CN218837084U

CN218837084U - Terrace polishing mechanical arm

Info

Publication number: CN218837084U
Application number: CN202320196171.0U
Authority: CN
Inventors: 李云军; 周建国; 冉彦杰; 徐学金
Original assignee: Chongqing Zhujia Robot Technology Co ltd
Current assignee: Chongqing Zhujia Robot Technology Co ltd
Priority date: 2023-02-13
Filing date: 2023-02-13
Publication date: 2023-04-11
Anticipated expiration: 2033-02-13

Abstract

The utility model discloses a terrace polishing mechanical arm, which comprises a mechanical arm body and a moving mechanism used for enabling the mechanical arm body to reciprocate along the length direction of the mechanical arm body; the moving mechanism comprises a mounting base, a moving unit arranged at the bottom of the mounting base and guide units arranged at two side parts of the mounting base; the moving unit comprises a power motor connected with a driving gear and a section of tooth groove which is arranged at the bottom of the mechanical arm body and is connected with the driving gear in a meshed mode. The utility model discloses set up first motor and drive the box and make the lift removal, set up the second motor and drive and rotate the tooth rotation for the arm body of being connected with the box can realize going up and down and can realize the level rotation again, set up motor power and drive the arm body and remove, by the shift position of sensor response arm body simultaneously, and by the switching of PLC controller control motor power, in order to realize the automatic accurate removal of arm body, simple structure is compact, the simple operation.

Description

Terrace polishing mechanical arm

Technical Field

The utility model relates to a mechanical transmission technical field, in particular to terrace arm of polishing.

Background

The mechanical arm of the floor polisher is usually fixed in use length, and a structure convenient for flexible adjustment is only arranged at a working position, so that the use range is greatly limited, operation and observation are not facilitated, the floor polishing error is large, and the construction period is unstable; in addition, in the process of polishing the floor, because the inclination distance and the height difference are uneven, the control of the movement of the mechanical arm is mostly realized by manual real-time operation, the working strength is high, the control stability is not high, and meanwhile, impurities generated by polishing splash and are accompanied with the hidden danger of safety production.

SUMMERY OF THE UTILITY MODEL

To the not enough of above-mentioned prior art, the utility model aims to solve the technical problem that: the floor grinding mechanical arm rotates and moves in a telescopic mode in the horizontal direction and moves in a lifting mode in the vertical direction, so that the application range is enlarged.

In order to solve the technical problem, the utility model discloses a technical scheme be: the mechanical arm for polishing the terrace comprises a mechanical arm body, wherein a polishing head for polishing the terrace is arranged at one end of the mechanical arm body, and the mechanical arm body also comprises a moving mechanism for enabling the mechanical arm body to move back and forth along the length direction of the mechanical arm body; the moving mechanism comprises a mounting base, a moving unit arranged between the bottom of the mounting base and the mechanical arm body and a guide unit arranged between the two side parts of the mounting base and the mechanical arm body; the mounting base comprises a chassis and support plates arranged on two sides of the chassis along the width direction of the mechanical arm body; the chassis is provided with an installation groove which penetrates through the chassis along the vertical direction;

the moving unit comprises a driving gear which is horizontally and rotatably arranged in the mounting groove, and the length direction of the driving gear is vertical to that of the mechanical arm body; the moving unit further comprises a section of tooth groove distributed at the bottom of the mechanical arm body along the length direction of the mechanical arm body and a power motor in shaft connection with the driving gear.

By adopting the structure, the guide unit is arranged to ensure the stability of the mechanical arm body in the moving direction, the moving unit is arranged and the power motor is started and closed to enable the driving gear to be meshed with the transmission gear groove to move, so that the mechanical arm body is driven to move, and the mechanical arm body is movably connected to the support plate, so that the aim of moving the mechanical arm body on the support plate is fulfilled; seen from the moving direction, the mechanical arm body extends out of the support plate, so that the operating distance of the mechanical arm body is prolonged, the application range is enlarged, the structure is simple and compact, and the operation is convenient and fast.

In order to simplify the structure and facilitate installation, preferably, the guide unit comprises fixed blocks respectively arranged on the opposite sides of the two support plates, and sliding grooves are formed in the fixed blocks; the guiding unit further comprises guiding convex blocks which are arranged on the two lateral walls of the mechanical arm body along the length direction of the mechanical arm body respectively, and the guiding convex blocks extend into the sliding grooves to be in sliding fit with the sliding grooves.

In order to avoid the slippage of the mechanical arm body and facilitate the recognition of the in-place moving state of the sensor, as an optimization, a first stop block is arranged at a position, corresponding to one side of the guide lug, on the mechanical arm body, a second stop block is arranged at a position, corresponding to the other side of the lug, the first stop block comprises two horizontal sections, a vertical section is arranged between the two horizontal sections, and the second stop block comprises a bottom block and an extension section which is arranged on the bottom block and extends horizontally; the supporting plate is provided with a first sensor at a position corresponding to the vertical section, a second sensor at a position corresponding to the extension section, and the first sensor and the second sensor are both connected with the PLC.

In order to improve the bearing capacity of the mechanical arm body, simplify the structure and facilitate installation, the mechanical arm body is preferably of a cavity structure, at least one partition plate is uniformly arranged in the cavity structure, and positioning holes for welding and fixing are formed in the positions, corresponding to the partition plates, of the mechanical arm body.

In order to achieve the purpose of adjusting the construction position by lifting and rotating, the robot arm further comprises a rotary lifting mechanism for lifting and rotating the robot arm body, wherein the rotary lifting mechanism comprises a mounting seat, a box body which is arranged on the mounting seat and can move in the vertical direction, a vertical driving mechanism which is arranged on the mounting seat and is used for driving the box body to move in the vertical direction, rotating teeth which are arranged on the upper part of the box body, transmission teeth which are meshed with the rotating teeth, and a second motor which is used for driving the transmission teeth to rotate; the mounting base is fixedly connected with the upper end of the rotating tooth so as to rotate along with the rotating tooth.

In order to improve the stability of lifting guidance, preferably, the box body comprises a base and an upper cavity arranged on the base, a central hole penetrating along the vertical direction and a plurality of guide holes arranged around the central hole are formed in the base, each guide hole in the plurality of guide holes penetrates through the base along the vertical direction, a guide rod is arranged in each guide hole, a stop block is screwed at the upper end of each guide rod, the lower end of each guide rod is fixed on the mounting seat, and a long channel penetrating through the base along the transverse direction or the longitudinal direction is arranged at the bottom of the base;

perpendicular actuating mechanism is including wearing to locate lead screw, the spiral shell in the centre bore is located on the lead screw and with the bottom fixed connection's of base screw-nut, set up in be used for in the last cavity for supplying the rotatable installation of the upper end of lead screw is on it and set up in be used for in the long passageway supplying the rotatable installation of the lower extreme of lead screw is on it and be used for the drive lead screw pivoted first motor.

In order to simplify the structure and facilitate installation, preferably, the lower installation part comprises a first door-shaped installation frame fixed in the elongated channel, a first through hole is formed at the top of the first door-shaped installation frame, a first ball bearing is arranged in the first through hole, the lower end of the screw rod is arranged in the first ball bearing in a penetrating way, and the lower end of the screw rod protrudes out of the lower end of the first ball bearing so as to be exposed in the first door-shaped installation frame; the periphery of one section of the screw rod exposed in the door-shaped frame is provided with a first gear, a second gear is rotatably arranged at the position, located on the outer side of the long channel, of the mounting seat, toothed belts are wound on the first gear and the second gear, and the first motor is connected with the second gear in a shaft coupling mode to drive the first gear and the second gear to rotate.

In order to avoid rotation interference during lifting, preferably, the upper mounting part comprises a second door-shaped mounting rack arranged on the box body, and the second door-shaped mounting rack is perpendicular to the long channel on a horizontal projection plane; the two opposite outer side walls on the base are concavely provided with inwards concave guide grooves in opposite directions, and the depth of each inwards concave guide groove is matched with the thickness of the vertical support frame of the second door-shaped mounting frame; the horizontal top bracing frame of the second door-shaped mounting frame is horizontally positioned in the upper cavity and close to the top cavity wall of the upper cavity, a second perforation aligned with the first perforation is arranged in the horizontal top bracing frame, a second ball bearing is arranged in the second perforation, and the upper end of the screw rod is rotatably arranged in the second ball bearing.

In order to guarantee to rotate to realize the smoothness of going up and down, as preferred, first perforation and second perforation are the step hole, first ball bearing and second ball bearing set up respectively in two step holes, the upper and lower both ends of lead screw are equipped with a section platform stage respectively, two the major diameter end in platform stage cup joints with the downthehole bearing of corresponding end step respectively.

In order to facilitate the control of the limit displacement position of the lifting of the box body, preferably, a displacement sensor connected with a PLC (programmable logic controller) is arranged on the mounting seat, an induction block is arranged at the position, corresponding to the displacement sensor, on the box body, and the PLC is further connected with a first motor and a second motor.

Has the advantages that: the utility model discloses set up first motor and drive the box and make the lift removal, set up the second motor and drive and rotate the tooth rotation for the arm body of being connected with the box can realize going up and down and can realize the level rotation again, set up motor power and drive the arm body and remove, by the shift position of sensor response arm body simultaneously, and by the switching of PLC controller control motor power, in order to realize the automatic accurate removal of arm body, simple structure is compact, the simple operation.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of the installation structure of the case.

Fig. 3 is a schematic structural view of the case.

Fig. 4 is a schematic view of the mounting structure of the vertical driving mechanism.

Fig. 5 is a schematic view of the mounting structure of the lead screw.

Fig. 6 is a schematic view of the mounting structure of the robot arm body.

Fig. 7 is an enlarged view of a portion a in fig. 6.

Fig. 8 is a schematic view of the installation structure of the partition plate.

FIG. 9 is a schematic view of the mounting structure of the power motor.

The meaning of the reference symbols in the drawings is:

a mounting seat-11; a box body-2; a base-21; a central aperture-211; a guide hole-212; an elongate channel-213; an inner concave guide groove-214; an upper cavity-22; a guide rod-23; a sensing block-24; rotating teeth-31; a driving gear-32; a second motor-33;

a first motor-40; a screw rod-41; a feed screw nut-42; a second door mount-431; vertical strut-4311; horizontal top brace 4312; a second perforation-432; second ball bearing-433

A first portal mounting frame-441; a first perforation-442; a first ball bearing-443; a stop block-45; a first gear-461; a second gear-462; toothed belt-463; a displacement sensor-5;

mounting groove-60; a chassis-61; a power motor-611; a drive gear-612; a support plate-62; a fixed block-620; a chute-621;

a mechanical arm body-63; gullet-630; bump-631; a first stop-632; vertical segment-6321; a second stopper-633; extension-6331; a locating hole-634; a separator-635; a first sensor-641; a second sensor-642.

Detailed Description

As shown in fig. 1 and 6 to 9, the present invention includes a mechanical arm body 63, wherein one end of the mechanical arm body 63 is provided with a polishing head for polishing a floor, and the mechanical arm further includes a moving mechanism for reciprocating the mechanical arm body 63 along the length direction thereof; the moving mechanism comprises a mounting base, a moving unit arranged between the bottom of the mounting base and the mechanical arm body 63, and guide units arranged between two side parts of the mounting base and the mechanical arm body 63; the mounting base comprises a chassis 61 and support plates 62 arranged on two sides of the chassis 61 along the width direction of the mechanical arm body 63; the base plate 61 is provided with an installation groove 60 penetrating the base plate 61 in the vertical direction.

The moving unit comprises a driving gear 612 which is horizontally and rotatably arranged in the mounting groove 60, and the length direction of the driving gear 612 is vertical to the length direction of the mechanical arm body 63; the moving unit further includes a section of tooth slot 630 distributed at the bottom of the robot arm body 63 along the length direction of the robot arm body 63, and a power motor 611 coupled to the driving gear 612.

The guide unit comprises fixed blocks 620 respectively arranged on the opposite sides of the two support plates 62, and sliding grooves 621 are arranged on the fixed blocks 620; the guiding unit further comprises guiding convex blocks 631 respectively arranged on two lateral side walls of the mechanical arm body 63 along the length direction of the mechanical arm body 63, and the guiding convex blocks 631 extend into the sliding groove 621 to be in sliding fit with the sliding groove 621; a first stop block 632 is arranged on the mechanical arm body 63 at a position corresponding to one side of the guide projection 631, a second stop block 633 is arranged at a position corresponding to the other side of the guide projection 631, the first stop block 632 comprises two horizontal sections, a vertical section 6321 is arranged between the two horizontal sections, and the second stop block 633 comprises a bottom block and an extension section 6331 which is arranged on the bottom block and extends horizontally; a first sensor 641 is arranged at a position corresponding to the vertical section 6321 on the support plate 62, a second sensor 642 is arranged at a position corresponding to the extension section 6331, and both the first sensor 641 and the second sensor 642 are connected with a PLC controller (not shown).

The mechanical arm body 63 is a cavity structure, at least one partition plate 635 is uniformly arranged in the cavity structure, and positioning holes 634 for welding and fixing are arranged on the mechanical arm body 63 at positions corresponding to the partition plate 635.

As shown in fig. 1 to 5, the present invention further includes a rotary lifting mechanism for lifting and rotating the mechanical arm body 63, wherein the rotary lifting mechanism includes a mounting seat 11, a box body 2 disposed on the mounting seat 11 and capable of moving in a vertical direction, a vertical driving mechanism disposed on the mounting seat 11 and used for driving the box body 2 to move in the vertical direction, a rotating tooth 31 disposed on an upper portion of the box body, a transmission tooth 32 engaged with the rotating tooth 31, and a second motor 33 used for driving the transmission tooth 32 to rotate; the mounting base is fixedly connected with the upper end of the rotating tooth 31 so as to be capable of rotating along with the rotating tooth 31.

Specifically, the box body 2 includes a base 21 and an upper cavity 22 disposed on the base 21, a central hole 211 penetrating along a vertical direction and a plurality of guide holes 212 disposed around the central hole 211 are formed on the base 21, each guide hole 212 of the plurality of guide holes 212 penetrates through the base 21 along the vertical direction, a guide rod 23 is disposed in each guide hole 212, a lower end of the guide rod 23 is fixed on the mounting seat 11, a stopper 45 is screwed to an upper end of the guide rod 23, and a long channel 213 penetrating through the base 21 along a transverse direction or a longitudinal direction is disposed at a bottom of the base 21; the vertical driving mechanism comprises a screw rod 41 arranged in the central hole 211 in a penetrating manner, a screw nut 42 arranged on the screw rod 41 and fixedly connected with the bottom of the base 21, an upper mounting part arranged in the upper cavity 22 and used for supplying the upper end of the screw rod 41 to be rotatably mounted on the upper mounting part, a lower mounting part arranged in the long channel 213 and used for supplying the lower end of the screw rod 41 to be rotatably mounted on the lower mounting part, and a first motor 40 used for driving the screw rod 41 to rotate.

The lower mounting part comprises a first door-shaped mounting rack 441 fixed in the elongated channel 213, a first through hole 442 is formed at the top of the first door-shaped mounting rack 441, a first ball bearing 443 is arranged in the first through hole 442, the lower end of the screw rod 41 is inserted into the first ball bearing 443, and the lower end of the screw rod 41 protrudes out of the lower end of the first ball bearing 443 to be exposed in the first door-shaped mounting rack 441; a first gear 461 is disposed on the outer periphery of a section of the screw rod 41 exposed in the portal frame 441, a second gear 462 is rotatably disposed on the mounting seat 11 at a position outside the long channel 213, a toothed belt 463 is wound on the first gear 461 and the second gear 462, and the first motor 40 is coupled to the second gear 462 to drive the second gear 462 to rotate.

The upper mounting part comprises a second door-shaped mounting rack 431 arranged on the box body 2, and the second door-shaped mounting rack 431 is perpendicular to the long channel 213 on the horizontal projection plane; two opposite outer side walls on the base 21 are concavely provided with concave guide grooves 214 in opposite directions, and the depth of each concave guide groove 214 is matched with the thickness of the vertical bracket 4311 of the second portal mounting rack 431; the horizontal top support 4312 of the second portal-shaped mounting frame 431 is horizontally located in the upper cavity 22 and close to the top cavity wall of the upper cavity 22, a second through hole 432 aligned with the first through hole 442 is formed in the horizontal top support 4312, a second ball bearing 433 is arranged in the second through hole 432, and the upper end of the screw rod 41 is rotatably arranged in the second ball bearing 433.

The first through hole 442 and the second through hole 432 are stepped holes, the first ball bearing 443 and the second ball bearing 433 are respectively disposed in the two stepped holes, the upper end and the lower end of the lead screw 41 are respectively provided with a stage, and the large-diameter ends of the two stages are respectively sleeved with a bearing in the stepped hole of the corresponding end.

The displacement sensor 5 connected with the PLC is arranged on the mounting seat 11, the induction block 24 is arranged on the box body 2 corresponding to the position of the displacement sensor 5, and the PLC is further connected with the first motor 40 and the second motor 33.

The rotary gear 31 is connected with a chassis 61, the chassis 61 is provided with a mechanical arm body 63, the chassis 61 is symmetrically provided with two support plates 62, each support plate 62 is provided with a fixed block 620, the fixed block 620 is provided with a sliding groove 621, the mechanical arm body 63 is provided with a convex block 631 at a position corresponding to the sliding groove 621, and the convex block 631 extends into the sliding groove 621 to slide.

A first stop block 632 is arranged on the mechanical arm body 63 at a position corresponding to one side of the projection 631, a second stop block 633 is arranged at a position corresponding to the other side of the projection 631, the first stop block 632 comprises two horizontal sections, a vertical section 6321 is arranged between the two horizontal sections, and the second stop block 633 comprises a bottom block and an extension section 6331 which is arranged on the bottom block and extends horizontally; a first sensor 641 is arranged at a position, corresponding to the vertical section 6321, on the support plate 62, a second sensor 642 is arranged at a position, corresponding to the extension section 6331, and both the first sensor 641 and the second sensor 642 are connected with the PLC controller.

The chassis 61 is provided with a power motor 611 connected with a PLC controller, the output end of the power motor 611 is provided with a driving gear 612, a section of tooth socket 630 is arranged at the position, corresponding to the driving gear 612, on the mechanical arm body 63, and the driving gear 612 is meshed with the tooth socket 630.

The utility model discloses a theory of use as follows:

as shown in fig. 1 and 2, in use, the rotating gear 31 is connected to the chassis 61, the second motor 33 drives the transmission gear 32 to rotate, and the transmission gear 32 engages with the transmission rotating gear 31 to rotate synchronously, so as to control the steering adjustment of the robot arm body 63 on the chassis 61 in the horizontal direction.

Meanwhile, as shown in fig. 3 to 5, when the construction height of the robot arm needs to be adjusted, the first motor 40 is started, the second gear 462 drives the toothed belt 463 to drive the first gear 461 to rotate, the lead screw 41 connected with the first gear 461 is synchronously driven to rotate, the lead screw nut 42 screwed with the lead screw 41 ascends and moves along the thread rotation direction, and as the lead screw nut 42 is fixedly connected with the base 21, namely, the base 21 and the box body 2 are simultaneously driven to ascend, and the ascending box body 2 drives the robot arm to ascend; similarly, when the first motor 40 is started to rotate reversely, the screw nut 42 moves down on the screw 41, the base 21 and the box body 2 move down synchronously, and the mechanical arm moves down.

In the lifting process of the box body 2, the base 21 moves along with the guide rod 23 to ensure the moving verticality of the box body 2, and the vertical support frame 4311 is arranged in the inner concave guide groove 214 in a matching way to ensure that the box body 2 does not rotate along with the rotation of the screw rod 41 and avoid the rotation interference.

In the using process, the displacement sensor 5 is further arranged, after the displacement distance is arranged on the displacement sensor 5, when the induction block 24 moves to be close to the displacement limit position on the displacement sensor 5, the displacement sensor 5 sends a signal to the PLC, the PLC sends an instruction to the first motor 40, and the first motor 40 is opened and closed in time to control the lifting state of the box body 2; in order to prevent the limit failure of the stop block 45, the stop block 45 screwed on the guide rod 23 limits the upward moving distance of the base 21, so that the box body 2 is prevented from moving upwards and falling off.

The bearings are sleeved at the upper end and the lower end of the screw rod 41, so that the screw rod 41 can rotate smoothly, and the purpose of moving in place accuracy can be guaranteed while the screw rod is adjusted in place quickly.

Then, the PLC controller controls the power motor 611 to be turned on or off, so that the driving gear 612 is engaged with the transmission gear slot 630 to move, that is, the mechanical arm body 63 is driven to move, and the mechanical arm body 63 is movably connected to the support plate 62, thereby achieving the purpose that the mechanical arm body 63 moves on the support plate 62.

As shown in fig. 6 and 9, the mechanical arm body 63 moves horizontally, so that the mechanical arm body 63 extends from the support plate 62 along the chute 621, thereby extending the operating distance of the mechanical arm body 63 in the horizontal direction and increasing the application range; the setting of the PLC controller is combined, and the starting and closing period of the power motor 611 can be preset according to the rotating speed of the power motor 611 and the length of extension or return movement, so that the purpose of automatic extension movement is achieved, and the stability and the safety of operation are improved.

Meanwhile, as shown in fig. 6 and 7, a first sensor 641 and a second sensor 642 are further disposed on the support plate 62, and the specific use principle is that when the robot arm body 63 extends outward, the vertical segment 6321 on the first stopper 632 moves to the position of the first sensor 641, the first sensor 641 senses that the vertical segment 6321 moves in place, and sends a signal to the PLC controller, and the PLC controller sends a closing instruction to the power motor 611, so that the robot arm body 63 stops moving; similarly, when the mechanical arm body 63 moves back, the extension section 6331 on the second stopper 633 moves to the position of the second sensor 642, the second sensor 642 senses that the extension section 6331 moves in place, sends a signal to the PLC controller, and then the PLC controller sends a closing instruction to the power motor 611, so that the mechanical arm body 63 stops moving.

When the sensor fails, the first stopper 632 can be abutted against the corresponding end of the fixing block 620 in the extending direction and the moving direction of the second stopper 633 in the moving back direction for limiting, and the mechanical arm body 63 cannot slip off the support plate 62.

It should be noted that, as shown in fig. 8, in order to reduce the self weight, the robot arm body 63 adopts a cavity structure, but in order to ensure the bearing strength required for use, a plurality of partition plates 635 are arranged in the cavity structure, and in order to facilitate fixing processing, positioning holes 634 are arranged on the robot arm body 63 at positions corresponding to the partition plates 635 so as to facilitate welding processing, and thus the fixed partition plates 635 function as reinforcing ribs in the cavity structure, so as to ensure the use strength of the robot arm body 63.

Claims

1. The utility model provides a terrace arm of polishing, includes arm body (63), the one end of arm body (63) is provided with the head of polishing that is used for polishing the terrace, its characterized in that: the mechanical arm further comprises a moving mechanism used for enabling the mechanical arm body (63) to move in a reciprocating mode along the length direction of the mechanical arm body; the moving mechanism comprises a mounting base, a moving unit arranged between the bottom of the mounting base and the mechanical arm body (63) and a guide unit arranged between two side parts of the mounting base and the mechanical arm body (63); the mounting base comprises a chassis (61) and support plates (62) arranged on two sides of the chassis (61) along the width direction of the mechanical arm body (63); the chassis (61) is provided with a mounting groove (60) which penetrates through the chassis (61) along the vertical direction;

the moving unit comprises a driving gear (612) which is horizontally and rotatably arranged in the mounting groove (60), and the length direction of the driving gear (612) is vertical to the length direction of the mechanical arm body (63); the moving unit further comprises a section of tooth groove (630) distributed at the bottom of the mechanical arm body (63) along the length direction of the mechanical arm body (63) and a power motor (611) coupled with the driving gear (612) in a shaft mode.

2. The floor grinding mechanical arm of claim 1, wherein: the guide unit comprises fixed blocks (620) respectively arranged on the opposite sides of the two support plates (62), and sliding grooves (621) are formed in the fixed blocks (620); the guiding unit further comprises guiding protruding blocks (631) which are arranged on the two lateral side walls of the mechanical arm body (63) along the length direction of the mechanical arm body (63), and the guiding protruding blocks (631) extend into the sliding groove (621) to be in sliding fit with the sliding groove (621).

3. The floor grinding mechanical arm of claim 2, wherein: a first stop block (632) is arranged at a position, corresponding to one side of the guide protruding block (631), on the mechanical arm body (63), a second stop block (633) is arranged at a position, corresponding to the other side of the guide protruding block (631), the first stop block (632) comprises two horizontal sections, a vertical section (6321) is arranged between the two horizontal sections, and the second stop block (633) comprises a bottom block and an extension section (6331) which is arranged on the bottom block and extends horizontally; a first sensor (641) is arranged at a position, corresponding to the vertical section (6321), on the support plate (62), a second sensor (642) is arranged at a position, corresponding to the extension section (6331), and the first sensor (641) and the second sensor (642) are both connected with the PLC.

4. The floor grinding mechanical arm of claim 1, wherein: the mechanical arm body (63) is of a cavity structure, at least one partition plate (635) is uniformly arranged in the cavity structure, and positioning holes (634) for welding and fixing are formed in positions, corresponding to the partition plate (635), on the mechanical arm body (63).

5. The floor grinding mechanical arm of any one of claims 1 to 4, wherein: the mechanical arm comprises a mechanical arm body (63) and is characterized by further comprising a rotary lifting mechanism used for lifting and rotating the mechanical arm body (63), wherein the rotary lifting mechanism comprises a mounting seat (11), a box body (2) which is arranged on the mounting seat (11) and can move in the vertical direction, a vertical driving mechanism which is arranged on the mounting seat (11) and is used for driving the box body (2) to move in the vertical direction, a rotating tooth (31) which is arranged at the upper part of the box body, a transmission tooth (32) which is meshed with the rotating tooth (31) and a second motor (33) which is used for driving the transmission tooth (32) to rotate; the mounting base is fixedly connected with the upper end of the rotating tooth (31) so as to rotate along with the rotating tooth (31).

6. The floor grinding mechanical arm of claim 5, wherein: the box body (2) comprises a base (21) and an upper cavity (22) arranged on the base (21), a central hole (211) penetrating in the vertical direction and a plurality of guide holes (212) arranged around the central hole (211) are formed in the base (21), each guide hole (212) in the plurality of guide holes (212) penetrates through the base (21) in the vertical direction, a guide rod (23) is arranged in each guide hole (212), a stop block (45) is screwed at the upper end of each guide rod (23), the lower end of each guide rod (23) is fixed on the mounting seat (11), and a long channel (213) penetrating through the base (21) in the transverse direction or the longitudinal direction is arranged at the bottom of the base (21);

perpendicular actuating mechanism is including wearing to locate lead screw (41), spiral shell in centre bore (211) are located on lead screw (41) and with bottom fixed connection's of base (21) lead screw nut (42), set up in go up and be used for supplying in cavity (22) the upper end of lead screw (41) is rotatable to be installed the last installation department on it and set up in be used for supplying in microscler passageway (213) the lower installation department on it and be used for the drive the lower extreme of lead screw (41) pivoted first motor (40).

7. The floor grinding mechanical arm of claim 6, wherein: the lower mounting part comprises a first door-shaped mounting frame (441) fixed in the elongated channel (213), a first through hole (442) is formed at the top of the first door-shaped mounting frame (441), a first ball bearing (443) is arranged in the first through hole (442), the lower end of the screw rod (41) is arranged in the first ball bearing (443) in a penetrating manner, and the lower end of the screw rod (41) protrudes out of the lower end of the first ball bearing (443) to be exposed in the first door-shaped mounting frame (441); the periphery of one section of the screw rod (41) exposed in the first door-shaped mounting rack (441) is provided with a first gear (461), the mounting seat (11) is rotatably provided with a second gear (462) at the position outside the long channel (213), the first gear (461) and the second gear (462) are wound with a toothed belt (463), and the first motor (40) is in shaft connection with the second gear (462) to drive the first gear (461) to rotate.

8. The floor grinding mechanical arm of claim 7, wherein: the upper mounting part comprises a second door-shaped mounting rack (431) arranged on the box body (2), and the second door-shaped mounting rack (431) is perpendicular to the long channel (213) on the horizontal projection plane; two opposite outer side walls on the base (21) are concavely provided with inwards concave guide grooves (214) towards opposite directions, and the depth of each inwards concave guide groove (214) is matched with the thickness of a vertical support frame (4311) of the second door-shaped mounting frame (431); the horizontal top support frame (4312) of the second portal-shaped mounting frame (431) is horizontally positioned in the upper cavity (22) and close to the top cavity wall of the upper cavity (22), a second through hole (432) aligned with the first through hole (442) is arranged in the horizontal top support frame (4312), a second ball bearing (433) is arranged in the second through hole (432), and the upper end of the screw rod (41) is rotatably arranged in the second ball bearing (433).

9. The floor grinding mechanical arm of claim 8, wherein: the first through hole (442) and the second through hole (432) are stepped holes, the first ball bearing (443) and the second ball bearing (433) are arranged in the two stepped holes respectively, the upper end and the lower end of the screw rod (41) are provided with a stage respectively, and the two large-diameter ends of the stage are sleeved with bearings in the stepped holes of the corresponding ends respectively.

10. The floor grinding mechanical arm of claim 7, wherein: be equipped with displacement sensor (5) of being connected with the PLC controller on mount pad (11) the position department that corresponds displacement sensor (5) on box (2) is equipped with response piece (24), the PLC controller still is connected with first motor (40) and second motor (33).