CN211805213U

CN211805213U - Outer wall polishing robot

Info

Publication number: CN211805213U
Application number: CN202020284272.XU
Authority: CN
Inventors: 王文剑; 沃佳龙; 袁琦堡; 赵金明
Original assignee: Shanghai Yayue Intelligent Technology Co ltd
Current assignee: Shanghai Yayue Intelligent Technology Co ltd
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2020-10-30
Anticipated expiration: 2030-03-09

Abstract

The invention provides an outer wall polishing robot which comprises a vertical climbing frame, wherein a plurality of guide rail units are arranged in the climbing frame in parallel, each guide rail unit comprises an upper guide rail and a lower guide rail which are fixed horizontally and parallelly, a robot which horizontally reciprocates along the guide rail units is arranged between the upper guide rail and the lower guide rail, and a polishing mechanism which moves along the directions of an X axis, a Y axis and a Z axis is arranged in the robot. The robot replaces manual operation, so that the problem of labor cost is solved, the problem of personal safety possibly brought by high-altitude operation is solved, the problems of large polishing area and working efficiency brought by manual work and the alternate construction of a climbing frame are solved, and the problem of environmental pollution is also solved by arranging the dust collection mechanism on the polishing mechanism.

Description

Outer wall polishing robot

Technical Field

The invention relates to the field of building processing, in particular to an outer wall polishing robot.

Background

The climbing frame is a novel scaffold system developed in recent years and is mainly applied to high-rise shear wall type building plates. It can climb up or down along the building. This system makes the scaffold technology completely improved: firstly, the frame does not need to be turned over; and secondly, the scaffold is free from the dismounting and mounting procedures (the scaffold is used until the construction is finished after one-time assembly), and is not limited by the height of a building, so that the manpower and the materials are greatly saved. The outer wall of building is because the process of building makes the wall plane level inadequately, at this moment often need polish, and the outer wall is polished and is utilized just to climb the frame and alternate the operation, and the operation of polishing all is manual work basically at present, and the polisher on the market all is artifical direct operation, consequently has some problems: 1, the high-altitude manual operation can bring personal safety problems; 2, manual operation and cross-over construction of the climbing frame have low construction efficiency; 3, manual work for polishing the outer wall causes much dust, great harm to human bodies and great pollution to the environment; 4 the labor resources are insufficient. If the robot can walk on the climbing frame to replace manual operation, the robot is safe and efficient, and the dependence on labor resources is avoided.

Disclosure of Invention

The invention provides an outer wall polishing robot, which solves the problems in the prior art.

The technical scheme of the invention is realized as follows:

the outer wall polishing robot comprises a vertical climbing frame, wherein a plurality of guide rail units are arranged in the climbing frame side by side, each guide rail unit comprises an upper guide rail and a lower guide rail which are fixed horizontally and parallelly, a robot capable of horizontally reciprocating along the guide rail units is arranged between the upper guide rail and the lower guide rail, and a polishing mechanism capable of moving along the X axis, the Y axis and the Z axis is installed in the robot.

As a preferable scheme of the invention, the robot comprises a mobile platform, wherein the upper part of the mobile platform is provided with at least two upper travelling wheel mechanisms matched with the upper guide rail; and the lower part of the moving platform is provided with at least two lower traveling mechanisms matched with the lower guide rail.

As a preferable scheme of the invention, the upper travelling wheel mechanism comprises a lifting U-shaped seat, sliding seats extend inwards from the upper end parts of the two U-shaped seats, and the sliding seats are connected with rotating side wheels; the upper guide rail is of an I-beam structure, the vertical face of the upper guide rail is clamped between the two sliding seats, and the vertical face of the upper guide rail is clamped between the wheels on the two sides.

In a preferred embodiment of the present invention, a current collector is mounted in the U-shaped seat.

As a preferable scheme of the invention, the lower traveling mechanism supporting seat comprises two vertical plates which are vertically arranged in parallel, a driving wheel is rotatably connected between the two vertical plates, and the driving wheel is driven to rotate by a servo speed reduction motor on the vertical plates.

As a preferable scheme of the invention, lower wheels for clamping the lower guide rail are fixed at the lower parts of the two vertical plates

As a preferred scheme of the invention, a multi-layer linear module structure in the vertical direction is arranged on the moving platform, and a lifting slide block assembly is sleeved on a screw rod assembly at the outermost layer of the multi-layer linear module.

As a preferred scheme of the invention, a horizontal telescopic module is mounted on the slide block assembly, and the telescopic track of the horizontal telescopic module is perpendicular to the track direction of the multilayer linear module; the telescopic track of the horizontal telescopic module is perpendicular to the moving tangent track of the robot.

According to the preferable scheme, the horizontal telescopic module comprises a servo electric cylinder and a sliding block sliding seat mechanism which are fixed on a sliding block assembly, the free end of a telescopic rod of the electric cylinder in the servo electric cylinder and the sliding block sliding seat mechanism is connected with the sliding block assembly, and the polishing mechanism is fixed on the sliding end of the sliding block assembly.

As a preferable scheme of the invention, a folding rod and a telescopic rod with telescopic action are further connected between the grinding mechanism and the sliding block assembly.

Has the advantages that:

the outer wall polishing robot comprises a vertical climbing frame, wherein a plurality of guide rail units are arranged in the climbing frame side by side, each guide rail unit comprises an upper guide rail and a lower guide rail which are fixed horizontally and parallelly, a robot capable of horizontally reciprocating along the guide rail units is arranged between the upper guide rail and the lower guide rail, and a polishing mechanism capable of moving along the X axis, the Y axis and the Z axis is installed in the robot. The robot replaces manual operation, so that the problem of labor cost is solved, the problem of personal safety possibly brought by high-altitude operation is solved, the problems of large polishing area and working efficiency brought by manual work and the alternate construction of a climbing frame are solved, and the problem of environmental pollution is also solved by arranging the dust collection mechanism on the polishing mechanism.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a diagram of a creel and robot of the present invention;

FIG. 2 is a perspective view of the robot of the present invention;

FIG. 3 is a perspective view of the lift mechanism of the robot of the present invention;

FIG. 4 is a perspective view of a telescoping platform of the robot of the present invention;

FIG. 5 is a plan view of a telescoping platform of the robot of the present invention;

FIG. 6 is a further plan view of the telescoping platform of the robot of the present invention;

FIG. 7 is a perspective view of the slider-slide mechanism of the telescoping platform of the robot of the present invention;

FIG. 8 is a perspective view of a grinding mechanism of the robot of the present invention;

FIG. 9 is a perspective view of the left upper travel wheel and gripping mechanism of the robot of the present invention;

FIG. 10 is a detailed view of the left upper traveling wheel and gripping mechanism of the robot of the present invention;

FIG. 11 is a perspective view of the right upper travel wheel mechanism of the robot of the present invention;

FIG. 12 is a view of the construction of the right upper traveling wheel mechanism and the movable platform of the robot according to the present invention;

fig. 13 is a structural view of a lower traveling wheel mechanism and a driving mechanism of the robot according to the present invention.

In the figure, 1, a climbing frame; 2. an upper guide rail; 3. a robot; 4. a lower guide rail; 101. a right upper traveling wheel mechanism; 102. a current collector; 103. a mobile platform; 104. a first stage lifting mechanism; 105. a second stage lifting mechanism; 106. a right lower traveling wheel mechanism; 107. a right wheel drive mechanism; 108. a left lower traveling wheel mechanism; 109. a left wheel drive mechanism; 110. a polishing mechanism; 111. a telescopic platform; 112. a control system; 113. a clamping mechanism; 114. a left upper traveling wheel mechanism; 201. a first stage frame; 202. a second stage frame; 203. a first stage slider module; 204. a second stage slider module; 205. a screw rod; 206. a screw base; 207. a servo motor; 208. a linear guide rail; 303. a servo electric cylinder and a slide block sliding seat mechanism; 401. a slide block module of the second-stage lifting mechanism; 402. a folding bar; 404. a slider assembly; 405. a first electric cylinder; 406. a slide base; 501. a telescopic rod; 602. a copper slider; 603. a stopper; 604 a slide carriage; 701. a motor base; 702. a motor; 703. a first bearing housing; 704. a first bearing cover; 705. a wind wheel; 706. a first shaft; 707. a diamond grinding disc; 803. a second electric cylinder; 901. a side wheel; 902. a slide base; 903. a slider; 904. a spring;

905. a top rod; 906. a U-shaped seat; 907. a second shaft; 908. a bearing; 1102. an end plate; 1103. a side plate; 1105. a base plate; 1106. a third axis; 1202. a second bearing housing; 1203. a second bearing;

1204. a second bearing cover; 1301. a supporting seat; 1302. a drive wheel; 1303. a second bearing; 1304. a third bearing cover; 1305. a coupler; 1306. a servo motor base; 1307. a servo deceleration motor; 1308. a fourth axis; 1309. and a lower side wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

A three-axis outer wall polishing robot based on a climbing frame mainly comprises a moving platform, a lifting mechanism, a telescopic platform, a polishing mechanism, a driving mechanism, a current collector, traveling wheels, a clamping mechanism, a control system and the like. The moving platform as the main frame that all mechanisms integrated, elevating system set up to two-stage elevating system, elevating system's the slider module on the outermost elevating system be connected with telescopic platform, telescopic platform is last to be provided with grinding machanism, actuating mechanism drive moving platform and move on climbing a frame guide rail, the current collector setting in right upper guide rail running wheel mechanism, fixture and the integration of upper left guide rail running wheel mechanism be in the same place, the walking wheel include upper guide rail running wheel mechanism and lower guide rail running wheel mechanism, wherein upper guide rail running wheel mechanism one is provided with the current collector, fixture has been integrated to another, lower guide rail running wheel mechanism has then integrated servo gear motor's actuating mechanism, control system control robot remove, actuating mechanism's removal, grinding machanism's operation and fixture's motion etc..

The lifting mechanism of the robot consists of two stages of lifting mechanisms, the first stage of sliding block module is connected to the second stage of lifting mechanism, and the two stages of lifting mechanisms consist of a frame, a screw rod, a linear guide rail, a sliding block module and a servo motor.

The screw rod, the screw rod seat, the screw rod nut and the servo motor mounting seat are arranged on the frame of each stage of the lifting mechanism of the robot to form screw rod spiral transmission, and the screw rod nut is arranged on the slider module to enable the slider module to move up and down.

The frame of each grade of elevating system of this robot is equipped with linear guide, and linear guide's slider and sliding frame combination become the slider module.

The slide block module of the second-stage lifting mechanism of the robot is connected with the telescopic platform.

The telescopic platform of the robot is composed of an installation base, a telescopic bar, a folding bar, an electric cylinder and a sliding block sliding seat mechanism, wherein the electric cylinder drives the folding bar to be folded and opened through a sliding block component of the sliding block sliding seat mechanism, so that the platform is extended and retracted through rigid support provided by the telescopic bar.

The flexible thick stick of this flexible platform of robot is multistage flexible, and extension length is bigger, and the size that contracts back simultaneously is smaller, and each section thick stick all is equipped with copper sheathing and lock mother, and the copper sheathing is the self-lubricating copper sheathing, guarantees the removal that the thick stick can be fine.

The folding bar of the telescopic platform of the robot is multi-stage folding, the length of the folding bar is large, the size of the folding bar is small, and the folding bar is of a scissor type.

The electric cylinder of the telescopic platform of the robot drives the second shaft of the folding bar, and when the electric cylinder has one stroke, the stroke of the folding bar is five times that of the electric cylinder.

The transition structure that the electronic jar of this flexible platform of robot drove the folding rod is slider slide structure, and this mechanism comprises slide, slider and aluminium bronze self-lubricating copper slider.

The head of the telescopic platform of the robot is provided with a polishing mechanism. The polishing mechanism of the robot comprises a diamond grinding disc, a motor, a wind wheel and the like.

An air outlet is arranged on a grinding mechanism outer cover of the robot, and a dust filter bag can be sleeved on a pipe barrel of the air outlet.

The driving mechanism of the robot consists of a driving wheel, a servo speed reducing motor, a bearing seat and a coupler.

The driving wheel of the driving mechanism of the robot consists of a wheel, a bearing seat and a shaft.

The collector of the robot is arranged at the upper right part of the robot and is arranged together with the upper right guide rail traveling wheel mechanism of the robot.

The walking wheel of the robot consists of an upper guide rail walking wheel mechanism and a lower guide rail walking wheel mechanism.

One of the upper guide rail traveling wheel mechanisms of the robot is provided with a current collector, and the other upper guide rail traveling wheel mechanism of the robot is integrated with a clamping mechanism. All upper guide rail walking wheels are of U-shaped structures, the upper ends of the U-shaped structures are respectively provided with a roller, a base of the U-shaped structure is connected with a shaft, and the shaft and a bearing are arranged on a frame of the mobile platform.

The lower guide rail traveling wheel mechanism of the robot consists of a driving mechanism, a driving wheel, two side wheels, a bearing and a base. The clamping mechanism of the robot is integrated with a left upper guide rail travelling wheel mechanism of the robot, and a frame structure of the left upper travelling wheel mechanism is used as a retainer.

The clamping mechanism of the robot is a sliding block mechanism consisting of an ejector rod, sliding blocks and an electric push rod, wherein the sliding blocks are arranged at the two upper top ends of a U-shaped structure of a left upper travelling wheel mechanism, and the ejector rod pushes the sliding blocks open, so that the two sliding blocks clamp a guide rail and play a role in fixing the robot.

The ejector rod of the clamping mechanism of the robot penetrates through the shaft of the travelling wheel mechanism base and is connected with the shaft of the electric push rod, and the electric push rod drives the ejector rod to perform jacking and retracting actions, so that clamping and loosening actions of the sliding block are realized.

The control system of the robot comprises control over a driving mechanism, lifting control over a sliding block module of a two-stage lifting mechanism, original point and limit of the two-stage lifting mechanism, control over extension and retraction of a telescopic platform, control over ejection and retraction of an electric push rod of a clamping mechanism, control over starting of a motor of a polishing mechanism, control over starting of a power supply of the robot and other related control.

Example 2

Fig. 1 is a view of a creel and a robot of the present invention, in which: the upper guide rail 2 and the lower guide rail 4 are connected with the creeper 1, and the robot 3 moves along the upper guide rail 2 and the lower guide rail 4.

Fig. 2 is a perspective view of the robot of the present invention, in which: the movable platform 103 is used as a main body frame of the robot and plays a role of supporting all mechanisms, a clamping mechanism 113 and a left upper travelling wheel mechanism 114 are arranged on the upper left of the movable platform 103, the clamping mechanism 113 is combined together by relying on the left upper travelling wheel mechanism 114, a right upper travelling wheel mechanism 101 and a current collector 102 are arranged on the upper right travelling wheel mechanism 101, the current collector 102 is arranged on the structure of the upper right travelling wheel mechanism 101, the middle part of the movable platform 103 is provided with a lifting mechanism, the lifting mechanism is composed of a first-stage lifting mechanism 104 and a second-stage lifting mechanism 105, a sliding block of the second-stage lifting mechanism 105 is connected with a telescopic platform 111, the telescopic platform 111 is provided with a polishing mechanism 110, the middle of the movable platform 103 is provided with a lifting mechanism and a control system 112, a left wheel driving mechanism 109 and a left lower travelling wheel mechanism 108 are arranged on the lower left of the movable platform 103, and a right wheel driving mechanism 107 and a right lower.

Fig. 3 is a perspective view of a lifting mechanism of the robot of the present invention, in which: the lifting mechanism is composed of two stages, each stage of lifting mechanism is provided with a respective frame and a slider module (a first stage frame 201, a second stage frame 202, a first stage slider module 203 and a second stage slider module 204), the first stage slider module 203 is connected with the second stage frame 202, and each stage of lifting mechanism is provided with a screw rod 205, a screw rod seat 206, a servo motor 207 and a linear guide rail 208.

Fig. 4 is a perspective view of the telescopic platform of the robot of the present invention, in which: the telescopic platform 111 is powered by a servo electric cylinder and a slide block sliding seat mechanism 303, and the polishing mechanism 110 is arranged on the telescopic platform 111.

Fig. 5 is a plan view of a telescopic platform of the robot of the present invention, in which: the telescopic platform is arranged on a sliding block module 401 of the second-stage lifting mechanism, the stretching and retracting actions of the telescopic platform are realized by a folding rod 402, the folding rod is driven by a shaft on a sliding block assembly 404, the sliding block assembly 404 moves on a sliding seat 406, the sliding block assembly 404 is connected with a telescopic shaft of a first electric cylinder 405, and the grinding mechanism 110 is connected with a head concave seat of the telescopic platform.

Fig. 6 is another plan view of the telescopic platform of the robot of the present invention, in which: the telescopic rod 501 is a five-stage rod structure, and further comprises a copper sleeve and a locking nut. The folding rod 402 is a multi-stage rod structure, and the rods are connected with each other through a pin.

Fig. 7 is a perspective view of the slider-slide mechanism of the telescopic platform of the robot of the present invention, in which: a copper slider 602 is disposed on the slider 601, a stopper 603 is connected to the slider assembly 404, and the slider assembly 404, the copper slider 602, and the stopper 603 as a whole slide on a slider 604 through the copper slider 602.

Fig. 8 is a perspective view of a grinding mechanism of the robot of the present invention, wherein: the motor base 701 is connected with a telescopic platform of the robot, the motor 702 is installed on the motor base 701, a shaft of the motor 702 is connected with a first shaft 706 through a coupler, the first bearing base 703 is installed on the motor base 701, a bearing is arranged between the first bearing base 703 and the first shaft 706 and covered by a first bearing cover 704, a wind wheel 705 is installed on the first shaft 706, and a diamond grinding disc 707 is arranged at the tail end of the shaft.

Fig. 9 is a perspective view of the left upper traveling wheel and gripping mechanism of the robot of the present invention, in which: the left upper travelling wheel mechanism 114 and the gripping mechanism 113 are integrated, wherein the gripping mechanism is powered by a second electric cylinder 803.

Fig. 10 is a detailed structural view of the left upper traveling wheel and gripping mechanism of the robot of the present invention, in which: the left upper travelling wheel mechanism consists of two side wheels 901, a sliding seat 902, a U-shaped seat 906, a second shaft 907 and a bearing 908, the clamping mechanism consists of a sliding seat 902, a sliding block 903, a spring 904 and a push rod 905, wherein the sliding seat 902 is part of the left upper travelling wheel mechanism and part of the clamping mechanism, and the push rod 905 of the clamping mechanism penetrates through the second shaft 907 of the left upper travelling wheel mechanism to be connected with a shaft of an electric cylinder. The plunger 905 pushes the slider 903 open, so that the two sliders 903 clamp the guide rail. The two side wheels 901 of the left upper travelling wheel mechanism travel on the guide rails.

Fig. 11 is a perspective view of the right upper traveling wheel mechanism of the robot of the present invention, in which: the end plate 1102, side plates 1103 and bottom plate 1105 form a U-shaped base structure, the side wheels 1101 are mounted on the end plate, the current collector 102 is mounted on the bottom plate 1105 of the U-shaped base, and the third shaft 1106 is connected to the bottom plate 1105.

Fig. 12 is a mounting structure view of the right upper traveling wheel mechanism and the moving platform of the robot of the present invention, in which: the second bearing housing 1202 is part of the mobile platform, and the right upper travelling wheel mechanism 1201 is mounted on the second bearing housing 1202 with a first bearing 1203 and a second bearing cover 1204 in between.

Fig. 13 is a structural view of a lower traveling wheel mechanism and a driving mechanism of the robot of the present invention, in which: the support base 1301, the drive wheel 1302, the second bearing 1303, the third bearing cover 1304, the shaft 1308 and the lower wheels 1309 form a lower traveling wheel mechanism, wherein the drive wheel 1302 presses on the guide rail and the two lower wheels 1309 are clamped on the guide rail. The drive wheel 1302, the second bearing 1303, the third bearing cover 1304, the fourth shaft 1308, the coupling 1305, the servo motor mount 1306, and the servo motor 1307 constitute a drive mechanism. Motor mount 1306 is attached to support base 1301.

Example 3

As shown in fig. 1 to 2, a three-axis outer wall grinding robot based on a climbing frame according to an embodiment of the present invention is provided with a robot on the climbing frame by using the characteristic of the climbing frame that the climbing frame is attached to an outer wall of a building, and the robot 3 travels on guide rails (an upper guide rail 2 and a lower guide rail 4) of the climbing frame 1 by using the robot instead of manual work, wherein driving wheels of left and right lower traveling wheel mechanisms (108 and 106) serve not only as actuators for driving the travel but also as wheels for bearing weight, the robot is held on the rail by the two side wheels, and the robot is held on the rail by the side wheels of the left and right upper traveling wheel mechanisms (114 and 101). The robot includes lifting platform (first level lifting mechanism 104 and second level lifting mechanism 105) except that including left and right upper and lower travelling wheel mechanism, second level lifting mechanism 105 is connected with flexible platform 111, thereby make flexible platform 111 can reciprocate, end actuating mechanism (grinding machanism 110) sets up on flexible platform 111, use to reciprocate and be the Y axle, flexible platform's stretching out the withdrawal motion as the Z axle, in addition robot 3 removes on the guide rail and is the X axle, end actuating mechanism (grinding machanism 110) can really realize three degrees of freedom and polish, thereby make the robot become three-axis robot in the true sense.

As shown in fig. 3 to 6, the lifting mechanism is composed of two-stage lifting mechanisms, so as to realize a large lifting stroke and satisfy large-area polishing, the telescopic platform 111 is disposed on the second-stage slider module (204 or 401), the folding rod 402 of the telescopic platform is connected with the slider 404 by the telescopic shaft of the first electric cylinder 405, and is connected with the second shaft of the folding rod by the shaft of the slider 404, when the electric cylinder is in one stroke, the stroke of the folding rod is 5 times of the stroke, and the same telescopic rod 501 is in a five-stage rod structure, so as to realize a large telescopic range, and meanwhile, the size of the structure itself is very small. The telescopic cylinder plays a role in keeping rigidity in the telescopic platform.

As shown in fig. 7, the telescopic platform is powered by an electric cylinder, because the size of the electric cylinder is too large, there is no electric cylinder with a small size in the market at present, and the electric cylinder cannot be directly arranged inside the platform and can only be arranged on the side, and the electric cylinder can only bear axial force and cannot bear lateral moment, and the slider sliding seat mechanism can make the electric cylinder not bear lateral moment, because of the sliding seat 604, the sliding block assembly 404 can only move along the sliding seat 604, and the shaft on the sliding block 404 is connected with the second shaft of the folding cylinder, thereby driving the platform to be telescopic.

As shown in fig. 8, the grinding mechanism is composed of a motor 702, a wind wheel 705, a diamond grinding disc 707, etc., an air outlet is provided on a cover of the grinding mechanism, a tube is provided at the air outlet, a dust filter bag can be sleeved on the tube, wherein the wind wheel 705 plays a role of absorbing dust. Because the overall dimension is bigger, the grinding mechanism can only be located at the groove arranged on the telescopic platform.

As shown in fig. 9 to 10, the left upper traveling wheel mechanism and the clamping mechanism are integrated, and since the robot travels on the guide rail, the clamping mechanism is required when the robot is required to stop at a certain position for polishing, and considering that the clamping mechanism is required to be clamped on the guide rail, and the robot itself has two traveling wheel mechanisms on the upper and lower sides, the clamping mechanism is selected to be combined with the left upper traveling wheel mechanism of the robot. On one hand, the clamping mechanism does not have one more point (the clamping mechanism is arranged outside the travelling wheel mechanism) due to two points (two travelling wheels) of the robot, so that the clamping mechanism is likely to generate interference at the turning position of the guide rail, and the structure becomes more complex; on the other hand, the travelling wheel mechanism is utilized, and meanwhile, the travelling wheel mechanism can be further strengthened.

As shown in fig. 11 to 12, the right-hand traveling wheel mechanism is provided with a current collector as a source of a power supply of the robot, the current collector is in contact with a trolley line to obtain a power supply, the trolley line is arranged in a wire groove below an upper guide rail, namely, the current collector moves in the wire groove, the wire groove and the upper guide rail are arranged into a whole, which is equivalent to the fact that the current collector moves along the upper guide rail, the robot has left and right upper and lower traveling wheel mechanisms, namely, wheels move on the guide rail, the current collector also moves along the guide rail, and the current collector is arranged on the right-hand traveling wheel mechanism in consideration of turning of the guide rail in some places, so that the occurrence of a third point (the current collector is arranged outside the traveling wheel mechanism) on two points (two traveling wheels) is avoided, the interference occurs on a curve, and the.

As shown in fig. 13, the driving mechanism is driven by a servo motor 1307 to drive the driving wheel 1302 so that the whole robot moves.

Example 4

All motions of the robot are provided by electric cylinders, namely the actuator of the robot moves in the X, Y, Z axial direction based on the electric cylinder structure. Alternative 1 of the present invention, namely, a pneumatic three-axis robot, the actuating mechanism of the robot can also realize X, Y, Z axis direction movement based on a pneumatic structure mode.

Example 5

The telescopic platform of the robot can realize the functions of small structural size and large telescopic stroke by the folding rod and the telescopic rod, and can also realize the functions by using a hydraulic multi-stage cylinder. The hydraulic multi-stage cylinder comprises a multi-stage oil cylinder, a small hydraulic station (integrated with the oil cylinder at the side edge of the oil cylinder), a servo valve and the like.

Example 6

The telescopic platform of the robot can realize the functions of small structural size and large telescopic stroke by the folding rod and the telescopic rod, and can also realize the functions by using a multi-stage electric cylinder. The multistage electric cylinder mainly comprises a screw rod, a motor and a synchronous belt.

Example 7

The tail end actuating mechanism, namely the polishing mechanism, is arranged on the telescopic platform, the polishing mechanism can be replaced, other mechanisms can be used for replacing the polishing mechanism, and other functions can be realized, for example, a paint spraying mechanism replaces the polishing mechanism, so that the paint spraying function is realized.

Example 8

The lifting mechanism of the invention is composed of two stages, has the function of large stroke lifting, has small structure size, and can realize the functions of large stroke and small structure size by a multi-stage module, so that the mechanism can be replaced by the multi-stage module and has the same effect.

Example 9

The clamping mechanism is driven by an electric cylinder, the electric cylinder drives the ejector rod to push the sliding block to perform a clamping function. The ejector rod can be pushed by adopting a cylinder pushing mode, and the same effect can be achieved.

The invention has the following advantages:

1. the robot replaces manual operation, the problem of labor cost is solved, the problem of personal safety possibly brought by high-altitude operation is solved, the problems of large polishing area and working efficiency brought by manual work and climbing frame alternate construction are solved, and the problem of environmental pollution is also solved by arranging the dust collection mechanism on the polishing mechanism.

2. According to the lifting mechanism, the two-stage lifting mechanism can realize a large lifting stroke, so that the polishing mechanism can realize large-area construction, the two-stage lifting mechanism also solves the problem of movement in the climbing frame, and the space of the climbing frame is well utilized.

3. The telescopic mechanism of the invention can meet the requirements of small retraction size and large extension travel, and solves the problems of movement of the robot in the climbing frame and feasible operation.

4. The robot of the invention walks on the guide rail arranged on the climbing frame, the lower part of the upper guide rail is provided with the wire groove, and the sliding contact wire is arranged in the wire groove.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. Outer wall polishing robot, including the frame of climbing (1) of erectting, it is equipped with a plurality of guide rail units side by side in frame (1) to climb, its characterized in that, the guide rail unit includes upper guide rail (2) and lower rail (4) that two horizontal parallels are fixed from top to bottom, is equipped with between upper guide rail (2) and lower rail (4) along guide rail unit horizontal reciprocating motion's robot (3), grinding machanism (110) that X axle, Y axle and Z axle direction removed are followed in installation in robot (3).

2. The exterior wall grinding robot according to claim 1, characterized in that the robot (3) comprises a moving platform (103), and at least two upper traveling wheel mechanisms matched with the upper guide rail (2) are arranged at the upper part of the moving platform (103); and the lower part of the moving platform (103) is provided with at least two lower traveling mechanisms matched with the lower guide rail (4).

3. The exterior wall grinding robot according to claim 2, wherein the upper travelling wheel mechanism comprises a lifting U-shaped seat (906), sliding seats (902) extend inwards from the two upper end parts of the U-shaped seat, and rotating side wheels (901) are connected to the sliding seats (902); the upper guide rail (2) is of an I-beam structure, the vertical face of the upper guide rail is clamped between the two sliding seats (902), and the vertical face of the upper guide rail is clamped between the wheels (901) on the two sides.

4. The exterior wall grinding robot of claim 3, wherein a current collector (102) is mounted within the U-shaped seat (906).

5. The exterior wall grinding robot of claim 2, wherein the lower walking mechanism supporting seat (1301), the supporting seat (1301) comprises two vertical plates which are vertically arranged in parallel, a driving wheel (1302) is rotatably connected between the two vertical plates, and the driving wheel (1302) is driven to rotate by a servo speed reducing motor (1307) arranged on the vertical plates.

6. The exterior wall grinding robot according to claim 5, wherein lower side wheels (1309) clamping the lower guide rail are fixed to lower portions of the two vertical plates.

7. The exterior wall grinding robot according to claim 2, wherein a multi-layer linear module structure in the vertical direction is arranged on the moving platform (103), and a lifting slide block assembly is sleeved on a screw rod assembly at the outermost layer of the multi-layer linear module.

8. The exterior wall grinding robot according to claim 7, wherein a horizontal telescopic module is mounted on the slider assembly, and the telescopic track of the horizontal telescopic module is perpendicular to the track direction of the multilayer linear module; the telescopic track of the horizontal telescopic module is perpendicular to the moving tangent track of the robot.

9. The exterior wall grinding robot according to claim 8, wherein the horizontal telescopic module comprises a servo electric cylinder and a slide carriage mechanism (303) fixed on a slide assembly, the free end of a telescopic rod of an electric cylinder in the servo electric cylinder and slide carriage mechanism (303) is connected with the slide assembly, and the grinding mechanism is fixed on the sliding end of the slide assembly.

10. The exterior wall sanding robot of claim 9, wherein a telescoping action folding bar (402) and telescoping bar (501) are also connected between the sanding mechanism (110) and the slider assembly.