CN211332505U - Grinding device and construction robot - Google Patents

Abstract

The utility model relates to a construction machinery technical field discloses a grinding device and construction robot. The polishing device comprises a polishing mechanism, a driving mechanism, a twisting mechanism and a rack, wherein the polishing mechanism comprises a sealing cover assembly and a polishing assembly, the polishing assembly is used for polishing the surface of an object to be polished, and the sealing cover assembly is used for collecting polished dust; the driving mechanism is in transmission connection with the polishing assembly and is used for driving the polishing assembly to operate; the torsion mechanism comprises a rotating frame, the polishing mechanism is arranged on the rotating frame in a swinging mode, the rotating frame is arranged on the rack in a swinging mode, the polishing mechanism can swing around a first axis relative to the rotating frame, the rotating frame can swing around a second axis relative to the rack, and the first axis and the second axis are perpendicular to each other. The driving mechanism drives the grinding assembly to operate to carry out grinding operation. The dust of polishing is collected to the sealed cowling subassembly, avoids air pollution. The grinding mechanism can swing in any direction relative to the frame, so that the grinding assembly can be adjusted to any angle to adapt to a working surface.

Description

Grinding device and construction robot

Technical Field

The utility model relates to a construction machinery technical field especially relates to a grinding device and construction robot.

Background

In the building work progress, concrete wall etc. inevitably need polish, artifical in accomplishing concrete work in-process of polishing, can prepare a plurality of angle mills, change at any time, the purpose is overheated and burn out the motor in order to prevent that the angle mill from polishing for a long time, and the manual work is through the sense of touch, rotates the wrist and accomplishes the compliance and polish the operation, but the manual work is polished the operating efficiency and is lower.

In order to improve the operating efficiency and reduce the labor intensity of workers, most of the prior polishing is performed by a robot carrying an angle grinder, and because the angle grinder cannot freely rotate to adjust the angle, the angle grinder cannot complete flexibility operation in the polishing operation process, namely, the angle of the angle grinder is adjusted at any time according to a construction site to meet the construction requirement.

Therefore, a polishing device and a construction robot are needed to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a grinding device and construction robot can make grinding machanism for the frame to arbitrary direction swing, can make the subassembly of polishing adjust to arbitrary angle to accomplish the compliance operation, satisfy various construction demands.

To achieve the purpose, the utility model adopts the following technical proposal:

in one aspect, there is provided a polishing apparatus comprising:

the polishing mechanism comprises a sealing cover assembly and a polishing assembly, the polishing assembly is used for polishing the surface of an object to be polished, and the sealing cover assembly is used for collecting polished dust;

the driving mechanism is in transmission connection with the grinding assembly and is used for driving the grinding assembly to operate;

the grinding mechanism can swing around a first axis relative to the rotating frame, the rotating frame can swing around a second axis relative to the rack, and the first axis and the second axis are perpendicular to each other.

Preferably, the sealing cover assembly comprises a sealing frame, a brush, a mounting frame and a first elastic member;

the sealing frame is connected to the rotating frame in a swinging mode through a first connecting shaft, a first fixing piece is arranged on the rotating frame, and the first fixing piece is used for stopping the first connecting shaft;

the rotating frame is connected to the rack in a swinging mode through a second connecting shaft, a second fixing piece is arranged on the rack, and the second fixing piece is used for stopping the second connecting shaft;

the mounting frame with sealing frame passes through first elastic component is connected, the brush is followed mounting frame circumference set up in on the mounting frame.

Preferably, the sealing frame further comprises four second elastic members, two ends of each second elastic member are respectively connected to the sealing frame and the frame, and the second elastic members are uniformly arranged along the circumferential direction of the sealing frame.

Preferably, the driving mechanism comprises a direct current motor, a transmission shaft, an angular contact bearing, a dustproof oil seal and a cover plate;

an output shaft of the direct current motor is in transmission connection with the transmission shaft, the transmission shaft is in transmission connection with the polishing assembly, and the direct current motor can drive the polishing assembly to run;

the transmission shaft is rotationally connected with the sealing frame through the angular contact bearing, the dustproof oil seal is arranged on one side, close to the polishing assembly, of the angular contact bearing, and the cover plate is sleeved on the transmission shaft and installed on one side, close to the polishing assembly, of the angular contact bearing.

Preferably, still include buffer gear and pressure detection spare, buffer gear includes mount pad, intermediate lamella, connecting rod and third elastic component, pressure detection spare set up in on the mount pad, the connecting rod is fixed in on the mount pad, the frame with connecting rod sliding connection, the intermediate lamella slide set up in on the connecting rod, the both sides of intermediate lamella support respectively press in the one end of third elastic component with pressure detection spare, the third elastic component do not support press in the one end of intermediate lamella support press in the frame.

Preferably, a first exhaust fan is arranged on the rack and used for cooling the direct current motor.

In another aspect, a construction robot is provided, which comprises a robot body and further comprises the grinding device;

the robot body comprises a bearing device, the bearing device comprises a bearing frame, a first one-way robot and a second one-way robot, the polishing device is arranged at the output end of the first one-way robot, the first one-way robot is arranged at the output end of the second one-way robot, the first one-way robot and the second one-way robot are perpendicular to each other, and the second one-way robot is arranged on the bearing frame.

Preferably, the robot body further comprises a lifting device, an output end of the lifting device is connected to the bearing frame, and the lifting device can drive the bearing device to move up and down.

Preferably, the robot body further comprises a base device, the base device comprises a base, a steering wheel, universal wheels and an obstacle avoidance radar, the lifting device is arranged on the base, the steering wheel is arranged at the bottom of two opposite corners of the base, the universal wheels are arranged at the bottom of the other two corners of the base, and the obstacle avoidance radar is arranged at the bottom of two opposite corners of the base.

Preferably, the robot body further comprises a dust collector and a second exhaust fan;

the sealing frame is provided with a dust removal port, and the dust remover is connected to the dust removal port through a dust collection pipe;

the second exhaust fan is arranged on the base;

and the base is also provided with a laser radar and an alarm.

The utility model has the advantages that:

the driving mechanism drives the grinding assembly to operate so as to carry out grinding operation. The dust of polishing is collected to the sealed cowling subassembly, avoids the dust in a confused state of mind to fly polluted air. The grinding mechanism can swing around a first axis relative to the rotating frame, the rotating frame can swing around a second axis relative to the rack, and the first axis and the second axis are perpendicular to each other. The grinding mechanism can swing in any direction relative to the frame, and the grinding assembly can be adjusted to any angle to adapt to a working surface. This grinding device can accomplish the compliance operation, satisfies various construction demands. And the structure of the torsion mechanism is simpler and the manufacturing cost is low.

Drawings

Fig. 1 is a schematic structural view of a polishing device provided by the present invention;

fig. 2 is a schematic view of a partial structure of a polishing device provided by the present invention;

fig. 3 is a cross-sectional view of a polishing device provided by the present invention;

fig. 4 is a schematic structural diagram of the construction robot provided by the present invention.

In the figure: 1. a polishing device; 111. a sealing frame; 112. a brush; 113. installing a frame; 114. a first elastic member;

121. a direct current motor; 122. a drive shaft; 123. an angular contact bearing; 124. a dustproof oil seal; 125. a cover plate; 126. a coupling; 127. a bearing seat; 128. connecting sleeves;

131. rotating the frame; 132. a first connecting shaft; 133. a first fixing member; 134. a second connecting shaft; 135. a second fixing member;

14. a frame; 141. a second elastic member; 142. an adjustment hole; 143. a first exhaust fan;

15. a buffer mechanism; 151. a mounting seat; 152. a connecting rod; 153. a third elastic member; 154. a middle plate; 16. a pressure detecting member;

2. a robot body; 21. a carrying device; 211. a load-bearing frame; 212. a first one-way robot; 213. a second one-way robot; 214. a base plate;

22. a lifting device;

23. a base unit; 231. a base; 232. a steering wheel; 233. a universal wheel; 234. obstacle avoidance radar;

24. a dust remover; 241. a dust collection pipe; 25. a second exhaust fan; 26. a laser radar; 27. an alarm.

Detailed Description

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

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

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

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description of the present invention and simplification of description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

As shown in fig. 1 to 3, the present embodiment discloses a grinding apparatus including a grinding mechanism, a drive mechanism, a twisting mechanism, and a frame 14.

Grinding machanism includes sealed cowling subassembly and the subassembly of polishing, and the subassembly of polishing is used for polishing the surface of treating the thing of polishing, and the subassembly of polishing in this embodiment is mainly used for polishing the wall. The sealed cowling subassembly is used for collecting the dust of polishing, avoids the dust in a confused state of mind to fly polluted air. The driving mechanism is in transmission connection with the polishing assembly and is used for driving the polishing assembly to operate so as to perform polishing operation.

The torsion mechanism includes a rotating frame 131, the grinding mechanism is swingably provided on the rotating frame 131, the rotating frame 131 is swingably provided on the frame 14, the grinding mechanism is swingable about a first axis with respect to the rotating frame 131, the rotating frame 131 is swingable about a second axis with respect to the frame 14, and the first axis and the second axis are provided perpendicular to each other. The grinding mechanism can be swung in any direction relative to the frame 14, and the grinding assembly can be adjusted to any angle to adapt to the working surface.

The driving mechanism drives the grinding assembly to operate so as to carry out grinding operation. The dust of polishing is collected to the sealed cowling subassembly, avoids the dust in a confused state of mind to fly polluted air. The grinding mechanism is capable of swinging about a first axis relative to the rotating frame, and the rotating frame 131 is capable of swinging about a second axis relative to the frame 14, the first axis and the second axis being arranged perpendicular to each other. The grinding mechanism can be swung in any direction relative to the frame 14, and the grinding assembly can be adjusted to any angle to adapt to the working surface. This grinding device 1 can accomplish the compliance operation, satisfies various construction demands. And the structure of the torsion mechanism is simpler and the manufacturing cost is low.

Specifically, the sealing cap assembly includes a sealing frame 111, a mounting frame 113, a first elastic member 114, and a brush 112. The sealing frame 111 is connected to the rotating frame 131 through a first connecting shaft 132 in a swinging manner, a first fixing member 133 is disposed on the rotating frame 131, and the first fixing member 133 is used for stopping the first connecting shaft 132. More specifically, the first connecting shaft 132 is fixed to the rotating frame 131, and the sealing frame 111 is rotatably connected to the first connecting shaft 132 through a bearing. After the first connecting shaft 132 is completely installed, the first fixing member 133 is fixed on the rotating frame 131 for stopping the first connecting shaft 132 and preventing the first connecting shaft 132 from falling off.

The rotating frame 131 is connected to the frame 14 through a second connecting shaft 134 in a swinging manner, and a second fixing member 135 is disposed on the frame 14, and the second fixing member 135 is used for stopping the second connecting shaft 134. More specifically, the second connecting shaft 134 is fixed to the frame 14, and the rotating frame 131 is rotatably connected to the second connecting shaft 134 through a bearing. After the second connecting shaft 134 is mounted, the second fixing member 135 is fixed to the frame 14 to stop the second connecting shaft 134 and prevent the second connecting shaft 134 from falling off.

The brush 112 is detachably arranged on the mounting frame 113 along the circumferential direction of the mounting frame 113, and the brush 112 is convenient to replace after being worn. The mounting frame 113 and the sealing frame 111 are connected by first elastic members 114 (preferably springs in this embodiment), and four first elastic members 114 are uniformly distributed along the circumferential direction of the mounting frame 113. When the brush 112 is pressed against the wall, the first elastic member 114 plays a role of buffering, so as to prevent the brush 112 from being damaged due to hard contact between the brush 112 and the wall. The grinding assembly is arranged in the inner part surrounded by the brush 112, and dust generated by grinding of the grinding assembly can be stopped by the brush 112 and cannot be emitted into the air to pollute the air. The sealing frame 111 is provided with a dust removal port.

Optionally, the polishing device 1 further includes four second elastic members 141 (preferably springs in this embodiment), two ends of each second elastic member 141 are respectively connected to the sealing frame 111 and the frame 14, and the second elastic members 141 are uniformly arranged along the circumferential direction of the sealing frame 111. Under the force of the second elastic member 141, the sealing frame 111 moves toward the initial position to return the sharpening mechanism to the initial position. Moreover, under the action of the second elastic member 141, excessive twisting of the sharpening mechanism can be avoided, providing torsional damping. The sealing frame 111 is provided with a first coupling pin having a coupling hole, and one end of the second elastic member 141 is hooked in the coupling hole of the first coupling pin. The frame 14 is provided with a second connection pin, one end of which is provided with a connection hole, and the other end of the second elastic member 141 is hooked in the connection hole of the second connection pin. Four adjusting hole 142 groups are arranged on the frame 14, and each second connecting pin corresponds to one adjusting hole 142 group; the adjusting hole 142 set includes a plurality of adjusting holes 142 (preferably three in this embodiment) arranged in the vertical direction in the frame 14, the second connecting pin is inserted into one of the adjusting holes 142, and the tightness of the second elastic member 141 can be adjusted by changing the adjusting hole 142 into which the second connecting pin is inserted, thereby adjusting the elastic force applied to the sealing frame 111.

The driving mechanism comprises a direct current motor 121, an angular contact bearing 123, a dustproof oil seal 124, a cover plate 125 and a transmission shaft 122, an output shaft of the direct current motor 121 is in transmission connection with the transmission shaft 122, the direct current motor 121 is provided with a larger coil, heat dissipation performance is good, an inverter is reduced compared with a robot, space and volume are saved, long-time polishing operation can be completed, and a plurality of polishing devices 1 do not need to be prepared for replacement and alternate operation. The transmission shaft 122 is in transmission connection with the grinding assembly, and the direct current motor 121 can drive the grinding assembly to operate. The transmission shaft 122 is rotatably connected with the sealing frame 111 through an angular contact bearing 123, a dustproof oil seal 124 is arranged on one side, close to the polishing assembly, of the angular contact bearing 123, and a cover plate 125 is sleeved on the transmission shaft 122 and is installed on one side, close to the polishing assembly, of the angular contact bearing 123. Specifically, a bearing seat 127 is sleeved outside the angular contact bearing 123, and the bearing seat 127 is embedded in the mounting hole of the sealing frame 111. Because the grinding component can generate horizontal force due to grinding, the angular contact bearing 123 can bear larger horizontal force, and therefore the angular contact bearing 123 is selected. An output shaft of the direct current motor 121 is connected with the transmission shaft 122 through a coupler 126, a connecting sleeve 128 is arranged on the outer side of the coupler 126, and the connecting sleeve 128 is fixedly connected with the direct current motor 121 and a bearing seat 127, so that the direct current motor 121 can swing along with the sealing frame 111, and the direct current motor 121 can be kept to drive the grinding assembly to run all the time. The dustproof oil seal 124 and the cover plate 125 are matched to play a role of sealing and dust prevention, so that dust can be effectively prevented from entering the angular contact bearing 123, and the service life of the angular contact bearing 123 is protected from being reduced due to the dust. The rack 14 is provided with a first exhaust fan 143, and the first exhaust fan 143 is used for cooling the dc motor 121, so as to prevent the dc motor 121 from being burnt due to overhigh temperature when working for a long time.

Optionally, the polishing apparatus 1 further includes a buffer mechanism 15 and a pressure detecting element 16 (preferably, a pressure sensor in this embodiment), the buffer mechanism 15 includes a mounting seat 151, an intermediate plate 154, a connecting rod 152 and a third elastic element 153 (preferably, a spring in this embodiment), the pressure detecting element 16 is disposed on the mounting seat 151, the connecting rod 152 is fixed on the mounting seat 151, the frame 14 is slidably connected to the connecting rod 152, and the third elastic element 153 is sleeved on the connecting rod 152. The middle plate 154 is slidably disposed on the connecting rod 152, two sides of the middle plate 154 respectively abut against one end of the third elastic element 153 and the pressure detecting element 16, and one end of the third elastic element 153, which does not abut against the middle plate 154, abuts against the frame 14. The buffer mechanism 15 can buffer the abutting force of the grinding device 1 against the wall surface, and avoid excessive abutting and damage to the grinding device 1. The pressure detection piece 16 can detect the abutting force of the polishing device 1 against the wall surface, and the polishing device 1 and the buffer mechanism 15 are prevented from being damaged due to the excessive abutting force.

As shown in fig. 4, the present embodiment also discloses a construction robot, which includes a robot body 2 and the polishing apparatus 1 provided in the present embodiment.

The robot body 2 comprises a bearing device 21 which comprises a bearing frame 211, a first one-way robot 212 and a second one-way robot 213, the polishing device 1 is arranged at the output end of the first one-way robot 212, specifically, a backing plate 214 is arranged at the output end of the first one-way robot 212, the backing plate 214 is eccentrically arranged, the polishing device 1 is arranged on the backing plate 214, and specifically, a mounting seat 151 of a buffer mechanism 15 of the polishing device 1 is fixed on the backing plate 214. The first one-way robot 212 can drive the polishing apparatus 1 to move in the longitudinal direction of the first one-way robot 212. The first unidirectional robot 212 is disposed at an output end of the second unidirectional robot 213, the first unidirectional robot 212 and the second unidirectional robot 213 are disposed perpendicular to each other, and the second unidirectional robot 213 is disposed on the carrying frame 211. The second one-way robot 212 can drive the first one-way robot 212 to move along the length direction of the second one-way robot 213, the first one-way robot 212 and the second one-way robot 213 are matched, the polishing device 1 can be driven to complete the polishing operation of the whole area, and an effective operation space is provided for the full-automatic polishing operation.

The robot body 2 further comprises a lifting device 22, an output end of the lifting device 22 is connected to the bearing frame 211, and the lifting device 22 can drive the bearing device 21 to move up and down, so that the polishing device 1 can be suitable for polishing operation of top plates of any height. The lifting device 22 in this embodiment is a three-level lifting device 22, which enables the polishing device 1 to move a large distance in the vertical direction, and is suitable for a high top plate, and when the machine is stopped, the building robot can be contracted to a small size, so that the building robot is convenient to move and store.

The robot body 2 further comprises a base device 23 which comprises a base 231, a steering wheel 232, universal wheels 233 and obstacle avoidance radars 234, wherein the lifting device 22 is arranged on the base 231, the steering wheel 232 is arranged at the bottom of two opposite corners of the base 231, the universal wheels 233 are arranged at the bottom of the other two corners, and the obstacle avoidance radars 234 are arranged at the bottom of two opposite corners of the base 231. The two steering wheels 232 and the two universal wheels 233 are matched to drive the base 231 to move in any direction, so that the construction robot is suitable for full-area grinding operation. Each obstacle avoidance radar 234 can complete 270-degree obstacle scanning, the diagonal arrangement can complete 360-degree obstacle scanning of the whole building robot, and the 360-degree obstacle avoidance requirements of the building robot can be met.

Robot body 2 still includes dust remover 24, second exhaust fan 25, laser radar 26 and alarm 27, is provided with the dust removal mouth on the sealing frame 111, and dust remover 24 passes through dust absorption pipe 241 and connects in the dust removal mouth, and dust remover 24 can be got rid of the dust absorption of the production of polishing, can avoid the dust to pile up in sealing frame 111. The base 231 is provided with a second exhaust fan 25, the four sides of the base 231 are provided with the second exhaust fan 25, and the second exhaust fan 25 is used for cooling and dissipating heat of electrical components inside the construction robot. Still be provided with laser radar 26 and alarm 27 on base 231, laser radar 26 is used for scanning construction robot's operational environment, and alarm 27 is used for the fault alarm, and construction robot breaks down the back promptly, and alarm 27 reports to the police to inform the staff and maintain.

The driving mechanism drives the grinding assembly to operate so as to carry out grinding operation. The dust of polishing is collected to the sealed cowling subassembly, avoids the dust in a confused state of mind to fly polluted air. The grinding mechanism is capable of swinging about a first axis relative to the rotating frame 131, and the rotating frame 131 is capable of swinging about a second axis relative to the frame 14, the first axis and the second axis being arranged perpendicular to each other. The grinding mechanism can be swung in any direction relative to the frame 14, and the grinding assembly can be adjusted to any angle to adapt to the working surface. This grinding device 1 can accomplish the compliance operation, satisfies various construction demands. And the structure of the torsion mechanism is simpler and the manufacturing cost is low.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. An abrading device, comprising:

the polishing mechanism comprises a sealing cover assembly and a polishing assembly, the polishing assembly is used for polishing the surface of an object to be polished, and the sealing cover assembly is used for collecting polished dust;

the driving mechanism is in transmission connection with the grinding assembly and is used for driving the grinding assembly to operate;

the grinding machine comprises a twisting mechanism and a machine frame (14), wherein the twisting mechanism comprises a rotating frame (131), the grinding mechanism is arranged on the rotating frame (131) in a swinging mode, the rotating frame (131) is arranged on the machine frame (14) in a swinging mode, the grinding mechanism can swing around a first axis relative to the rotating frame (131), the rotating frame (131) can swing around a second axis relative to the machine frame (14), and the first axis and the second axis are perpendicular to each other.

2. The sanding device of claim 1, wherein the sealing cap assembly comprises a sealing frame (111), a brush (112), a mounting frame (113), and a first resilient member (114);

the sealing frame (111) is connected to the rotating frame (131) in a swinging mode through a first connecting shaft (132), a first fixing piece (133) is arranged on the rotating frame (131), and the first fixing piece (133) is used for stopping the first connecting shaft (132);

the rotating frame (131) is connected to the rack (14) in a swinging mode through a second connecting shaft (134), a second fixing piece (135) is arranged on the rack (14), and the second fixing piece (135) is used for stopping the second connecting shaft (134);

the mounting frame (113) is connected with the sealing frame (111) through the first elastic piece (114), and the hairbrush (112) is arranged on the mounting frame (113) along the circumferential direction of the mounting frame (113).

3. The sanding device according to claim 2, further comprising four second elastic members (141), both ends of the second elastic members (141) being connected to the sealing frame (111) and the frame (14), respectively, the second elastic members (141) being uniformly arranged along the circumferential direction of the sealing frame (111).

4. The sanding device according to claim 2, characterized in that the drive mechanism comprises a direct current motor (121), a transmission shaft (122), an angular contact bearing (123), a dust seal (124) and a cover plate (125);

an output shaft of the direct current motor (121) is in transmission connection with the transmission shaft (122), the transmission shaft (122) is in transmission connection with the grinding assembly, and the direct current motor (121) can drive the grinding assembly to run;

the transmission shaft (122) is rotationally connected with the sealing frame (111) through the angular contact bearing (123), the dustproof oil seal (124) is arranged on one side, close to the polishing assembly, of the angular contact bearing (123), and the cover plate (125) is sleeved on the transmission shaft (122) and is installed on one side, close to the polishing assembly, of the angular contact bearing (123).

5. The polishing device according to claim 2, further comprising a buffer mechanism (15) and a pressure detection member (16), wherein the buffer mechanism (15) comprises a mounting seat (151), a middle plate (154), a connecting rod (152) and a third elastic member (153), the pressure detection member (16) is disposed on the mounting seat (151), the connecting rod (152) is fixed on the mounting seat (151), the frame (14) is slidably connected with the connecting rod (152), the middle plate (154) is slidably disposed on the connecting rod (152), two sides of the middle plate (154) respectively abut against one end of the third elastic member (153) and the pressure detection member (16), and one end of the third elastic member (153) which does not abut against the middle plate (154) abuts against the frame (14).

6. The grinding device according to claim 4, characterized in that a first exhaust fan (143) is arranged on the frame (14), the first exhaust fan (143) being used for cooling the DC motor (121).

7. A construction robot comprising a robot body (2), characterized by further comprising a grinding device according to any of claims 2-6;

robot body (2) are including bearing device (21), bearing device (21) are including bearing frame (211), first one-way robot (212) and second one-way robot (213), grinding device set up in the output of first one-way robot (212), first one-way robot (212) set up in the output of second one-way robot (213), first one-way robot (212) with second one-way robot (213) mutually perpendicular sets up, second one-way robot (213) set up in on bearing frame (211).

8. The construction robot according to claim 7, characterized in that the robot body (2) further comprises a lifting device (22), the output of the lifting device (22) being connected to the carrying frame (211), the lifting device (22) being able to drive the carrying device (21) up and down.

9. The construction robot according to claim 8, wherein the robot body (2) further comprises a base device (23), the base device (23) comprises a base (231), a steering wheel (232), a universal wheel (233) and an obstacle avoidance radar (234), the lifting device (22) is arranged on the base (231), the steering wheel (232) is arranged at the bottom of two opposite corners of the base (231), the universal wheel (233) is arranged at the bottom of the other two corners, and the obstacle avoidance radar (234) is arranged at the bottom of two opposite corners of the base (231).

10. The construction robot according to claim 9, characterized in that the robot body (2) further comprises a dust collector (24) and a second exhaust fan (25);

the sealing frame (111) is provided with a dust removing port, and the dust remover (24) is connected to the dust removing port through a dust collecting pipe (241);

the second exhaust fan (25) is arranged on the base (231);

and the base (231) is also provided with a laser radar (26) and an alarm (27).

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