WO2020150931A1 - Robot de ponçage de plancher - Google Patents

Robot de ponçage de plancher Download PDF

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Publication number
WO2020150931A1
WO2020150931A1 PCT/CN2019/072850 CN2019072850W WO2020150931A1 WO 2020150931 A1 WO2020150931 A1 WO 2020150931A1 CN 2019072850 W CN2019072850 W CN 2019072850W WO 2020150931 A1 WO2020150931 A1 WO 2020150931A1
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WO
WIPO (PCT)
Prior art keywords
grinding
ground
elevation
robot
dust collecting
Prior art date
Application number
PCT/CN2019/072850
Other languages
English (en)
Chinese (zh)
Inventor
姜奕丞
孙冬泳
Original Assignee
姜奕丞
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 姜奕丞 filed Critical 姜奕丞
Priority to PCT/CN2019/072850 priority Critical patent/WO2020150931A1/fr
Priority to CN201980000707.3A priority patent/CN111727104B/zh
Publication of WO2020150931A1 publication Critical patent/WO2020150931A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
    • B24B7/10—Single-purpose machines or devices
    • B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like

Definitions

  • the invention belongs to the technical field of building construction, and particularly relates to a ground grinding robot.
  • the current level and flatness of the highest-quality international floor are between 180 and 200.
  • the current levelness and flatness construction is basically manual construction polishing or semi-automatic equipment polishing.
  • the construction period is long and difficult, and the quality requirements of workers are high.
  • the accuracy in the construction process cannot be quantified. Measure after the completion of the construction work. If the construction standards are not met, the construction shall be repeated. As people's requirements for levelness and flatness have increased, construction costs have risen sharply, but due to the regression in the construction process, it is still difficult to achieve the operation quality goals.
  • the purpose of the present invention is to provide a ground grinding robot, which aims to solve the technical problem of the prior art that is difficult to achieve the goal of work quality. .
  • a ground grinding robot for precision construction of ground levelness correction and levelness improvement including a grinding device, an elevation control device, and a movement control device
  • the elevation control device includes elevation The information acquirer and the elevation adjuster
  • the elevation information acquirer is used to obtain the elevation information within the working range in real time
  • the elevation adjuster is used to adjust the height required by the grinding device according to the elevation information
  • the movement control device includes the mobile main body mechanism, the area information acquirer and The motion controller
  • the area information acquirer is used to acquire the required job map and the plane coordinates of the ground grinding robot, and plan the grinding path according to the acquired job map information and the plane coordinates of the ground grinding robot
  • the motion controller controls the moving body
  • the mechanism moves to make the ground grinding robot move along the grinding path
  • the ground grinding robot will generate the path according to the job map to match the elevation information, and synchronously control the grinding device to accurately grind the target working surface.
  • the ground grinding robot further includes a plane coordinate information acquirer and an elevation coordinate information acquirer.
  • the plane coordinate information acquirer is used to record the plane coordinate information of each area of the ground after grinding
  • the elevation coordinate information acquirer is used for To record the elevation coordinate information of each area on the ground after grinding, the plane coordinate information and the elevation coordinate information together constitute the three-dimensional coordinate information.
  • the grinding path is an ordered path.
  • the height adjuster includes a support frame connected to the moving main mechanism, a lifting frame slidably connected to the support frame, and a lifting driver for driving the lifting frame to slide up and down along the support frame.
  • the grinding device is connected to the lifting frame. frame.
  • the lifting frame includes a sliding member slidably connected to the support frame and a lifting plate connected to the sliding member.
  • the grinding driver is connected to the lifting plate, and the lifting driver is used to drive the sliding member toward or away from the ground. movement.
  • the moving main mechanism includes at least a bottom plate, a roller assembly connected to the bottom plate, and a motion driver for driving the roller assembly to roll.
  • the motion controller can roll the roller assembly by controlling the motion driver to make the ground grinding robot Move in any direction at a constant speed or variable speed.
  • the roller assembly includes a driving wheel and a driven wheel that can roll with the rolling of the driving wheel, and the motion controller can control the motion driver to drive the driving wheel to roll.
  • the grinding device includes a grinding structure for grinding the ground and a grinding drive for driving the grinding structure to perform grinding operations.
  • the grinding device includes a drive rod connected between the grinding drive and the grinding structure, the grinding drive is connected to the lifting plate, the bottom plate is provided with a through hole, the drive rod is penetrated through the through hole, and the grinding structure Located below the bottom plate.
  • the ground grinding robot further includes a dust collecting device, which includes a dust collecting cover, a dust collecting box, a connecting pipe for connecting the dust collecting cover and the dust collecting box, and a dust collecting cover Suction is provided to suck the dust and debris grinded by the grinding device to the dust collecting drive of the dust collecting box, and the dust collecting cover is connected to the moving main mechanism.
  • a dust collecting device which includes a dust collecting cover, a dust collecting box, a connecting pipe for connecting the dust collecting cover and the dust collecting box, and a dust collecting cover Suction is provided to suck the dust and debris grinded by the grinding device to the dust collecting drive of the dust collecting box, and the dust collecting cover is connected to the moving main mechanism.
  • the ground grinding robot realizes the levelness correction and flatness improvement of the infinite range ground and uncontrollable environment through the coordinated linkage of the grinding device, the height control device and the movement control device.
  • the ground grinding robot first obtains the required job map and the current plane X-axis and Y-axis coordinates through the area information acquirer, and automatically plans the grinding path accordingly, and moves along the aforementioned grinding path under the control of the motion controller.
  • the ground grinding robot obtains the elevation Z value information in the working range in real time through the elevation information obtainer, and adjusts the Z value height required by the grinding device and the grinding state of the grinding device in real time according to the above Z value information through the elevation adjuster , To grind the current ground or stop grinding, so that the construction accuracy can be quantified.
  • the ground grinding robot realizes real-time monitoring of the working range in an uncontrollable environment through the elevation information acquirer and the area information acquirer.
  • the grinding device of the ground grinding robot has Z-axis adjustment, X-axis and Y-axis direction movement and grinding action synchronization
  • This control method realizes the real-time quantitative adjustment and control of the grinding state during the movement.
  • the ground grinding robot of the present invention improves grinding precision and work quality.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a ground grinding robot provided by an embodiment of the present invention
  • Figure 2 is a bottom view of a ground grinding robot provided by an embodiment of the present invention.
  • Fig. 3 is an exploded view of a ground grinding robot provided by an embodiment of the present invention.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , Or integrated; it can be a mechanical connection, or it can be an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction relationship between two components.
  • installed may be a fixed connection or a detachable connection , Or integrated; it can be a mechanical connection, or it can be an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction relationship between two components.
  • the invention provides a ground grinding robot used for precision construction of ground levelness correction and flatness improvement.
  • the above-mentioned ground can be an area to be polished in an infinite range and an uncontrollable environment.
  • the containers In the container storage process of the construction plant, due to the need to save space, the containers need to be stacked in layers. When needed, only the corresponding number of containers needs to be removed by a forklift.
  • due to the lack of levelness and flatness of the industrial floor When the container reaches the standard, when the container is stacked to a high level, it is prone to extremely large tilt, causing the danger of dumping, bringing great safety hazards and economic losses. Due to the uncontrollable scope of the workshop space, the ground has an infinite range, and the current level and flatness of the ground after construction cannot be known in advance, forming an uncontrollable environment.
  • the ground grinding robot includes a grinding device 30, an elevation control device, and a movement control device.
  • the grinding device 30 includes a grinding state for grinding the ground in the current working range and a waiting state for grinding out of contact with the ground in the current working range or stopping the grinding action.
  • the grinding device 30 can automatically or artificially control the cutting depth and cutting force in the grinding state.
  • the elevation control device includes an elevation information obtainer 10 and an elevation adjuster.
  • the elevation information obtainer 10 is used to obtain the elevation information within the working range in real time, that is, to obtain the Z value information in the working range, and adjust the elevation.
  • the device is used to adjust the height required by the polishing device 30 according to the elevation information, that is, to adjust the height of the polishing device 30 in the Z-axis direction, that is, the Z-axis coordinates, according to the Z value information in the operating range, to quantify the polishing accuracy.
  • the elevation information obtainer 10 can obtain the elevation information within its operating range in real time through a laser sweeper or a total station.
  • the movement control device includes a movement main body mechanism 40, an area information obtainer 20, and a movement controller.
  • the movement of the mobile main mechanism 40 can be operated under artificial control, or can be operated automatically according to a preset or automatically generated program.
  • the area information acquirer 20 is used to acquire the required job map and the plane coordinates of the ground grinding robot, and plan the grinding path according to the acquired job map information and the plane coordinates of the ground grinding robot.
  • the plane coordinates of the ground grinding robot refer to the X-axis and Y-axis coordinates of the current ground grinding robot in the operation map to accurately indicate the location or grinding position of the ground grinding robot.
  • the grinding path covers the entire work area to be ground .
  • the motion controller can control the movement of the main body mechanism 40 to move the ground grinding robot along the grinding path.
  • the ground grinding robot will generate the path according to the job map to match the elevation information, and synchronously control the grinding device 30 to accurately grind the target working surface. It is understandable that when the acquired Z value in the working range is higher than the preset reference Z value, the ground grinding robot controls the grinding device 30 to switch from the waiting state to the grinding state; when the acquired Z value in the working range is equal to the preset When the reference Z value is set, it means that the ground in the current working range has met the grinding standard and there is no need to perform grinding operations on it.
  • the ground grinding robot controls the grinding device 30 to switch from the grinding state to the waiting state; when the elevation in the working range is obtained When it is less than the preset reference elevation, the ground grinding robot will send a reminder message to the construction personnel, and the construction personnel will decide how to deal with it.
  • the ground grinding robot can display the planned grinding path of the obtained job map on the external display device, and display the planned grinding path and the plane coordinates of the ground grinding robot on the display device.
  • the current plane coordinates of the ground grinding robot are updated in real time, so that the construction personnel can understand the current construction progress and the next construction plan in real time from the display device, so as to coordinate the construction more effectively.
  • the ground grinding robot realizes the levelness correction and flatness improvement of the infinite range ground and uncontrollable environment through the coordinated linkage of the grinding device 30, the height control device and the movement control device.
  • the ground grinding robot first obtains the required job map and the current plane X-axis coordinates and Y-axis coordinates through the area information acquirer 20, and automatically plans the grinding path accordingly, and at the same time follows the grinding path under the control of the motion controller During the movement, the ground grinding robot obtains the elevation Z value information in the working range through the elevation information obtainer 10 in real time, and adjusts the Z value height and grinding required by the grinding device 30 in real time according to the above Z value information through the elevation adjuster
  • the grinding state of the device 30 can be used to grind the current ground or stop grinding, so that the construction accuracy can be quantified.
  • the ground grinding robot realizes real-time monitoring of the working range in an uncontrollable environment through the elevation information acquirer 10 and the area information acquirer 20.
  • the grinding device 30 of the ground grinding robot has Z-axis adjustment, X-axis and Y-axis movement and The grinding action is carried out synchronously, and the three-axis linkage is realized.
  • This control method realizes the real-time adjustment and control of the grinding state during the movement.
  • the ground grinding robot of the present invention improves grinding precision and work quality.
  • the grinding path planned by the area information acquirer 20 is an ordered path, preferably a spiral path, to adapt to areas to be polished in various shapes or polygons, so as to minimize the gap between the construction edges.
  • the spiral path of the spiral path can be a spiral path clockwise from inside to outside, clockwise from outside to inside, counterclockwise from inside to outside, or counterclockwise from outside to inside.
  • the ground grinding robot always walks forward or rotates in one direction when walking, which avoids unnecessary shaking caused by adjusting the direction of movement when moving in all directions, and makes it easier for construction workers to cooperate with the construction.
  • the corresponding spiral path can be planned according to the actual shape of the area to be polished.
  • the distance between the two adjacent parallel grinding paths should be slightly smaller than the diameter of the contact part of the grinding device 30 with the ground, so that the working range of the two grinding paths There is a certain overlap between them to ensure that the grinding path completely covers the area to be ground.
  • the polishing area can be divided into two or more convex polygonal sub-areas, and then each sub-area can be polished through the above process.
  • a curve with a smaller arc should be used for smooth connection.
  • the ground grinding robot further includes a plane coordinate information acquirer and an elevation coordinate information acquirer.
  • the plane coordinate information acquirer is used to record the plane coordinate information of each area of the ground after grinding, that is, the X-axis and Y-axis coordinates
  • the elevation coordinate information acquirer is used to record the elevation coordinate information of each area of the ground after the grinding, that is, the Z-axis coordinate.
  • the plane coordinate information and the elevation coordinate information together constitute the three-dimensional coordinate information, namely the X-axis, Y-axis and Z-axis coordinates. Set the ground grinding robot to complete a grinding process once along the grinding path.
  • the ground grinding robot After the ground grinding robot completes a grinding process, it obtains the topographic map of the area to be ground after grinding and displays it on the display device.
  • the information obtainer 20 obtains a new operation map according to the comparison result of the elevation coordinate information recorded by the elevation coordinate recorder and the preset reference elevation and plane coordinate information, and re-plans the grinding path according to the new operation map for the second grinding. process.
  • the new grinding path is also updated on the display device, and the visualization of the path is convenient for construction personnel to cooperate and monitor.
  • the area information acquirer 20 can traverse the coordinate points of each plane to be polished according to the shortest path method.
  • the flatness, levelness or smoothness of the area to be ground gradually approaches the preset value until the construction requirements are met.
  • the height adjuster includes a support frame connected to the moving main mechanism 40, a lifting frame 331 slidably connected to the support frame, and a lifting driver 334.
  • the lifting driver 334 For driving the lifting frame 331 to slide up and down along the support frame, the grinding device 30 is connected to the lifting frame 331. In this way, the lifting driver 334 can drive the lifting frame 331 to move up and down to move the grinding device 30 closer to or away from the working ground.
  • the lifting frame 331 includes a sliding member 333 slidably connected to the support frame, a lifting plate 332 connected to the sliding member 333, and a tripod 335 whose cross-section is a right triangle.
  • the grinding drive 32 is connected On the lifting plate 332, the lifting driver 334 is used to drive the sliding member 333 to move toward or away from the ground.
  • the lifting plate 332 and the sliding member 333 are arranged at right angles, and the sliding member 333 and the lifting plate 332 are respectively connected to two right-angled sides of the tripod 335.
  • the sliding joint 333 and the support frame are slidably connected by a screw rod.
  • the support frame can be set to respectively slidably connect the two sides of the lifting plate 332, but the working frequencies of the lifting motors on both sides need to be the same, which requires extremely high operating accuracy.
  • the embodiment of the present invention is a single-sided sliding connection.
  • the tripod 335 has a stable spatial structure and is not easily deformed.
  • the present invention limits the angle of the sliding joint 333 and the lifting plate 332 by setting the tripod 335 to prevent the lifting plate 332 from being caused by gravity. The effect is gradually skewed, affecting the polishing accuracy.
  • the moving main mechanism 40 includes at least a bottom plate 41, a roller assembly connected to the bottom plate 41, and a motion driver for driving the roller assembly to roll.
  • the motion controller can By controlling the motion driver to roll the wheel assembly, the ground grinding robot can move in any direction at a uniform speed, so as to avoid uneven ground grinding due to speed changes, or move in any direction at a variable speed, so that the ground grinding robot can go through operations with large elevation deviations The area can be slowed down to achieve the focus of grinding in the work area.
  • the moving main mechanism 40 drives the roller assembly to roll through the motion driver to realize the movement of the ground grinding robot.
  • the roller assembly is preferably capable of supporting the grinding device 30 in the state to be polished without touching the ground, and the roller assembly can also be replaced by a crawler.
  • the roller assembly includes at least a plurality of driving wheels 421, and the motion controller can control the motion driver to drive the driving wheels 421 to roll.
  • the roller assembly further includes at least one driven wheel 422 rotatably connected to the bottom plate 41, and the driven wheel 422 can change the direction of movement under the driving of the driving wheel 421.
  • the roller assembly is provided with two driving wheels 421 and a driven wheel 422, and the driven wheel 422 is located in front of the driving wheel 421, which not only can ensure that the roller assembly is with the ground It is in contact with and is convenient to control the steering of the moving body mechanism 40.
  • the grinding device 30 may be located on the peripheral side of the roller assembly. Preferably, the grinding device 30 is located between the driving wheel 421 and the driven wheel 422 to ensure the smooth operation of the ground grinding robot.
  • the grinding device 30 includes a grinding structure 31 for grinding the ground, a grinding drive 32 that drives the grinding structure 31 to perform grinding operations, and a grinding drive 32 connected to the grinding The driving rod 34 between the driver 32 and the grinding structure 31.
  • the lifting driver 334 drives the grinding structure 31 to descend, and the grinding drive 32 drives the grinding structure 31 to perform grinding operations.
  • the lifting driver 334 drives the polishing structure 31 to rise, and the polishing driver 32 drives the polishing structure 31 to stop the polishing operation.
  • the grinding driver 32 is connected to the lifting plate 332, the bottom plate 41 is provided with a through hole, the driving rod 34 penetrates through the through hole, and the grinding structure 31 is located below the bottom plate 41 so that the moving body mechanism 40 is balanced in force and stable in operation.
  • the grinding device 30 is also provided with a shock absorption mechanism on the grinding structure 31 to achieve high-precision grinding.
  • the ground grinding robot further includes a dust collection device, the dust collection device includes a dust collection cover 51, a dust collection box 52, for connecting the dust collection cover 51 and the dust collection device
  • the connecting pipe of the box 52 and the dust collecting drive for providing suction for the dust collecting cover 51 to suck the dust and debris ground by the grinding device 30 to the dust collecting box 52, the dust collecting cover 51 is connected to the moving main mechanism 40.
  • the dust collecting device is used to collect dust and debris generated in the grinding process, and the dust collecting device and the robot are matched with a split type and an integrated type.
  • the dust box 52 is connected to the robot dust cover 51 through a connecting pipe.
  • the dust box 52 has independent universal wheels to walk freely, or it can be manually pushed by the construction personnel.
  • the dust box 52 is always located at the inner side of the spiral movement direction of the moving body mechanism 40, that is, when the moving body mechanism 40 moves clockwise from the outside to the inside or clockwise from the inside to the outside, the dust box 52 52 is located on the right side of the moving main mechanism 40.
  • the dust box 52 is located on the left side of the moving main mechanism 40.
  • the dust collection device is connected to the bottom plate 41, driven by the robot to walk together, and is supplied uniformly with the mobile main mechanism 40, without manual push by construction personnel, effectively reducing the interference to the robot's walking trajectory.

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

Abstract

La présente invention concerne un robot de ponçage de plancher comprenant un dispositif de ponçage (30), un dispositif de commande d'élévation et un dispositif de commande de déplacement. Le dispositif de commande d'élévation comprend un dispositif d'acquisition d'informations d'élévation (10) pour acquérir des informations d'élévation d'une plage de fonctionnement en temps réel et un dispositif de réglage d'informations d'élévation pour régler une hauteur requise du dispositif de ponçage (30) en fonction des informations d'élévation. Le dispositif de commande de déplacement comprend un mécanisme principal mobile (40), un dispositif de commande de déplacement, et un dispositif d'acquisition d'informations de région (20) qui acquiert la carte de fonctionnement nécessaire et les coordonnées de plan nécessaires, et planifie un trajet de ponçage en fonction d'informations provenant de la carte de fonctionnement acquise et des coordonnées de plan acquises. Pendant que le dispositif de commande de déplacement commande le mécanisme principal mobile (40) afin qu'il se déplace et, par conséquent, permet au robot de ponçage de plancher de se déplacer le long du trajet de ponçage, le robot de ponçage de plancher génère des informations d'élévation correspondant au trajet selon la carte de fonctionnement, et commande le dispositif de ponçage (30) de manière synchrone pour qu'il effectue un ponçage de précision sur une surface d'opération cible. La présente invention réalise un ajustement et une commande en temps réel d'un état de ponçage pendant un processus de mouvement au moyen d'un mouvement à trois axes lié.
PCT/CN2019/072850 2019-01-23 2019-01-23 Robot de ponçage de plancher WO2020150931A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/072850 WO2020150931A1 (fr) 2019-01-23 2019-01-23 Robot de ponçage de plancher
CN201980000707.3A CN111727104B (zh) 2019-01-23 2019-01-23 地面研磨机器人

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/072850 WO2020150931A1 (fr) 2019-01-23 2019-01-23 Robot de ponçage de plancher

Publications (1)

Publication Number Publication Date
WO2020150931A1 true WO2020150931A1 (fr) 2020-07-30

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Country Status (2)

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CN (1) CN111727104B (fr)
WO (1) WO2020150931A1 (fr)

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