CN113618521A

CN113618521A - Cutting and polishing head, polishing execution end and polishing equipment

Info

Publication number: CN113618521A
Application number: CN202010376122.6A
Authority: CN
Inventors: 桑爱平; 杨晋; 叶才中; 崔文哲; 吴伟明
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2021-11-09
Also published as: WO2021223386A1

Abstract

The application relates to a cutting polishing head, a polishing execution end and polishing equipment, and belongs to the technical field of building construction equipment. The cutting and polishing head comprises a frame, a polishing driving motor, a rotating shaft, a transmission mechanism and a cutter body; the grinding driving motor is arranged on the frame; the rotating shaft is arranged on the frame and is parallel to an output shaft of the polishing driving motor; an output shaft of the polishing driving motor is connected with the rotating shaft through a transmission mechanism, and the polishing driving motor and the rotating shaft are positioned on the same side of the transmission mechanism; the cutter body is installed on the rotating shaft. The cutting polishing head can cut and polish staggered platforms and expanding molds, is high in polishing efficiency, reduces labor cost, and is safe to operate.

Description

Cutting and polishing head, polishing execution end and polishing equipment

Technical Field

The application relates to the technical field of building construction equipment, in particular to a cutting and polishing head, a polishing execution end and polishing equipment.

Background

In the traditional building outer wall surface treatment process, defects such as abutted seams and floating slurry need to be polished, and 10mm slab staggering and expansion of the wall surface need to be treated. However, the traditional angle grinder or grinding robot does not have the capability of processing slab staggering and mold expanding, and the slab staggering and mold expanding are the key points in the processing procedure of the outer wall surface of the building. The manual treatment of these defects is not only inefficient and costly but also highly dangerous.

Disclosure of Invention

An object of this application provides a cutting head of polishing can realize polishing the cutting of staggered platform, mould that rises, and it is efficient to polish, has reduced the cost of labor, operation safety.

Another object of the present application is to provide a polishing actuating end, a cutting polishing head which is flexible to move and has a wide range of operation.

Still another aim at of this application provides an equipment of polishing, can realize polishing of high efficiency, the high security of wall.

A cutting and polishing head according to an embodiment of the first aspect of the present application, comprising:

a frame;

the polishing driving motor is arranged on the frame;

the rotating shaft is arranged on the rack and is parallel to an output shaft of the polishing driving motor;

the output shaft of the polishing driving motor is connected with the rotating shaft through the transmission mechanism, and the polishing driving motor and the rotating shaft are positioned on the same side of the transmission mechanism;

the cutter body, the cutter body is installed on the rotation axis.

According to the cutting and polishing head provided by the embodiment of the application, the polishing driving motor and the rotating shaft are longitudinally arranged and connected through the transmission mechanism, and the rotating shaft and the polishing driving motor are positioned on the same side of the transmission mechanism, so that the installation space is saved, the requirement of operation in a narrow space is met, and the polishing coverage rate is improved; the cutter body rotates along with the rotating shaft, cutting and polishing of the wall surface are achieved through rotary radial feeding of the cutter body, and staggered platform and expansion mold polishing can be completed. The cutting and polishing head is high in polishing efficiency, labor cost is reduced, and operation is safe.

In addition, the cutting and polishing head according to the embodiment of the present application has the following additional technical features:

according to some embodiments of the application, the cutting and polishing head further comprises a gear shaft, a first gear and a second gear, the gear shaft is installed on the rack and is arranged in parallel with the rotating shaft, one end of the gear shaft is connected with an output shaft of the polishing driving motor through a transmission mechanism, the gear shaft and the polishing driving motor are located on the same side of the transmission mechanism, the first gear is sleeved on the gear shaft, the second gear is sleeved on the rotating shaft, and the second gear is meshed with the first gear.

In the above embodiment, the stability of power transmission is ensured by adding the gear transmission mechanism between the transmission mechanism and the rotating shaft; meanwhile, different gear sets can be replaced, so that the transmission ratio is changed, and the cutting and polishing working strength of the cutter body is increased.

In some embodiments of the present application, the transmission mechanism is a belt transmission mechanism, the belt transmission mechanism includes a driving pulley, a driven pulley and a synchronous belt, the driving pulley is installed on an output shaft of the polishing driving motor, the driven pulley is installed on the gear shaft, and the driving pulley and the driven pulley are sleeved with the synchronous belt.

In the above embodiment, the transmission mechanism adopts the belt transmission mechanism, and the power provided by the polishing driving motor is transmitted to the gear shaft through the synchronous belt, so that the impact and vibration load can be alleviated, the motion is stable, and no noise exists.

The polishing execution end according to the embodiment of the second aspect of the present application comprises a mechanical arm and a cutting polishing head according to the embodiment of the first aspect of the present application, wherein the cutting polishing head is mounted at the tail end of the mechanical arm, and the mechanical arm can drive the cutting polishing head to move.

According to the polishing execution end, the mechanical arm drives the cutting polishing head to move, the multi-degree-of-freedom action of the cutting polishing head can be achieved, polishing is flexible, and polishing coverage rate is high.

In addition, the grinding execution end according to the embodiment of the application also has the following additional technical characteristics:

according to some embodiments of the present application, a robotic arm comprises a first motion module, a second motion module, a robotic arm assembly, a robotic arm drive cylinder, a first slewing bearing motor, a second slewing bearing, and a second slewing bearing motor;

the arm subassembly is including fixing base under the articulated arm in proper order, lower arm pole, the arm on the fixing base, go up the arm pole, the arm under the fixing base links to each other through first slewing bearing with first motion module, the arm on the fixing base pass through second slewing bearing with the second motion module and link to each other, arm driving electric cylinder is used for driving the arm subassembly motion, the cutting head of polishing is installed in the second motion module.

In the above embodiment, the first motion module links to each other through first slewing bearing with the fixing base under the arm, can realize under the arm fixing base (drive the rotation of cutting head of polishing) for first motion module, the second motion module links to each other through second slewing bearing with the fixing base on the arm, can realize the rotation of second motion module (drive the rotation of cutting head of polishing) for the fixing base on the arm, two slewing bearing cooperation arm subassemblies, make the cutting head of polishing have the motion of a plurality of degrees of freedom, the motion flexibility and the coverage rate of polishing of cutting head have been improved.

In some embodiments of this application, first motion module includes the fixing base, the one-level slip table, the second grade slip table, one-level slip table drive assembly, second grade slip table drive assembly, one-level slip table sliding fit is on the fixing base, one-level slip table drive assembly is used for driving the one-level slip table and removes for the fixing base, second grade slip table sliding fit is on the one-level slip table, second grade slip table drive assembly is used for driving the second grade slip table and removes for the one-level slip table, the second grade slip table is connected through first slewing bearing with mechanical arm lower fixing base.

In the above embodiment, the one-level sliding table can be driven to move relative to the fixing base through the one-level sliding table driving assembly, and the second-level sliding table can be driven to move relative to the one-level sliding table through the second-level sliding table driving assembly, so that the lower fixing base of the mechanical arm drives the cutting polishing head to move relative to the second-level telescopic movement of the fixing base, and the cutting polishing head is guaranteed to have a large polishing operation range.

In some embodiments of the present application, the second motion module includes a mounting seat, a sliding seat, and a sliding seat driving assembly, the mounting seat is connected to the fixed seat on the mechanical arm through the second pivoting support, the sliding seat is in sliding fit with the mounting seat, the sliding seat driving assembly is configured to drive the sliding seat to slide relative to the mounting seat, and the cutting and polishing head is mounted on the sliding seat.

In the above embodiment, the sliding seat can be driven to slide relative to the mounting seat by the sliding seat driving assembly, so that the sliding of the cutting and polishing head relative to the mounting seat is realized.

In some embodiments of the present application, the second motion module further comprises a swing frame rotatably coupled to the slide base, and a swing frame drive assembly for driving the swing frame to swing relative to the slide base, the cutting sanding head being mounted to the swing frame.

In the above embodiment, the swing frame can be driven by the swing frame driving assembly to swing relative to the sliding seat, so that the cutting and polishing head can swing relative to the sliding seat, and the cutting and polishing head can move flexibly.

In some embodiments of the present application, the second motion module further comprises a telescoping assembly, the cutting sanding head being slidably coupled to the swing frame, the telescoping assembly for driving the cutting sanding head in translation relative to the swing frame.

In the above embodiment, the telescopic assembly can drive the cutting and polishing head to translate relative to the swing frame, so as to adjust the polishing feed amount of the cutting and polishing head.

An abrading device according to an embodiment of the third aspect of the application comprises a chassis and an abrading performing end according to an embodiment of the second aspect of the application, one end of the robot arm being mounted to the chassis.

According to the equipment of polishing of this application embodiment, the chassis will polish the execution end and remove to treating the wall of polishing, and the arm can drive the cutting head of polishing and realize polishing the staggered platform, the cutting that rises the mould treating the wall of polishing, and the operation range of polishing is wide, and it is efficient to polish.

Additional aspects and advantages of the present application 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 present application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Figure 1 is a first exploded isometric view of a cutting sanding head according to an embodiment of the first aspect of the present application;

fig. 2 is an isometric view of a cutting and polishing head provided in accordance with an embodiment of the first aspect of the present application (with side and front dust covers hidden);

figure 3 is an exploded isometric view of a cutting sanding head according to an embodiment of the first aspect of the present application;

figure 4 is an exploded isometric view of a cutting and polishing head (transmission structure) provided in an embodiment of the first aspect of the present application;

fig. 5 is a front view of a cutting and polishing head provided in an embodiment of the first aspect of the present application;

figure 6 is an isometric view of a cutting and polishing head provided in an embodiment of the first aspect of the present application;

FIG. 7 is a front view of a sanding actuating end according to an embodiment of the second aspect of the present application;

FIG. 8 is an exploded isometric view of a sanding actuator according to an embodiment of the second aspect of the present application;

FIG. 9 is an isometric view of a sanding actuation end provided in accordance with an embodiment of the second aspect of the present application;

fig. 10 is a left side view of a sanding actuating end according to an embodiment of the second aspect of the present application.

Icon: 100-cutting and polishing head; 110-a rack; 111-upper fixing plate; 112-mounting a base plate; 1121-U-shaped groove mounting hole; 113-lower fixed plate; 114-left fixation plate; 1141-a first counterbore; 1142-a second counterbore; 115-front fixing plate; 116-a support base; 121-side dust cover; 122-front dust cover; 123-grinding head dust cover; 130-grinding a driving motor; 150-rotation axis; 151-square connector; 152-pin holes; 170-a transmission mechanism; 171-driving pulley; 172-synchronous belt; 173-a driven pulley; 174-a tensioner; 175-a tensioner housing; 176-a tensioner pin; 177-a tensioning wheel positioning block; 181-gear shaft; 182-a first gear; 183-second gear; 184-gear oil tank; 185-tank cap; 190-a cutter body; 191-a gasket; 192-a stop; 193-anti-drop block; 194-square hole; 195-a limit groove; 300-polishing the execution end; 301-a robotic arm; 310-a first motion module; 311-a fixed seat; 312-first stage slipway; 313-a secondary slide; 314-a primary slide table drive motor; 315 — primary slide drive gear; 316-first stage slipway rack; 330-a second motion module; 331-a mounting seat; 3311-guide shaft fixing plate; 3312-first guide shaft; 3313-traversing motor fixing block; 332-a sliding seat; 3321-first oilless bushing holder; 3322-pitch link; 3323-fixing a pitch motor; 3331-sliding seat driving motor; 3332-sliding seat drive gear; 3333-sliding seat rack; 334-a swing frame; 3341-hinge mount; 3343-telescopic fixing frame; 3344-second guide shaft; 3351-pitching motor; 3352-crank; 3353-pitch link; 341-second oilless bushing holder; 342-a telescopic electric cylinder; 343-a floating joint; 344-floating joint connection plate; 350-a robot arm assembly; 351-a lower mechanical arm fixing seat; 352-lower arm lever; 353, fixing a mechanical arm; 354-upper arm lever; 360-mechanical arm driving electric cylinder; 370-a first slewing bearing; 371 — a first slewing bearing motor; 390-a second slew bearing; 391-a second slewing bearing motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when using, and are only used for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

A cutting sanding head 100 according to an embodiment of the first aspect of the present application will be described with reference to the drawings.

As shown in fig. 1 to 6, a cutting sanding head 100 according to an embodiment of the present application includes: frame 110, grinding drive motor 130, rotation axis 150, drive mechanism 170 and cutter body 190.

Specifically, the frame 110 plays a role of positioning and supporting, and is used for installing the grinding driving motor 130, the rotating shaft 150 and the transmission mechanism 170; in the present application, as shown in fig. 2, the frame 110 has a frame structure having a large installation space. The grinding driving motor 130 is installed at the frame 110, and the rotating shaft 150 is installed at the frame 110 and is arranged in parallel with the output shaft of the grinding driving motor 130; the output shaft of the grinding driving motor 130 is connected with the rotating shaft 150 through the transmission mechanism 170, and the grinding driving motor 130 and the rotating shaft 150 are located on the same side of the transmission mechanism 170, so that the width dimension of the whole body (the cutting grinding head 100) in the direction perpendicular to the wall surface is reduced. The cutter body 190 is installed on the rotating shaft 150, and the grinding driving motor 130 operates to drive the cutter body 190 to rotate, so that the rotating shaft 150 drives the cutter body 190 to rotate, and the cutter body 190 can cut and grind the wall surface in the radial direction to act on the slab staggering and mold expansion on the wall surface.

According to the cutting and polishing head 100 of the embodiment of the application, the wall surface is polished by adopting the radial cutting mode of the cutter body 190, so that the cutting and polishing head has strong acting force and is suitable for staggered platform and expanded mold polishing of the wall surface; the vertical setting of the driving motor 130 of polishing and rotation axis 150 just is connected through drive mechanism 170, and rotation axis 150 and the same one side that driving motor 130 of polishing is located drive mechanism 170 have saved installation space, have reduced the width dimension in the perpendicular to wall direction, have satisfied the demand at narrow and small space operation, have promoted the coverage of polishing. The cutting and polishing head 100 is high in polishing efficiency, labor cost is reduced, and operation is safe.

The structural features and the connection of the components of the cutting sanding head 100 according to the embodiment of the present application will be described with reference to the accompanying drawings.

As shown in fig. 1, the frame 110 includes an upper fixing plate 111, a mounting base plate 112, a lower fixing plate 113, a left fixing plate 114, a front fixing plate 115, and a supporting base 116, the mounting base plate 112 is disposed opposite to the front fixing plate 115, the front fixing plate 115 faces a wall surface to be polished, and the mounting base plate 112 is located on a side of the cutting polishing head 100 away from the wall surface to be polished; as shown in fig. 2, an accommodating space is defined by the upper fixing plate 111, the mounting base plate 112, the lower fixing plate 113, the left fixing plate 114 and the front fixing plate 115, and the accommodating space is used for accommodating the polishing driving motor 130. The left fixing plate 114, the upper fixing plate 111 and the lower fixing plate 113 are connected to the mounting base plate 112 and the front fixing plate 115 at front and rear ends thereof, respectively. The supporting base 116 is located below the lower fixing plate 113, the supporting base 116 is parallel to the left fixing plate 114, and the supporting base 116 is connected to the mounting base 112 and the lower fixing plate 113.

According to some embodiments of the present application, the polishing driving motor 130 is a dc brushless motor, as shown in fig. 2, the dc brushless motor is fixed in the accommodating space; the output shaft of the dc brushless motor is rotatably connected to the left fixing plate 114, the output shaft of the dc brushless motor is drivingly connected to the transmission mechanism 170, and the dc brushless motor operates to provide power for the cutting and polishing execution module. In other embodiments of the present application, the polishing driving motor 130 may also be a dc motor (with a brush), an ac motor, etc., and different motor types are selected according to actual situations.

The transmission mechanism 170 is arranged on the left fixing plate 114 and is positioned on the left side (the side far away from the grinding driving motor 130) of the left fixing plate 114; as shown in fig. 1 and 2, the transmission mechanism 170 is a belt transmission mechanism 170, and includes a driving pulley 171, a timing belt 172, and a driven pulley 173; the left fixing plate 114 is vertically installed, the driving pulley 171 and the driven pulley 173 are located on the left side of the left fixing plate 114 (the driving pulley 171 and the driven pulley 173 and the grinding driving motor 130 are located on two sides of the left fixing plate 114), the driving pulley 171 and the driven pulley 173 are rotationally matched with the left fixing plate 114 through a bearing (not shown in the figure), and the driving pulley 171 and the driven pulley 173 are sleeved with the synchronous belt 172. The rotation shaft 150 is disposed in parallel with an output shaft of the grinding driving motor 130, the rotation shaft 150 and the grinding driving motor 130 are disposed at a right side of the left fixing plate 114, the rotation shaft 150 is fixed to the mounting base plate 112 through the supporting base 116, the rotation shaft 150 is rotatably connected to the supporting base 116 through a bearing (not shown), and the rotation shaft 150 is connected to the driven pulley 173. In order to support the rotating shaft 150, as shown in fig. 3, a first counterbore 1141 is provided on the left fixing plate 114, and one end of the rotating shaft 150 extends into the first counterbore 1141 and is rotatably connected with the left fixing plate 114 through a bearing (not shown); the other end of the rotating shaft 150 is disposed in a suspended manner after passing through the supporting base 116.

According to some embodiments of the present application, as shown in fig. 1, 2 and 4, the cutting sanding head 100 further includes a gear shaft 181, a first gear 182, a second gear 183, and an output shaft of the sanding drive motor 130 is drivingly connected to the driving pulley 171; one end of the gear shaft 181 is connected to the driven pulley 173, the first gear 182 is sleeved on the gear shaft 181, the second gear 183 is sleeved on the rotating shaft 150, and the first gear 182 is engaged with the second gear 183. One end of the gear shaft 181 is rotatably connected to the supporting base 116 through a bearing (not shown), as shown in fig. 3, a second counterbore 1142 is further disposed on the left fixing plate 114, the other end of the gear shaft 181 extends into the second counterbore 1142 and is rotatably engaged with the left fixing plate 114 through a bearing (not shown), and one end of the gear shaft 181 engaged with the left fixing plate 114 extends out of the left fixing plate 114 and is drivingly connected to the driven pulley 173; as shown in fig. 2, the gear shaft 181 is disposed in parallel with the rotating shaft 150, the gear shaft 181 and the rotating shaft 150 are spaced apart in a direction perpendicular to the wall surface to be polished, and the gear shaft 181 and the polishing driving motor 130 are located on the same side (right side) of the transmission mechanism 170 (left fixing plate 114). In order to prevent the gear shaft 181 from interfering with the cutter body 190, the right end (the end away from the left fixing plate 114) of the gear shaft 181 does not protrude beyond the support base 116.

The transmission mechanism 170 adopts a belt transmission mechanism 170, and the power provided by the polishing driving motor 130 is transmitted to the gear shaft 181 through the synchronous belt 172, so that impact and vibration loads can be alleviated, the motion is stable, and no noise exists. In other embodiments of the present application, the transmission mechanism 170 may also adopt other transmission mechanisms 170, such as chain transmission, gear transmission, etc., and different transmission forms are selected according to actual situations.

The rotating shaft 150 and the cutter body 190 disposed on the rotating shaft 150 form a cutting and polishing execution module, and the cutter body 190 is driven to rotate by the rotation of the rotating shaft 150 so as to cut and polish a wall surface. The cutting and polishing execution module is changed from a transverse installation mode to a longitudinal installation mode, so that the width of the polishing head perpendicular to the wall surface is reduced (for example, in the application, the width dimension is reduced from 270mm to 205mm), and the possibility of cutting and polishing of the polishing head at narrow positions such as a climbing frame vertical rod and a guide rail is increased.

The cutter body 190 includes a plurality of blades, and a plurality of blades are along the axial interval distribution of rotation axis 150, are provided with gasket 191 between two adjacent blades, and the setting of gasket 191 for a plurality of blades interval distribution, the setting of a plurality of blades makes the cutting to polish the execution module and has great working area. When the rotating shaft 150 rotates relative to the supporting seat 116, the rotating shaft 150 can drive the blade to rotate, so that the wall surface to be polished is cut by the rotating blade. It should be noted that the blade in the present application is a disk-shaped structure, and a through hole is opened in the middle of the disk-shaped structure, so that the blade is sleeved on the rotating shaft 150; the circumferential edge of the blade is applied to the wall surface by the rotation of the rotary shaft 150. In an alternative embodiment of the present application, the blade may be a circular saw blade, which is configured in the manner referred to in the prior art circular cutting sharpening saw blades.

The cutter body 190 is positioned on one side of the supporting seat 116 far away from the left fixing plate 114; as shown in fig. 3 and 5, the anti-slip structure includes a stopper 192, an anti-slip block 193, and an anti-slip pin (not shown), the stopper 192 is sleeved on the rotating shaft 150, and the stopper 192 cooperates with the supporting seat 116 to limit the axial movement of the blade along the rotating shaft 150, so as to prevent the blade from being disengaged from the rotating shaft 150. Specifically, as shown in fig. 4, the end of the rotation shaft 150 is formed with a square connector 151; the square hole 194 that corresponds with square connector 151 is seted up at the middle part of anticreep piece 193, square connector 151 is located to the anticreep piece 193 cover, is provided with spacing groove 195 with square hole 194 intercommunication on the anticreep piece 193, has seted up pinhole 152 on the square connector 151 of rotation axis 150, and anticreep piece 193 is connected through the anticreep round pin that sets up in spacing groove 195 and pinhole 152 with rotation axis 150. When the anti-slip pin is inserted into the limiting groove 195 and the pin hole 152, the anti-slip pin cooperates with the anti-slip block 193 to form a limit, and the stop 192 is limited from moving in the axial direction of the rotating shaft 150. Because there are defects such as 10mm wrong platform and mould that rises in the building outer wall, hardness reaches more than C30, ordinary mill hardly satisfies the polishing work of wrong platform, and is both time-consuming and costly high, adopts the cutting mode of polishing that a plurality of blades combine, can be fine handle wrong platform and mould that rises, and through the position of adjusting dog 192, can the quantity of free choice blade, the wall wrong platform defect of coping more in a flexible way, the processing work is accomplished to more efficient.

The power transmission process is as follows: when the grinding driving motor 130 works, the grinding driving motor 130 can drive the driving pulley 171 to rotate, the driving pulley 171 drives the driven pulley 173 to rotate through the synchronous belt 172, the driven pulley 173 drives the gear shaft 181 to rotate, the gear shaft 181 drives the first gear 182 to rotate, the first gear 182 drives the second gear 183 engaged with the first gear to rotate, the second gear 183 drives the rotating shaft 150 to rotate, the rotating shaft 150 drives the cutter body 190 to rotate, and therefore the wall surface to be ground is ground through the rotary cutting of the cutter body 190. After the power is transmitted by the brushless DC motor, the power is transmitted and transited through the transmission of the synchronous belt 172, if the rotating shaft 150 is directly connected with the driven pulley 173, the distance of the blade exposed out of the left fixing plate 114 is only 22.5mm, the cutting depth is insufficient for large-size slab staggering and mold expanding, and the grinding and cutting effect is not ideal. In the present application, the rotation shaft 150 is connected to the driven gear through a pair of gear sets (the first gear 182 and the second gear 183), and the distance of the blade exposed from the left fixing plate 114 is increased to 37.5mm, so that the cutting depth is increased, and the cutting and polishing capability is enhanced. On the other hand, when the torque or cutting force transmitted by the motor to the blade is insufficient for work, the work intensity can be increased by changing the gear ratio of the gear set.

Further, as shown in fig. 1 and 2, the transmission mechanism 170 further includes a tension pulley 174, a tension pulley frame 175, a tension pulley pin 176, and a tension pulley positioning block 177. The tension pulley 174 is rotatably mounted on a tension pulley frame 175 through a tension pulley pin shaft 176, the tension pulley frame 175 is mounted on the left fixing plate 114 through a bolt (not marked in the figure), the tension pulley 174 acts on the synchronous belt 172, and a mounting hole of the tension pulley frame 175 is a U-shaped groove, so that the mounting position can be adjusted; the tensioning wheel positioning block 177 is mounted on the left fixing plate 114 by a bolt (not shown), and the tensioning wheel positioning block 177 is matched with the tensioning wheel frame 175 to adjust the tension of the synchronous belt 172. As shown in fig. 1, a U-shaped groove mounting hole 1121 is disposed on the mounting base plate 112, and when the supporting seat 116 and the left fixing plate 114 are mounted, the mounting position can be adjusted by a bolt, so as to ensure the coaxiality of a shaft hole (not shown) between the supporting seat 116 and the left fixing plate 114.

Further, in order to ensure the lubrication and cooling during the gear transmission, the cutting and polishing head 100 further includes a gear oil tank 184 and an oil tank cap 185, the left and right ends of the gear oil tank 184 are respectively fixed (connected by bolts) with the left fixing plate 114 and the supporting seat 116, the gear shaft 181 and the rotating shaft 150 are both inserted into the gear oil tank 184, and the first gear 182 and the second gear 183 are both located in the gear oil tank 184; the fuel cap 185 blocks an opening of the gear oil tank 184, and when the fuel cap 185 is opened, it is possible to observe the inside of the gear oil tank 184 or to fill the gear oil tank 184 with lubricant oil.

According to some embodiments of the present application, as shown in fig. 1, the cutting sanding head 100 further comprises a protective structure including side dust covers 121, front end dust covers 122, and sanding head dust covers 123. The side dust cover 121 is disposed on the left side of the left fixing plate 114 and connected to the left fixing plate 114 to form a sealed space, as shown in fig. 5 and 6, the transmission mechanism 170 is covered by the side dust cover 121 and disposed in the sealed space, so as to prevent dust or impurities from affecting the power transmission of the transmission mechanism 170. The front end dust cover 122 is disposed between the left fixing plate 114 and the supporting base 116, the front end dust cover 122 is of an L-shaped structure, the upper end (the end portion close to the wall surface in front) of the front end dust cover 122 is connected to the front fixing plate 115, the left and right ends of the front end dust cover 122 are respectively connected to the left fixing plate 114 and the supporting base 116, and the rear end of the front end dust cover 122 is connected to the mounting baseplate 112. The sanding head dust covers 123 are covered at the bottom and the right side of the cutter body 190, the sanding head dust covers 123 are respectively connected with the support base 116, the mounting base plate 112 and the lower fixing plate 113 and constitute a sanding head accommodating space with a front opening, as shown in fig. 6, the cutter body 190 is located in the sanding head accommodating space and exposed from the front opening.

The working principle of the cutting sanding head 100 according to the embodiment of the present application is:

move to the wall of waiting to polish, rotation axis 150 is parallel with the wall of waiting to polish. After the grinding driving motor 130 is energized, power is transmitted from an output shaft of the grinding driving motor 130 to the rotary shaft 150 via the driving pulley 171, the timing belt 172, the driven pulley 173, the gear shaft 181, the first gear 182, and the second gear 183, and the rotary shaft 150 rotates to drive the cutter body 190 to rotate, so that the wall surface to be ground is cut by radial feeding of the cutter body 190. The cutter body 190 has a strong cutting force in cutting and polishing, and is suitable for polishing slab staggering and mold expanding of a concrete wall surface.

A sanding execution end 300 according to an embodiment of the second aspect of the present application is described below with reference to the drawings.

As shown in fig. 7 to 10, the sanding execution end 300 according to the embodiment of the second aspect of the present application includes a mechanical arm 301 and the cutting sanding head 100 according to the embodiment of the first aspect of the present application.

Specifically, the cutting and polishing head 100 is mounted at the end of the mechanical arm 301, and the mechanical arm 301 can realize the multi-degree-of-freedom motion, so that the cutting and polishing head 100 is driven to flexibly move, and the polishing requirements of wall surfaces at different positions are met.

According to the execution end 300 of polishing of this application embodiment, be applied to the end of outer wall polishing robot (not marking out in the picture), outer wall polishing robot depends on and climbs a work, obstacle such as narrow and small space operation scope of climbing and climbing a pole setting leads to robot (outer wall polishing robot's short for, the full text is the same) needs more flexibility ratio better, the function as replacing people's arm is regarded as to arm 301, through the motion of arm 301 drive cutting polishing head 100, can realize cutting polishing head 100's multi freedom action, polish in a flexible way, it is high to polish the coverage.

The structural features and the connection manner of the respective components of the sanding execution end 300 according to the embodiment of the present application are described below with reference to the drawings.

As shown in fig. 7, the robot 301 includes a first motion module 310, a second motion module 330, a robot assembly 350, a robot driving cylinder 360, a first slewing bearing 370, a first slewing bearing motor 371, a second slewing bearing 390, and a second slewing bearing motor 391. The robot arm assembly 350 includes a lower robot arm fixing seat 351, a lower robot arm rod 352, an upper robot arm fixing seat 353 and an upper robot arm rod 354, which are hinged in sequence, wherein the lower robot arm fixing seat 351 is connected with the first motion module 310 through a first slewing bearing 370, the upper robot arm fixing seat 353 is connected with the second motion module 330 through a second slewing bearing 390, and the cutting and polishing head 100 is installed on the second motion module 330. In some embodiments of the present application, as shown in fig. 7 and 8, the lower arm fixing seat 351, the lower arm lever 352, the upper arm fixing seat 353 and the upper arm lever 354 form a four-bar linkage. As shown in fig. 9, two ends of the electric cylinder 360 for driving the robot arm are respectively hinged to the upper robot arm 354 and the lower robot arm 352, and the extension and retraction of the electric cylinder 360 for driving the robot arm can realize the extension and retraction of the robot arm assembly 350. The lower arm fixing seat 351 can be driven to rotate relative to the first motion module 310 through the first rotary support motor 371, the second motion module 330 can be driven to rotate relative to the upper arm fixing seat 353 through the second rotary support motor 391, and the arm assembly 350 is driven to extend through the arm driving electric cylinder 360, so that the multi-degree-of-freedom motion of the cutting polishing head 100 is realized.

As shown in fig. 7 and 8, the first moving module 310 includes a fixing base 311, a first stage sliding table 312, a second stage sliding table 313, a first stage sliding table driving assembly, and a second stage sliding table driving assembly (not shown). The fixed seat 311 is used for connecting to the tail end of the outer wall grinding robot; one-level slip table 312 sliding fit is on fixing base 311, one-level slip table drive assembly includes one-level slip table driving motor 314, one-level slip table drive gear 315, one-level slip table rack 316, one-level slip table driving motor 314 installs on fixing base 311, one-level slip table drive gear 315 installs on one-level slip table driving motor 314's output shaft, one-level slip table rack 316 connects in one-level slip table 312, one-level slip table driving gear 315 meshes with one-level slip table rack 316, one-level slip table driving motor 314 work can drive one-level slip table driving gear 315 and rotate, move for one-level slip table driving gear 315 with driving one-level slip table rack 316, thereby make one-level slip table 312 remove for fixing base 311. The second-stage sliding table 313 is in sliding fit on the first-stage sliding table 312, the lower mechanical arm fixing seat 351 is connected with the second-stage sliding table 313 through a first slewing bearing 370, and the second-stage sliding table driving assembly comprises a driving cylinder which is used for driving the second-stage sliding table 313 to move relative to the first-stage sliding table 312. The direction in which the second-stage sliding table 313 moves (extends) relative to the first-stage sliding table 312 is the same as the direction in which the first-stage sliding table 312 moves (extends) relative to the fixing base 311, that is, the second-stage sliding table 312 and the second-stage sliding table 313 realize the second movement of the lower arm fixing base 351 relative to the fixing base 311, and have a longer movement path. In other embodiments of the present application, the direction in which the second stage sliding table 313 moves relative to the first stage sliding table 312 may also be opposite to the direction in which the first stage sliding table 312 moves relative to the fixing base 311. Meanwhile, other linear driving assemblies such as an air cylinder, a hydraulic cylinder, an electric cylinder and the like can be selected as the primary sliding table driving assembly; other linear driving assemblies can be selected as the secondary sliding table driving assembly, such as a gear rack, a hydraulic cylinder, an electric cylinder and the like.

Optionally, the length of the first stage sliding table rack 316 and the length of the second stage sliding table 313 are both 400mm, the first stage sliding table driving gear 315 can move on the first stage sliding table rack 316 under the driving of the first stage sliding table driving motor 314, the second stage sliding table 313 can also extend and retract, and the first pivoting support 370 fixed on the second stage sliding table 313 can realize a relative displacement of 800 mm. When the outer wall grinding robot needs to grind the positions, such as internal corners and grooves, of the outer wall, which are farther relative to the climbing frame, the first-level sliding table driving motor 314 drives the first-level sliding table driving gear 315 to move to guide the rightmost end of the first-level sliding table 312, the second-level sliding table 313 moves to the leftmost end of the first-level sliding table 312, the stroke of 800mm relative to the first-level sliding table can be completed, the telescopic stroke of the cutting grinding head 100 is matched, the requirement that the cutting grinding head 100 is abutted to the internal corners and the grooves of the wall surface can be met, and the cutting grinding work is completed. In other embodiments of the present application, the length of the rack may also be other values, which are selected according to actual situations.

The first slewing bearing 370 is connected with the secondary sliding table 313 and the lower mechanical arm fixing seat 351, and the first slewing bearing motor 371 drives the first slewing bearing 370 to work, so that the mechanical arm assembly 350 rotates relative to the secondary sliding table 313, the overturning moment of the mechanical arm assembly 350 and the cutting and polishing head 100 can be resisted, the phenomenon that the grinding robot on the outer wall of the fixing seat 311 is disconnected due to the fact that the weight of the tail end (the tail end of the multi-freedom mechanical arm) is too large is prevented, and the overall reliability is improved.

According to some embodiments of the present application, as shown in fig. 8, 9 and 10, the second motion module 330 includes a mounting base 331, a sliding base 332, a sliding base drive assembly, a swing frame 334, a swing frame drive assembly, a telescoping assembly. The mounting seat 331 is connected to the upper robot arm fixing seat 353 through a second pivoting support 390, the sliding seat 332 is in sliding fit with the mounting seat 331, and the sliding seat driving assembly is configured to drive the sliding seat 332 to move transversely relative to the mounting seat 331. The swing frame 334 is rotatably connected to the sliding base 332, and the swing frame driving assembly is used for driving the swing frame 334 to swing relative to the sliding base 332. The cutting sanding head 100 is slidably coupled to the swing frame 334 and the telescoping assembly is used to drive the cutting sanding head 100 in translation relative to the swing frame 334 to effect adjustment of the sanding feed of the cutting sanding head 100.

As shown in fig. 8, 9 and 10, the second pivoting support 390 is mounted on the upper surface of the mounting base 331, the lower surface of the mounting base 331 is connected to guide shaft fixing plates 3311 and traverse motor fixing blocks 3313, the guide shaft fixing plates 3311 are provided with four blocks and positioned at four corners of the mounting base 331, the four guide shaft fixing plates 3311 are divided into two groups, a first guide shaft 3312 is connected between the two guide shaft fixing plates 3311 of each group, and the first guide shaft 3312 is parallel to the rotation axis 150 of the cutting and polishing head 100. The upper surface of the sliding seat 332 is provided with two first oil-free bushing fixing seats 3321, each first oil-free bushing fixing seat 3321 is sleeved on one first guide shaft 3312, and the first oil-free bushing fixing seats 3321 can slide relative to the first guide shaft 3312 to keep lubrication. The sliding seat driving assembly includes a sliding seat driving motor 3331, a sliding seat driving gear 3332, and a sliding seat rack 3333, the sliding seat driving motor 3331 is fixed to the traverse motor fixing block 3313, the sliding seat driving gear 3332 is installed on an output shaft of the sliding seat driving motor 3331, the sliding seat rack 3333 is installed on an upper surface of the sliding seat 332 and is parallel to the rotation shaft 150 of the cutting and polishing head 100, and the sliding seat rack 3333 is engaged with the sliding seat driving gear 3332. The sliding seat driving motor 3331 works to drive the sliding seat driving gear 3332 to rotate so as to drive the sliding seat rack 3333 to move, thereby realizing the transverse movement of the sliding seat 332 relative to the mounting seat 331. Because the outer wall polishing robot depends on the work of climbing a frame, there are many pole settings in climbing a frame, then the robot intelligence polishes the wall that does not have the pole setting, designs sideslip mechanism (sliding seat 332, sliding seat drive assembly), can satisfy arm assembly 350 and keep motionless, and the cutting polishing head 100 sideslip is led the pole setting rear, accomplishes and polishes, guarantees the coverage of polishing.

As shown in fig. 8, 9 and 10, two pitch connection frames 3322 and a pitch motor fixing block 3323 are connected to the lower side of the sliding seat 332, the two pitch connection frames 3322 are distributed at intervals in the left-right direction, two hinge seats 3341 corresponding to the pitch connection frames 3322 are connected to the upper side of the swinging frame 334, the hinge seats 3341 are hinged to the pitch connection frames 3322, the swinging frame driving assembly includes a pitch motor 3351, a crank 3352 and a pitch connection seat 3353, the pitch connection seat 3353 is mounted on the swinging frame 334, the pitch motor 3351 is mounted on the pitch motor fixing block 3323, an output shaft of the pitch motor 3351 is connected to one end of the crank 3352, and the other end of the crank 3352 is hinged to the pitch connection seat 3353. The crank 3352 is driven by the pitch motor 3351 to rotate, which drives the hinge base 3341 to rotate relative to the pitch link 3322, so as to pitch (i.e. swing) the swing frame 334 relative to the sliding base 332. Because the building wall surface has the defect of non-parallelism, included angles exist between the cutting and polishing head 100 and certain positions of the wall surface, the robot can judge the angle of the swing frame 334 to be adjusted by installing the inclinometer, and the polishing effect is ensured. Through swing span 334 and swing drive assembly, the robot carries on laser wall check out test set, also can discern the judgement better to the wall defect, makes the robot only handle the position of wall defect, and is more high-efficient and intelligent.

As shown in fig. 8, 9 and 10, four telescopic fixing brackets 3343 are connected to the lower portion of the swing frame 334, the four telescopic fixing brackets 3343 are distributed at four corners of the swing frame 334, the four telescopic fixing brackets 3343 are divided into two groups, i.e., a left group and a right group, a second guide shaft 3344 is connected between the two telescopic fixing brackets 3343 of each group of telescopic fixing brackets 3343, and the second guide shaft 3344 extends in a direction perpendicular to the wall surface. Each second guide shaft 3344 is sleeved with a second oilless bushing holder 341, the second oilless bushing holder 341 is slidable with respect to the second guide shaft 3344, and the second oilless bushing holder 341 is fixed to the upper fixing plate 111 of the cutting sanding head 100. The telescopic assembly comprises a telescopic electric cylinder 342, a floating joint 343 and a floating joint connecting plate 344, wherein the telescopic electric cylinder 342 is connected below the swing frame 334, the floating joint 343 is fixed on a telescopic shaft of the telescopic electric cylinder 342 and is fixed with the floating joint connecting plate 344, the floating joint connecting plate 344 is of an L-shaped structure, the floating joint connecting plate 344 is vertically arranged, and the lower end of the floating joint connecting plate 344 is connected with the upper fixing plate 111 of the cutting and sanding head 100. Under the drive of the telescopic electric cylinder 342, the telescopic operation of the cutting and polishing head 100 can be realized, so as to change the distance between the cutting and polishing head 100 and the wall surface to be polished.

The working principle of the polishing execution end 300 according to the embodiment of the application is as follows:

the fixed seat 311 is used for connecting with the tail end of the outer wall polishing robot; the first-stage sliding table driving motor 314 can drive the first-stage sliding table 312 to move relative to the fixing base 311 to realize first-stage expansion and contraction, and the second-stage sliding table driving assembly can drive the second-stage sliding table 313 to move relative to the first-stage sliding table 312 to realize second-stage expansion and contraction, so that the first slewing bearing 370 (which can also be understood as a cutting and polishing head 100) can realize a larger expansion and contraction stroke relative to the fixing base 311; the lower arm fixing seat 351 of the arm assembly 350 is connected with the secondary sliding table 313 through the first pivoting support 370, and the upper arm fixing seat 353 of the arm assembly 350 is connected with the mounting seat 331 through the second pivoting support 390, so that the cutting and polishing head 100 can realize torsion of two rotating shafts relative to the fixing seat 311 under the drive of the second motion module 330, and can swing under the telescopic drive of the arm assembly 350; the sliding seat drive assembly can drive the sliding seat 332 to slide relative to the mounting seat 331 so as to realize the transverse movement of the cutting sanding head 100 relative to the mounting seat 331; the swing frame drive assembly is capable of driving the swing frame 334 to swing relative to the slide block 332 to achieve pitching of the cutting sanding head 100 relative to the slide block 332; the telescoping assembly is capable of actuating the cutting sanding head 100 to telescope relative to the swing frame 334 to vary the amount of telescoping of the cutting sanding head 100 in the feed direction.

According to the polishing execution end 300 of the embodiment of the application, the first motion module 310, the mechanical arm assembly 350 and the second motion module 330 can replace the function of a human arm, so that the cutting polishing head 100 can complete the actions of extension, torsion, transverse movement, pitching and the like with longer stroke. This execution end 300 of polishing for cutting polishing head 100 moves in a flexible way, is applicable to narrow and small climbing frame space and different wall positions, and the suitability is strong, and the coverage rate of polishing is high.

A grinding apparatus according to an embodiment of the third aspect of the present application is described below.

The grinding apparatus according to the embodiment of the present application includes a base plate and a grinding execution end 300 according to the embodiment of the second aspect of the present application. The fixing base 311 of the mechanical arm 301 is installed on the chassis, the chassis can drive the polishing execution end 300 to move to the wall to be polished, the polishing machine is suitable for polishing of different wall positions, the polishing operation range is wide, the cutting polishing head 100 is adopted, cutting polishing of staggering and expanding molds of the wall can be achieved, polishing efficiency is high, and operation safety is high. It should be noted that the polishing device is a component device of the polishing robot, the polishing robot further includes other control devices, execution components and the like besides the polishing device, and no description is made in the application about other components or devices of the polishing robot.

It should be noted that the features of the embodiments in the present application may be combined with each other without conflict.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cutting and polishing head, comprising:

a frame;

the polishing driving motor is arranged on the rack;

the rotating shaft is arranged on the rack and is parallel to an output shaft of the grinding driving motor;

a cutter body mounted on the rotating shaft.

2. The cutting and polishing head according to claim 1, further comprising a gear shaft, a first gear, and a second gear, wherein the gear shaft is mounted to the frame and disposed parallel to the rotation shaft, one end of the gear shaft is connected to an output shaft of the polishing driving motor through the transmission mechanism, the gear shaft and the polishing driving motor are located on the same side of the transmission mechanism, the first gear is sleeved on the gear shaft, the second gear is sleeved on the rotation shaft, and the second gear is engaged with the first gear.

3. The cutting sanding head according to claim 2, wherein the transmission mechanism is a belt transmission mechanism, the belt transmission mechanism includes a driving pulley, a driven pulley, and a synchronous belt, the driving pulley is mounted on the output shaft of the sanding drive motor, the driven pulley is mounted on the gear shaft, and the synchronous belt is sleeved on the driving pulley and the driven pulley.

4. A sanding actuator comprising a robotic arm and a cutting sanding head according to any of claims 1-3 mounted to a distal end of the robotic arm, the robotic arm capable of driving movement of the cutting sanding head.

5. The sanding actuation end of claim 4, wherein the robotic arm includes a first motion module, a second motion module, a robotic arm assembly, a robotic arm drive cylinder, a first slewing bearing motor, a second slewing bearing, and a second slewing bearing motor;

the mechanical arm assembly comprises a lower mechanical arm fixing seat, a lower mechanical arm rod, an upper mechanical arm fixing seat and an upper mechanical arm rod which are sequentially hinged, the lower mechanical arm fixing seat is connected with the first movement module through the first slewing bearing, the upper mechanical arm fixing seat is connected with the second movement module through the second slewing bearing, the mechanical arm driving electric cylinder is used for driving the mechanical arm assembly to move, and the cutting polishing head is installed on the second movement module.

6. The polishing execution end of claim 5, wherein the first motion module comprises a fixed seat, a first sliding table, a second sliding table, a first sliding table driving assembly and a second sliding table driving assembly, the first sliding table is in sliding fit with the fixed seat, the first sliding table driving assembly is used for driving the first sliding table to move relative to the fixed seat, the second sliding table is in sliding fit with the first sliding table, the second sliding table driving assembly is used for driving the second sliding table to move relative to the first sliding table, and the second sliding table is connected with the lower fixed seat of the mechanical arm through the first slewing bearing.

7. The polishing actuating end of claim 5, wherein the second motion module comprises a mounting seat, a sliding seat, and a sliding seat driving assembly, the mounting seat is connected with the fixed seat on the robot arm through the second pivoting support, the sliding seat is in sliding fit with the mounting seat, the sliding seat driving assembly is used for driving the sliding seat to slide relative to the mounting seat, and the cutting polishing head is mounted on the sliding seat.

8. The sanding actuation end of claim 7, wherein the second motion module further comprises a swing frame rotatably coupled to the slide block and a swing frame drive assembly for driving the swing frame to swing relative to the slide block, the cutting sanding head being mounted to the swing frame.

9. The sanding actuation end of claim 8, wherein the second motion module further comprises a telescoping assembly, the cutting sanding head being slidably coupled to the swing frame, the telescoping assembly for driving the cutting sanding head in translation relative to the swing frame.

10. An abrading device comprising a chassis and an abrasive execution end according to any of claims 4-9, said robot arm having one end mounted to said chassis.