CN113967859A - Hole grinding device and plugging robot with same - Google Patents
Hole grinding device and plugging robot with same Download PDFInfo
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- CN113967859A CN113967859A CN202010716303.9A CN202010716303A CN113967859A CN 113967859 A CN113967859 A CN 113967859A CN 202010716303 A CN202010716303 A CN 202010716303A CN 113967859 A CN113967859 A CN 113967859A
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- hole grinding
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- 238000005498 polishing Methods 0.000 claims abstract description 65
- 230000033001 locomotion Effects 0.000 claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims description 75
- 238000005096 rolling process Methods 0.000 claims description 17
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 239000004576 sand Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/36—Single-purpose machines or devices
- B24B5/48—Single-purpose machines or devices for grinding walls of very fine holes, e.g. in drawing-dies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/35—Accessories
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
- E04B1/62—Insulation or other protection; Elements or use of specified material therefor
- E04B1/66—Sealings
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The invention discloses a hole polishing device and a plugging robot with the same, wherein the hole polishing device is suitable for polishing a hole and comprises: installing a base body; the polishing head is formed into a conical shape and can extend into the hole; the linear driving device is arranged on the mounting base body and drives the polishing head to do linear motion; the linear driving assembly and the rotary driving assembly respectively and independently control the motion of the polishing head. A hole grinding device can grind holes in a wall surface to form V-shaped holes, so that subsequent plugging of the holes in the wall surface can be facilitated.
Description
Technical Field
The invention relates to the technical field of hole plugging, in particular to a hole polishing device and a plugging robot with the same.
Background
In the related technology, in the building construction, when a wooden template cast-in-place process is adopted, the template plays a limiting and forming role on concrete, the template is fixed by using a through-wall bolt, meanwhile, the through-wall bolt is coated by using a sleeve, and after the concrete is solidified, a screw is taken out of a wall body to form a screw hole needing to be plugged.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a hole polishing device, which can polish a hole on a wall surface to form a V-shaped hole, so as to facilitate the subsequent plugging of the hole on the wall surface with improved efficiency and ensure the quality of the hole treatment.
Another object of the present invention is to provide a plugging robot having the above hole grinding device.
According to an embodiment of the present invention, a hole polishing apparatus is adapted to polish a hole, and includes: installing a base body; the polishing head is formed into a conical shape and can extend into the hole; the linear driving device is arranged on the mounting base body and drives the polishing head to do linear motion; the linear driving assembly and the rotary driving assembly respectively and independently control the motion of the polishing head.
According to the hole grinding device provided by the embodiment of the invention, the grinding head can be driven to perform linear reciprocating motion through the linear driving assembly, so that the opening of the hole can be chiseled. The rotary driving assembly can drive the polishing head to rotate, so that the polishing head can polish the opening of the hole through rotation. Wherein linear drive subassembly and rotary drive subassembly, both can independently drive the head of polishing and move, also can drive simultaneously and polish the head and carry out linear motion and rotary motion simultaneously, thereby realize the multiple motion mode of head of polishing, and hole grinding device is through having linear drive subassembly and rotary drive subassembly, great simplification holistic structure, in addition, cooperation through linear drive subassembly and rotary drive subassembly, can promote work efficiency greatly, guarantee the quality of polishing to the hole.
In addition, the hole grinding device according to the present invention may further have the following additional technical features:
in some embodiments of the invention, a hole grinding apparatus as defined in claim 1, further comprising: the first end of the sleeve is fixedly connected with the polishing head, the second end of the sleeve is connected with the linear driving assembly, and the rotary driving assembly is in transmission connection with the sleeve.
In some embodiments of the invention, the linear drive assembly comprises: a linear driving part provided on the mounting base; the push block is connected with the sleeve, and the push block is connected with the linear driving part.
In some embodiments of the present invention, the second end of the sleeve is provided with a flange, and the free end of the push block is provided with a clamping jaw, and the clamping jaw is connected with the flange.
In some embodiments of the invention, the cannula further comprises: the connecting neck is connected between the flanging and the sleeve, and the outer diameter of the connecting neck is smaller than that of the sleeve and smaller than that of the flanging.
In some embodiments of the invention, the linear drive section comprises a rodless cylinder.
In some embodiments of the invention, the hole grinding apparatus further comprises: the mounting sleeve is fixed on the mounting base body, the sleeve can be contained in the mounting sleeve, an avoiding opening extending along the axis of the mounting sleeve is formed in the peripheral wall of the mounting sleeve, and the push block is connected with the sleeve after passing through the avoiding opening.
In some embodiments of the invention, the rotary drive assembly is disposed on the mounting sleeve and includes a drive shaft, the bore grinding apparatus further comprising: the transmission part rotates, the transmission part rotates with the drive shaft transmission links to each other, be equipped with the transmission piece on the sleeve pipe with one of the transmission part rotates, and be equipped with on the other with transmission piece complex transmission groove, the transmission groove is followed the sleeve pipe or the axis direction of rotation transmission part extends.
In some embodiments of the present invention, the hole grinding apparatus further comprises a rolling friction member, the rolling friction member comprising: a mounting ring sheathed outside the sleeve; the ball is arranged on the peripheral wall of the mounting ring and is suitable for being in rolling contact with the inner wall of the sleeve.
According to an embodiment of the invention, a plugging robot comprises: a mechanical arm; according to the hole grinding device of the above embodiment, the mounting base is connected to the robot arm; and the plugging device is suitable for plugging the hole processed by the hole polishing device and arranged on the mounting base body.
According to the plugging robot provided by the embodiment of the invention, the positions of the plugging device and the hole grinding device can be quickly adjusted to the corresponding positions of the holes through the mechanical arm, so that the working efficiency is improved, meanwhile, the holes can be quickly processed through the hole grinding device, and the openings of the holes are ground into V-shaped holes. And then can be quick carry out the shutoff to the hole after handling through plugging device, work efficiency is high, and the operation is swift, can also guarantee the shutoff quality to the hole simultaneously.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural view of the interior of a casing retrieval installation sleeve of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 2 is a top view of the interior of a casing retrieval installation sleeve of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 3 is a side cross-sectional view of the interior of a cannula retrieval mounting sleeve of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a configuration of a bore grinding apparatus with a sleeve extending from a mounting sleeve according to an embodiment of the present invention;
FIG. 5 is a top view of a bushing extending from a mounting sleeve of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 6 is a side cross-sectional view of a bushing extending from a mounting sleeve of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 7 is a front view of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of the construction of a rotary drive member of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 9 is a side view of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 10 is a schematic structural view of a mounting ring of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 11 is a side view of a mounting ring of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 12 is a schematic structural view of a mounting sleeve of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 13 is an elevation view of a mounting sleeve of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 14 is a schematic diagram of a configuration of a bushing of a hole grinding apparatus according to an embodiment of the present invention;
FIG. 15 is a side view of a bushing of a hole grinding apparatus according to an embodiment of the present invention;
figure 16 is a schematic partial perspective view of an occlusion robot according to an embodiment of the invention;
FIG. 17 is a partial top view of an occluding robot according to an embodiment of the present invention;
fig. 18 is a partial top view of a hole being sanded by a sanding head in a hole sanding device of a plugging robot in accordance with an embodiment of the present invention;
FIG. 19 is a top view of an occluding robot adjusting an occluding device to correspond to the position of a hole in accordance with an embodiment of the present invention;
fig. 20 is a top view of a plugging device of a plugging robot plugging a hole according to an embodiment of the present invention.
Reference numerals:
a hole polishing device 100;
mounting a substrate 1; a polishing head 2;
a linear drive assembly 3; a linear drive unit 31; a rodless cylinder 311; a push block 32; the clamping jaws 321;
a rotary drive assembly 4; a drive shaft 41;
a sleeve 5; a first end 51; a second end 52; a turned-over edge 53; a connecting neck 54; a transmission groove 55;
installing the sleeve 6; an escape opening 61; a rolling groove 62;
a rotating transmission member 7; a transmission block 71;
a rolling friction member 8; a mounting ring 81; an annular groove 811; a ball 82;
a hole 10;
a robotic arm 200;
the occluding device 300.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A hole grinding apparatus 100 according to an embodiment of the present invention is described below with reference to fig. 1 to 20.
According to an embodiment of the present invention, a hole grinding apparatus 100, the hole grinding apparatus 100 is adapted to grind a hole 10, and includes: mounting base 1, sanding head 2, linear drive assembly 3 and rotary drive assembly 4. The hole polishing device 100 can drive the polishing head 2 through the cooperation of the polishing head 2, the linear driving assembly 3 and the rotary driving assembly 4, thereby realizing the polishing of the hole 10, improving the working efficiency and ensuring the polishing quality of the hole 10.
Specifically, as shown in fig. 1 to 6, the polishing head 2 is formed in a conical shape, the polishing head 2 can extend into the hole 10, and the conical polishing head 2 can extend into the hole 10, so that the polishing head 2 can polish the hole 10 into a V-shaped hole, the size of the opening of the hole 10 is increased, and the subsequent plugging operation of the hole 10 is facilitated.
As shown in fig. 1 to 6, the linear driving assembly 3 is disposed on the mounting base 1 and drives the polishing head 2 to perform a linear motion, and the linear driving assembly 3 can drive the polishing head 2 to perform a reciprocating motion along the direction of the rotation axis thereof, so that the polishing head 2 can perform a chiseling operation on the hole 10 by performing the reciprocating motion.
As shown in fig. 1 to 6, the rotation driving assembly 4 is disposed on the mounting substrate 1 and drives the polishing head 2 to perform a rotation motion, so that the polishing head 2 can rotate through the rotation driving assembly 4, and the hole 10 is polished by the rotation driving assembly 4, so that a V-shaped hole is formed at an opening of the hole 10, thereby facilitating a subsequent plugging operation of the hole 10.
Further, the linear drive assembly 3 and the rotary drive assembly 4 each independently control the motion of the sanding head 2. That is to say, the polishing head 2 can only be driven by the linear driving assembly 3 to perform linear reciprocating motion, the polishing head 2 can also be driven by the rotary driving assembly 4 to perform rotation, the polishing head 2 can also be driven by the linear driving assembly 3 and the rotary driving assembly 4 simultaneously, and the linear motion and the rotary motion are performed synchronously, so that various motion forms of the polishing head 2 are realized.
Further, the hole grinding device 100 has the linear drive unit 3 and the rotary drive unit 4, and can move the grinding head 2 linearly as well as rotationally, so that the hole 10 can be drilled by reciprocating impact, and the opening of the hole 10 can be rotationally ground, while the entire structure is greatly simplified.
According to the hole grinding apparatus 100 of the embodiment of the present invention, the grinding head 2 may be driven to perform a linear reciprocating motion by the linear driving assembly 3, so that the opening of the hole 10 may be chiseled. The rotational drive assembly 4 may drive the sanding head 2 to rotate, thereby enabling the sanding head 2 to sand the opening of the hole 10 by rotating. Wherein linear drive assembly 3 and rotary drive assembly 4 both can independently drive the head 2 of polishing and move, also can drive simultaneously the head 2 of polishing and carry out linear motion and rotary motion simultaneously to realize the multiple motion mode of head 2 of polishing, and hole grinding device 100 is through having linear drive assembly 3 and rotary drive assembly 4, great simplification holistic structure. In addition, through the cooperation of linear drive assembly 3 and rotary drive assembly 4, can promote work efficiency greatly, guarantee the quality of polishing hole 10.
As shown in fig. 1-6, a hole grinding device 100 further comprises a sleeve 5, a first end 51 of the sleeve 5 is fixedly connected with the grinding head 2, a second end 52 of the sleeve 5 is connected with the linear driving assembly 3, and the rotary driving assembly 4 is in transmission connection with the sleeve 5.
Specifically, one end of the sleeve 5 is connected to the polishing head 2, so that the driving of the polishing head 2 can be realized by driving the movement of the sleeve 5. As shown in fig. 14 and 15, one end of the sleeve 5 is connected to the sanding head 2, i.e., the first end 51 of the sleeve 5. The other end of sleeve 5 is connected with linear drive assembly 3, and second end 52 that is sleeve 5 is connected with linear drive assembly 3 through second end 52, can make linear drive assembly 3 provide drive power for sleeve 5, and then makes sleeve 5 with drive power transmission to head 2, realizes the straight reciprocating motion of head 2 of polishing to carry out reciprocal chisel grinding to hole 10 opening.
The sleeve 5 can also be in transmission connection with the rotary driving assembly 4, so that the rotary driving assembly 4 provides a rotating force for the sleeve 5, and the sleeve 5 can rotate, so that the sleeve 5 drives the polishing head 2 to synchronously rotate, and further rotationally polish the hole 10.
As shown in fig. 2, 5 and 7, the linear driving assembly 3 includes: the linear driving part 31 is arranged on the installation base body 1, the push block 32 is connected with the sleeve 5, and the push block 32 is connected with the linear driving part 31.
Specifically, the linear driving portion 31 can provide a linear driving force, and the pushing block 32 is connected between the linear driving portion 31 and the sleeve 5, so that the linear driving portion 31 can provide the driving force to the sleeve 5 through the pushing block 32, and the sleeve 5 can perform linear motion, so that the sleeve 5 drives the polishing head 2 to perform synchronous linear motion.
Further, as shown in fig. 14 and 15, the second end 52 of the sleeve 5 is provided with a flange 53, and the flange 53 is a circular plate having a through hole at the center thereof, and the through hole at the center thereof communicates with the inside of the sleeve 5. The free end of the push block 32 is provided with a clamping jaw 321, the free end of the push block 32 is the end connected with the sleeve 5, the clamping jaw 321 is connected with the flanging 53, and therefore, the linear driving part 31 can drive the clamping jaw 321 to move synchronously when moving through the connection of the clamping jaw 321 and the flanging 53, and further the clamping jaw 321 can drive the sleeve 5 to perform synchronous linear motion, so that the reciprocating motion of the sleeve 5 and the grinding head 2 is realized to grind the opening of the hole 10.
Further, as shown in fig. 14 and 15, the sleeve 5 further includes a coupling neck 54, the coupling neck 54 being coupled between the flange 53 and the sleeve 5, the coupling neck 54 having an outer diameter smaller than the outer diameter of the sleeve 5 and smaller than the outer diameter of the flange 53.
Specifically, the connecting neck 54 is disposed between the flange 53 and the second end 52 of the sleeve 5, the connecting neck 54 is a circular ring structure, the flange 53, the connecting neck 54 and the middle of the sleeve 5 are sequentially connected to form an integral structure, and meanwhile, the flange 53, the connecting neck 54 and the middle of the sleeve 5 are communicated. As shown in fig. 15, the outer diameter of the connecting neck 54 is smaller than that of the sleeve 5, and the outer diameter of the connecting neck 54 is smaller than that of the flange 53, so that after the connecting neck 54 is arranged between the flange 53 and the second end 52 of the sleeve 5, the flange 53 can be formed to have a protruding structure with a certain interval with the second end 52 of the sleeve 5, thereby facilitating the clamping of the flange 53 by the clamping jaws 321, facilitating the contact area between the flange 53 and the clamping jaws 321, and promoting the connection stability between the clamping jaws 321 and the flange 53.
As shown in fig. 1, 2, 4, 5, and 7, the linear driving section 31 includes a rodless cylinder 311. Can provide sharp drive power through no pole cylinder 311, thereby make sleeve pipe 5 can be connected the back between the no pole cylinder 311 with linear drive portion 31, realize reciprocating motion, thereby can drive 2 of polishing head and carry out reciprocating motion, and chisel to the hole 10 opening and grind, no pole cylinder 311 can realize the rectilinear direction's of hole grinding device 100 automatic motion, promote hole grinding device 100's degree of automation, realize the rectilinear reciprocating motion of 2 of polishing head simultaneously, be convenient for chisel to the hole 10 opening and grind, also can effectually reduce the holistic structure size of hole grinding device 100.
As shown in fig. 1 to 6 and fig. 12 and 13, the hole grinding device 100 further includes a mounting sleeve 6, the mounting sleeve 6 is fixed on the mounting base 1, the bushing 5 is accommodated in the mounting sleeve 6, an avoiding opening 61 extending along an axis of the mounting sleeve 6 is formed in a peripheral wall of the mounting sleeve 6, and the push block 32 passes through the avoiding opening 61 and then is connected to the bushing 5.
Specifically, the mounting sleeve 6 is of a circular tube structure, and the circumferential surface of the mounting sleeve 6 is provided with strip-shaped grooves which are arranged at equal intervals, namely, the openings 61 are avoided. The inside of installation sleeve 6 is located to sleeve 5, and linear drive assembly 3's ejector pad 32 simultaneously can pass dodges opening 61 and be connected with sleeve 5, and under linear drive assembly 3's drive, rodless cylinder 311 can drive ejector pad 32 and be linear motion from this, and ejector pad 32 can carry out rectilinear movement in dodging opening 61, drives sleeve 5 simultaneously and carries out synchronous motion, and then realizes that linear drive assembly 3 drives the linear motion of sleeve 5.
As shown in fig. 1-6, the rotary driving assembly 4 is disposed on the mounting sleeve 6, and the rotary driving assembly 4 includes a driving shaft 41, so that it can be seen that the rotary driving assembly 4 is fixedly connected to the mounting sleeve 6, and the driving shaft 41 of the rotary driving assembly 4 can provide a rotating force to the sleeve 5, so that the sleeve 5 can rotate to drive the polishing head 2 to polish the opening of the hole 10 by rotation.
Further, the hole polishing device 100 further includes a rotation transmission member 7, the rotation transmission member 7 is in transmission connection with the driving shaft 41, one of the sleeve 5 and the rotation transmission member 7 is provided with a transmission block 71, and the other one of the sleeve 5 and the rotation transmission member 7 is provided with a transmission groove 55 matched with the transmission block 71, and the transmission groove 55 extends along the axial direction of the sleeve 5 or the rotation transmission member 7.
In particular, it is possible to provide the drive block 71 on one of the sleeve 5 and the rotary drive member 7. The other one of the sleeve 5 and the rotating transmission member 7 is provided with a transmission groove 55, and then the transmission block 71 is assembled in the transmission groove 55, so that the transmission block 71 and the transmission groove 55 are in clamping fit when rotating. At the same time, the transmission block 71 can also be moved linearly in the transmission groove 55, so that the sleeve 5 and the rotary transmission member 7 can slide relative to each other.
In an embodiment of the present invention, a transmission block 71 may be disposed on the sleeve 5, a transmission groove 55 is disposed on the rotary transmission member 7, and after the sleeve 5 and the rotary transmission member 7 are assembled, the transmission block 71 on the sleeve 5 is matched with the transmission groove 55 on the rotary transmission member 7, so that the sleeve 5 can slide relative to the rotary transmission member 7, and the rotary transmission member 7 can transmit a rotating force to the sleeve 5 by the engagement of the transmission block 71 and the transmission groove 55 when rotating, thereby rotating the sleeve 5. And then the sleeve 5 can do linear reciprocating motion alone, can also carry out rotary motion, can also realize that linear motion goes on with rotary motion's synchronization.
In a preferred embodiment of the invention, as shown in fig. 8, 9, 14 and 15, the driving groove 55 may be provided on the sleeve 5 and the driving block 71 may be provided on the rotary drive member 7, whereby the driving block 71 on the sleeve 5 may be engaged with the driving groove 55 of the rotary drive member 7 when the sleeve 5 is rotatably coupled to the rotary drive member 7. The transmission block 71 and the transmission groove 55 are correspondingly assembled, so that when the sleeve 5 slides relative to the rotating transmission member 7, the transmission block 71 can move in the transmission groove 55, and the sleeve 5 and the rotating transmission member 7 are effectively prevented from freely rotating relatively. Meanwhile, the transmission block 71 is located in the transmission groove 55, so that when the rotary driving component 4 drives the rotary transmission member 7 to rotate, the rotary transmission member 7 is clamped with the transmission groove 55 relatively through the transmission block 71, and the rotary transmission member 7 rotates to drive the sleeve 5 to rotate.
Furthermore, by using the matching manner of the transmission block 71 and the transmission groove 55 between the rotary transmission member 7 and the sleeve 5, the sleeve 5 can slide relative to the rotary transmission member 7, that is, the sleeve 5 is driven by the linear driving component 3 to make a linear reciprocating motion. And the synchronous rotation of the sleeve 5 can be driven by the rotary driving component 4 when the rotary driving component 7 rotates. In addition, the sleeve 5 can perform linear reciprocating motion and rotary motion simultaneously, so that chiseling and rotary grinding of the hole 10 are realized, and the hole grinding device 100 has more motion modes and is more practical.
As shown in fig. 1 to 6 and 10 to 13, a hole sanding device 100 further includes a rolling friction member 8, and the rolling friction member 8 includes: a mounting ring 81 and balls 82, the mounting ring 81 is sleeved outside the sleeve 5, and the balls 82 are arranged on the outer peripheral wall of the mounting ring 81 and are suitable for rolling contact with the inner wall of the sleeve 5.
Specifically, as shown in fig. 10 and 11, the mounting ring 81 has an annular structure, and the outer circumferential surface of the mounting ring 81 is provided with an annular groove 811, so that after the mounting ring 81 is sleeved outside the sleeve 5, the sleeve 5 is arranged inside the mounting sleeve 6, a certain space is formed between the annular groove 811 of the mounting ring 81 and the inner wall of the mounting sleeve 6, and the balls 82 are placed in the space between the annular groove 811 of the mounting ring 81 and the inner wall of the mounting sleeve 6, so that when the sleeve 5 moves linearly or rotates, rolling contact is achieved through the balls 82 between the mounting ring 81 and the mounting sleeve 6, and friction is reduced, and the balls 82 can also play a role in limiting and supporting the position of the sleeve 5 inside the mounting sleeve 6.
In addition, a plurality of rolling grooves 62 are formed at intervals on the inner wall of the mounting sleeve 6 according to the embodiment of the present invention, and the rolling grooves 62 and the escape openings 61 are formed at intervals on the mounting sleeve 6. The balls 82 can roll in the rolling grooves 62, so that after the sleeve 5 with the mounting ring 81 mounted thereon is fitted in the mounting sleeve 6, the balls 82 can be located in the annular groove 811 of the mounting ring 81 and the rolling grooves 62 in the inner wall of the mounting sleeve 6, and thus the balls 82 can roll in the annular groove 811 and the rolling grooves 62.
A plugging robot (not shown) according to an embodiment of the present invention comprises: the robotic arm 200, the hole sharpening device 100 and the plugging device 300 of the above embodiments. The mounting base body 1 is connected with the mechanical arm 200, the plugging device 300 is suitable for plugging the hole 10 processed by the hole polishing device 100, and the plugging device 300 is arranged on the mounting base body 1.
Specifically, as shown in fig. 16-20, the plugging robot may polish the hole 10 by the hole polishing device 100 through the mechanical arm 200 at the position of the wall hole 10 corresponding to the hole polishing device 100, so as to polish the opening of the hole 10 into a V-shaped hole. Be equipped with slewing mechanism on the arm 200, through, on slewing mechanism was all located to hole grinding device 100 and plugging device 300, through slewing mechanism from this, after hole grinding device 100 handled hole 10, rotated plugging device 300 to the corresponding position of the hole 10 after handling, realized the quick shutoff to hole 10.
According to the plugging robot provided by the embodiment of the invention, the positions of the plugging device 300 and the hole grinding device 100 can be quickly adjusted to the corresponding position of the hole 10 through the mechanical arm 200, so that the working efficiency is improved, meanwhile, the hole 10 can be quickly processed through the hole grinding device 100, and the opening of the hole 10 is ground into a V-shaped hole. Furthermore, the plugging device 300 can rapidly plug the processed hole 10, so that the working efficiency is high, the operation is rapid, and meanwhile, the plugging quality of the hole 10 can be ensured.
Specifically, the plugging robot according to the embodiment of the present invention performs the following specific steps of plugging the hole 10. As shown in fig. 16 to 20, when the hole 10 on the wall surface is plugged, the position of the entire plugging robot is adjusted, and as shown in fig. 17, the hole grinding apparatus 100 is adjusted to correspond to the position of the hole 10 by adjusting the position of the robot arm 200.
Further, as shown in fig. 18, the casing 5 is driven by the linear driving assembly 3 to perform a linear motion, that is, the casing 5 is extended or retracted from the inside of the mounting sleeve 6, so that the casing 5 drives the polishing head 2 to perform a linear reciprocating motion, thereby performing chiseling on the opening of the hole 10. The rotation transmission member 7 can also be driven to rotate by the rotary driving component 4, so that the rotation transmission member 7 drives the sleeve 5 to synchronously rotate when rotating, and further the rotation of the polishing head 2 is realized to grind the opening of the hole 10.
As shown in fig. 19 and 20, after the hole 10 is processed by the hole polishing device 100, the sleeve 5 is retracted into the mounting sleeve 6 by the linear driving assembly 3, and the plugging device 300 is rotated by the rotating mechanism of the robot arm 200 to correspond to the position of the hole 10, so that the hole 10 processed by the hole polishing device 100 can be plugged by the plugging device 300. The V-shaped hole is formed by processing the opening of the hole 10, so that the hole 10 can be conveniently plugged by the plugging device 300, meanwhile, the contact area between the plugging device 300 and the hole 10 reaches the standard, and further, the wall leakage generated after the hole 10 is plugged by the plugging device 300 can be prevented.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a hole grinding device which characterized in that, hole grinding device is suitable for polishing the hole, and includes:
installing a base body;
the polishing head is formed into a conical shape and can extend into the hole;
the linear driving device is arranged on the mounting base body and drives the polishing head to do linear motion;
the linear driving assembly and the rotary driving assembly respectively and independently control the motion of the polishing head.
2. A hole grinding apparatus as defined in claim 1, further comprising:
the first end of the sleeve is fixedly connected with the polishing head, the second end of the sleeve is connected with the linear driving assembly, and the rotary driving assembly is in transmission connection with the sleeve.
3. A hole grinding apparatus as claimed in claim 2, wherein the linear drive assembly comprises:
a linear driving part provided on the mounting base;
the push block is connected with the sleeve, and the push block is connected with the linear driving part.
4. A hole grinding device as claimed in claim 2,
the second end of the sleeve is provided with a flange, the free end of the push block is provided with a clamping jaw, and the clamping jaw is connected with the flange.
5. A hole grinding apparatus as defined in claim 2, wherein the sleeve further comprises: the connecting neck is connected between the flanging and the sleeve, and the outer diameter of the connecting neck is smaller than that of the sleeve and smaller than that of the flanging.
6. A hole grinding apparatus as claimed in claim 3, wherein the linear drive comprises a rodless cylinder.
7. A hole grinding apparatus as claimed in claim 2, further comprising: the mounting sleeve is fixed on the mounting base body, the sleeve can be contained in the mounting sleeve, an avoiding opening extending along the axis of the mounting sleeve is formed in the peripheral wall of the mounting sleeve, and the push block is connected with the sleeve after passing through the avoiding opening.
8. A hole grinding apparatus as claimed in claim 2, in which the rotary drive assembly is provided on the mounting sleeve and comprises a drive shaft,
the hole grinding device further includes:
the transmission part rotates, the transmission part rotates with the drive shaft transmission links to each other, be equipped with the transmission piece on the sleeve pipe with one of the transmission part rotates, and be equipped with on the other with transmission piece complex transmission groove, the transmission groove is followed the sleeve pipe or the axis direction of rotation transmission part extends.
9. A hole grinding apparatus as defined in claim 6, further comprising a rolling friction member, the rolling friction member comprising:
a mounting ring sheathed outside the sleeve;
the ball is arranged on the peripheral wall of the mounting ring and is suitable for being in rolling contact with the inner wall of the sleeve.
10. An occlusion robot, comprising:
a mechanical arm;
a hole grinding apparatus as claimed in any one of claims 1 to 9, wherein the mounting base is connected to the robotic arm;
and the plugging device is suitable for plugging the hole processed by the hole polishing device and arranged on the mounting base body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010716303.9A CN113967859A (en) | 2020-07-23 | 2020-07-23 | Hole grinding device and plugging robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010716303.9A CN113967859A (en) | 2020-07-23 | 2020-07-23 | Hole grinding device and plugging robot with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113967859A true CN113967859A (en) | 2022-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010716303.9A Pending CN113967859A (en) | 2020-07-23 | 2020-07-23 | Hole grinding device and plugging robot with same |
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| Country | Link |
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| CN (1) | CN113967859A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116985000A (en) * | 2023-09-22 | 2023-11-03 | 中铁城建集团第一工程有限公司 | Steel structure welding corrosion prevention equipment and construction process under high-temperature and high-humidity environment |
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| CN210650010U (en) * | 2019-09-26 | 2020-06-02 | 佛山市硕宇机械研发有限公司 | Grinding head structure |
| CN210678053U (en) * | 2019-10-09 | 2020-06-05 | 温州市金久紧固件有限公司 | Device for grinding inner hole of gasket |
| CN210800113U (en) * | 2019-11-11 | 2020-06-19 | 广东博智林机器人有限公司 | Fast valve, hole plugging device and hole plugging robot |
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| GB664472A (en) * | 1948-09-15 | 1952-01-09 | Niles Bement Pond Co | Internal grinding machines |
| CN103702797A (en) * | 2012-07-19 | 2014-04-02 | 新东工业株式会社 | Brush polishing device and brush polishing method for metal machine parts |
| CN106607725A (en) * | 2015-10-21 | 2017-05-03 | 四川顺宇铸造有限公司 | Polishing machine for polishing deep holes |
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| CN116985000A (en) * | 2023-09-22 | 2023-11-03 | 中铁城建集团第一工程有限公司 | Steel structure welding corrosion prevention equipment and construction process under high-temperature and high-humidity environment |
| CN116985000B (en) * | 2023-09-22 | 2023-12-08 | 中铁城建集团第一工程有限公司 | Steel structure welding corrosion prevention equipment and construction process under high-temperature and high-humidity environment |
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Application publication date: 20220125 |