on the lifting guide rail and driven by the lifting driving piece to lift up and down along the lifting guide rail; and the grinding mechanism is arranged on the robot and used for grinding the wall surface. The automatic polishing machine has the advantages of high automation degree, high polishing efficiency, high polishing quality, low labor cost, safety, reliability and the like.

Description

Automatic building wall surface polishing robot and automatic polishing method

Technical Field

The invention mainly relates to the technical field of building construction, in particular to an automatic building wall surface polishing robot and an automatic polishing method.

Background

The process of polishing the wall surface of a building (such as putty powder polishing) is an important construction project in the field of construction, and the purpose of improving the flatness of the wall surface is achieved mainly by polishing the wall surface of the building. In the traditional grinding process, the wall surface is usually ground by manually-held sand paper or a manually-held electric grinding machine, and the grinding mode has the disadvantages of large workload, low working efficiency, high labor intensity and difficulty in ensuring construction quality (such as wall surface flatness and the like); to wall top position, need set up platforms such as scaffold frame, the manual work is under construction on high platform, has safety risk such as fall.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: aiming at the problems in the prior art, the invention provides the automatic building wall surface polishing robot and the automatic polishing method which are high in automation degree and polishing efficiency.

In order to solve the technical problems, the technical scheme provided by the invention is as follows:

an automatic building wall surface polishing robot comprises a robot, a movement mechanism and a polishing mechanism;

the movement mechanism comprises a sliding trolley, a lifting guide rail and a lifting driving piece, and the lifting guide rail is arranged on the sliding trolley;

the robot is arranged on the lifting guide rail and driven by the lifting driving piece to lift up and down along the lifting guide rail;

and the grinding mechanism is arranged on the robot and used for grinding the wall surface.

As a further improvement of the above technical solution:

the bottom of the sliding trolley is provided with a pulley and a supporting leg used for lifting to position the sliding trolley.

And the sliding trolley is provided with a positioning unit for positioning the position of the sliding trolley so as to enable the sliding trolley to be positioned in a plane parallel to the wall forming theoretical surface.

The robot is a six-axis robot.

Grinding machanism includes rotating electrical machines, mill and flexible subassembly, the mill cover is located on rotating electrical machines's the rotation axis, rotating electrical machines install in on the flexible subassembly to be close to or keep away from the wall of waiting to polish under flexible subassembly is flexible, flexible subassembly install in on the robot.

The pressure detection piece is arranged between the grinding disc and the rotating motor and used for detecting the pressure between the grinding disc and the rotating motor, and the telescopic piece is connected with the pressure detection piece and used for adjusting the telescopic distance of the telescopic piece according to the pressure.

The telescopic assembly comprises a motor guide rail and a telescopic piece, the motor guide rail is perpendicular to the wall surface to be polished, the rotating motor is slidably mounted on the motor guide rail, the fixed end of the telescopic piece is mounted on the robot, and the telescopic end is connected with the rotating motor.

The motor guide rail is arranged on a transverse guide rail in a sliding mode, and the transverse guide rail is parallel to the wall surface to be polished.

The invention also discloses an automatic polishing method based on the automatic building wall polishing robot, which comprises the following steps:

1) pushing the sliding trolley to the front of the wall surface to be polished to enable the plane where the sliding trolley is located and the wall forming theoretical surface of the wall surface to be polished to be parallel to each other, and fixing the sliding trolley; the plane where the sliding trolley is located is a reference plane, and the wall-forming theoretical surface is obtained by calibrating a wall surface to be polished;

2) the grinding mechanism moves in the working face parallel to the reference surface by controlling the lifting motion of the lifting driving piece of the motion mechanism and the motion of the robot, and meanwhile, the grinding mechanism grinds the wall in the motion process.

As a further improvement of the above technical solution:

in the grinding process of the grinding mechanism, detecting the pressure on a grinding disc of the grinding mechanism in real time; and when the pressure reaches a preset range, judging that the polished wall surface reaches a wall-forming theoretical surface, and stopping polishing.

Compared with the prior art, the invention has the advantages that:

according to the automatic building wall surface polishing robot and the polishing method, the sliding trolley of the movement mechanism is used for rapidly moving to the corresponding position, so that the simplicity and the rapidity of operation are improved; the wall surface of a large area can be polished through the self movement of the robot and the lifting movement on the lifting guide rail, the whole polishing efficiency is high, and the polishing is easy to realize; the robot polishing mode is adopted, so that the operation is flexible and the automation degree is high; compared with a manual mode, the automatic polishing system is high in overall automation degree, high in polishing efficiency, high in polishing quality, low in labor cost, safe and reliable.

Drawings

Fig. 1 is a schematic perspective view of the system of the present invention in a specific application.

Fig. 2 is a schematic front view of the system of the present invention in a specific application.

FIG. 3 is a schematic diagram of a side view of the system of the present invention in a specific application.

Fig. 4 is a schematic structural view of the sliding cart according to the embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a grinding mechanism according to an embodiment of the present invention.

FIG. 6 is a flow chart of a method of the present invention in an embodiment.

FIG. 7 is a schematic representation of various aspects of the present invention in an embodiment.

The reference numbers in the figures denote: 1. a robot; 2. a motion mechanism; 201. a sliding trolley; 2011. a pulley; 2012. supporting legs; 2013. a handrail; 2014. a positioning unit; 202. a lifting guide rail; 203. a lifting drive member; 3. a polishing mechanism; 301. a rotating electric machine; 302. a grinding disc; 303. a telescoping assembly; 3031. a motor guide rail; 3032. a telescoping member; 3033. and a transverse guide rail.

Detailed Description

The invention is further described below with reference to the figures and the specific embodiments of the description.

As shown in fig. 1 to 3, the automatic building wall surface polishing robot of the present embodiment includes a robot 1 (e.g., a six-axis robot), a moving mechanism 2 and a polishing mechanism 3; the movement mechanism 2 comprises a sliding trolley 201, a lifting guide rail 202 and a lifting driving piece 203, wherein the lifting guide rail 202 is arranged on the sliding trolley 201; the robot 1 is arranged on the lifting guide rail 202 and driven by the lifting driving piece 203 to lift up and down along the lifting guide rail 202; namely, the polishing mechanism 3 moves in a larger range through the self movement and lifting movement of the robot 1; and the polishing mechanism 3 is arranged on the robot 1 and used for polishing the wall surface of a certain area in the moving process of the moving mechanism 2 and the self-moving process of the robot 1. The plane where the sliding trolley 201 is located is a reference plane, and a wall-forming theoretical surface (an ideal surface after final polishing) is obtained through calibration of a wall surface to be polished.

According to the automatic building wall surface polishing robot, the sliding trolley 201 of the movement mechanism 2 is used for rapidly moving to the corresponding position, so that the simplicity and the rapidity of operation are improved; the wall surface in a large area can be polished through the self-movement of the robot 1 and the lifting movement on the lifting guide rail 202, and the whole polishing efficiency is high and easy to realize; the polishing mode of the robot 1 is adopted, so that the operation is flexible and the automation degree is high; compared with a manual mode, the automatic polishing system is high in overall automation degree, high in polishing efficiency, high in polishing quality, low in labor cost, safe and reliable.

In a specific embodiment, as shown in fig. 5, the grinding mechanism 3 specifically comprises a rotating motor 301, a grinding disc 302 and a telescopic assembly 303, wherein the grinding disc 302 is mounted on a rotating shaft of the rotating motor 301, i.e. the grinding disc 302 rotates under the rotation of the rotating motor 301, so as to grind the wall surface. Wherein rotating electrical machines 301 installs on flexible subassembly 303 to can realize being close to or keeping away from the wall of waiting to polish under flexible subassembly 303's is flexible, flexible subassembly 303 then installs on robot 1. Specifically, the telescopic assembly 303 includes a motor guide rail 3031 and a telescopic member 3032 (such as a telescopic oil cylinder), the arrangement direction of the motor guide rail 3031 is perpendicular to the reference surface, the rotating electrical machine 301 is slidably mounted on the motor guide rail 3031 through a motor base, the telescopic end of the telescopic oil cylinder is connected with the base of the rotating electrical machine 301, and the grinding disc 302 of the rotating electrical machine 301 can be close to or far away from the wall surface through the telescopic operation of the telescopic oil cylinder, so that the grinding operation can be controlled conveniently. In addition, the motor guide rail 3031 may also be arranged on a transverse guide rail 3033, and the arrangement aspect of the transverse guide rail 3033 is parallel to the reference surface, so that the transverse position of the grinding disc 302 is also convenient to adjust, and the grinding disc is suitable for grinding a specific position such as a corner.

Further, a pressure detecting member (e.g., a pressure sensor, not shown) is disposed between the grinding disc 302 and the rotating motor 301 for detecting the pressure between the grinding disc 302 and the rotating motor 301. During the grinding operation, since the reference surface and the wall-forming theoretical surface are determined in advance, the final working surface of the grinding disc 302 and the wall-forming theoretical surface are in the same plane by adjusting the telescopic distance of the telescopic member 3032 according to the distance between the reference surface and the wall-forming theoretical surface. In the process of polishing, the pressure that grinding disc 302 received can be monitored in real time through the pressure sensor, so that the state of the current wall surface is judged, namely, if the wall surface to be polished is still thicker, the pressure that grinding disc 302 received at the moment is larger, and if the wall surface to be polished is close to the wall forming theoretical surface, the pressure that grinding disc 302 received is smaller. When the wall surface after being polished is in the wall forming theoretical surface, the pressure is close to zero, and the polishing operation can be stopped at the moment, so that the normal polishing operation is ensured. Of course, the telescopic distance of the telescopic member 3032 (telescopic cylinder) can also be controlled according to the pressure detection member, that is, when the pressure detected by the pressure detection member is larger, that is, the thickness of the wall surface to be polished is thicker, the telescopic cylinder can be further extended, so that the acting force of the grinding disc 302 on the wall surface is increased, and the polishing efficiency is improved; when the pressure detected by the pressure detection piece is small, namely the wall surface needing to be polished receives the wall forming theoretical surface, the telescopic oil cylinder can be shortened, so that the acting force of the grinding disc 302 on the wall surface is reduced, and the polishing precision is improved.

Further, a pressure buffer (similar to a spring) may be provided between the rotary motor 301 and the grinding disc 302, and the pressure buffer is in a natural state when the grinding disc 302 is in a wall forming theoretical plane. When the wall surface to be polished is still thicker, the pressure applied to the pressure buffer piece is larger, the corresponding rebound force is also larger, and the grinding disc 302 is leaned against the wall surface by the rebound force, so that the acting force of the grinding disc 302 on the wall surface is increased, and the polishing efficiency is improved; and the wall surface of polishing is close to the theoretical wall surface, the pressure that the pressure bolster received this moment can be smaller, and corresponding bounce also can be smaller, avoids the condition of the wall surface wearing and tearing that mill 302 effort too big and cause to guarantee the effect of polishing.

In a specific embodiment, as shown in fig. 4, a pulley 2011 and a support leg 2012 are installed at the bottom of the sliding trolley 201, a laser positioning unit 2014 is installed at the top of the sliding trolley 201, and handrails 2013 are further installed at two sides of the sliding trolley 201. During specific work, the trolley is pushed to reach the position right in front of a wall surface to be painted through the handrail 2013, then the laser positioning unit 2014 (such as a laser) is opened, the position of the sliding trolley 201 is positioned through the laser positioning unit 2014, and the position of the sliding trolley 201 is adjusted to be located in a reference plane (a plane parallel to a wall forming theoretical surface); after the positioning is completed, the four support legs 2012 (e.g., telescopic cylinders) at the bottom of the sliding cart 201 are extended out to support the sliding cart 201 so that the sliding cart 201 does not move any more, and the telescopic distance of each telescopic cylinder is adjusted to ensure that the sliding cart 201 is in a horizontal state. Above-mentioned sliding trolley 201's overall structure is simple, the removal is convenient and be convenient for fixed, is favorable to improving holistic efficiency of construction.

As shown in fig. 6, the invention also discloses an automatic polishing method based on the automatic building wall polishing robot, which comprises the following steps:

1) pushing the sliding trolley 201 to the front of the wall surface to be polished, enabling the plane of the sliding trolley 201 to be parallel to the wall forming theoretical surface (the final ideal wall surface) of the wall surface to be polished, and fixing the sliding trolley 201; the plane where the sliding trolley 201 is located is a reference plane, and a wall-forming theoretical surface is obtained by calibrating a wall surface to be polished;

2) by controlling the lifting motion of the lifting driving piece 203 of the motion mechanism 2 and the motion of the robot 1, the polishing mechanism 3 moves in a working surface parallel to a reference surface, and simultaneously the polishing mechanism 3 polishes a wall surface in the motion process;

3) in the process of polishing by the polishing mechanism 3, the pressure on the grinding disc 302 of the polishing mechanism 3 is detected in real time; and when the pressure reaches a preset range, judging that the polished wall surface reaches a wall-forming theoretical surface, and stopping polishing.

In a specific embodiment, as shown in fig. 7, the reference plane and the like are specifically configured as follows:

manually surveying the wall surface A, determining a wall-forming theoretical surface B which needs to be obtained after final polishing, wherein the distance h between the curved surface A and the vertical surface B is the thickness of the wall body which needs to be polished; manually translating the wall forming theoretical surface B by the distance h1 to obtain a vertical surface D, wherein the vertical surface D is a reference surface; working surface C of abrasive disc 302 is parallel to surfaces B and D. When polishing, can directly adjust the final distance of the flexible hydro-cylinder that corresponds, make the working face C that corresponds mill 302 be in the B plane (i.e. h2 ═ h1) to detect its pressure simultaneously, when detecting corresponding pressure and being about equal to 0, then show that this regional wall is polished and has reached the theoretical thickness of being in the wall, then polish and accomplish.

In a specific embodiment, in step 2), the motion track of the grinding mechanism 3 is generally S-shaped. Specifically, the polishing can be performed from top to bottom along the S-shaped track, or from bottom to top along the S-shaped track, or from left to right along the S-shaped track, or from right to left along the S-shaped track. The polishing track in the S shape can improve the overall spraying efficiency. Of course, in other embodiments, the entire wall surface may be divided into a plurality of sub-regions, each sub-region is polished one by one, and after polishing of one sub-region is completed, polishing of the next sub-region is performed; the polishing of the whole wall body can be realized by adopting a mode of polishing the whole wall body for many times.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.

Claims

1. An automatic building wall surface polishing robot is characterized by comprising a robot (1), a movement mechanism (2) and a polishing mechanism (3);

the movement mechanism (2) comprises a sliding trolley (201), a lifting guide rail (202) and a lifting driving piece (203), and the lifting guide rail (202) is installed on the sliding trolley (201);

the robot (1) is arranged on the lifting guide rail (202) and driven by the lifting driving piece (203) to lift up and down along the lifting guide rail (202);

and the grinding mechanism (3) is arranged on the robot (1) and is used for grinding the wall surface.

2. The automatic building wall grinding robot according to claim 1, characterized in that the bottom of the sliding trolley (201) is mounted with pulleys (2011) and support legs (2012) for lifting to position the sliding trolley (201).

3. The automatic grinding robot for building wall surfaces as claimed in claim 2, characterized in that a positioning unit (2014) is arranged on the sliding trolley (201) and used for positioning the position of the sliding trolley (201) so as to enable the sliding trolley to be located in a plane parallel to a wall forming theoretical surface.

4. The automatic building wall surface grinding robot according to any one of claims 1-3, wherein the robot (1) is a six-axis robot.

5. The automatic building wall surface grinding robot as claimed in any one of claims 1-3, wherein the grinding mechanism (3) comprises a rotating motor (301), a grinding disc (302) and a telescopic assembly (303), the grinding disc (302) is sleeved on a rotating shaft of the rotating motor (301), the rotating motor (301) is installed on the telescopic assembly (303) and is close to or far away from a wall surface to be ground under the telescopic effect of the telescopic assembly (303), and the telescopic assembly (303) is installed on the robot (1).

6. The automatic building wall surface grinding robot (1) according to claim 5, characterized in that a pressure detecting member is arranged between the grinding disc (302) and the rotating motor (301) and used for detecting the pressure between the grinding disc (302) and the rotating motor (301), and the telescopic member (3032) is connected with the pressure detecting member and used for adjusting the telescopic distance of the telescopic member (3032) according to the pressure.

7. The automatic building wall grinding robot (1) according to claim 6, characterized in that the telescopic assembly (303) comprises a motor guide rail (3031) and a telescopic member (3032), the motor guide rail (3031) is perpendicular to the wall to be ground, the rotating motor (301) is slidably mounted on the motor guide rail (3031), the fixed end of the telescopic member (3032) is mounted on the robot (1), and the telescopic end is connected with the rotating motor (301).

8. The automatic building wall grinding robot (1) according to claim 7, characterized in that the motor guide rail (3031) is slidably arranged on a transverse guide rail (3033), and the transverse guide rail (3033) is parallel to the wall to be ground.

9. An automatic grinding method of an automatic building wall grinding robot (1) based on any one of claims 1 to 8, characterized by comprising the steps of:

1) pushing the sliding trolley (201) to the front of the wall surface to be polished, enabling the plane of the sliding trolley (201) to be parallel to the wall forming theoretical surface of the wall surface to be polished, and fixing the sliding trolley (201); the plane where the sliding trolley (201) is located is a reference plane, and a wall forming theoretical surface is obtained by calibrating a wall surface to be polished;

2) by controlling the lifting motion of the lifting driving piece (203) of the motion mechanism (2) and the motion of the robot (1), the grinding mechanism (3) moves in a working surface parallel to the reference surface, and meanwhile, the grinding mechanism (3) grinds the wall surface in the motion process.

10. The automatic grinding method according to claim 9, characterized in that during grinding of the grinding means (3), the pressure to which the grinding disc (302) of the grinding means (3) is subjected is detected in real time; and when the pressure reaches a preset range, judging that the polished wall surface reaches a wall-forming theoretical surface, and stopping polishing.