CN117400140B - Grinding assembly and cold-resistant robot - Google Patents

Grinding assembly and cold-resistant robot Download PDF

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Publication number
CN117400140B
CN117400140B CN202311729049.6A CN202311729049A CN117400140B CN 117400140 B CN117400140 B CN 117400140B CN 202311729049 A CN202311729049 A CN 202311729049A CN 117400140 B CN117400140 B CN 117400140B
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China
Prior art keywords
polishing
bevel gear
driving
fine
unit
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CN202311729049.6A
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Chinese (zh)
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CN117400140A (en
Inventor
郭延春
张亮
田帅
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Inner Mongolia Beike Jiaotong University Robot Co ltd
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Inner Mongolia Beike Jiaotong University Robot Co ltd
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Priority to CN202311729049.6A priority Critical patent/CN117400140B/en
Publication of CN117400140A publication Critical patent/CN117400140A/en
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Classifications

    • 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
    • B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
    • B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
    • 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
    • B24B27/00—Other grinding machines or devices
    • B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
    • 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
    • B24B27/00—Other grinding machines or devices
    • B24B27/0092—Grinding attachments for lathes or the like
    • 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
    • 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
    • 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
    • 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
    • B24B7/186—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like with disc-type tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The invention relates to the technical field of devices or manipulators for grinding, in particular to a grinding assembly and a cold-resistant robot, which comprises a grinding assembly, wherein one side of the grinding assembly is provided with a mechanical arm assembly, and the mechanical arm assembly is arranged on a vehicle body; at least three driving wheels are arranged on the vehicle body; the grinding component comprises a beam frame, and one side of the beam frame is connected with the polishing mechanism; the other side of the beam frame is provided with a supporting plate body, and the supporting plate body is connected with a driving mechanism; the beam frame is connected with a power mechanism; the power mechanism is used for driving the polishing mechanism to move upwards or downwards and for enabling the rough polishing unit or the fine polishing unit of the polishing mechanism to be linked with the driving mechanism; the driving mechanism is used for enabling the rough polishing unit or the fine polishing unit in the polishing mechanism to operate; the invention can realize random switching between the rough polishing function and the fine polishing function.

Description

Grinding assembly and cold-resistant robot
Technical Field
The invention relates to the technical field of devices or manipulators for grinding, in particular to a grinding assembly and a cold-resistant robot.
Background
In the building construction process, one key step involved is to polish the ground; in general, the polishing operation needs to be divided into two stages of rough polishing and fine polishing; the polishing disc with large roughness for rough polishing has high polishing efficiency, the fine polishing disc with small roughness for fine polishing has high flatness after polishing. In the existing patent library of China, equipment related to polishing building floors is disclosed; for example: the publication number CN108356627B discloses a building ground polishing device which comprises a frame, a water tank, a vertical support plate, a horizontal support plate, a fixed plate, a first motor, a reel, a wire rope, a first guide plate, a second guide plate, a third guide plate, a connecting plate and the like; the water tank is installed on frame upper portion left side, and frame upper portion right side fixedly connected with erects the extension board, erects extension board right side upper portion fixedly connected with and violently prop up the extension board, and violently prop up extension board upper portion right side fixedly connected with fixed plate, and first motor is installed on fixed plate upper portion, and first motor front side fixedly connected with reel.
For another example: the utility model discloses a material burnishing device for building engineering in the bulletin number CN113500511B, including the device shell, the fixed offset plate in top fixedly connected with side between the opposite face of device shell, the bottom fixedly connected with cleaning device of fixed offset plate in side, the top fixedly connected with friction cone piece of device shell, the surface cover at friction cone piece top is equipped with spacing action board, the inside rotation of spacing action board and device shell is connected with surface treatment device, the top fixedly connected with rotating electrical machines of motor sleeve.
The problems with the above two prior art techniques (CN 108356627B, CN 113500511B) are: in the prior art, how to realize random switching between the rough polishing function and the fine polishing function is not disclosed.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a grinding assembly and a cold-resistant robot capable of performing random switching between a rough polishing function and a fine polishing function.
In a first aspect, the invention discloses a grinding assembly, comprising a beam frame, wherein one side of the beam frame is connected with a polishing mechanism; the other side of the beam frame is provided with a supporting plate body, and the supporting plate body is connected with a driving mechanism; the beam frame is connected with a power mechanism; the power mechanism is used for driving the polishing mechanism to move upwards or downwards and for enabling the rough polishing unit or the fine polishing unit of the polishing mechanism to be linked with the driving mechanism; the driving mechanism is used for enabling the rough polishing unit or the fine polishing unit in the polishing mechanism to operate.
Specifically, the polishing mechanism comprises a rough polishing unit and a fine polishing unit, wherein the rough polishing unit comprises an outer sleeve sliding body, the bottom of the outer sleeve sliding body is rotationally connected with a rough polishing bevel gear, and a rough polishing sheet is detachably arranged on the rough polishing bevel gear; the outer sleeve sliding body is connected with a fine-polished bevel gear in a switching way, and a magnetic material is arranged on the fine-polished bevel gear; the fine polishing unit comprises an inner sleeve sliding body, the bottom of the inner sleeve sliding body is detachably connected with a fine polishing sheet, and a magnetic ring body is arranged on the inner sleeve sliding body; the inner sleeve sliding body is sleeved in the outer sleeve sliding body in a sliding manner, and the magnetic material and the magnetic ring body mutually generate magnetic adsorption.
Specifically, the driving mechanism comprises a rough polishing driving unit, a fine polishing driving unit and a driving motor; the output shaft of the driving motor is in transmission connection with the rough-polishing driving unit and the fine-polishing driving unit, and the driving motor is used for driving the rough-polishing driving unit and the fine-polishing driving unit; the rough polishing driving unit is used for driving the rough polishing unit, and the fine polishing driving unit is used for driving the fine polishing unit.
More specifically, the rough polishing driving unit comprises a first bevel gear, the first bevel gear is used for being meshed and linked with the rough polishing bevel gear, and the first bevel gear is connected to the beam frame in a switching mode; the fine polishing driving unit comprises a second bevel gear, the second bevel gear is used for being meshed and linked with the fine polishing bevel gear, and the second bevel gear is connected to the supporting plate body in a switching mode; the driving motor is connected with the beam frame, an output shaft of the driving motor is in transmission connection with the first bevel gear, and the first bevel gear is in transmission connection with the second bevel gear.
Specifically, the power mechanism comprises a carrying arm, the cavity is a surrounding structure with an upper opening and a lower opening, and the cavity is arranged on the periphery of the polishing mechanism in a surrounding manner; the beam frame is fixedly connected with the inner wall of the cavity; the carrying arm is connected to the cavity, and a water storage cylinder is arranged on the carrying arm; an electric high-pressure water gun is arranged on one side of the water storage cylinder, and a water guide pipe on the electric high-pressure water gun is communicated with the inner cavity of the water storage cylinder; a starting unit is arranged at the wrench of the electric high-pressure water gun and used for propping the wrench; the carrying arm below the water storage cylinder is in sliding connection with the outer sleeve sliding body, and the inner sleeve sliding body is fixedly connected with the bottom of the water storage cylinder; the outer sleeve sliding body is sleeved with a first elastic part, and two ends of the first elastic part are respectively connected with the carrying arm and the fine-polished bevel gear; when the first elastic component is in a natural state, the fine-polished bevel gear is meshed and linked with the second bevel gear, the coarse-polished bevel gear is arranged above the first bevel gear and is disengaged from the first bevel gear, and the magnetic material is opposite to the magnetic ring body and generates adsorption.
Optimally, the beam frame is provided with a through hole which is used for being matched with the side wall of the fine-polished bevel gear, and the coarse-polished bevel gear is provided with a water outlet; the inner sleeve sliding body is provided with a water guide hole, and the outer sleeve sliding body is provided with a water inlet hole.
In a second aspect, the invention discloses a cold-resistant robot, which comprises a grinding assembly, wherein a mechanical arm assembly is arranged on one side of the grinding assembly, and the mechanical arm assembly is arranged on a vehicle body; at least three driving wheels are arranged on the vehicle body.
Specifically, the mechanical arm assembly comprises a base body, a cavity is formed in the top of the base body, a first driving source is arranged in the cavity, the tail end of an output shaft of the first driving source is connected with a first rotating piece, and the first rotating piece is rotationally connected with the top of the base body; the first rotating member is provided with a second driving source, and an output shaft of the second driving source is connected with the first rotating member; a third driving source is arranged on the other side of the first turnover piece, and an output shaft of the third driving source is connected with the second turnover piece; the other side of the second turning piece is connected with a fourth driving source, the tail end of an output shaft of the fourth driving source is connected with a second turning piece, the other side of the second turning piece is connected with a fifth driving source, an output shaft of the fifth driving source is connected with a carrying disc, and the carrying disc is connected with a grinding assembly.
More specifically, the mechanical arm component is wrapped with a layer of tin paper heat-insulating film for preventing freezing.
Preferably, the cold-resistant robot further comprises a quick-dismantling component, the fine polishing piece is connected to the quick-dismantling component, and the quick-dismantling component is detachably connected with the bottom of the inner sleeve sliding body; the quick-dismantling component is used for separating the fine polishing piece from the inner sleeve sliding body or is arranged on the inner sleeve sliding body.
The invention has the beneficial effects that:
according to the invention, the positions of the rough polishing unit and the fine polishing unit in the polishing mechanism are transferred by utilizing the power mechanism according to the concrete requirements of rough polishing or fine polishing in practice, so that the rough polishing unit or the fine polishing unit reaches the appointed building ground to be polished, and the rough polishing unit or the fine polishing unit is linked with the driving mechanism; the driving mechanism can directly enable the rough polishing unit or the fine polishing unit in the polishing mechanism to operate, so that rough polishing or fine polishing operation is performed on the building ground; compared with the prior art, the invention can realize random switching between the rough polishing function and the fine polishing function. On the other hand, after the fine-polishing bevel gears, the magnetic materials and the magnetic ring bodies in the coarse-polishing units are mutually matched, an intermediate linkage structure between the fine-polishing units and the driving mechanism is formed, and the driving mechanism can drive the fine-polishing units only through the transmission of the intermediate linkage structure.
Drawings
Fig. 1 is a schematic view of a partial structure of a grinding assembly.
Fig. 2 is a schematic diagram of the burst structure of the polishing mechanism.
Fig. 3 is a schematic perspective view of the polishing mechanism after assembly.
Fig. 4 is a schematic view of the mounting structure of the power mechanism.
Fig. 5 is a schematic view of the grinding assembly in use.
Fig. 6 is a schematic view of a partial state structure of the grinding assembly in use.
Fig. 7 is a schematic perspective view of the inner sleeve slider and the outer sleeve slider.
Fig. 8 is a schematic view of the overall structure of the cold-resistant robot.
Fig. 9 is a schematic perspective view of a mechanical arm assembly.
Fig. 10 is a schematic view of a first view angle assembly structure of the quick release assembly.
Fig. 11 is a schematic view of a second view angle assembly structure of the quick release assembly.
Fig. 12 is a schematic view of the structure of the quick release assembly when installed.
Fig. 13 is a schematic view of the structure of the quick release assembly when it is disassembled.
In the figure, 1, a beam frame; 2. a jacket slip body; 3. rough polishing of bevel gears; 4. rough polishing piece; 5. finely polishing a bevel gear; 6. an inner sleeve sliding body; 7. fine polishing sheets; 8. a magnetic ring body; 9. a support plate body; 10. a drive motor; 11. a first bevel gear; 12. a second bevel gear; 13. a through hole; 14. a cavity; 15. a carrying arm; 16. a water storage cylinder; 17. a support leg; 18. electric high-pressure water gun; 19. an electric pushing bar; 20. toggling the frame; 21. a first elastic member; 22. a water guide hole; 23. a water inlet hole; 24. a water outlet hole; 25. an annular edge; 26. a base; 27. a first driving source; 28. a first rotating member; 29. a second driving source; 30. a first overturning piece; 31. a third driving source; 32. a second overturning piece; 33. a fourth driving source; 34. a second rotating member; 35. a fifth driving source; 36. a carrier plate; 37. a vehicle body; 38. a driving wheel; 39. a second elastic member; 40. a placement groove; 41. wedge blocks; 42. a locking frame; 43. and unlocking the rod.
Detailed Description
For a clear understanding of the technical solution of the present application, a grinding assembly and a cold-resistant robot provided in the present application will be described in detail below with reference to specific embodiments and accompanying drawings.
The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification and claims of this application, the singular forms "a," "an," "the," and "the" are intended to include, for example, "one or more" such forms of expression, unless the context clearly indicates to the contrary. It should also be understood that in the various embodiments herein below, "at least one", "one or more" means one, two or more than two.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in various places throughout this specification are not necessarily all referring to the same embodiment, but mean "one or more, but not all, embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
In embodiment 1, a grinding assembly is provided, referring to fig. 1, which shows a schematic partial structure of the grinding assembly, and it can be seen from the figure that the grinding assembly includes a beam 1, and a polishing mechanism is connected to the left side of the beam 1, and the specific structure of the polishing mechanism is as follows.
Referring to fig. 2, fig. 2 shows a schematic diagram of a frying structure of a polishing mechanism, and it can be seen from the figure that the polishing mechanism is composed of a rough polishing unit and a fine polishing unit. The rough polishing unit comprises an outer sleeve sliding body 2, the bottom of the outer sleeve sliding body 2 is connected with a rough polishing bevel gear 3 through a disc bearing, and a rough polishing piece 4 (for example, the existing 800-mesh terrazzo material is directly selected) is connected below the rough polishing bevel gear 3 through bolts (or other detachable connection modes); the middle part of the outer sleeve slide body 2 is rotatably connected with a fine-polished bevel gear 5, and the inner side wall of the fine-polished bevel gear 5 is coated with a magnetic material (not shown in the figure). The fine polishing unit comprises an inner sleeve sliding body 6, the bottom of the inner sleeve sliding body 6 is connected with a fine polishing sheet 7 (for example, the existing 3000-mesh terrazzo material is directly selected), and the outer side of the inner sleeve sliding body 6 is connected with a magnetic ring body 8.
Referring to fig. 3, a schematic perspective structure of the polishing mechanism after assembly is shown, and it can be seen from the figure that the inner sleeve slider 6 is slidably sleeved on the inner side of the outer sleeve slider 2, and the magnetic material and the magnetic ring body 8 mutually generate magnetic attraction.
With continued reference to fig. 1, a supporting plate body 9 is formed on the upper surface of the right side of the beam frame 1, and a driving mechanism is connected to the supporting plate body 9 and consists of a rough polishing driving unit, a fine polishing driving unit and a driving motor 10; the output shaft of the driving motor 10 is in transmission connection with a rough-polishing driving unit and a fine-polishing driving unit, the rough-polishing driving unit is used for driving the rough-polishing unit, the fine-polishing driving unit is used for driving the fine-polishing unit, and the driving motor 10 is respectively used for driving the rough-polishing driving unit and the fine-polishing driving unit.
Specifically, the rough polishing driving unit comprises a first bevel gear 11, the first bevel gear 11 is used for being meshed with the rough polishing bevel gear 3 and forming linkage, and the central shaft part of the first bevel gear 11 is in rotary connection with the beam frame 1; the fine polishing driving unit comprises a second bevel gear 12, the second bevel gear 12 is used for being meshed with the fine polishing bevel gear 5 and forming linkage, and the central shaft part of the second bevel gear 12 is in rotary connection with the supporting plate body 9; the driving motor 10 is installed on the beam frame 1, an output shaft of the driving motor 10 is in transmission connection with a central shaft part of the first bevel gear 11 through a first belt, a second belt is in transmission connection with the central shaft part of the first bevel gear 11, and the other end of the second belt is in transmission connection with the central shaft part of the second bevel gear 12.
With continued reference to fig. 1, a through hole 13 is formed on the beam frame 1, the through hole 13 is matched with the bottom of the side wall of the fine-polished bevel gear 5, and the diameter of the bottom plane of the fine-polished bevel gear 5 is larger than that of the through hole 13. The top of the fine-polished bevel gear 5 is provided with a power mechanism for driving the fine-polished bevel gear 5 to move, and the specific scheme of the power mechanism is as follows.
Referring to fig. 4, there is shown a schematic view of a mounting structure of the power mechanism, in which it can be seen that the power mechanism is mounted above the top opening of the cavity 14, and the top and bottom of the cavity 14 are both formed with openings, and the cavity 14 is disposed on the peripheral side of the polishing mechanism in a surrounding manner; the power mechanism comprises a carrying arm 15, and the beam frame 1 is fixedly connected with the inner wall of the cavity 14; the left arm and the right arm of the carrying arm 15 are locked with the top opening of the cavity 14 through bolts, a water storage cylinder 16 is arranged at the center of the top of the carrying arm 15, four supporting legs 17 are respectively arranged at four corners of the bottom of the water storage cylinder 16, and the supporting legs 17 are fixedly connected with the carrying arm 15. Electric high-pressure water guns 18 (model: 8106) are respectively arranged on the two sides of the water storage cylinder 16 and the cavity 14, and water guide pipes on the electric high-pressure water guns 18 are communicated with the inner cavity of the water storage cylinder 16; a starting unit is arranged at the wrench part of the electric high-pressure water gun 18, the starting unit comprises an electric pushing rod 19 (directly adopting the existing product), the electric pushing rod 19 is adhered to the electric high-pressure water gun 18, a stirring frame 20 is connected to an output shaft of the electric pushing rod 19, and the stirring frame 20 is arranged at one side of the wrench; when the starting unit is used, the output shaft of the electric pushing bar 19 is started, and the output shaft is used for driving the stirring frame 20 to prop and press the wrench when moving. A sliding channel is formed on the carrying arm 15 below the water storage cylinder 16, the sliding channel is in sliding connection with the outer sleeve sliding body 2, and the inner sleeve sliding body 6 is fixedly connected with the bottom of the water storage cylinder 16. The power mechanism further comprises a first elastic component 21 (such as a spring), the first elastic component 21 is sleeved and connected on the outer sleeve sliding body 2, and two ends of the first elastic component 21 are respectively connected with the carrying arm 15 and the fine-polished bevel gear 5. While defining: when the first elastic component 21 is in a natural state, the through hole 13 of the beam frame 1 is in contact fit with the side wall of the fine-polished bevel gear 5, the fine-polished bevel gear 5 is meshed and linked with the second bevel gear 12, the coarse-polished bevel gear 3 is arranged above the first bevel gear 11 and is disengaged from the first bevel gear 11, and the magnetic material is opposite to the magnetic ring body 8 and generates adsorption.
The whole working mode of the grinding component is as follows:
in the first case (fine polishing mode), when the building floor needs to be polished carefully, referring to fig. 1 and 4, the electric high-pressure water gun 18 is started and the water pressure is lowered, so that the water pressure impact force at the moment is ensured to be smaller than the elastic force of the first elastic part 21; meanwhile, the driving motor 10 is started, the driving motor 10 synchronously drives the first bevel gear 11 and the second bevel gear 12 to rotate through the first belt and the second belt, the second bevel gear 12 is meshed with the linked fine polishing bevel gear 5 to rotate, and at the moment, the inner sleeve sliding body 6 and the fine polishing sheet 7 are driven to rotate through mutual adsorption between the magnetic materials and the magnetic ring body 8 by the rotating fine polishing bevel gear 5, so that fine polishing operation on the building ground is realized; the low-pressure water source sprayed by the electric high-pressure water gun 18 flows to the building ground during polishing after flowing through the beam frame 1, thereby playing a role in dust suppression.
In the second case (rough polishing mode), referring to fig. 5, a schematic structural diagram of a state of the grinding assembly in use is shown, and as can be seen from the figure, the electric high-pressure water gun 18 is started and the water pressure is increased, so that the water pressure impact force is ensured to be greater than the elastic force of the first elastic component 21, and meanwhile, the driving motor 10 is started, so that the first bevel gear 11 and the second bevel gear 12 are indirectly rotated synchronously; the fine-polished bevel gear 5 is impacted by a high-pressure water source sprayed from the electric high-pressure water gun 18, the fine-polished bevel gear 5 moves downwards along the direction a1, a gap is formed between the fine-polished bevel gear 5 and the through hole 13, and referring to fig. 6 (the partial state structure schematic diagram of the grinding assembly in use is shown in fig. 6), until the coarse-polished bevel gear 3 and the rotating first bevel gear 11 form proper engagement, and the rotating coarse-polished bevel gear 3 drives the coarse-polished sheet 4 to rotate, so that coarse polishing operation on the building ground is realized; the high-low pressure water source sprayed by the electric high-pressure water gun 18 also suppresses dust on the building floor during rough throwing. When the fine polishing is needed to be continuously used, only the water pressure is required to be reduced (the water pressure impact force is smaller than the elastic force of the first elastic part 21), the first elastic part 21 is retracted and deformed, so that the fine polishing bevel gear 5 is driven to move upwards along the a2 direction until being meshed with the second bevel gear 12 again for linkage, the coarse polishing bevel gear 3 is disengaged from the first bevel gear 11, and the fine polishing sheet 7 continuously starts the fine polishing operation.
According to the invention, the positions of the rough polishing unit and the fine polishing unit in the polishing mechanism are transferred by utilizing the power mechanism according to the concrete requirements of rough polishing or fine polishing in practice, so that the rough polishing unit or the fine polishing unit reaches the appointed building ground to be polished, and the rough polishing unit or the fine polishing unit is linked with the driving mechanism; the driving mechanism can directly enable the rough polishing unit or the fine polishing unit in the polishing mechanism to operate, so that rough polishing or fine polishing operation is performed on the building ground; compared with the prior art, the invention can realize random switching between the rough polishing function and the fine polishing function. On the other hand, after the fine-polishing bevel gears 5, the magnetic materials and the magnetic ring bodies 8 in the coarse-polishing units are mutually matched, an intermediate linkage structure between the fine-polishing units and the driving mechanism is formed, and the driving mechanism can drive the fine-polishing units only through the transmission of the intermediate linkage structure.
In the embodiment 2, the low-pressure or high-pressure water source sprayed from the electric high-pressure water gun 18 can be used as power for driving the fine-polished bevel gear 5 to move downwards and can also be used for suppressing dust on the building ground during polishing; in the case of rough polishing or fine polishing, in order to ensure that the water source can accurately reach the bottom of the rough polishing sheet 4 or the fine polishing sheet 7, the dust suppression effect is improved, and the following improvement is further made in embodiment 1 of the present invention.
Referring to fig. 7, there is shown a schematic perspective view of the inner sleeve slider 6 and the outer sleeve slider 2, and as can be seen from the figure, the inner sleeve slider 6 is located on the right side in fig. 7, and two water guide holes 22 are formed in an annular array on the left and right side walls of the inner sleeve slider 6; the outer sleeve slider 2 is positioned on the left side in fig. 7, and two water inlet holes 23 are formed in an annular array on the left and right side walls of the outer sleeve slider 2. As can be seen from fig. 1 and 3, the two water inlet holes 23 are located above the fine-pitch bevel gear 5, and when the first elastic member 21 is in a natural state, the two water guide holes 22 are opposite to the two water inlet holes 23; and two water outlets 24 are arranged on the rough-polished bevel gear 3 in an annular array, and the two water outlets 24 penetrate through the upper surface and the lower surface of the rough-polished bevel gear 3.
The working principles of the water inlet hole 23, the water guide hole 22 and the water outlet hole 24 are as follows: in the first situation, when the fine polishing operation is performed on the building ground, the two water guide holes 22 are just opposite to the two water inlet holes 23, referring to fig. 1, the water pressure of the electric high-pressure water gun 18 is insufficient to force the fine polishing bevel gear 5 to move downwards, and the low-pressure water source sprayed from the electric high-pressure water gun 18 flows through the water inlet holes 23 and the water guide holes 22 in sequence and finally flows out from the bottom of the cavity 14 of the inner sleeve sliding body 6, so that the dust suppression effect of the water source on the fine polishing building ground is improved. In the second case, when the rough polishing operation is performed on the building ground, referring to fig. 6, the water pressure of the electric high-pressure water gun 18 forces the fine polishing bevel gear 5 to move downwards, and a gap is gradually formed between the fine polishing bevel gear 5 and the through hole 13, so that the two water guide holes 22 and the two water inlet holes 23 are staggered; the high-pressure water source sprayed out of the electric high-pressure water gun 18 sequentially flows through the gap and the water outlet hole 24 and finally flows to the bottom of the outer sleeve sliding body 2, so that the dust suppression effect of the water source on the rough throwing building ground is improved.
According to the invention, on one hand, the pressure of the water source is controlled to be used as the driving force for downward movement of the fine-polishing bevel gear 5, and on the other hand, the flowing water source can also effectively inhibit powder generated during rough polishing or fine polishing from flying; according to the invention, the water guide hole 22, the water inlet hole 23 and the water outlet hole 24 are further arranged, so that a high-pressure water source is forced to flow through the gap and the water outlet hole 24 in sequence and then reach a designated position during rough polishing; during fine polishing, the low-pressure water source is forced to flow through the water inlet hole 23 and the water guide hole 22 in sequence and then reaches a designated position; therefore, the water source can accurately and rapidly flow to the polishing part of the building floor in the rough polishing or fine polishing process.
As an optimization scheme of the fine-polished bevel gear 5: referring to fig. 4, an annular edge 25 is formed on the top surface of the fine-polished bevel gear 5, and it is ensured that the low-pressure water source splashed on the fine-polished bevel gear 5 can effectively enter the water inlet hole 23 during fine polishing.
Embodiment 3, this embodiment provides a cold-resistant robot, and referring to fig. 8, an overall structure schematic diagram of the cold-resistant robot is shown, and it can be seen from the figure that the cold-resistant robot includes a grinding assembly, a mechanical arm assembly is disposed on one side of the grinding assembly, and a specific structure of the mechanical arm assembly is as follows.
Referring to fig. 9 in combination with fig. 8, in which fig. 9 shows a schematic perspective view of a mechanical arm assembly, as can be seen from the two diagrams, the mechanical arm assembly includes a base 26, a cavity is formed at the top of the base 26, a first driving source 27 (e.g. a motor) is disposed in the cavity, an output shaft end of the first driving source 27 is connected with a first rotating member 28, and the first rotating member 28 is rotatably connected with the top of the base 26; a second driving source 29 (such as a motor) is arranged on the first rotating member 28, and an output shaft of the second driving source 29 is connected with a first rotating member 30; a third driving source 31 (such as a motor) is arranged on the other side of the first turning piece 30, and an output shaft of the third driving source 31 is connected with a second turning piece 32; the other side of the second turning piece 32 is connected with a fourth driving source 33 (such as a motor), the tail end of an output shaft of the fourth driving source 33 is connected with a second turning piece 34, the other side of the second turning piece 34 is connected with a fifth driving source 35 (such as a motor), an output shaft of the fifth driving source 35 is connected with a carrying disc 36, and the carrying disc 36 is connected with a grinding assembly. The invention realizes the overturning actions of the first overturning piece 30 and the second overturning piece 32 in a plurality of directions through the second driving source 29 and the third driving source 31; the first and second rotating members 28 and 34 are rotated in a plurality of directions by the first and fourth driving sources 27 and 33.
Wherein, referring to fig. 8, the cold-resistant robot further comprises a vehicle body 37, and a mechanical arm assembly is arranged on the vehicle body 37; four drive wheels 38 are mounted on the four corners of the vehicle body 37 (a single drive wheel 38 is drivingly connected to a drive motor, not shown in the figures), the drive wheels 38 being electrically connected to a controller on the vehicle body 37.
As an optimization scheme of the mechanical arm assembly: the outer surface of the mechanical arm assembly is wrapped with a layer of tin paper heat preservation film (directly using the existing product) for preventing freezing, so that the mechanical arm assembly is prevented from being frozen when in operation. The controller and other electrical equipment on the grinding assembly can be wrapped with the tinfoil heat-insulating film, so that the electric equipment provided by the invention is comprehensively antifreezed.
As an optimization scheme for the cold-resistant robot: in order to ensure that the fine polishing piece 7 can be quickly disassembled from the inner sleeve sliding body 6, thereby improving the working efficiency, the invention further designs a quick-disassembly assembly; referring to fig. 10, a first view angle assembly structure schematic diagram of a quick release assembly is shown, and as can be seen from the figure, a fine polishing sheet 7 is connected to the quick release assembly, and the quick release assembly is detachably connected to the bottom of an inner sleeve slider 6; the specific scheme of the quick-release assembly is as follows.
Referring to fig. 7 and 11, fig. 11 is a schematic view of a second view assembly structure of the quick release assembly, and as can be seen from the above two views, the quick release assembly is divided into two parts, wherein one part is mounted on the inner sleeve slider 6; the quick release assembly comprises a second elastic component 39, wherein placing grooves 40 are respectively formed on the left side and the right side of the bottom of the inner sleeve sliding body 6, the placing grooves 40 are internally connected with the second elastic component 39 (such as a spring), the free ends of the second elastic component 39 are connected with wedge blocks 41, and the slope surfaces of the wedge blocks 41 face downwards.
Referring to fig. 10, another part of the quick-release assembly is mounted on the fine polishing sheet 7, the quick-release assembly further comprises a locking frame 42, and the free end of the locking frame 42 and the side end of the placement groove 40 vertically form sliding fit; when the top of the locking frame 42 is arranged above the smooth surface of the top of the wedge block 41, the channel formed between the wedge block 41 and the placing groove 40 jointly locks the locking frame 42; a vertical chute is formed on the locking frame 42, and is slidably fitted with an unlocking lever 43, and the free end of the unlocking lever 43 is slidably fitted with the side end of the placement groove 40 in the vertical direction.
The working principle of the quick-release assembly is as follows:
in the first situation (i.e. the situation of installing the fine polishing sheet 7), referring to fig. 12, a schematic structural diagram of the quick-release assembly is shown, it can be seen from the figure that after the locking frame 42 is opposite to the side end of the placement groove 40, the locking frame 42 is forcefully pushed in the a2 direction, and the wedge block 41 moves in the b1 direction under the pressing action of the locking frame 42 until the top of the locking frame 42 completely moves above the wedge block 41, so that the fine polishing sheet 7 can be locked.
In the second case (i.e., in the case of detaching the fine polishing sheet 7), referring to fig. 13, which is a schematic view of the structure of the quick-release assembly at the time of detaching, it can be seen from the figure that the unlocking lever 43 in the locking frame 42 is moved in the a2 direction, the unlocking lever 43 forces the wedge block 41 to move in the b1 direction until the locking frame 42 is out of contact with the wedge block 41, and the locking frame 42 is pulled down in the a1 direction, so that the fine polishing sheet 7 can be unloaded.

Claims (6)

1. A grinding assembly, characterized by: comprises a beam frame (1), wherein one side of the beam frame (1) is connected with a polishing mechanism; a supporting plate body (9) is arranged on the other side of the beam frame (1), and a driving mechanism is connected to the supporting plate body (9); the beam frame (1) is connected with a power mechanism; the power mechanism is used for driving the polishing mechanism to move upwards or downwards and for enabling the rough polishing unit or the fine polishing unit of the polishing mechanism to be linked with the driving mechanism; the driving mechanism is used for enabling the rough polishing unit or the fine polishing unit in the polishing mechanism to operate; the polishing mechanism comprises a rough polishing unit and a fine polishing unit, wherein the rough polishing unit comprises an outer sleeve sliding body (2), the bottom of the outer sleeve sliding body (2) is rotationally connected with a rough polishing bevel gear (3), and a rough polishing sheet (4) is detachably arranged on the rough polishing bevel gear (3); the outer sleeve sliding body (2) is connected with a fine-polished bevel gear (5), and the fine-polished bevel gear (5) is provided with a magnetic material; the fine polishing unit comprises an inner sleeve sliding body (6), the bottom of the inner sleeve sliding body (6) is detachably connected with a fine polishing sheet (7), and a magnetic ring body (8) is arranged on the inner sleeve sliding body (6); the inner sleeve sliding body (6) is sleeved in the outer sleeve sliding body (2) in a sliding manner, and the magnetic material and the magnetic ring body (8) are mutually magnetically adsorbed; the driving mechanism comprises a rough polishing driving unit, a fine polishing driving unit and a driving motor (10); the output shaft of the driving motor (10) is in transmission connection with the rough-polishing driving unit and the fine-polishing driving unit, and the driving motor (10) is used for driving the rough-polishing driving unit and the fine-polishing driving unit; the rough polishing driving unit is used for driving the rough polishing unit, and the fine polishing driving unit is used for driving the fine polishing unit; the rough polishing driving unit comprises a first bevel gear (11), the first bevel gear (11) is used for being meshed and linked with the rough polishing bevel gear (3), and the first bevel gear (11) is connected to the beam frame (1) in a switching mode; the fine polishing driving unit comprises a second bevel gear (12), the second bevel gear (12) is used for being meshed and linked with the fine polishing bevel gear (5), and the second bevel gear (12) is connected to the supporting plate body (9) in a switching mode; the driving motor (10) is connected with the beam frame (1), an output shaft of the driving motor (10) is in transmission connection with the first bevel gear (11), and the first bevel gear (11) is in transmission connection with the second bevel gear (12); the power mechanism comprises a carrying arm (15), the cavity (14) is a surrounding structure with an upper opening and a lower opening, and the cavity (14) is arranged on the periphery of the polishing mechanism in a surrounding manner; the beam frame (1) is fixedly connected with the inner wall of the cavity (14); the carrying arm (15) is connected to the cavity (14), and the water storage cylinder (16) is arranged on the carrying arm (15); an electric high-pressure water gun (18) is arranged on one side of the water storage barrel (16), and a water guide pipe on the electric high-pressure water gun (18) is communicated with the inner cavity of the water storage barrel (16); a starting unit is arranged at the wrench position of the electric high-pressure water gun (18) and is used for propping the wrench; the carrying arm (15) below the water storage cylinder (16) is in sliding connection with the outer sleeve sliding body (2), and the inner sleeve sliding body (6) is fixedly connected with the bottom of the water storage cylinder (16); the outer sleeve sliding body (2) is sleeved with a first elastic component (21), and two ends of the first elastic component (21) are respectively connected with the carrying arm (15) and the fine-polished bevel gear (5); when the first elastic component (21) is in a natural state, the fine-polished bevel gear (5) is meshed with the second bevel gear (12), the coarse-polished bevel gear (3) is arranged above the first bevel gear (11) and is disengaged from the first bevel gear (11), and the magnetic material is opposite to the magnetic ring body (8) and is adsorbed.
2. The grinding assembly of claim 1, wherein: the beam frame (1) is provided with a through hole (13) which is used for being matched with the side wall of the fine-polished bevel gear (5), and the coarse-polished bevel gear (3) is provided with a water outlet (24); the inner sleeve sliding body (6) is provided with a water guide hole (22), and the outer sleeve sliding body (2) is provided with a water inlet hole (23).
3. A cold-resistant robot, its characterized in that: comprises a grinding assembly according to any one of claims 1 to 2, wherein a mechanical arm assembly is arranged on one side of the grinding assembly, and the mechanical arm assembly is arranged on a vehicle body (37); at least three driving wheels (38) are mounted on the vehicle body (37).
4. A cold-resistant robot according to claim 3, wherein: the mechanical arm assembly comprises a base body (26), a cavity is formed in the top of the base body (26), a first driving source (27) is arranged in the cavity, the tail end of an output shaft of the first driving source (27) is connected with a first rotating piece (28), and the first rotating piece (28) is rotationally connected with the top of the base body (26); a second driving source (29) is arranged on the first turning piece (28), and an output shaft of the second driving source (29) is connected with a first turning piece (30); a third driving source (31) is arranged on the other side of the first turnover piece (30), and an output shaft of the third driving source (31) is connected with a second turnover piece (32); the other side of the second turnover piece (32) is connected with a fourth driving source (33), the tail end of an output shaft of the fourth driving source (33) is connected with a second rotation piece (34), the other side of the second rotation piece (34) is connected with a fifth driving source (35), an output shaft of the fifth driving source (35) is connected with a carrying disc (36), and a grinding assembly is connected to the carrying disc (36).
5. The cold-resistant robot of claim 4, wherein: the mechanical arm component is wrapped with a layer of tin paper heat-insulating film for preventing freezing.
6. The cold-resistant robot of claim 5, wherein: the cold-resistant robot further comprises a quick-dismantling component, the fine polishing sheet (7) is connected to the quick-dismantling component, and the quick-dismantling component is detachably connected with the bottom of the inner sleeve sliding body (6); the quick-dismantling component is used for separating the fine polishing sheet (7) from the inner sleeve sliding body (6) or is arranged on the inner sleeve sliding body (6).
CN202311729049.6A 2023-12-15 2023-12-15 Grinding assembly and cold-resistant robot Active CN117400140B (en)

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CN113547427A (en) * 2021-07-15 2021-10-26 永康市晓诚电器有限公司 High-stability angle grinder
CN114939806A (en) * 2022-07-21 2022-08-26 徐州博诺威机械设备有限公司 Building ground burnishing device
CN219704578U (en) * 2023-04-13 2023-09-19 杭州富阳贝镁造型艺术有限公司 Full-automatic multi-station polishing machine
CN116871999A (en) * 2023-07-31 2023-10-13 安徽点辰标识工程有限公司 High-efficient terrace buffing machine is used in construction engineering terrace polishing construction

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108067974A (en) * 2016-11-14 2018-05-25 天津绿川科技有限公司 A kind of mobile-phone lens polishing machine
CN107309756A (en) * 2017-08-22 2017-11-03 广东埃华路机器人工程有限公司 A kind of stainless steel bowl automatically grinding polishing system
KR20190022231A (en) * 2017-08-26 2019-03-06 지은경 Knife grinding device
CN108356627A (en) * 2018-02-10 2018-08-03 沈天福 A kind of building ground burnishing device
CN209439978U (en) * 2018-12-17 2019-09-27 湖南晶日智能设备科技有限公司 It is a kind of with precise positioning and the intelligent refiner for clamping gas circuit automatic control function
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CN116871999A (en) * 2023-07-31 2023-10-13 安徽点辰标识工程有限公司 High-efficient terrace buffing machine is used in construction engineering terrace polishing construction

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