CN114770260A - Wall grinding device and wall grinding robot - Google Patents
Wall grinding device and wall grinding robot Download PDFInfo
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- CN114770260A CN114770260A CN202110088194.5A CN202110088194A CN114770260A CN 114770260 A CN114770260 A CN 114770260A CN 202110088194 A CN202110088194 A CN 202110088194A CN 114770260 A CN114770260 A CN 114770260A
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- polishing
- wall surface
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- rotary
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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
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/182—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like for walls and ceilings
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a wall surface polishing device and a wall surface polishing robot. The wall surface polishing device comprises a base, a polishing mechanism, a telescopic mechanism and a rotating mechanism, wherein the polishing mechanism is used for polishing the wall surface, the telescopic mechanism and the rotating mechanism are both arranged on the base, the telescopic mechanism can drive the rotating mechanism to move along the X direction, and the rotating mechanism can drive the polishing mechanism to rotate around an axis extending along the Y direction so as to switch between a polishing state stretching out of the base and an avoiding state retracting to the base. When the wall surface polishing device needs to pass through the inner vertical rod of the climbing frame, the polishing mechanism can be driven by the rotating mechanism to rotate so as to be switched into an avoiding state retracted to the base, so that the wall surface polishing device can avoid the inner vertical rod and smoothly walk, and the polishing efficiency is improved; when the wall surface needs to be polished, the polishing mechanism can be driven to rotate through the rotating mechanism so as to switch to the polishing state of the extending base, and the rotating mechanism is driven to move along the X direction through the telescopic mechanism so as to be close to and press the wall surface to be polished, so that polishing operation can be performed.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a wall surface polishing device and a wall surface polishing robot.
Background
In the building construction process, the process defects of concrete pouring, aluminum mould deformation and the like can cause the defects of slab staggering, mould expansion, laitance, explosion points and the like on the outer wall surface of a building, the subsequent process is influenced, and therefore a large amount of manpower and material resources are consumed for polishing the wall surface. In the prior art, the grinding of the outer wall surface requires workers to attach to a climbing frame for high-altitude operation outdoors, and the labor intensity and the danger are linearly increased.
In order to adapt to the phenomena of fault occurrence and labor cost increase of labor force in the building industry and further consider the safety of workers, the design of a concrete outer wall polishing robot tends to be great. Because climb complicated structure of frame and environment, the robot can avoid climbing the difficult point that the pole setting walking is the design of polishing robot in the frame, especially promotes the main way of polishing efficiency.
Disclosure of Invention
An object of the present invention is to provide a wall surface polishing device which contributes to an improvement in polishing efficiency.
Another object of the present invention is to provide a wall surface grinding robot including the wall surface grinding device.
To achieve the purpose, on one hand, the invention adopts the following technical scheme:
the utility model provides a wall grinding device, its includes base, grinding machanism, telescopic machanism and rotary mechanism, and grinding machanism is used for polishing the wall, telescopic machanism with rotary mechanism all set up in on the base, telescopic machanism can drive rotary mechanism moves along the X direction, rotary mechanism can drive grinding machanism rotates around the axis that extends along the Y direction, so that grinding machanism is stretching out grinding state and the retraction of base switch between the state of dodging of base.
According to the wall surface polishing device, the telescopic mechanism can drive the rotating mechanism to move along the X direction, and the rotating mechanism can drive the polishing mechanism to rotate along the axis extending along the Y direction so as to enable the polishing mechanism to be switched between the polishing state extending out of the base and the avoiding state retracting to the base; when the wall surface needs to be polished, the polishing mechanism can be driven to rotate through the rotating mechanism so as to be switched to a polishing state, the polishing mechanism extends out of the base, and the rotating mechanism is driven to move along the X direction through the telescopic mechanism so as to be close to and press the wall surface to be polished, so that polishing operation can be performed.
In some embodiments, the rotating mechanism includes a support and a rotary driving assembly capable of driving the support to rotate around an axis extending along the Y direction, and the grinding mechanism is disposed at one end of the support along the Y direction. Through setting up grinding machanism in support piece's one end along the Y direction for grinding machanism is eccentric on support piece to be arranged, thereby grinding machanism can not stretch into the rear of interior pole setting under the condition that pole setting is interfered in support piece and climbing frame, realizes polishing the wall at interior pole setting rear, promotes the coverage of polishing.
In some embodiments, the rotating mechanism further comprises a limiting assembly, and the limiting assembly can limit the support member to swing around an axis extending along the Y direction in the grinding state, so that when the grinding mechanism works, the support member cannot swing around the axis extending along the Y direction due to the force fed back by grinding, and the working stability of the grinding mechanism in grinding is ensured.
In some embodiments, the limiting component includes a limiting member, a linear driving member and an anti-rotation limiting shaft, the limiting member is fixedly connected to the supporting member, and a limiting hole is formed on the limiting member; the linear driving piece can drive the anti-rotation limiting shaft to reciprocate along the X direction, so that the anti-rotation limiting shaft is inserted into the limiting hole or separated from the limiting hole. When the wall needs to be polished, the support piece drives the polishing mechanism to rotate under the drive of the rotary drive assembly so as to be switched to a polishing state, at the moment, the linear driving piece drives the rotation-preventing limiting shaft to move along the X direction so as to be inserted into the limiting hole of the limiting piece, and the support piece is guaranteed not to swing due to polishing feedback force when the polishing mechanism works.
In some embodiments, the rotating mechanism further includes a floating adjustment assembly, the floating adjustment assembly includes a guide rod, an elastic member and a pressing plate, the pressing plate is connected to the support member, the guide rod penetrates through the limiting member, one end of the elastic member is fixedly connected to the pressing plate, and the other end of the elastic member is fixedly connected to the guide rod. Under the effect of elastic component, the locating part can float and adjust and prevent changeing the position of spacing axle, prevents the dead circumstances of card to guarantee to prevent changeing in spacing hole that spacing axle can accurate insertion locating part.
In some embodiments, the rotary driving assembly includes a rotary motor, a first gear, a second gear and a rotary shaft, the rotary shaft is fixedly connected to the support member, the second gear is sleeved on the rotary shaft and engaged with the first gear, the rotary motor can drive the first gear to rotate so as to drive the second gear and the rotary shaft to rotate, and the rotary motor and the rotary shaft are arranged side by side on the telescopic mechanism and located on the same axial side of the first gear, so that the wall surface polishing device is more compact in structure and contributes to miniaturization of the wall surface polishing device.
In some embodiments, the rotating mechanism further includes two bearing seats disposed at an interval, the bearing seats are provided with bearings, two ends of the rotating shaft are respectively installed in the bearings on the two bearing seats, and the bearings enable the rotating shaft to rotate more smoothly.
In some embodiments, the telescopic mechanism includes a connecting plate slidably connected to the base, and a telescopic driving assembly disposed on the connecting plate and capable of driving the connecting plate to drive the rotating mechanism to move along the X direction. The whole rotating mechanism is reasonably arranged through the connecting plate, so that the whole structure of the rotating mechanism is more compact.
In some embodiments, the telescopic mechanism further comprises an anti-collision assembly, the anti-collision assembly comprises an anti-collision piece and a sensor for sensing the anti-collision piece, the anti-collision piece is arranged on one of the base and the connecting plate, the sensor is arranged on the other one of the base and the connecting plate, and the sensor is in communication connection with the telescopic driving assembly. The anti-collision assembly can be used for limiting the stroke of the connecting plate when the connecting plate moves along the X direction, and when the sensor senses the anti-collision piece in the process of moving the bearing piece along the X direction, the telescopic driving assembly stops driving the connecting plate to move so as to prevent the connecting plate from exceeding the stroke.
On the other hand, the invention adopts the following technical scheme:
a wall surface polishing robot comprises a guide rail mechanism, a lifting mechanism, a transverse moving mechanism and the wall surface polishing device, wherein the guide rail mechanism is arranged in parallel to the Y direction; the lifting mechanism comprises a rack and a lifting driving piece, the lifting driving piece is arranged on the rack, and the rack is transversely movably arranged on the guide rail mechanism; the transverse moving mechanism can drive the rack to transversely move on the guide rail mechanism, and the lifting driving piece can drive the wall surface grinding device to lift on the rack.
The wall surface polishing robot disclosed by the invention can adapt to the existing climbing frame system, the climbing frame does not need to be changed, the wall surface polishing device can perform wall surface polishing work and can avoid the inner vertical rod to realize smooth walking in the climbing frame, and the polishing efficiency and the polishing coverage rate are improved.
Drawings
FIG. 1 is a schematic view of a wall grinding robot according to the present invention;
FIG. 2 is a front view of the wall sanding robot of FIG. 1;
FIG. 3 is a left side view of the wall grinding robot of FIG. 2;
FIG. 4 is a state view of the wall grinding robot of the present invention mounted on a climbing frame;
FIG. 5 is a schematic view of the wall surface polishing apparatus of the present invention in a polishing state;
FIG. 6 is a front view of the wall grinding apparatus of the present invention in an avoidance state;
FIG. 7 is a schematic view of a portion of the wall grinding apparatus of the present invention without the grinding mechanism;
fig. 8 is an exploded view of the wall grinding device shown in fig. 7.
The reference numbers illustrate:
1. a wall surface; 2. an inner vertical rod; 101. a base; 102. a support member; 103. a rotating electric machine; 104. a first gear; 105. a second gear; 106. a rotating shaft; 107. a bearing seat; 108. a stopper; 109. a linear drive; 110. an anti-rotation limiting shaft; 111. a guide bar; 112. an elastic member; 113. pressing a plate; 114. a connecting plate; 115. a telescopic motor; 116. a gear; 117. a rack; 118. an anti-collision member; 119. an inductor; 120. reinforcing the square tube; 121. a connecting member; 122. a rotation prevention block; 123. an oilless bushing; 124. a guide rail; 125. a slider; 200. a polishing mechanism; 201. a housing; 202. grinding the slices; 300. a guide rail mechanism; 401. a frame; 501. a sky rail motion chassis; 502. the ground rail moves the chassis.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
As shown in fig. 1 to 4, the wall surface grinding robot of an embodiment includes a rail mechanism 300, a lifting mechanism, a traversing mechanism, and a wall surface grinding device, the rail mechanism 300 being disposed parallel to the Y direction; the lifting mechanism comprises a rack 401 and a lifting driving piece, the lifting driving piece is arranged on the rack 401, and the rack 401 is transversely movably arranged on the guide rail mechanism 300; the transverse moving mechanism can drive the rack 401 to transversely move on the guide rail mechanism 300, and the lifting driving piece can drive the wall surface grinding device to lift on the rack 401.
Specifically, the guide rail mechanism 300 is arranged on the climbing frame and parallel to the Y direction, so that the lifting mechanism can circumferentially move around the wall of the building to drive the wall surface polishing device to complete circumferential polishing of the wall surface 1 of the building; the lifting driving piece drives the wall surface grinding device to lift so as to move in the height direction of the building, and the wall surface 1 of different floors is ground, so that the wall surface grinding device can finish the grinding operation on the whole wall of the building.
Wherein, guide rail mechanism 300 is including connecting in the sky rail and the ground rail that climb frame upper and lower both ends and parallel interval arrangement respectively, and sideslip mechanism is including setting up sky rail motion chassis 501 on the sky rail and setting up ground rail motion chassis 502 on the ground rail, and frame 401 moves the cooperation through sky rail motion chassis 501 and sky rail, moves the cooperation through ground rail motion chassis 502 and ground rail simultaneously, plays and supports and provides effects such as installation space. Therefore, the frame 401 can move circumferentially around the wall of the building to flexibly change the polishing area, and the wall surface polishing device is driven to complete circumferential polishing of the wall surface 1 of the building; and can restrict the frame 401 along the degree of freedom of perpendicular wall 1 direction, make the frame 401 installation firm and can not take place to overturn and lead to the high altitude to fall, also make the wall polishing robot can adapt to the complicated environment of climbing the frame better simultaneously.
Alternatively, the lifting driving member may be a motor, and the motor may drive the wall surface polishing device to complete the lifting action through a synchronous pulley assembly or other transmission assemblies. Of course, in other embodiments, the lifting driving member may also be a driving member such as an air cylinder, a hydraulic cylinder, or an electric push rod, as long as the driving of the wall surface polishing device to lift up and down on the frame 401 is achieved, which is not limited in the present invention.
As shown in fig. 5 to 8, the wall surface polishing device includes a base 101, a polishing mechanism 200, a telescopic mechanism and a rotating mechanism, the polishing mechanism 200 is used for polishing the wall surface 1, the telescopic mechanism and the rotating mechanism are both disposed on the base 101, the telescopic mechanism can drive the rotating mechanism to move along the X direction, and the rotating mechanism can drive the polishing mechanism 200 to rotate around an axis extending along the Y direction, so that the polishing mechanism 200 is switched between a polishing state extending out of the base 101 and an avoiding state retracting into the base 101. Wherein, the base 101 can be installed on the frame 401 of the lifting mechanism through the reinforced square tube 120.
According to the wall surface polishing device, the telescopic mechanism can drive the rotating mechanism to move along the X direction, and the rotating mechanism can drive the polishing mechanism 200 to rotate along the axis extending along the Y direction so as to enable the polishing mechanism 200 to be switched between the polishing state extending out of the base 101 and the avoiding state retracting into the base 101, so that when the wall surface polishing device needs to climb the inner vertical rod 2 in the frame, the rotating mechanism can drive the polishing mechanism 200 to rotate so as to be switched to the avoiding state, and the polishing mechanism 200 retracts into the base 101, so that the interference with the inner vertical rod 2 is avoided, the wall surface polishing device can conveniently avoid the inner vertical rod 2 to smoothly walk, and the polishing efficiency is favorably improved; and when the wall 1 needs to be polished, the polishing mechanism 200 can be driven to rotate through the rotating mechanism so as to be switched to a polishing state, so that the polishing mechanism 200 extends out of the base 101, and the rotating mechanism is driven to move along the X direction through the telescopic mechanism so as to be close to and press the wall 1 to be polished, so that polishing operation can be performed.
Specifically, as the climbing frame is complex in structure, narrow in space and multiple in inner vertical rods 2, if the wall surface grinding robot is required to smoothly pass through the inner vertical rods 2, the wall surface grinding robot needs to be farther away from the wall surface 1, so that the telescopic mechanism is large in stroke, more complex in structure and higher in weight; if the distance between the inner upright post and the wall surface 1 is close, the inner upright post 2 cannot be avoided and the wall surface can pass through smoothly. This embodiment provides a wall grinding device has designed rotary mechanism, has both satisfied the demand that the structure is littleer, weight is lighter apart from wall 1 more nearly and telescopic machanism, and rotary mechanism can drive grinding machanism 200 and rotate and switch to dodging the state and keep away the barrier through interior pole setting 2 time to it is smooth and easy to walk in climbing the frame, promotes the efficiency of polishing.
The existing wall surface polishing robot needs to perform certain adaptive transformation on a climbing frame, otherwise, the climbing frame is difficult to directly climb up to use, and the climbing frame has the industry safety standard of the maximum bearing capacity of 300 kg. The wall surface polishing robot provided by the embodiment uses the wall surface polishing device, and the wall surface polishing device can perform wall surface polishing work and can avoid the inner vertical rod 2 to realize smooth walking in the climbing frame, so that the wall surface polishing robot can adapt to the existing climbing frame system to the greatest extent, does not need to change the climbing frame, and can directly adapt to the climbing frame to perform polishing work; meanwhile, the structure of the wall surface polishing robot is simplified, the weight is controlled within the range of 150kg, the actual wall surface polishing work is completed, the industrial safety standard of 300kg of the maximum bearing capacity of the climbing frame is met, and the safety is guaranteed.
As shown in fig. 1 and 5, in this embodiment, the polishing mechanism 200 includes a housing 201, a polishing blade 202 and a polishing driving member, the polishing blade 202 is partially disposed in the housing 201, the polishing driving member is disposed on the housing 201, the polishing driving member can drive the polishing blade 202 to rotate for polishing, the polishing mechanism 200 can well complete the treatment of dislocation and expansion of the outer wall by more than 10mm by using the polishing mode of the polishing blade 202, and the defect of the largest outer wall is solved.
In some embodiments, the retractable mechanism includes a connecting plate 114 and a retractable driving assembly, the connecting plate 114 is slidably connected to the base 101, the rotating mechanism is disposed on the connecting plate 114, and the retractable driving assembly can drive the connecting plate 114 to drive the rotating mechanism to move along the X direction. The whole rotating mechanism is reasonably arranged through the connecting plate 114, so that the whole structure of the rotating mechanism is more compact.
Referring to fig. 5 to 8, in this embodiment, the telescopic driving assembly includes a telescopic motor 115, a gear 116 and a rack 117, the rack 117 is connected to the base 101 and extends along the X direction, the gear 116 is engaged with the rack 117, the telescopic motor 115 is disposed on the connecting plate 114, the telescopic motor 115 can drive the gear 116 to rotate, so that the connecting plate 114 makes a linear motion along the length direction (i.e., the X direction) of the rack 117, and the connecting plate 114 can drive the rotating mechanism and the polishing mechanism 200 to approach or leave from the wall surface 1 to be polished by controlling the forward and reverse rotation of the telescopic motor 115. Of course, in other embodiments, the telescopic driving assembly may be replaced by a driving member such as an air cylinder, a hydraulic cylinder or an electric push rod, as long as the driving connecting plate 114 can move along the X direction.
Further, in order to improve the stability of the connection plate 114 when moving linearly along the length direction of the rack 117, the telescopic mechanism further includes a guide rail 124 and a slider 125, the guide rail 124 is fixed on the base 101 and extends along the X direction, the slider 125 is slidably connected to the guide rail 124, and the connection plate 114 is connected to the slider 125, so that the connection plate 114 can move linearly along the guide rail 124. Alternatively, the number of the guide rails 124 may be one, two or more, and a plurality of guide rails 124 may make the linear movement of the connection plate 114 more smooth. Illustratively, as shown in fig. 8, the number of the guide rails 124 is two, and the two guide rails 124 are spaced apart from each other on the base 101 and are slidably connected to the connecting plate 114 through sliders 125, respectively.
In some embodiments, the telescopic mechanism further comprises a crash-proof assembly, the crash-proof assembly comprises a crash-proof member 118 and a sensor 119 for sensing the crash-proof member 118, the crash-proof member 118 is disposed on one of the base 101 and the web 114, the sensor 119 is disposed on the other, and the sensor 119 is in communication with the telescopic driving assembly. The anti-collision assembly may be used to limit the travel of the link plate 114 when the link plate 114 moves in the X direction, and when the sensor 119 senses the anti-collision member 118 during the movement of the link plate 114 in the X direction, the telescopic driving assembly stops driving the link plate 114 to move, so as to prevent the link plate 114 from exceeding the travel.
Illustratively, as shown in fig. 8, a sensor 119 is disposed on the base 101, two ends of the connecting plate 114 along the X direction are respectively provided with an anti-collision member 118, and when the sensor 119 senses the anti-collision member 118 during the process that the connecting plate 114 moves linearly along the X direction, the telescopic driving assembly stops driving the connecting plate 114 to move. It is understood that in other embodiments, an anti-collision member 118 may be disposed at each end of the base 101 along the X direction, and a sensor 119 may be disposed on the connection plate 114, so as to prevent the connection plate 114 from exceeding the stroke.
In some embodiments, the rotating mechanism includes the support 102 and a rotary drive assembly capable of driving the support 102 to rotate about an axis extending along the Y direction, and the sharpening mechanism 200 is disposed at one end of the support 102 along the Y direction. Because it sets up one department interior pole setting 2 to climb every 2m of frame, the most difficult place of polishing is in 1 position of the wall at 2 rear of interior pole setting, present wall grinding robot can't stretch into interior pole setting 2 rear, lead to the wall 1 at interior pole setting 2 rear to polish not, and the wall grinding device that this embodiment provided sets up grinding mechanism 200 in support piece 102's the one end along the Y direction, make grinding mechanism 200 arrange eccentrically on support piece 102, thereby grinding mechanism 200 can not stretch into interior pole setting 2's rear with the condition of climbing frame interior pole setting 2 interference at support piece 102, realize polishing interior pole setting 2 rear's wall 1, promote the coverage of polishing.
Specifically, after the wall polishing robot has handled 1 defect of wall between two interior pole settings 2 (accomplish 1 operation of polishing of wall between two interior pole settings 2 promptly), sideslip mechanism drive frame 401 drives wall grinding device and continues to remove along the Y direction, it stretches into 2 backs of interior pole settings of climbing the frame to reach wall grinding device's grinding mechanism 200, then drive grinding mechanism 200 through the lift driving piece and move from top to bottom and can polish wall 1 of interior pole setting 2 rear positions, after polishing, sideslip mechanism drive frame 401 drives wall grinding device and retreats along the Y direction, pole setting 2 in breaking away from until grinding mechanism 200.
In this embodiment, the rotation driving assembly includes a rotation motor 103, a first gear 104, a second gear 105 and a rotation shaft 106, the rotation shaft 106 is fixedly connected to the support member 102, the second gear 105 is sleeved on the rotation shaft 106 and engaged with the first gear 104, the rotation motor 103 can drive the first gear 104 to rotate so as to drive the second gear 105 and the rotation shaft 106 to rotate, the rotation motor 103 and the rotation shaft 106 are arranged side by side on the telescopic mechanism and located on the same axial side of the first gear 104, so that the structure of the wall surface polishing device is more compact, and the wall surface polishing device is facilitated to be miniaturized. When the wall surface 1 needs to be polished, the first gear 104 drives the second gear 105 to rotate under the driving of the rotating motor 103, and the second gear 105 drives the supporting member 102 to rotate through the rotating shaft 106, so that the polishing mechanism 200 is switched to a polishing state. Of course, in other embodiments, the rotating shaft 106 can be driven by the rotating motor 103 via a synchronous pulley assembly to rotate, so as to drive the supporting member 102 to rotate.
Further, rotary mechanism still includes spacing subassembly, and spacing subassembly can restrict support piece 102 and swing around the axis that extends along the Y direction under the state of polishing to the realization is at grinding mechanism 200 during operation, and support piece 102 can not swing around the axis that extends along the Y direction because of the power of polishing feedback, thereby prevents to polish the influence of operation in-process wall reaction force to grinding mechanism 200, with the job stabilization nature when guaranteeing grinding mechanism 200 to polish.
As shown in fig. 8, in some embodiments, the limiting component includes a limiting member 108, a linear driving member 109 and an anti-rotation limiting shaft 110, the limiting member 108 is fixedly connected to the supporting member 102, and a limiting hole is formed on the limiting member 108; the linear driving member 109 can drive the anti-rotation limiting shaft 110 to reciprocate along the X direction, so that the anti-rotation limiting shaft 110 is inserted into or removed from the limiting hole. When the wall surface 1 needs to be polished, the supporting member 102 is driven by the rotary driving assembly to drive the polishing mechanism 200 to rotate so as to switch to a polishing state, and at this time, the linear driving member 109 drives the rotation-preventing limiting shaft 110 to move along the X direction to be close to the limiting member 108 so as to be inserted into the limiting hole of the limiting member 108, so that the supporting member 102 is ensured not to swing due to a polishing feedback force when the polishing mechanism 200 works. When the grinding work is finished and the grinding machine needs to walk through the inner vertical rod 2, the linear driving piece 109 drives the anti-rotation limiting shaft 110 to move in the X direction and keep away from the limiting piece 108, the anti-rotation limiting shaft 110 is inserted into the limiting hole and is separated from the limiting hole to remove limiting, the rotary driving assembly drives the supporting piece 102 to drive the grinding mechanism 200 to rotate so as to be switched to an avoiding state, the supporting piece 102 and the grinding mechanism 200 are retracted to the base 101, and the transverse moving mechanism drives the rack 401 to move in the Y direction and pass through the inner vertical rod 2.
In the embodiment shown in fig. 8, the limiting member 108 has two limiting holes, each of which has an oilless bushing 123, the limiting member 108 is connected to an anti-rotation block 122, the anti-rotation block 122 has two through holes corresponding to the two limiting holes one by one, the number of the anti-rotation limiting shafts 110 is two, and the two anti-rotation limiting shafts 110 are connected to the output end of the linear driving member 109 through the same connecting member 121. When the wall surface 1 needs to be polished, the rotary driving assembly drives the supporting piece 102 to drive the polishing mechanism 200 to rotate and switch to a polishing state, at the moment, the linear driving piece 109 drives the connecting piece 121 and the two anti-rotation limiting shafts 110 fixed on the connecting piece 121 to penetrate through the two through holes in a one-to-one correspondence manner and then to be inserted into the two limiting holes, and it is ensured that the supporting piece 102 cannot swing due to the force fed back by polishing when the polishing mechanism 200 works. Of course, in other embodiments, the number of the limiting holes and the anti-rotation limiting shafts 110 may be one, three or more, as long as the limiting holes and the anti-rotation limiting shafts 110 are ensured to correspond to each other one by one.
Alternatively, the linear driving member 109 may be, but not limited to, an air cylinder, a hydraulic cylinder, or an electric push rod, preferably an electric push rod, which has a small volume and high precision, is directly driven by a motor, does not need an air source or an oil path of a pipeline, and can implement remote control, centralized control, or automatic control.
In some embodiments, the rotating mechanism further includes a floating adjustment assembly, as shown in fig. 8, the floating adjustment assembly includes a guide rod 111, an elastic member 112 and a pressing plate 113, the pressing plate 113 is connected to the supporting member 102, the guide rod 111 penetrates through the limiting member 108, one end of the elastic member 112 is fixedly connected to the pressing plate 113, and the other end of the elastic member 112 is fixedly connected to the guide rod 111. Alternatively, the elastic member 112 may be a spring or other elastic member. Since the pressing plate 113 is connected to the supporting member 102, when the rotary driving assembly drives the supporting member 102 to rotate around the axis extending along the Y direction, the guide rod 111, the elastic member 112 and the pressing plate 113 will also rotate together with the supporting member 102; when the supporting member 102 drives the polishing mechanism 200 to rotate around the axis extending along the Y direction and switch to the polishing state, the end of the lower end (i.e., the end far away from the pressing plate 113) of the guiding rod 111 abuts against the connecting plate 114, the elastic member 112 is compressed, and under the action of the elastic member 112, the position of the limiting member 108 can be adjusted in a floating manner and the position of the rotation-preventing limiting shaft 110 can be adjusted, so that the locking condition can be prevented, the limiting hole of the limiting member 108 can be aligned with the rotation-preventing limiting shaft 110 all the time, and therefore the rotation-preventing limiting shaft 110 can be accurately inserted into the limiting hole of the limiting member 108.
In some embodiments, the rotating mechanism further includes two bearing seats 107 disposed at an interval, the bearing seats 107 are provided with bearings, two ends of the rotating shaft 106 are respectively installed in the bearings on the two bearing seats 107, and the bearings enable the rotating shaft 106 to rotate more smoothly.
The wall surface grinding robot provided by the embodiment has the following working principle: the transverse moving mechanism drives the rack 401 of the lifting mechanism to drive the wall surface polishing device to move along the guide rail mechanism 300 and stop at a working place to be polished, then the lifting driving piece drives the wall surface polishing device to ascend or descend on the rack 401, and the wall surface polishing device is adjusted to a target wall surface 1 area; then the rotating mechanism drives the polishing mechanism 200 to rotate so as to switch to the polishing state, then the telescopic mechanism drives the rotating mechanism to drive the polishing mechanism 200 to move along the X direction so as to be close to the wall surface 1 until the polishing mechanism 200 abuts against and compresses the wall surface 1, and the polishing mechanism 200 performs polishing operation on the wall surface 1. When the work of polishing was accomplished, when the interior pole setting 2 was passed through in the needs walking, rotary mechanism drive grinding machanism 200 rotated in order to switch to dodging the state, and sideslip mechanism drives frame 401 and drives wall grinding device and remove along guide rail mechanism 300, passes through interior pole setting 2 smoothly.
It should be noted that when one portion is referred to as being "secured to" another portion, it may be directly on the other portion or there may be an intervening portion. When a portion is referred to as being "connected" to another portion, it can be directly connected to the other portion or intervening portions may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," and the like are for purposes of illustration only and are not intended to represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (10)
1. A wall grinding device, its characterized in that includes:
a base;
the polishing mechanism is used for polishing the wall surface;
telescopic machanism and rotary mechanism, telescopic machanism with rotary mechanism all set up in on the base, telescopic machanism can drive rotary mechanism moves along the X direction, rotary mechanism can drive grinding machanism rotates around the axis that extends along the Y direction, so that grinding machanism is stretching out grinding state and the retraction of base switch between dodging the state of base.
2. The wall surface grinding device of claim 1, wherein the rotating mechanism includes a support member and a rotary drive assembly, the rotary drive assembly can drive the support member to rotate around an axis extending along the Y direction, and the grinding mechanism is disposed at one end of the support member along the Y direction.
3. The wall surface grinding device of claim 2, wherein the rotation mechanism further comprises a limiting assembly capable of limiting the support member to swing about an axis extending in the Y direction in the ground state.
4. The wall surface grinding device according to claim 3, wherein the limiting assembly comprises a limiting member, a linear driving member and an anti-rotation limiting shaft, the limiting member is fixedly connected with the supporting member, and a limiting hole is formed in the limiting member; the linear driving piece can drive the anti-rotation limiting shaft to reciprocate along the X direction, so that the anti-rotation limiting shaft is inserted into the limiting hole or is separated from the limiting hole.
5. The wall grinding device of claim 4, wherein the rotating mechanism further comprises a floating adjusting assembly, the floating adjusting assembly comprises a guide rod, an elastic member and a pressing plate, the pressing plate is connected to the supporting member, the guide rod penetrates through the limiting member, one end of the elastic member is fixedly connected to the pressing plate, and the other end of the elastic member is fixedly connected to the guide rod.
6. The wall grinding device of claim 2, wherein the rotary driving assembly comprises a rotary motor, a first gear, a second gear and a rotary shaft, the rotary shaft is fixedly connected with the support member, the second gear is sleeved on the rotary shaft and meshed with the first gear, the rotary motor can drive the first gear to rotate so as to drive the second gear and the rotary shaft to rotate, and the rotary motor and the rotary shaft are arranged side by side on the telescopic mechanism and are located on the same axial side of the first gear.
7. The wall surface grinding device according to claim 6, wherein the rotating mechanism further comprises two bearing seats arranged at intervals, bearings are arranged on the bearing seats, and two ends of the rotating shaft are respectively arranged in the bearings on the two bearing seats.
8. The wall surface grinding device according to any one of claims 1 to 7, wherein the telescopic mechanism comprises a connecting plate and a telescopic driving assembly, the connecting plate is slidably connected to the base, the rotating mechanism is arranged on the connecting plate, and the telescopic driving assembly can drive the connecting plate to drive the rotating mechanism to move along the X direction.
9. The wall grinding device of claim 8, wherein the telescoping mechanism further comprises an anti-collision assembly, the anti-collision assembly comprises an anti-collision piece and a sensor for sensing the anti-collision piece, the anti-collision piece is arranged on one of the base and the connecting plate, the sensor is arranged on the other one of the base and the connecting plate, and the sensor is in communication connection with the telescopic driving assembly.
10. A wall surface grinding robot is characterized by comprising:
the guide rail mechanism is arranged in parallel to the Y direction;
the lifting mechanism comprises a rack and a lifting driving piece, the lifting driving piece is arranged on the rack, and the rack is arranged on the guide rail mechanism in a transversely movable manner;
the transverse moving mechanism can drive the rack to transversely move on the guide rail mechanism; and
the wall surface finishing device of any one of claims 1 to 9, wherein the lifting drive is capable of driving the wall surface finishing device to lift on the frame.
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| CN202110088194.5A CN114770260B (en) | 2021-01-22 | 2021-01-22 | Wall grinding device and wall grinding robot |
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| CN202110088194.5A CN114770260B (en) | 2021-01-22 | 2021-01-22 | Wall grinding device and wall grinding robot |
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| CN114770260B CN114770260B (en) | 2023-08-01 |
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| CN115070534A (en) * | 2021-03-10 | 2022-09-20 | 广东博智林机器人有限公司 | A grinding device and polishing robot for climbing barrier is kept away to interior pole setting of frame |
| CN117600937A (en) * | 2023-09-21 | 2024-02-27 | 中集氢能源科技(南通)有限公司 | Polishing equipment |
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|---|---|
| CN114770260B (en) | 2023-08-01 |
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