CN114770260B - Wall grinding device and wall grinding robot - Google Patents
Wall grinding device and wall grinding robot Download PDFInfo
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- CN114770260B CN114770260B CN202110088194.5A CN202110088194A CN114770260B CN 114770260 B CN114770260 B CN 114770260B CN 202110088194 A CN202110088194 A CN 202110088194A CN 114770260 B CN114770260 B CN 114770260B
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- Prior art keywords
- polishing
- piece
- wall surface
- drive
- limiting
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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
- 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
Abstract
The invention discloses a wall polishing device and a wall polishing robot. The wall polishing device comprises a base, a polishing mechanism, a telescopic mechanism and a rotating mechanism, wherein the polishing mechanism is used for polishing a wall, the telescopic mechanism and the rotating mechanism are 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 of extending out of the base and an avoidance state of retracting back to the base. When the wall surface polishing device needs to pass through the inner upright rod of the climbing frame, the polishing mechanism can be driven to rotate through the rotating mechanism so as to be switched into an avoidance state retracted to the base, so that the inner upright rod is avoided to walk smoothly, 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 be switched to a polishing state of extending out of the base, and the rotating mechanism is driven to move along the X direction through the telescopic mechanism so as to approach 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 building machinery, in particular to a wall polishing device and a wall polishing robot.
Background
In the building construction process, the defects of staggered platform, die expansion, slurry floating, explosion point and the like on the outer wall surface of a building can be caused by the technological defects of concrete pouring, aluminum die deformation and the like, and the follow-up process is influenced, so that a large amount of manpower and material resources are consumed for wall surface polishing. In the prior art, the outer wall surface polishing requires workers to attach to the climbing frame, and the working at high altitude is carried out outdoors, so that the labor intensity and the dangers are all linearly increased.
In order to adapt to the phenomenon that faults occur in labor force and labor cost is increased in the building industry, and further in order to consider the safety of workers, the design of a concrete outer wall polishing robot is a trend. Because of the complex structure and environment of the climbing frame, the robot can avoid the difficulty that the pole setting walking in the climbing frame is the design of the polishing robot, and is a main way for improving the polishing efficiency.
Disclosure of Invention
An object of the present invention is to provide a wall surface polishing device which helps to improve polishing efficiency.
Another object of the present invention is to provide a wall surface polishing robot including the above wall surface polishing device.
In order 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 stretches out the grinding state of base and retract to the dodge state of base switches between.
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 axis extending along the Y direction of the polishing mechanism to rotate so that the polishing mechanism is switched between the polishing state of extending out of the base and the avoiding state of retracting back to the base, so that when the wall surface polishing device needs to pass through the inner upright rod of the climbing frame, the rotating mechanism can drive the polishing mechanism to rotate so as to be switched to the avoiding state, the polishing mechanism is retracted to the base, interference with the inner upright rod is avoided, the wall surface polishing device can avoid the inner upright rod and walk smoothly, and polishing efficiency is improved; when the wall surface needs to be polished, the polishing mechanism can be driven to rotate through the rotating mechanism to be switched to a polishing state, so that the polishing mechanism extends out of the base, and the rotating mechanism is driven to move along the X direction through the telescopic mechanism to approach and press the wall surface to be polished, so that polishing operation is performed.
In some embodiments, the rotation mechanism includes a support and a rotation drive assembly capable of driving the support to rotate about an axis extending in the Y-direction, the grinder mechanism being disposed at one end of the support in the Y-direction. Through setting up grinding machanism in the one end along the Y direction of support piece for grinding machanism is arranged on support piece off-center, thereby grinding machanism can stretch into the rear of interior pole setting under the condition that support piece does not interfere with climbing frame interior pole setting, realizes polishing the wall at interior pole setting rear, promotes the coverage rate of polishing.
In some embodiments, the rotating mechanism further comprises a limiting assembly, and the limiting assembly can limit the supporting piece to swing around an axis extending along the Y direction in a polishing state, so that the supporting piece cannot swing around the axis extending along the Y direction due to the force of polishing feedback when the polishing mechanism works, and the working stability of the polishing mechanism is guaranteed.
In some embodiments, the limiting component comprises a limiting piece, a linear driving piece and an anti-rotation limiting shaft, wherein the limiting piece is fixedly connected with the supporting piece, and a limiting hole is formed in the limiting piece; 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. When the wall surface needs to be polished, the supporting piece drives the polishing mechanism to rotate under the drive of the rotary driving assembly so as to be switched to a polishing state, and at the moment, the anti-rotation limiting shaft is driven by the linear driving piece to move along the X direction so as to be inserted into the limiting hole of the limiting piece, so that the supporting piece is ensured not to swing due to the force of polishing feedback when the polishing mechanism works.
In some embodiments, the rotating mechanism further comprises a floating adjusting assembly, the floating adjusting assembly comprises a guide rod, an elastic piece and a pressing plate, the pressing plate is connected to the supporting piece, the guide rod penetrates through the limiting piece, one end of the elastic piece is fixedly connected with the pressing plate, and the other end of the elastic piece is fixedly connected with the guide rod. Under the effect of elastic component, the locating part can float the position of adjusting and preventing changeing the spacing axle, prevents to appear the dead condition to guarantee to prevent changeing in the spacing hole of locating part can accurately insert.
In some embodiments, the rotary driving assembly comprises a rotary motor, a first gear, a second gear and a rotary shaft, wherein the rotary shaft is fixedly connected with the supporting piece, 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 on the telescopic mechanism side by side and located on the same side of the first gear along the axial direction, so that the wall polishing device is more compact in structure and is beneficial to miniaturization of the wall polishing device.
In some embodiments, the rotating mechanism further comprises two bearing seats arranged at intervals, bearings are arranged on the bearing seats, two ends of the rotating shaft are respectively arranged 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 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. The whole rotating mechanism is reasonably arranged through the connecting plates, so that the whole structure of the rotating mechanism is more compact.
In some embodiments, the telescopic mechanism further comprises a collision avoidance assembly, the collision avoidance assembly comprises a collision avoidance member and an inductor for inducing the collision avoidance member, one of the base and the connecting plate is provided with the collision avoidance member, the other is provided with the inductor, and the inductor is in communication connection with the telescopic driving assembly. The anti-collision assembly can be used for limiting the travel of the connecting plate when the connecting plate moves along the X direction, and in the process that the bearing piece moves along the X direction, when the sensor senses the anti-collision piece, the telescopic driving assembly stops driving the connecting plate to move so as to prevent the connecting plate from exceeding the travel.
On the other hand, the invention adopts the following technical scheme:
the wall surface polishing robot comprises a guide rail mechanism, a lifting mechanism, a traversing mechanism and the wall surface polishing device, wherein the guide rail mechanism is arranged parallel to the Y direction; the lifting mechanism comprises a frame and a lifting driving piece, the lifting driving piece is arranged on the frame, and the frame is transversely movably arranged on the guide rail mechanism; the transverse moving mechanism can drive the frame to transversely move on the guide rail mechanism, and the lifting driving piece can drive the wall polishing device to lift on the frame.
The wall surface polishing robot disclosed by the invention can adapt to the existing climbing frame system, no change is required to be made on the climbing frame, the wall surface polishing device can not only perform wall surface polishing work, but also avoid the inner vertical rod to realize smooth walking in the climbing frame, so that the polishing efficiency and polishing coverage rate are improved.
Drawings
Fig. 1 is a schematic structural view of a wall surface polishing 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 sanding robot of FIG. 2;
FIG. 4 is a state diagram of the wall surface polishing robot of the present invention when installed on a climbing frame;
FIG. 5 is a schematic view of the wall surface polishing apparatus of the present invention in a polished state;
FIG. 6 is a front view of the wall surface grinding device of the present invention in an avoidance position;
FIG. 7 is a schematic view of a wall surface polishing device according to the present invention, with a polishing mechanism omitted;
fig. 8 is an exploded view of the wall sanding device of fig. 7.
Reference numerals illustrate:
1. a wall surface; 2. an inner upright; 101. a base; 102. a support; 103. a rotating electric machine; 104. a first gear; 105. a second gear; 106. a rotation shaft; 107. a bearing seat; 108. a limiting piece; 109. a linear driving member; 110. an anti-rotation limit shaft; 111. a guide rod; 112. an elastic member; 113. a pressing plate; 114. a connecting plate; 115. a telescopic motor; 116. a gear; 117. a rack; 118. an anti-collision member; 119. an inductor; 120. strengthening square tubes; 121. a connecting piece; 122. an anti-rotation block; 123. an oilless bushing; 124. a guide rail; 125. a slide block; 200. a polishing mechanism; 201. a housing; 202. grinding the chips; 300. a guide rail mechanism; 401. a frame; 501. a top rail motion chassis; 502. the ground rail moves the chassis.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended 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 polishing robot of an embodiment includes a rail mechanism 300, a lifting mechanism, a traversing mechanism, and a wall surface polishing device, the rail mechanism 300 being disposed parallel to the Y direction; the lifting mechanism comprises a frame 401 and a lifting driving piece, the lifting driving piece is arranged on the frame 401, and the frame 401 is transversely movably arranged on the guide rail mechanism 300; the traversing mechanism can drive the frame 401 to move transversely on the rail mechanism 300, and the lifting driving member can drive the wall polishing device to lift on the frame 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 polishing device to finish circumferential polishing of the wall 1 of the building; the lifting driving piece drives the wall polishing device to lift so as to move in the height direction of the building, and polishing operations are performed on the wall surfaces 1 of different floors, so that the wall polishing device can finish polishing operations on the whole wall of the building.
The guide rail mechanism 300 comprises a top rail and a bottom rail which are respectively connected to the upper end and the lower end of the climbing frame and are arranged at intervals in parallel, the traversing mechanism comprises a top rail motion chassis 501 arranged on the top rail and a bottom rail motion chassis 502 arranged on the bottom rail, the frame 401 is in movable fit with the top rail through the top rail motion chassis 501, and meanwhile, the frame plays roles of supporting, providing an installation space and the like through the movable fit of the bottom rail motion chassis 502 and the bottom rail. In this way, the frame 401 can move circumferentially around the wall of the building to flexibly change the polishing area, and the wall polishing device is driven to finish the circumferential polishing of the wall 1 of the building; and can restrict the degree of freedom of frame 401 along perpendicular wall 1 direction, make frame 401 installation firm and can not take place to topple and lead to the high altitude to fall, also make wall polishing robot can adapt to the complex environment of climbing the frame better simultaneously.
Optionally, the lifting driving member may be a motor, and the motor may drive the wall polishing device to complete lifting action through a synchronous pulley assembly or other transmission assemblies. Of course, in other embodiments, the lifting driving member may be a driving member such as an air cylinder, a hydraulic cylinder, or an electric push rod, so long as the lifting driving member can drive the wall polishing device to lift on the frame 401, which is not limited in the present invention.
As shown in fig. 5 to 8, the wall polishing device includes a base 101, a polishing mechanism 200, a telescopic mechanism and a rotating mechanism, wherein the polishing mechanism 200 is used for polishing a wall 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 back to the base 101. Wherein, the base 101 can be mounted on the frame 401 of the lifting mechanism through the reinforcing square tube 120.
According to the wall surface polishing device, the telescopic mechanism can drive the rotating mechanism to move along the X direction, the rotating mechanism can drive the polishing mechanism 200 to rotate along the axis extending along the Y direction so that the polishing mechanism 200 is switched between the polishing state of extending out of the base 101 and the avoiding state of retracting back to the base 101, so that when the wall surface polishing device needs to pass through the inner upright rod 2 of the climbing frame, the polishing mechanism 200 can be driven to rotate to be switched to the avoiding state by the rotating mechanism so that the polishing mechanism 200 is retracted to the base 101, interference with the inner upright rod 2 is avoided, and the wall surface polishing device can avoid the inner upright rod 2 to walk smoothly, thereby being beneficial to improving polishing efficiency; when the wall surface 1 needs to be polished, the polishing mechanism 200 can be driven to rotate by the rotating mechanism to switch to a polishing state, so that the polishing mechanism 200 extends out of the base 101, and the rotating mechanism is driven by the telescopic mechanism to move along the X direction to approach and press the wall surface 1 to be polished, so that polishing operation is performed.
Specifically, because the climbing frame has a complex structure, a small space and a plurality of inner vertical rods 2, if the smooth passing of the wall surface polishing robot through the inner vertical rods 2 is ensured, the wall surface polishing robot needs to be farther away from the wall surface 1, so that the stroke of the telescopic mechanism is large, the structure is more complex, and the weight is higher; if the wall surface 1 is close to the wall surface, the inner pole 2 cannot be avoided and the wall surface can pass smoothly. The wall grinding device that this embodiment provided has designed rotary mechanism, both satisfied the demand that is closer and telescopic machanism's structure is littleer, weight is lighter apart from wall 1, and can drive rotary mechanism 200 when setting up 2 in through and rotate and switch to dodge the state and keep away the barrier to walk smoothly in climbing the frame, promote polishing efficiency.
The existing wall polishing robot needs to carry out certain adaptability transformation on the climbing frame, otherwise, the climbing frame is difficult to directly climb and used, and the climbing frame has the industry safety standard of 300kg with the maximum bearing. The wall surface polishing robot provided by the embodiment uses the wall surface polishing device, and can not only perform wall surface polishing work, but also 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 in the range of 150kg, the industrial safety standard of 300kg of the maximum bearing of the climbing frame is met while the actual wall surface polishing work is completed, and the safety is ensured.
As shown in fig. 1 and 5, in this embodiment, the polishing mechanism 200 includes a housing 201, a polishing piece 202 and a polishing driving member, the polishing piece 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 piece 202 to rotate for polishing, and the polishing mechanism 200 can well complete the processing of staggering and expanding the mold by more than 10mm in a polishing manner of the polishing piece 202, so as to solve the defect of the largest outer wall.
In some embodiments, the telescopic mechanism includes a connection plate 114 and a telescopic driving assembly, the connection plate 114 is slidably connected to the base 101, the rotating mechanism is disposed on the connection plate 114, and the telescopic driving assembly can drive the connection plate 114 to drive the rotating mechanism to move along the X direction. The entire rotation mechanism is reasonably arranged by the connection plate 114, so that the overall structure of the rotation mechanism is more compact.
Referring to fig. 5-8, in this embodiment, the telescopic driving assembly includes a telescopic motor 115, a gear 116 and a rack 117, where the rack 117 is connected to the base 101 and extends along the X direction, the gear 116 is meshed with the rack 117, the telescopic motor 115 is disposed on the connecting plate 114, and 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 by controlling the forward and reverse rotation of the telescopic motor 115, the connecting plate 114 can drive the rotating mechanism and the polishing mechanism 200 to approach or separate from the wall surface 1 to be polished. Of course, in other embodiments, the telescopic drive assembly may be replaced by a cylinder, a hydraulic cylinder, or an electric push rod, as long as the movement of the drive connection plate 114 in the X direction is achieved.
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 the plurality of guide rails 124 may make the linear movement of the connection plate 114 smoother. Illustratively, as shown in fig. 8, the number of the guide rails 124 is two, and the two guide rails 124 are disposed at intervals on the base 101 and are slidably connected to the connection plate 114 through the sliders 125, respectively.
In some embodiments, the telescoping mechanism further comprises a bumper assembly comprising a bumper 118 and an inductor 119 for sensing the bumper 118, one of the base 101 and the web 114 having the bumper 118 and the other having the inductor 119, the inductor 119 being in communication with the telescoping drive assembly. The bump guard assembly may be used to limit the travel of the connection plate 114 during movement of the connection plate 114 in the X direction, and the telescopic drive assembly will stop driving the connection plate 114 to move when the sensor 119 senses the bump guard 118 during movement of the connection plate 114 in the X direction, so as to prevent the connection plate 114 from exceeding the travel.
Illustratively, as shown in fig. 8, a sensor 119 is disposed on the base 101, two anti-collision members 118 are disposed at two ends of the connecting plate 114 along the X direction, and the telescopic driving assembly stops driving the connecting plate 114 to move when the sensor 119 senses the anti-collision members 118 during the linear movement of the connecting plate 114 along the X direction. It will be appreciated that in other embodiments, an anti-collision member 118 may be provided at each end of the base 101 in the X direction, and an inductor 119 may be provided on the connection plate 114, so as to prevent the connection plate 114 from exceeding the stroke.
In some embodiments, the rotation mechanism includes a support 102 and a rotation drive assembly capable of driving the support 102 to rotate about an axis extending in the Y-direction, and the sharpening mechanism 200 is disposed at one end of the support 102 in the Y-direction. Because climb every 2m of frame and set up pole setting 2 in one, the wall 1 position at pole setting 2 rear is the place of polishing the most difficult, current wall polishing robot can't stretch into in pole setting 2 rear, lead to in the wall 1 at pole setting 2 rear to polish can not, and the wall polishing device that this embodiment provided is through setting up polishing mechanism 200 in the one end along the Y direction of support piece 102 for polishing mechanism 200 eccentric arrangement on support piece 102, thereby polishing mechanism 200 can stretch into in pole setting 2's rear under the condition that support piece 102 did not interfere with pole setting 2 in the frame, realize polishing in pole setting 2 rear wall 1, promote the coverage rate of polishing.
Specifically, when the wall surface polishing robot finishes the defect of the wall surface 1 between the two inner vertical rods 2 (namely, finishes the polishing operation of the wall surface 1 between the two inner vertical rods 2), the transverse moving mechanism driving rack 401 drives the wall surface polishing device to continuously move along the Y direction until the polishing mechanism 200 of the wall surface polishing device stretches into the rear of the inner vertical rod 2 of the climbing frame, then drives the polishing mechanism 200 to move up and down through the lifting driving piece to polish the wall surface 1 at the rear position of the inner vertical rod 2, and after finishing polishing, the transverse moving mechanism driving rack 401 drives the wall surface polishing device to retreat along the Y direction until the polishing mechanism 200 is separated from the inner vertical rod 2.
In this embodiment, the rotary driving assembly includes a rotary motor 103, a first gear 104, a second gear 105 and a rotary shaft 106, where the rotary shaft 106 is fixedly connected with the support 102, the second gear 105 is sleeved on the rotary shaft 106 and meshed with the first gear 104, the rotary motor 103 can drive the first gear 104 to rotate so as to drive the second gear 105 and the rotary shaft 106 to rotate, and the rotary motor 103 and the rotary shaft 106 are arranged on the telescopic mechanism side by side and located on the same side of the first gear 104 along the axial direction, so that the structure of the wall polishing device is more compact, and the miniaturization of the wall polishing device is facilitated. 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 piece 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 motor 103 may also drive the rotating shaft 106 to rotate through the synchronous pulley assembly, so as to drive the support 102 to rotate.
Further, the rotating mechanism further comprises a limiting assembly, the limiting assembly can limit the supporting piece 102 to swing around the axis extending along the Y direction in the polishing state, so that the supporting piece 102 cannot swing around the axis extending along the Y direction due to the force of polishing feedback when the polishing mechanism 200 works, the influence of the wall surface reaction force on the polishing mechanism 200 in the polishing operation process is prevented, and the working stability of the polishing mechanism 200 in polishing is guaranteed.
As shown in fig. 8, in some embodiments, the limiting assembly includes a limiting member 108, a linear driving member 109 and an anti-rotation limiting shaft 110, where the limiting member 108 is fixedly connected to the supporting member 102, and a limiting hole is formed in the limiting member 108; the linear driving member 109 can drive the rotation preventing and limiting shaft 110 to reciprocate along the X direction, so that the rotation preventing and limiting shaft 110 is inserted into or removed from the limiting hole. When the wall surface 1 needs to be polished, the supporting piece 102 drives the polishing mechanism 200 to rotate under the drive of the rotary driving assembly so as to be switched to a polishing state, and at the moment, the anti-rotation limiting shaft 110 can be driven by the linear driving piece 109 to move along the X direction to be close to the limiting piece 108 so as to be inserted into the limiting hole of the limiting piece 108, so that the supporting piece 102 is ensured not to swing due to the polishing feedback force when the polishing mechanism 200 works. When the polishing work is completed and the user needs to walk through the inner upright 2, the linear driving piece 109 drives the anti-rotation limiting shaft 110 to move away from the limiting piece 108 along the X direction, so that the anti-rotation limiting shaft 110 is inserted into the limiting hole to be separated from the limiting hole to release the limiting, the rotary driving assembly drives the supporting piece 102 to drive the polishing mechanism 200 to rotate to be switched to an avoidance state, the supporting piece 102 and the polishing mechanism 200 retract to the base 101, and the transverse moving mechanism drives the rack 401 to move through the inner upright 2 along the Y direction.
In the embodiment shown in fig. 8, the limiting member 108 is provided with two limiting holes, each limiting hole is internally provided with an oil-free bushing 123, the limiting member 108 is connected with an anti-rotation block 122, two through holes corresponding to the two limiting holes one by one are arranged on the anti-rotation block 122, 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, and 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 are inserted into the two limiting holes, so that the supporting piece 102 is ensured not to swing due to polishing feedback force when the polishing mechanism 200 works. Of course, in other embodiments, the limiting holes and the anti-rotation limiting shaft 110 may be one, three or more, so long as the one-to-one correspondence between the limiting holes and the anti-rotation limiting shaft 110 is ensured.
Alternatively, the linear driving member 109 may be, but is not limited to, an air cylinder, a hydraulic cylinder or an electric push rod, preferably an electric push rod, which is small in size, high in precision, directly driven by a motor, and does not need an air source or an oil path of a pipeline, so that remote control, centralized control or automatic control can be realized.
In some embodiments, the rotating mechanism further includes a floating adjustment assembly, as shown in fig. 8, where the floating adjustment assembly includes a guide rod 111, an elastic member 112, and a pressing plate 113, where 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 support 102, when the rotation driving assembly drives the support 102 to rotate about an axis extending in the Y direction, the guide rod 111, the elastic member 112 and the pressing plate 113 will also rotate together with the support 102; when the supporting member 102 drives the polishing mechanism 200 to rotate around the axis extending along the Y direction and switch to a polishing state, at this time, the end of the lower end of the guide rod 111 (i.e. the end far away from the pressing plate 113) 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 regulated in a floating manner and the position of the rotation preventing limiting shaft 110 is regulated, so that the blocking condition is prevented, and the limiting hole of the limiting member 108 can be always aligned with the rotation preventing limiting shaft 110, thereby ensuring that 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 intervals, 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 working principle of the wall polishing robot provided by the embodiment is as follows: the frame 401 of the transverse moving mechanism drives the wall surface polishing device to move along the guide rail mechanism 300 and stop at a work place to be polished, and then the lifting driving piece drives the wall surface polishing device to ascend or descend on the frame 401, so that the wall surface polishing device is adjusted to a target wall surface 1 area; then the rotation mechanism drives the polishing mechanism 200 to rotate so as to switch to a polishing state, and then the telescopic mechanism drives the rotation 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 presses the wall surface 1, and the polishing operation of the wall surface 1 is performed by the polishing mechanism 200. When the polishing work is completed and the user needs to walk through the inner upright 2, the rotating mechanism drives the polishing mechanism 200 to rotate so as to switch to an avoidance state, and the traversing mechanism drives the rack 401 to drive the wall polishing device to move along the guide rail mechanism 300 and smoothly pass through the inner upright 2.
It should be noted that when one portion is referred to as being "fixed to" another portion, it may be directly on the other portion or there may be a portion in the middle. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and do not represent the only embodiment.
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 above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. A wall surface grinding device, characterized by comprising:
a base;
the polishing mechanism is used for polishing the wall surface;
the telescopic mechanism and the rotating mechanism are 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 that the polishing mechanism is switched between a polishing state extending out of the base and an avoiding state retracted into the base;
the rotary mechanism comprises a supporting piece and a rotary driving assembly, the rotary driving assembly can drive the supporting piece to rotate around an axis extending along the Y direction, and the polishing machine mechanism is arranged at one end of the supporting piece along the Y direction;
the rotating mechanism further comprises a limiting assembly, and the limiting assembly can limit the supporting piece to swing around an axis extending along the Y direction in a polishing state.
2. The wall polishing device according to claim 1, wherein the limiting assembly comprises a limiting piece, a linear driving piece and an anti-rotation limiting shaft, the limiting piece is fixedly connected with the supporting piece, and a limiting hole is formed in the limiting piece; 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.
3. The wall surface polishing device according to claim 2, wherein the rotating mechanism further comprises a floating adjusting assembly, the floating adjusting assembly comprises a guide rod, an elastic piece and a pressing plate, the pressing plate is connected to the supporting piece, the guide rod penetrates through the limiting piece, one end of the elastic piece is fixedly connected with the pressing plate, and the other end of the elastic piece is fixedly connected with the guide rod.
4. The wall polishing device according to claim 1, 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 supporting 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 on the telescopic mechanism side by side and are located on the same side of the first gear along the axial direction.
5. The wall polishing device as set forth in claim 4, wherein said rotating mechanism further comprises two bearing seats arranged at intervals, bearings are provided on said bearing seats, and both ends of said rotating shaft are respectively installed in said bearings on two of said bearing seats.
6. The wall sanding device of any one of claims 1-5, wherein the telescoping mechanism includes a connection plate slidably connected to the base, the rotary mechanism is disposed on the connection plate, and a telescoping drive assembly capable of driving the connection plate to move the rotary mechanism in the X-direction.
7. The wall surface grinding device of claim 6, wherein the telescoping mechanism further comprises a bumper assembly comprising a bumper and an inductor for sensing the bumper, one of the base and the connecting plate having the bumper and the other having the inductor, the inductor being in communication with the telescoping drive assembly.
8. A wall surface grinding robot, comprising:
the guide rail mechanism is arranged parallel to the Y direction;
the lifting mechanism comprises a frame and a lifting driving piece, wherein the lifting driving piece is arranged on the frame, and the frame 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 wall surface grinding device of any one of claims 1-7 wherein the lifting drive is capable of driving the wall surface grinding device up and down 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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| 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 |
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| EP3530406A1 (en) * | 2018-02-23 | 2019-08-28 | Temple Allen Holdings LLC | Surface treatment apparatus and method with selective loading |
| CN110977651A (en) * | 2019-12-19 | 2020-04-10 | 广东博智林机器人有限公司 | Polishing device and polishing robot |
| CN212043884U (en) * | 2020-04-21 | 2020-12-01 | 广东博智林机器人有限公司 | Wall grinding device and wall grinding robot |
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| CN102371590A (en) * | 2010-08-25 | 2012-03-14 | 鸿富锦精密工业（深圳）有限公司 | Arm structure of robot |
| CN108356670A (en) * | 2018-02-26 | 2018-08-03 | 广东天机工业智能系统有限公司 | Grinding device |
| CN208019916U (en) * | 2018-04-08 | 2018-10-30 | 牡丹江大学 | A kind of building special grinding machine |
| CN211867330U (en) * | 2019-09-16 | 2020-11-06 | 福州外语外贸学院 | Wall grinding device for building engineering |
| CN110685425B (en) * | 2019-09-19 | 2021-04-06 | 广东博智林机器人有限公司 | Interior wall processing robot |
| CN111037392B (en) * | 2019-12-31 | 2021-06-08 | 广东博智林机器人有限公司 | Polishing robot |
| CN111421435B (en) * | 2020-04-02 | 2021-01-08 | 泰州学院 | Multi freedom polishing robot |
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| US4939872A (en) * | 1987-10-27 | 1990-07-10 | Evaristo Revelin | Honing machine with rotating plate having at least one head which does not rotate with respect to the plate |
| EP3530406A1 (en) * | 2018-02-23 | 2019-08-28 | Temple Allen Holdings LLC | Surface treatment apparatus and method with selective loading |
| CN110977651A (en) * | 2019-12-19 | 2020-04-10 | 广东博智林机器人有限公司 | Polishing device and polishing robot |
| CN212043884U (en) * | 2020-04-21 | 2020-12-01 | 广东博智林机器人有限公司 | Wall grinding device and wall grinding robot |
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