KR101701701B1 - Tool Overlap type Grinding Device for Concrete Polishing Robot thereby - Google Patents

Tool Overlap type Grinding Device for Concrete Polishing Robot thereby Download PDF

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Publication number
KR101701701B1
KR101701701B1 KR1020150055967A KR20150055967A KR101701701B1 KR 101701701 B1 KR101701701 B1 KR 101701701B1 KR 1020150055967 A KR1020150055967 A KR 1020150055967A KR 20150055967 A KR20150055967 A KR 20150055967A KR 101701701 B1 KR101701701 B1 KR 101701701B1
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South Korea
Prior art keywords
tool
polishing
polishing head
heads
cylinder
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KR1020150055967A
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Korean (ko)
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KR20160125580A (en
Inventor
김종걸
최영호
이종득
이효준
이정우
박정우
서진호
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한국로봇융합연구원
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
    • B24B7/20—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor characterised by a special design with respect to properties of the material of non-metallic articles to be ground
    • B24B7/22—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor characterised by a special design with respect to properties of the material of non-metallic articles to be ground for grinding inorganic material, e.g. stone, ceramics, porcelain
    • B24B7/224—Portal grinding machines; Machines having a tool movable in a plane
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06—Dust extraction equipment on grinding or polishing machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Inorganic Chemistry (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The apparatus for grinding a tool superposition type grinding apparatus according to the present invention comprises four sets of polishing heads 61-1, 61-2, 61-3 and 61-4 which are superimposed one on top of each other in pairs, And the worm gear input shaft of the motor 52 is synchronized with the worm gear input shaft of the motor 52 in a state in which the worm gears are installed in parallel. Thus, the concrete polishing robot has the feature of eliminating all the disadvantages of the conventional method in which the tool superposition arrangement type grinding apparatus is not applied.

Description

{Tool overlaid type grinding device for Concrete Polishing Robot}

The present invention relates to a polishing head for polishing a concrete, and more particularly to a tool for a concrete polishing robot for a superposition arrangement type grinding apparatus capable of securing the same polishing quality of all widths by one run by applying a tool arranged in a four- will be.

Generally, a concrete polishing robot uses a grinder tool head for a grinding and a trimming work for a marble including a concrete floor, and a work using a grinder tool tip head is called a concrete polishing.

Therefore, the efficient performance of the grinder tool head in the concrete polishing robot is inevitably influenced by the work of the concrete polishing. As an example of a grinder tool tip head for enhancing the work effect of such concrete polishing, there are a plurality of polishing heads capable of performing a polishing operation and a trimming work for a wider area by one operation by simultaneously driving a plurality of tools.

Domestic registered patent 10-1234086 (2013.02.12)

However, a plurality of types of polishing head types currently developed have technical limitations in the tool array method and its effective operation method as described below.

First, the timing belt and various tools are used to adjust the overlapping and rotation timing of the tool head, thereby complicating the construction, and considerably difficulty in correcting the timing angular deformation of the tool during use with considerable difficulty in fitting the initial timing angle. It is accompanied.

Second, the motor and the speed reducer, which are designed to rotate the grinder tip of the tool head, are driven in a fixed type in which the number of revolutions can not be changed, making it difficult to control the proper amount of rotation according to the change of materials for grinding, such as concrete or marble.

Third, the load status of the motor and the replacement status of the grinder tip can not be known at all while working, so visual inspection for checking the overload and the point of replacement of the tip should be done from time to time. In particular, the excessive wear caused by the inexperience of the abrasion of the grinder tool tip inevitably causes damage to the tool holder and damage to the tool holder, resulting in a serious obstacle to the operation of the expense due to the replacement of the work and tools that accompany it.

Accordingly, the present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a polishing apparatus and a method of manufacturing the polishing head, which are capable of effectively controlling the number of polishing heads, A cylinder for tilting, and a flex coupling for flexed surface work. In particular, a superimposed polishing head array system of four rows and one row is applied to overlay a tool for a concrete polishing robot that greatly improves the convenience of polishing work and the working efficiency And to provide an arrangement type grinding apparatus.

According to another aspect of the present invention, there is provided a grinding apparatus for a concrete polishing robot including two motors and four polishing heads, wherein the four polishing heads include a first polishing head, a second polishing head, And the fourth polishing head are arranged in one line, and the first polishing head and the third polishing head receive the rotational force of the first motor among the two motors via a timing belt, and the second polishing head and the third polishing head 4 polishing head receives the rotational force of the second motor among the two motors via a timing belt.

Each of the four polishing heads having first, second and third tool tips at a 120 degree angle; Wherein a first tool tip of the first polishing head is positioned in an overlapping state between second and third tool tips of the second polishing head and a first tool tip of the second polishing head And the first tool tip of the third polishing head is positioned between the second and third tool tips of the fourth polishing head in an overlapping state.

Each of the four polishing heads includes a tool shaft rotated by being coupled with the timing belt, a tool block connected to the tool shaft by screwing of a mechanical locker and forming a tool block position groove at intervals of 120 degrees, A tool holder having three tool tips, a coupling fixed to the tool holder and screwed into the tool block, and an adapter coupled to the coupling and fixed to the tool block; A tool block position groove of the first polishing head, a tool block position groove of the second polishing head, a tool block position groove of the third polishing head, a tool block position groove of the second polishing head, Each of which forms an aligned angle, and is set to an anti-collision angle in a row arrangement of the four polishing heads.

Wherein the anti-collision angle setting uses an angle master, the angle master includes first, second, third, and fourth array position holes spaced apart from one another, A first, second, third and fourth array position boss; The first, second, third, and fourth array position bosses are coupled to the tool block position groove in a concavo-convex manner. The angle master is engaged with the tool block which is disengaged from the tool shaft by releasing the mecha- nical locker.

The adapter is formed with an adapter position boss having an interval of 120 degrees, and the adapter position boss is coupled with the tool block position groove of the tool block in a rugged manner.

Wherein each of the first and second motors increases the torque by the first and second speed reducers, and is controlled to be forward and reverse rotations by the first and second motor controllers, wherein each of the first and second motors is a BLDC motor, , 2 Each of the decelerators is a worm reducer.

The timing belt maintains tension with a belt tensioner.

The first and second motors and the first, second, third, and fourth polishing heads are housed in a tool box, and the tool box is connected to a lift of the tool box and a cylinder unit for tilting. The cylinder unit includes an elevation cylinder, a tilt cylinder, a hinge type interlink of a "L" shape fixed to a piston rod of the elevation cylinder and a piston rod of the tilt cylinder, A fixed tilt link, and a lift link connected to the hinge pin portion of the interlink and fixed to the tool box.

The elevating cylinder and the tilting cylinder are electric cylinders, respectively. The tilt link is positioned below the lift link.

The tool box further includes a tool wear detection sensor for detecting wear of the first, second, third and fourth polishing heads, and the tool wear detection sensor is a potentiometer installed on the tool box to face the bottom surface . The sensing rod case is coupled to a sensing rod having a lower portion of a ball caster housing that is in contact with a bottom surface of the sensing rod case. The sensing rod case is coupled to a mounting bracket fixed to the tool box, Wherein the sensing rod is elastically supported by a spring that urges toward the bottom surface and restrained by a stopper hooked to the sensing rod case so as to be separated from the sensing rod case; The change in spacing due to the sliding movement of the sensing rod changes the signal magnitude of the potentiometer.

The tool box further includes a dust-collecting duct, and the dust-collecting duct serves as a path for discharging dust collected inside the tool box to the outside by a suction force.

Such a polishing head of the present invention can be applied to various types of polishing heads, such as a uniform grinding operation, avoidance of overlapping interference of the polishing head, minimization of travel path deviation, maximization of work effect with an optimum turning amount, easy tool tip replacement and preemptive prevention of tool holder and peripheral breakage, And improvement of work efficiency are realized so as to provide the following advantages and effects.

Firstly, it is possible to improve the grinding quality by the superimposed polishing head array system of 4 rows and 1 row and to stabilize the traveling route by the staggered rotation echo of each pair. Secondly, the amount of grinding rotation can be arbitrarily adjusted, and the grinding quality can be improved by adjusting the optimum amount of rotation depending on the material. Third, the operator can directly monitor the work status such as the turning amount and the rotation load during the grinding operation, thereby making it possible to produce an optimal work situation. Fourth, it is possible to check the wear state of the tool tip of the polishing head in real time, and it is possible to improve the working efficiency by recognizing the replacement time and to prevent damage to the peripheral device such as the tool holder beforehand. Fifth, by applying a flexible coupling that works over the curved floor surface, the floor is grinded step by step to improve the grinding quality.

The concrete polishing robot to which the superimposed polishing head of the present invention is applied is realized as a smart platform equipped with all devices related to polishing, thereby realizing a mobile-linked unmanned autonomous running function, a detachable built-in battery, , A dust collector, and the like.

FIG. 1 is a configuration diagram of a tool superposition arrangement type grinding apparatus according to the present invention, FIG. 2 is a detailed configuration diagram of a rotation speed adjustment type motor unit applied to a grinding apparatus according to the present invention, and FIGS. FIGS. 5 to 7 show a state in which four sets of polishing heads according to the present invention form an array of overlapping rows using an angle master, and FIGS. 10 is a general configuration view of a smart platform-type concrete polishing robot to which a grinding apparatus of the tool superposition arrangement type according to the present invention is applied, and FIG. 11 And FIG. 12 is an operating state of a grinding apparatus for tool tip replacement of a smart platform type concrete polishing robot according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which illustrate exemplary embodiments of the present invention. The present invention is not limited to these embodiments.

Figs. 1 to 4 show a configuration diagram of a tool superposition arrangement type grinding apparatus according to the present embodiment.

As shown, the tool superposition arrangement type grinding apparatus 40 includes a motor unit 50 for generating power for concrete polishing, a tool unit 60 for performing concrete polishing, an elevation and tilting operation of the tool unit 60 And a cylinder unit 70 that implements the above-described structure.

Specifically, the motor unit 50 includes a pair of first and second motor assemblies 51-1 and 51-2 having a motor 52, a speed reducer 53, and a motor controller 54, The motor 52, the speed reducer 53 and the motor controller 54 are connected to the tool unit 60 and the motor unit 50, which are mounted on the upper portion of the mounting plate 55, . Hereinafter, the motor 52 of the first motor assembly 51-1 is referred to as a first motor, the motor 52 of the second motor assembly 51-2 is referred to as a second motor, The speed reducer 53 of the first motor assembly 51-1 is referred to as a first speed reducer and the speed reducer 53 of the second motor assembly 51-2 is referred to as a second speed reducer, The motor controller 54 of the second motor assembly 51-2 is referred to as a second motor controller and the motor controller 54 of the second motor assembly 51-2 is referred to as a second motor controller. Particularly, when the first motor 52 of the first motor assembly 51-1 is forwardly rotated by the first motor controller 54, the second motor 52 of the second motor assembly 51-2 And is reversely rotated to the second motor controller 54. The first and second motors 52 and 52 may be BLDC motors, and the first and second speed reducers may be worm gear reducers.

In particular, since the input shaft (= motor output shaft) of the first and second reduction gears assembled symmetrically is connected to the first and second timing belts, the first and second motors are controlled so that the encoder values are constantly fed back while being uniformly rotated, 1 rotation direction of the shaft input to the reduction gear for reverse rotation of the second reduction gear output shaft in the forward rotation of the speed reducer output shaft is the same direction, the four first, second, third, and fourth polishing heads 61- 1,61-2,61-3,61-4 cross each other and are driven without interference like gear wheels. Therefore, when the two first and second motors are rotated individually, it is difficult to always maintain the same amount of rotation, so that the first and second worm reducer output axes always maintain the same angle, The first, second, third, and fourth polishing heads 61-1, 61-2, 61-3, and 61-4 can be prevented from being synchronized at a predetermined angle when the specific motor alone is rotated by a certain amount of external force .

Therefore, the first and second motor controllers of the first and second motor assemblies 51-1 and 51-2 vary the number of revolutions of the first and second motors according to the grinding target (concrete, marble, etc.) The tool unit 60 can be operated. In particular, the first and second motor controllers can operate in an operation mode set according to the material and the surface roughness of the grinding and polishing work. In each setting mode, the rotational speed and the running speed for grinding and polishing are set Optimization can be performed.

Specifically, the tool unit 60 includes first, second, third, and fourth polishing heads 61-1, 61-2, 61-3, 61-4, The first synchronous electric power 63-1 and the second and fourth polishing heads 61-2 and 61-4 for binding the heads 61-1 and 61-3 with the timing belt 64 and rotating the timing belts 64 A belt tensioner 65 for holding the tension of the timing belt 64, a tool box 65 for covering the inside of the tool unit 60 and collecting the dust removed 67). The tool box 67 is formed with a step on an upper portion and a lower portion, and the first, second, third, and fourth polishing heads 61-1, 61-2, 61-3, And a tool abrasion detecting sensor 95 for detecting the abrasion degree of the tool. The tool box 67 is further provided with a dust collecting duct 69 to discharge dust (concrete or marble powder) collected inside the tool box 67 to the outside when suctioning the dust collector.

Hereinafter, the timing belt 64, which bundles the first and third polishing heads 61-1 and 61-3, will be referred to as a first timing belt, and the second and fourth polishing heads 61-2 and 61-4, The timing belt 64 is referred to as a second timing belt. The belt tensioner 65 for the first timing belt is referred to as a first belt tensioner 65 and the belt tensioner 65 for the second timing belt is referred to as a second belt tensioner 65. [

The first and third polishing heads 61-1 and 61-3 are associated with the first motor 52 of the first motor assembly 51-1 through the synchronization of the first timing belt 64, The second and fourth polishing heads 61-2 and 61-4 are associated with the second motor 52 of the second motor assembly 51-2 via synchronization of the second timing belt 64. [ Therefore, when the first and third polishing heads 61-1 and 61-3 are rotated forward, the second and fourth polishing heads 61-2 and 61-4 are reversely rotated. For example, when the first and third polishing heads 61-1 and 61-3 turn to the left, the second and fourth polishing heads 61-2 and 61-4 turn to the right, And at the same time, the same grinding quality can be ensured for the entire width.

The first and second timing belts 64 and 65 and the first and second timing belts 63 and 63 are connected to the mounting plate 55 on which the motor unit 50 is mounted, And the first and second timing belts 54 are rotated by a belt pulley provided on the output shaft of the first and second speed reducers connected to the first and second motors 52, respectively.

The first polishing head 61-1 includes a tool shaft 61a, a tool block 61c fixed to the tool shaft 61a via a mechanical locker 61f, a tool block 61c, A tool 61c and a fixed coupling 61e penetrating the adapter 61g and a coupling 61e coupled to the coupling 61e so as to be engaged with the deformation of the coupling 61e, And a tool holder 61d whose angle is changed.

The tool shaft 61a is further provided with a spline 61b for receiving a rotational force from the timing belt 64. [ A mechanical locker engaging groove 61c-1 for engaging three mechanical lockers 61f at intervals of 120 degrees is opened in the body of the tool block 61c in the body axis direction on the body exposed surface, And the tool block position groove 61c-2 is cut at intervals of 120 degrees along the fastening groove 61c-1. The tool holder 61d includes first, second and third tool tips 61d-1, 61d-2 and 61d-3 bolted to the tool tip body, and the first tool tip 61d- Each of the second tool tip 61d-2 and the third tool tip 61d-3 is arranged at an interval of 120 degrees with respect to each other. The coupling 61e is composed of four elastic masses made of a flexible material such as rubber and a bolt shaft penetrating the elastic masses respectively. The mechanical locker 61f is inserted (or screwed) into the mechanical locker engaging groove 61c-1 of the tool block 61c with a bolt shaft (or a bolt shaft having a male thread formed on the outer circumferential surface) Tightening the portion of the tool shaft 61a inserted into the tool block 61c with the mechanical locker tightening bolt head. The adapter 61g-1 further includes an adapter position boss 61g-1 protruding from one exposed surface of the adapter body. The adapter boss 61g-1 is formed at an angle of 120 degrees, And a bolt shaft hole through which the bolt shaft of the coupling 61e passes is passed through the adapter body in the axial direction of the adapter body.

In the present embodiment, the second polishing head 61-2, the third polishing head 61-3 and the fourth polishing head 61-4 are also provided with a tool shaft 61a, a spline 61b 2, the tool block 61c, the tool holder 61d, the first, second and third tool tips 61d-1, 61d-2, 61c-1, 61d-3, a coupling 61e, an adapter 61g, and an adapter position boss 61g-1, thereby being constructed in the same manner as the first polishing head 61-1. Therefore, the first, second, third, and fourth polishing heads 61-1, 61-2, 61-3, and 61-4 are the names that distinguish four polishing heads when one polishing head is composed of four sets .

Specifically, the cylinder unit 70 is constituted by a cylinder and a link mechanism connected to the tool box 67 of the tool unit 60, so that the elevation (elevation from the ground of the tool box 67) for the tool box 67 and (Tilting of the tool box 67).

The cylinder is constituted by an elevation cylinder 71 having a piston rod 71-1 and a tilt cylinder 73 having a piston rod 73-1 so that the elevation movement of the tool box 67 is transmitted to the elevation cylinder 71, And the tilting motion of the tool box 67 is realized by the tilt cylinder 73. [ The elevation cylinder 71 and the tilt cylinder 73 are electric cylinders, and operate as a power supply control of a system controller or a power controller.

The link mechanism is fixed to the piston rod 71-1 of the elevation cylinder 71 and the piston rod 73-1 of the tilt cylinder 73 by correcting the hinge pin engagement structure so that the angle is opened or narrowed. A tilt link 77 fixed to the tool box 67 and connected to the interlink 75 fixed to the piston rod 73-1 of the tilt cylinder 73, And a lift link 79 connected to the hinge pin of the interlink 75 and fixed to the tool box 67. The tilt link 77 is located below the lift link 79.

Therefore, the grinding device 40 can lift and tilt the tool box 67 to remove the traveling interference due to the no-load movement, and lift and tilt the first, second, third, and fourth polishing heads 61-1 and 61-2 1, 61d-2, and 61d-3 of the first, second, third, and fourth tool tips 61-3, 61-4 can be easily replaced.

5 to 7 show a state in which the four sets of polishing heads according to the present embodiment form an array of four rows of overlapping arrays at mutually coincident angles using an angle master.

6, the angle master 500 comprises a flat plate body, and the plate body includes four first, second, third, and fourth array position holes 500-1, 500-2, 3, and 4 array position holes 500-1, 500-2, 500-3, and 500-4 are provided with first, second, third, and fourth array position bosses (500-1a, 500-2a, 500-3a, and 500-4a), respectively. For example, when the first, second, third, and fourth array position bosses 500-1a, 500-2a, 500-3a, and 500-4a divide a circle into quadrants at an angle of 90 degrees, And protrudes from the 0-degree position in the quadrant.

Therefore, the first array position hole 500-1 and the first array position boss 500-1a of the angle master 500 are spaced apart from the 120-degree interval tool block position groove 61c-2 of the tool block 61c Thereby forming a concave-convex joining structure.

6, when four first, second, third, and fourth polishing heads 61-1, 61-2, 61-3, and 61-4 are arranged, four of the angle masters 500 First, second, third, and fourth polishing heads 61-1, 61-2, 61-3, and 61-4 in the first, second, third, and fourth array position holes 500-1, So that the array operation is performed. For example, in one of the tool block position grooves 61c-2 of 120-degree intervals formed in the tool block 61c of the first polishing head 61-1, the first array position holes 500-1 The second polishing head 61-2 and the third polishing head 61-3 and the fourth polishing head 61-4 are arranged in the same order as the first polishing head 61-1 and the second polishing head 61-3, The array operation is completed. Then, each of the first, second, third, and fourth polishing heads 61-1, 61-2, 61-3, and 61-4 includes first, second, third, and fourth array position holes 500-1, 3,500-4 and the first, second, third and fourth array position bosses 500-1a, 500-2a, 500-3a, and 500-4a.

7, four first, second, third, and fourth polishing heads 61-1, 61-2, 61-3, and 61-4 are arrayed using the angle master 500, And shows an example in which it is formed in a superimposed array structure. As shown in the illustrated example, the four first, second, third and fourth polishing heads 61-1, 61-2, 61-3, and 61-4 are provided with first, second, and third tool tips 61d-1 , 61d-2 and 61d-3 are placed on the same XX line, and when these first and second tool tips 61d-1 and 61d-2 and 61d-3 are rotated by the superposition arrangement of four rows and one row, It is also possible to minimize travel deviation during the operation of the robot by load offset according to the direction of rotation.

In particular, the overlapping angles of the first, second, third, and fourth polishing heads 61-1, 61-2, 61-3, and 61-4 can be easily corrected if necessary. However, in order to change the angle through the overlap angle correction, the following preliminary work is required. First, the bolt of the coupling 61e is released to remove the tool holder 61d from the adapter 61g, secondly the bolt of the adapter 61g is released to remove the adapter 61g from the tool block 61c, The tool block 61c is rotated by a correcting angle and the angle master 500 is moved to the tool block 61c Fifthly, after setting the correction angle, the mechanical locker 61f is tightened again to fix the tool shaft 61a and the tool block 61c firmly, and then the adapter 61g and the tool holder 61d are fixed And is completed by reassembly.

8 and 9 show the structure and mounting state of the tool tip wear detection sensor of the polishing head according to the present embodiment.

As shown in the figure, the tool abrasion detecting sensor 95 is installed toward the bottom from the lower portion of the tool box 67 so that the first, second, third and fourth polishing heads 61-1, 61-2, 61-3, 61d-1, 61d-2 and 61d-3 are detected by the height change of the first, second, and third tool tips 61d-1, 61d-2, 61d-3.

Specifically, the tool wear detection sensor 95 includes a contact post 96 that contacts the bottom surface, a mounting bracket 97 that keeps the mounting position of the contact post 96 constant, And a potentiometer 98 for changing the signal size (or signal intensity)

The sensing post 96 is fixed to a mounting bracket 97 which is slidably moved in a vertical direction so as to change a height contacting with the bottom surface, A spring 96-3 for pressing the sensing rod 96-1 against the bottom surface by elastically supporting the sensing rod 96-1, a sensing rod 96-3 for sensing the sensing rod 96-1, A stopper 96-4 held by the sensing rod 96-2 so as to prevent separation of the sensing rod 96-1 from the sensing rod 96-1, And a ball caster housing 96-5.

The mounting bracket 97 is formed with a case hole through which the sensing rod case 96-2 is fitted, and a flange is formed that engages with the potentiometer 98 at one side. In particular, the mounting bracket 97 is coupled to the bottom surface of the tool box 67 of the guiding device 40 and may be part of the tool box 67.

The potentiometer 98 is fitted into the flange portion of the mounting bracket 97 so that the initial gap formed with the sensing rod 96-1 is changed by the height change of the contact post 96, (Intensity).

Meanwhile, FIG. 10 shows a general configuration diagram of a smart platform-type concrete polishing robot to which the tool superposition arrangement type grinding apparatus according to the present embodiment is applied.

As shown in the figure, the smart platform type concrete polishing robot has a main body 10, which is a skeleton frame provided with a driver's seat 17 as a driver's seat, and a grinding device 40 is provided at a front portion of the main body 10 Respectively. The grinding apparatus 40 includes the motor unit 50, the tool unit 60, the cylinder unit 70, and the tool wear detection sensor 95, Is the same as the grinding apparatus 40 of Fig.

In addition, the main body 10 is provided with a battery unit 20 for supplying power independently, a drive unit 30 for forward and backward travel, a dust collector unit 30 for collecting dust (concrete or marble powder) A system controller 100 for controlling a manual / unattended running and polishing operation and power consumption monitoring and a motor load, a driving controller 200-1 for performing a manual operation with a driver's operation seated on a driver's seat 17, And a smart platform type concrete polishing robot. In this case, the battery unit 20, the system controller 100, the operation controller 200-1, and the operation controller 200 are arranged on the periphery of the driver's seat 17, 10, and the dust collector unit 80 is arranged at the rear of the main body 10. [ Therefore, the smart platform type concrete polishing robot can realize a compact overall layout by using the main body 10 as a base frame.

In addition, the smart platform type concrete polishing robot can perform the concrete polishing work by automatic running by the mobile device 300 implementing the network with the system controller 100 by wireless communication (e.g., WI-FI).

In particular, the system controller 100 operates as an upper controller of a smart platform type concrete polishing robot. As an example of the host controller, the system controller 100 controls driving and polishing operations by executing an algorithm for upper control using Server-Based Computing (SBC) using an RS232 communication line, and is driven using the CAN CH1 communication line Controls the motors of the grinder unit 40 and the dust collector unit 80, and controls the power distribution of the battery unit 20 using the CAN CH2 communication line. As another example of the host controller, the system controller 100 controls the target current (power consumption in the polishing operation), heading control / collision detection (progress direction and obstacle position), battery (battery charge) Type GUI (Graphic User Interface) which provides ON / OFF status, tool status (tool tip wear / replacement status), and image status using camera. The GUI may be implemented with a smart patch type GUI (Graphic User Interface) through the mobile device 300. [

In addition, smart platform type concrete polishing robots have laser sensors and sonar sensors, and can optimize the grinding work path through data fusion and autonomous algorithms of these sensors. For this purpose, the grounding device 40 can mount the laser sensor and the sonar sensor in the tool box 67.

FIGS. 11 and 12 show operation states of the grinding apparatus 40 for tool tip replacement of the smart platform type concrete polishing robot according to the present embodiment.

11, the piston rod 71-1 of the elevation cylinder 71 operated by the electric signal of the system controller 100 is pushed and at the same time the piston rod 73-1 of the tilt cylinder 73 is pulled out . Then, the interlink 75 is pushed toward the elevation cylinder 71 at an angle around the hinge pin, which is the vertex of the " L "shape, so that the lift link 79 raises the tool box 67 upward, The tilt link 77 moves away from the tilt cylinder 73, thereby breaking the tool box 67.

12, the tool box 67 is lifted up from the main body 10 and then bent at a predetermined angle as a result of the upward and downward movement of the grinding machine 40, , And 3,4 polishing heads 61-1, 61-2, 61-3, and 61-4 are exposed. Therefore, the operator can replace part or all of the first, second, third and fourth polishing heads 61-1, 61-2, 61-3, 61-4, The first, second and third tool tips 61d-1, 61d-2, and 61d-3 of the first, second, third,

As described above, the grinding apparatus of the tool superposition arrangement type according to the present embodiment comprises four pairs of polishing heads 61-1, 61-2, 61-3, 61-4, Various advantages are realized in the concrete polishing robot by synchronizing with the worm gear input shaft of the motor 52 in parallel installation state, realizing smooth grinding work performance without any missing portion in the forward operation once. For example, a superposition interference avoidance implementation between the polishing heads 61-1, 61-2, 61-3, and 61-4, a pair of four-piece polishing heads 61-1, 61-2, 3, 61-4) to realize mutual cancellation of the tangential grinding load and minimization of departure of traveling path, the difference in the number of revolutions of the motor 52 by the motor controller 54, The elevation of the polishing heads 61-1, 61-2, 61-3, 61-4 by the pair of elevation cylinders 71 and the tilt cylinder 73, And 61d-3 of the polishing heads 61-1, 61-2, 61-3, 61-4 and the tool tips 61d-1, 61d- (61-1, 61-2, 61-3, 61-4) by preventing the tool holder and the peripheral device from being damaged due to excessive wear, The flexible coupling 61e of the o And improved work efficiency in the surface work of the curved floor.

10: main body 17: driver's seat
20: Battery unit
30: drive unit 33-1: drive wheel
33-2: Auxiliary wheel 35: Side idler roller
37: front idler roller 40: grinding device
50: motor units 51-1 and 51-2: first and second motor assemblies
52: motor 53: speed reducer
54: motor controller 55: mounting plate
60: tool units 61-1, ..., 61-4: first, second, third,
61a: tool shaft 61b: spline
61c: Tool block 61c-1: Mecca locker fastening groove
61c-2: Tool block position home
61d: Tool holder 61d-1,61d-2,61d-3: First, second and third tool tips
61e: coupling 61f: mechanical locker
61g: adapter 61g-1: adapter position boss
63-1, 63-2: First and second synchronization events
64: timing belt 65: belt tensioner
67: Tool box 69: Dust duct
70: cylinder unit 71: elevation cylinder
71-1, 73-1: Piston rod
73: tilt cylinder 75: interlink
77: Tilt link 79: Lift link
80: dust collector unit 95: tool wear detection sensor
96: contact post 96-1: sensing rod
96-2: sensing rod case 96-3: spring
96-4: Stopper 96-5: Housing of ball caster
97: Mounting bracket 98: Potentiometer
100: system controller 200: driving actuator
200-1: Operation controller
300: Mobile device 500: Angle master
500-1,500-2,500-3,500-4: 1st, 2nd, 3rd, 4th array position hole
500-1a, 500-2a, 500-3a, 500-4a: 1st, 2nd, 3rd, 4th array position boss

Claims (14)

1. A grinding apparatus for a concrete polishing robot including two motors and four polishing heads,
Wherein the four polishing heads are arranged in a single row, wherein the first polishing head, the second polishing head, the third polishing head and the fourth polishing head are arranged in a row, and the first polishing head and the third polishing head are arranged in a first row Wherein the second polishing head and the fourth polishing head receive the rotational force of the second motor among the two motors via a timing belt,
A tool block position groove of the first polishing head, a tool block position groove of the second polishing head, a tool block position groove of the third polishing head, a tool block position groove of the second polishing head, Each of which forms an aligned angle, and is set to an anti-collision angle in a row arrangement of the four polishing heads;
Wherein the anti-collision angle setting uses an angle master, the angle master includes first, second, third, and fourth array position holes spaced apart from one another, First, second, third and fourth array position bosses;
The first, second, third, and fourth array position bosses are coupled to the tool block position groove in a concavo-convex manner
And a tool for a concrete polishing robot.
The polishing head of claim 1, wherein each of the four polishing heads has first, second and third tool tips at a 120 degree angle;
Wherein a first tool tip of the first polishing head is positioned in an overlapping state between second and third tool tips of the second polishing head and a first tool tip of the second polishing head Wherein the third polishing head is positioned in an overlapping state between the first and second tool tips and the first tool tip of the third polishing head is positioned in an overlapping state between the second and third tool tips of the fourth polishing head. Tool for polishing robot Nested arrangement type grinding device. The tool according to claim 2, wherein each of the four polishing heads includes a tool shaft rotated by being coupled with the timing belt, a tool block connected to the tool shaft by screwing of a mechanical locker, A tool holder having the first, second and third tool tips, a coupling fixed to the tool holder and screwed to the tool block, and an adapter coupled to the coupling and fixed to the tool block A tool for a concrete polishing robot.
delete 4. The apparatus of claim 3, wherein the tool block that releases the mecha- nical locker and is disconnected from the tool shaft is engaged with the angle master.
4. The method according to claim 3, wherein the adapter is formed with an adapter position boss having an interval of 120 degrees, and the adapter position boss is coupled with the tool block position groove of the tool block by a concave-convex method. Grinding device.
The motor control device according to claim 1, wherein each of the first and second motors increases the torque by the first and second speed reducers, and is controlled to be forward and reverse rotations by the first and second motor controllers, Wherein each of the first and second speed reducers is a worm reducer.
The apparatus according to claim 1, wherein the timing belt maintains a tension with a belt tensioner. [2] The apparatus of claim 1, wherein the first and second motors and the first, second, third, and fourth polishing heads are housed in a tool box, and a cylinder unit for tilting the lift of the tool box is connected to the tool box ;
The cylinder unit includes an elevation cylinder, a tilt cylinder, a hinge type interlink of a "L" shape fixed to a piston rod of the elevation cylinder and a piston rod of the tilt cylinder, A fixed tilt link, and a lift link connected to a hinge pin portion of the interlink and fixed to the tool box.
The apparatus according to claim 9, wherein the elevating cylinder and the tilting cylinder are electric cylinders, respectively.
The apparatus of claim 9, wherein the tilt link is positioned below the lift link.
The tool box according to claim 9, wherein the tool box is further provided with a tool wear detection sensor for detecting wear of the first, second, third and fourth polishing heads, and the tool wear detection sensor is installed on the tool box Wherein the tool is a potentiometer.
The sensing rod case according to claim 12, wherein the potentiometer is coupled to a mounting bracket fixed to the tool box, and the sensing rod case includes a sensing rod case, The sensing rod is elastically supported by a spring for pressing toward the bottom surface and is restrained by a stopper hooked to the sensing rod case so as to be separated from the sensing rod case;
Wherein a change in the gap due to the sliding movement of the sensing rod changes the signal magnitude of the potentiometer.
The tool according to claim 9, wherein the tool box further comprises a dust-collecting duct, and the dust-collecting duct acts as a passage for discharging dust collected inside the tool box to the outside by a suction force. Method grinding device.
KR1020150055967A 2015-04-21 2015-04-21 Tool Overlap type Grinding Device for Concrete Polishing Robot thereby KR101701701B1 (en)

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CN108803621B (en) * 2018-07-27 2021-06-25 广州大学 Path planning method for steel rail weld grinding robot
KR102237133B1 (en) * 2019-08-27 2021-04-06 오재동 Surface Grinding Equipment for Ships
CN111659952B (en) * 2020-05-28 2022-02-18 宁夏巨能机器人股份有限公司 Casting polishing control system based on man-machine cooperation and control method thereof
CN112405263A (en) * 2020-10-28 2021-02-26 湖州慧能机电科技有限公司 Grinding manipulator device of industrial robot
CN114227510B (en) * 2021-12-28 2023-02-07 山东秋辰机械制造有限公司 Automatic sand removal polishing equipment

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KR101252131B1 (en) * 2012-11-28 2013-04-08 이텍산업 주식회사 Highly efficient polishing vehicle

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KR101252131B1 (en) * 2012-11-28 2013-04-08 이텍산업 주식회사 Highly efficient polishing vehicle

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