CN112792645A

CN112792645A - Automatic building wall surface polishing robot and automatic polishing method

Info

Publication number: CN112792645A
Application number: CN202110130420.1A
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 guide mechanism, a movement mechanism and a polishing mechanism; the guide mechanism comprises a horizontal guide rail arranged along the horizontal direction and a lifting guide rail arranged along the vertical direction; a plane where the horizontal guide rail and the lifting guide rail are located together forms a reference surface, and the reference surface is parallel to a wall forming theoretical surface of the wall surface to be polished; the motion mechanism comprises a horizontal motion unit and a lifting motion unit, and the lifting motion unit is positioned on the lifting guide rail and performs lifting motion on the lifting guide rail; the lifting guide rail is positioned on the horizontal movement unit and slides along the horizontal guide rail along with the horizontal movement unit; the horizontal movement unit is a robot trolley; and the polishing mechanism is arranged on the lifting movement unit and used for polishing 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 guide mechanism, a movement mechanism and a polishing mechanism;

the guide mechanism comprises a horizontal guide rail arranged along the horizontal direction and a lifting guide rail arranged along the vertical direction; a plane where the horizontal guide rail and the lifting guide rail are located together forms a reference surface, and the reference surface is parallel to a wall forming theoretical surface of the wall surface to be polished;

the motion mechanism comprises a horizontal motion unit and a lifting motion unit, and the lifting motion unit is positioned on the lifting guide rail and performs lifting motion on the lifting guide rail; the lifting guide rail is positioned on the horizontal movement unit and slides along the horizontal guide rail along with the horizontal movement unit; the horizontal movement unit is a robot trolley;

and the polishing mechanism is arranged on the lifting movement unit and used for polishing the wall surface.

As a further improvement of the above technical solution:

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 lifting movement unit.

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 arranged in the horizontal direction perpendicular to the reference surface, the rotating motor is slidably mounted on the motor guide rail, the fixed end of the telescopic piece is mounted on the lifting motion unit, 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 arrangement direction of the transverse guide rail is parallel to the reference surface.

The telescopic piece is a telescopic oil cylinder.

The robot trolley is provided with a lantern ring, and the lantern ring is sleeved on the horizontal guide rail.

The lifting motion unit comprises a lifting seat and a lifting driving piece, and the lifting seat is positioned in the sliding groove of the lifting guide rail and slides in the sliding groove under the driving of the lifting driving piece.

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

1) arranging a horizontal guide rail and a lifting guide rail of the guide mechanism in front of the wall surface to be polished, so that a plane where the horizontal guide rail and the lifting guide rail are located together is parallel to a wall forming theoretical surface of the wall surface to be polished; wherein the plane where the horizontal guide rail and the lifting guide rail are located together is a reference plane;

2) the horizontal movement of the horizontal movement unit and the lifting movement of the lifting movement unit in the movement mechanism are controlled, so that the grinding mechanism moves in a working surface parallel to the reference surface, and meanwhile, the grinding mechanism grinds the wall surface in the movement 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 polishing mechanism on the moving unit moves in the plane correspondingly parallel to the wall forming theoretical surface through the guide mechanism, so that the distance between the polishing mechanism and the wall forming theoretical surface is constant, and the subsequent polishing effect and quality are ensured; the polishing mechanism is fixed on the guide mechanism through the movement mechanism, so that the whole blank wall surface can be polished, the whole polishing efficiency is high, and the polishing mechanism is easy to realize; 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 robot 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 guide mechanism; 101. a horizontal guide rail; 102. erecting a rod; 103. a lifting guide rail; 2. a motion mechanism; 201. a horizontal movement unit; 2011. a robot trolley; 2012. a collar; 202. a lifting motion unit; 2021. a lifting seat; 2022. 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 guiding mechanism 1, a moving mechanism 2 and a polishing mechanism 3; the guide mechanism 1 includes a horizontal guide rail 101 arranged in the horizontal direction and a lifting guide rail 103 arranged in the vertical direction; a plane where the horizontal guide rail 101 and the lifting guide rail 103 are located together forms a reference surface, and the reference surface is parallel to a wall-forming theoretical surface (a final ideal plane) of a wall surface to be polished; the movement mechanism 2 comprises a horizontal movement unit 201 and a lifting movement unit 202, wherein the lifting movement unit 202 is positioned on the lifting guide rail 103 and performs lifting movement on the lifting guide rail 103; the lifting guide rail 103 is positioned on the horizontal moving unit 201 and slides along the horizontal guide rail 101 along with the horizontal moving unit 201; the horizontal movement unit 201 is a robot trolley 2011; and the polishing mechanism 3 is mounted on the lifting movement unit 202 and is used for polishing the wall surface of a certain area in the movement process of the movement mechanism 2.

According to the automatic building wall surface polishing robot, the polishing mechanism 3 on the moving mechanism 2 moves in a plane correspondingly parallel to a wall-forming theoretical surface through the guide mechanism 1, so that the distance between the polishing mechanism 3 and the wall-forming theoretical surface is constant, and the subsequent polishing effect and quality are ensured; the polishing mechanism 3 is fixed on the guide mechanism 1 through the movement mechanism 2, so that the whole wall surface can be polished, the whole polishing efficiency is high, and the polishing is easy to realize; compared with a manual mode, the automatic polishing robot 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 are installed on flexible subassembly 303 to can realize being close to or keeping away from the wall of treating polishing under flexible subassembly 303's is flexible, flexible subassembly 303 then is installed on elevating movement unit 202. 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 to be polished is close to 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, the horizontal guide rail 101 is a guide rod, two reference vertical rods 102 are manually calibrated at two sides in front of the wall surface to be polished, and the guide rod is fixed between the two reference vertical rods 102, so as to ensure that the distance between the arrangement direction of the guide rod and the theoretical wall surface is constant (for example, calibrated by laser). A collar 2012 is arranged on the robot trolley 2011, and the collar 2012 is sleeved on the horizontal guide rail 101. Specifically, as shown in fig. 4, a driving motor is arranged inside the movement mechanism 2, a driving wheel is arranged at the bottom of the movement mechanism, and the driving motor drives the driving wheel to rotate to realize movement; in the moving process of the robot trolley 2011, the movement of the robot trolley 2011 is limited by the aid of the sleeve ring 2012 sleeved on the guide rod, so that the robot trolley 2011 can slide along the direction of the guide rod, namely, can move in a reference plane. The lifting unit 202 includes a lifting seat 2021 and a lifting driving member 2022, the lifting seat 2021 is located in the sliding slot of the lifting rail 103 and slides in the sliding slot under the driving of the lifting driving member 2022, wherein the polishing mechanism 3 is installed on the lifting seat 2021, and the lifting driving member 2022 can be implemented by using a telescopic cylinder or a driving motor and a driving member. The horizontal movement unit 201 is simple in overall structure and easy and convenient to disassemble and assemble, and is beneficial to improving overall construction efficiency.

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) arranging a horizontal guide rail 101 and a lifting guide rail 103 of the guide mechanism 1 in front of a wall surface to be polished, so that a plane where the horizontal guide rail 101 and the lifting guide rail 103 are jointly located is parallel to a wall forming theoretical surface of the wall surface to be polished; wherein, the plane where the horizontal guide rail 101 and the lifting guide rail 103 are located together is a reference plane;

2) by controlling the horizontal movement of the horizontal movement unit 201 and the lifting movement of the lifting movement unit 202 in the movement mechanism 2, 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 movement 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 a wall surface A to be polished, determining a wall-forming theoretical surface B 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 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 the X-axis motion track of the motion mechanism 2 and 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 polishing 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 guide mechanism (1), a movement mechanism (2) and a polishing mechanism (3);

the guide mechanism (1) comprises a horizontal guide rail (101) arranged along the horizontal direction and a lifting guide rail (103) arranged along the vertical direction; a plane where the horizontal guide rail (101) and the lifting guide rail (103) are located together forms a reference surface, and the reference surface is parallel to a wall forming theoretical surface of a wall surface to be polished;

the movement mechanism (2) comprises a horizontal movement unit (201) and a lifting movement unit (202), and the lifting movement unit (202) is positioned on the lifting guide rail (103) and performs lifting movement on the lifting guide rail (103); the lifting guide rail (103) is positioned on the horizontal movement unit (201) and slides along the horizontal guide rail (101) along with the horizontal movement unit (201); the horizontal movement unit (201) is a robot trolley (2011);

and the grinding mechanism (3) is arranged on the lifting movement unit (202) and is used for grinding the wall surface.

2. The automatic building wall surface grinding robot according to claim 1, 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 lifting motion unit (202).

3. The automatic building wall surface grinding robot according to claim 2, wherein 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.

4. The automatic building wall grinding robot according to claim 3, wherein the telescopic assembly (303) comprises a motor guide rail (3031) and a telescopic member (3032), the motor guide rail (3031) is arranged in a horizontal direction perpendicular to a reference surface, the rotating motor (301) is slidably mounted on the motor guide rail (3031), a fixed end of the telescopic member (3032) is mounted on the lifting motion unit (202), and the telescopic end is connected with the rotating motor (301).

5. The automatic building wall grinding robot according to claim 4, wherein the motor guide rail (3031) is slidably arranged on a transverse guide rail (3033), and the arrangement direction of the transverse guide rail (3033) is parallel to the reference surface.

6. The automatic building wall grinding robot according to claim 4 or 5, characterized in that the telescopic member (3032) is a telescopic cylinder.

7. The automatic building wall surface grinding robot as claimed in any one of claims 1 to 5, wherein a collar (2012) is arranged on the robot trolley (2011), and the collar (2012) is sleeved on the horizontal guide rail (101).

8. The automatic building wall surface grinding robot as claimed in any one of claims 1-5, wherein the lifting motion unit (202) comprises a lifting seat (2021) and a lifting driving member (2022), the lifting seat (2021) is located in a sliding slot of the lifting guide rail (103) and slides in the sliding slot under the driving of the lifting driving member (2022).

9. An automatic grinding method of the automatic grinding robot for the building wall surface based on any one of claims 1 to 8 is characterized by comprising the following steps:

1) arranging a horizontal guide rail (101) and a lifting guide rail (103) of the guide mechanism (1) in front of the wall surface to be polished, so that a plane where the horizontal guide rail (101) and the lifting guide rail (103) are jointly located is parallel to a wall forming theoretical surface of the wall surface to be polished; wherein the plane where the horizontal guide rail (101) and the lifting guide rail (103) are located together is a reference plane;

2) by controlling the horizontal movement of the horizontal movement unit (201) and the lifting movement of the lifting movement unit (202) in the movement mechanism (2), 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 movement 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.