WO2021135754A1 - 打磨机器人 - Google Patents

打磨机器人 Download PDF

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Publication number
WO2021135754A1
WO2021135754A1 PCT/CN2020/131947 CN2020131947W WO2021135754A1 WO 2021135754 A1 WO2021135754 A1 WO 2021135754A1 CN 2020131947 W CN2020131947 W CN 2020131947W WO 2021135754 A1 WO2021135754 A1 WO 2021135754A1
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WO
WIPO (PCT)
Prior art keywords
polishing
traveling
floating
seat
rotating
Prior art date
Application number
PCT/CN2020/131947
Other languages
English (en)
French (fr)
Inventor
杨晋
吴伟明
崔文哲
叶才中
许涛
桑爱平
李铁芳
王鹏俨
Original Assignee
广东博智林机器人有限公司
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 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2021135754A1 publication Critical patent/WO2021135754A1/zh

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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
    • B24B7/10—Single-purpose machines or devices
    • B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
    • B24B7/182—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like for walls and ceilings
    • 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
    • B24B27/00—Other grinding machines or devices
    • B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
    • 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
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/04—Headstocks; Working-spindles; Features relating thereto
    • B24B41/047—Grinding heads for working on plane surfaces
    • 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
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
    • 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
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
    • B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
    • 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
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • 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
    • 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
    • B24B7/186—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like with disc-type tools
    • 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

Definitions

  • This application relates to the technical field of construction robots, in particular to a polishing robot.
  • This type of polishing robot usually integrates all the functional units including the polishing head on a walking chassis, which not only causes the structure of the polishing robot to be complex and bloated, but also compresses the working space of the polishing head, and it is difficult to complete the path walking with a small turning radius. At the same time, it will cause excessive load per unit area of the rail frame, which is prone to deformation and fracture of the rail frame, and the problem of safety accidents caused by the grinding robot falling off the rail frame.
  • a polishing robot which includes:
  • the main traveling device the main traveling device is movably arranged on the rail frame, and the main traveling device is provided with a polishing execution device;
  • the auxiliary traveling device is movably arranged on the rail frame and used to cooperate with the main traveling device, and the auxiliary traveling device is provided with a polishing auxiliary device, the polishing auxiliary device is used to assist the The grinding execution device performs grinding operations.
  • FIG. 1 is a schematic structural diagram of a polishing robot according to an embodiment of the application
  • Figure 2 is a schematic front view of the structure of Figure 1;
  • FIG 3 is an assembly structure diagram of the first traveling trolley and the second traveling trolley according to an embodiment of the application
  • Fig. 4 is a schematic structural diagram of the telescopic support mechanism according to an embodiment of the application.
  • FIG. 5 is a schematic diagram of the rear view structure of FIG. 4;
  • Fig. 6 is a schematic structural diagram of a lifting drive mechanism according to an embodiment of the application.
  • Figure 7 is a schematic diagram of the exploded structure of Figure 6;
  • Fig. 8 is a schematic structural diagram of a floating sanding device according to an embodiment of the application.
  • the polishing robot shown in an embodiment of this application is used to replace the traditional manual manual polishing operation to complete efficient and high-precision automatic polishing and leveling operations on the wall surface to remove the wall surface. Floating slurry, explosion points and other manufacturing defects generated on the surface.
  • the polishing robot can perform polishing operations on the outer wall of each floor under construction by installing it on the outside of the wall of the current building floor of the house. After finishing the sanding operation of the wall of the current floor, you can climb to the height of the newly built upper floor by yourself and continue the sanding operation.
  • the polishing robot includes a rail frame 10, a main walking device 20 and an auxiliary walking device 30.
  • the rail frame 10 is used to carry and fix the main traveling device 20 and the auxiliary traveling device 30, and provide a track for both of them to travel.
  • the configuration of the rail 10 should be adapted to the extended configuration of the external wall of the building.
  • the rail frame 10 is, for example, arranged around the outer wall of the building, so that the polishing robot can move around the outer wall and complete the entire wall polishing. At the same time, it is more conducive to reducing the difficulty and time-consuming adjustment of the position of the polishing robot and improving work efficiency.
  • the moving power of the main traveling device 20 and the auxiliary traveling device 30 is provided by the bottom power chassis (and the second traveling trolley 80 mentioned in the later scheme) installed by both, by controlling the consistency of power output, The established safety interval between the front and rear can be maintained to avoid collisions.
  • the auxiliary traveling device 30 is arranged downstream of the main traveling device 20, that is, it moves along with the main traveling device 20. In other embodiments, the auxiliary traveling device 30 may be arranged above the main traveling device 20.
  • the main walking device 20 and the auxiliary walking device 30 may be connected by a wire rope. There are no specific restrictions on the number of wire ropes, installation positions and arrangement angles.
  • the main traveling device 20 is movably arranged on the rail frame 10, and the main traveling device 20 is provided with a polishing execution device 40, which is a direct execution unit for performing polishing operations on the outer wall of the building.
  • the auxiliary traveling device 30 is movably arranged on the rail frame 10 and used to cooperate with the main traveling device 20, and the auxiliary traveling device 30 is provided with a polishing auxiliary device 50, and the polishing auxiliary device 50 is used for Assist the polishing execution device 40 to perform polishing operations; for example, supply necessary electric energy to the polishing execution device 40.
  • the above embodiments will have the following beneficial effects: after the polishing robot of the above solution is applied to the construction situation where the exterior wall of the building is polished and leveled after the building is cast and formed, the main difference from the prior art is that it is used for carrying
  • the walking device of each functional unit is designed separately, that is, the main walking device 20 and the auxiliary walking device 30 are movably installed on the rail frame 10, and the polishing execution device 40 is installed on the main walking device 20, and the polishing auxiliary device 50 is installed on the auxiliary traveling device 30.
  • the structure of the main traveling device 20 and the auxiliary traveling device 30 is greatly simplified, and the weight is also greatly reduced, and the two are attached to different parts of the rail frame 10, so that the load carried by the rail frame 10 per unit area is also greatly reduced.
  • the main walking device 20 can be made narrower, and more space can be reserved for the sanding execution device 40 to work.
  • the main traveling device 20 and the auxiliary traveling device 30 can be located at different turning angle positions, have excellent curve traffic capacity, can meet the needs of yin and yang angle grinding, and improve the grinding performance.
  • the polishing execution device 40 includes a lifting drive mechanism 41 provided on the main walking device 20, and a telescopic support mechanism connected to the lifting drive mechanism 41 42 and a floating grinding device 43 connected with the telescopic abutment mechanism 42.
  • the lifting driving mechanism 41 can drive the floating sanding device 43 to reciprocate up and down along the outer wall of the building, so that the front outer wall can be reliably sanded.
  • the telescopic support mechanism 42 is used to drive the floating sanding device 43 to close against the outer wall surface, so that the floating sanding device 43 is in complete and effective contact with the outer wall surface, and the polishing efficiency and quality are ensured.
  • the floating sanding device 43 not only has the basic sanding ability, but also has the ability of floating to give way, which can avoid rigid contact with the uneven outer wall surface and damage.
  • the polishing auxiliary device 50 includes an electric control box 51, a vacuum cleaner 52, and a battery 53, which are respectively arranged on the auxiliary walking device 30, the lifting driving mechanism 41, the telescopic supporting mechanism 42, and the floating polishing device 43.
  • the vacuum cleaner 52 is electrically connected to the electric control box 51
  • the vacuum cleaner 52 is also connected to the floating sanding device 43
  • the battery 53 is electrically connected to the electric control box 51.
  • the electric energy of the battery 53 can be efficiently delivered to the lifting driving mechanism 41, the telescopic supporting mechanism 42, the floating sanding device 43 and the vacuum cleaner 52 through the electric control box 51 to supply the electric energy required for the operation of each device.
  • the electric control box 51 can accurately control the above-mentioned equipment according to a preset program to accurately coordinate and work together, and complete the external wall polishing with high quality and efficiency. Since a large amount of dust is indispensably generated during the grinding operation, the vacuum cleaner 52 can extract and filter the dust-entrained air in time to prevent the dust from causing damage to equipment or personnel, and realize green construction.
  • the rail frame 10 may include a climbing frame 11 and a sky rail 12 and a ground rail 13 respectively disposed at the upper and lower ends of the climbing frame 11.
  • the main walking device 20 and the auxiliary traveling device 30 both include a frame 60, a first traveling trolley 70 arranged at the top end of the frame 60, and a second traveling trolley 80 arranged at the bottom end of the frame 60, the first traveling trolley 70 is movably installed on the sky rail 12, and the second trolley 80 is movably installed on the ground rail 13.
  • the setting of the climbing frame 11 enables the polishing robot to climb to the newly built upper building floor after completing the polishing operation of the outer wall of the current floor, so as to realize the continuous polishing operation of different floors.
  • the upper and lower ends of the main traveling device 20 and the auxiliary traveling device 30 can be well restrained in the direction perpendicular to the outer wall.
  • the degree of freedom is to prevent the main traveling device 20 and the auxiliary traveling device 30 from overturning and falling off the rail frame 10 to avoid safety accidents.
  • the first traveling trolley 70 may include a first revolving joint 71 disposed on the frame 60, and a first traveling chassis connected to the first revolving joint 71 72.
  • the second rotating joint 73 provided on the first traveling chassis 72 and the first guiding traveling wheel set 74 connected to the second rotating joint 73, the first guiding traveling wheel set 74 and the sky
  • the rail 12 is matched with rollers.
  • the first traveling trolley 70 can rotate and swing with respect to the frame 60 as a whole by means of the first rotating joint 71, and the first guide traveling wheel set 74 can further rotate and swing with respect to the first traveling chassis 72 via the second rotating joint 73, both The coordination can greatly improve the passing ability of the main traveling device 20 and the auxiliary traveling device 30 to the turning section on the rail frame 10, and have the ability to deal with the impact force along the vertical outer wall.
  • the first revolute joint 71 and the second revolute joint 73 are assembled by a baffle, a deep groove ball bearing, a central rotating seat, a flange seat and other components, and have the ability to rotate 360 degrees in a horizontal direction.
  • the first revolute joint 71 and the second revolute joint 73 can also adopt other rotating structures, equipment, or devices in the prior art, which are also within the protection scope of the present application.
  • the first guide traveling wheel set 74 may include four rubber rollers, the four rubber rollers are divided into two groups, and the two rubber rollers are respectively installed in the length direction of the first traveling chassis 72 (that is, the main traveling device 20 and the auxiliary traveling device (30 travel direction) at the head and tail ends, the sky rail 12 is sandwiched between two rubber rollers in each group.
  • the first guide traveling wheel set 74 not only has good rolling ability, but also the rubber rollers laterally interfere with the sky rail 12, and also play a side limiting role to prevent the first traveling trolley 70 from falling off the sky rail 12.
  • the second walking trolley 80 may include a second walking chassis 81, a walking driving member 82 provided on the second walking chassis 81, and a walking drive member 82 provided on the second walking chassis 81 and connected to the second walking chassis 81.
  • the traveling wheel set 83 drivingly connected to the traveling drive member 82, the third revolving joint 84 connected between the second traveling chassis 81 and the traveling wheel set 83, and the second rotating wheel set 83 provided on the traveling wheel set 83
  • a guide walking wheel set 85, the walking wheel set 83 and the second guide walking wheel set 85 are both matched with the ground rail 13.
  • the walking drive 82 outputs power to drive the walking wheel set 83 to rotate, and the second walking trolley 80 can walk on the ground rail 13, that is, the walking power of the main walking device 20 and the auxiliary walking device 30 depends on the walking drive located at the bottom.
  • 82 is provided in cooperation with the traveling wheel set 83, and the first traveling trolley 70 acts as a passive walking role.
  • the second walking trolley 80 moves on the ground rail 13, thereby driving the entire polishing robot to move, changing the position of the polishing device, and completing the polishing operation on the entire wall.
  • the first traveling trolley 70 and the second traveling trolley 80 may both be installed with the traveling driving member 82 and output power synchronously.
  • the walking driving member 82 is a driving motor, which includes, but is not limited to, a servo motor, a stepper motor, and the like, for example.
  • the third revolute joint 84 can rotate 360 degrees in the circumferential direction, it can meet and adapt to the traveling requirements of the climbing frame 11 with a small turning radius, and prevent the main traveling device 20 and the auxiliary traveling device 30 from jamming and affecting the normal polishing robot. jobs.
  • the third revolute joint 84 may have a structure similar to a universal joint, which has and provides the ability to rotate flexibly.
  • the auxiliary walking device 30 is a part of the walking carrier of the polishing robot, and at the same time plays the role of a multifunctional integrated body. That is, in addition to the above-mentioned frame 60, the auxiliary traveling device 30 is also provided with multiple layers of shelves, and each layer of shelves is arranged in sequence along the longitudinal direction, and the electric control box 51, the vacuum cleaner 52 and the battery 53 are respectively installed from top to bottom. , This is conducive to further “slimming" the polishing robot and avoids interference with the wall when the polishing robot makes continuous turns.
  • the layout structure of the rack 60 may also be different.
  • the size of the frame 60 on the main traveling device 20 can be designed to be narrower to provide a larger space for movement of the telescopic support mechanism 42.
  • the lifting drive mechanism 41 can cover the external wall surface with a height of 3 m for polishing.
  • the size of the frame 60 of the auxiliary traveling device 30 can be designed to be wider to provide more installation space for storing the electric control box 51, the vacuum cleaner 52 and the battery 53, and to meet the vertical storage requirements.
  • the lifting driving mechanism 41 is used to drive the floating sanding device 43 to move up and down along the height direction of the outer wall surface, and there may be various implementation methods.
  • the lifting drive mechanism 41 includes a lifting drive assembly 411 arranged on the frame 60, a driving wheel 412 arranged on the frame 60 and connected to the lifting drive assembly 411, and A driven wheel 413 arranged on the frame 60 and longitudinally spaced apart from the driving wheel 412, a transmission member 414 sleeved on the driving wheel 412 and the driven wheel 413, and a mounting block arranged on the transmission member 414 415.
  • the telescopic support mechanism 42 and the floating sanding device 43 are installed with the first connecting plate 416. After the lifting drive assembly 411 outputs power, the driving wheel 412 and the driven wheel 413 rotate to drive the transmission member 414 to rotate, and the first connecting plate 416 can be moved up or down through the mounting block 415, so as to polish different areas of the external wall of the actuator 40 Sanding needs.
  • the lifting driving mechanism 41 has a simple structure, is easy to manufacture, and has low use and maintenance costs. Through the rolling cooperation of the lifting guide wheel group 417 and the lifting rail 61, it is possible to ensure that the first connecting plate 416 moves smoothly up and down without shaking, and prevents the floating sanding device 43 from shaking and affecting the sanding quality.
  • the driving wheel 412 and the driven wheel 413 may both be sprockets
  • the transmission member 414 is a chain
  • the chain is snapped and fitted on the two sprockets.
  • the chain drive mechanism has higher connection strength and greater carrying capacity, and can effectively prevent the occurrence of slipping and avoid affecting the lifting and moving effect of the floating sanding device 43.
  • the lifting drive assembly 411 is composed of a rotating motor and a reducer.
  • the cross section of the lifting rail 61 is, for example, V-shaped, which realizes linear contact with the lifting guide wheel set 417, which can reduce the frictional resistance of movement and reduce the load of the lifting drive assembly 411.
  • the lifting drive mechanism 41 may also include the lifting drive mechanism 41 which are respectively arranged on the frame 60 and are connected to the An upward limit switch 418 and a downward limit switch 419 are electrically connected to the electric control box 51, the upward limit switch 418 is arranged close to the driving wheel 412, and the downward limit switch 419 is arranged close to the driven wheel 413.
  • the up limit switch 418 and the down limit switch 419 can respectively monitor the up limit position and the down limit position of the first connecting plate 416 and the second connecting plate 421, so as to feed back signals to the electric control box 51 in time. 51 controls the lifting drive assembly 411 to stop working so as to avoid the above problems.
  • upward limit switch 418 and downward limit switch 419 may be any detection components used to detect positions in the prior art, for example, including but not limited to photoelectric sensors, laser sensors, infrared sensors, and the like.
  • the lifting driving mechanism 41 may also include a wire-integrating board 90 arranged on the first connecting board 416.
  • the whole wire board 90 can cooperate with the drag chain to realize the storage of the exposed wires on the polishing robot.
  • the lifting driving mechanism 41 further includes a dust scraper 100 arranged on the first connecting plate 416.
  • the ash scraper 100 is one, it can be installed on the opposite side of the whole wire board 90.
  • there are two ash scrapers 100 one is installed on the same side of the entire line board 90, and the other is installed on the opposite side.
  • the ash scraper 100 is in contact or clearance fit with the frame 60. As the first connecting plate 416 moves up and down, the ash scraper 100 can scrape the dust attached to the frame 60 to achieve the purpose of cleaning.
  • the retractable supporting mechanism 42 is retracted, and the floating sanding device 43 is moved away from the outer wall surface, and then the lifting driving mechanism 41 moves to drive the floating sanding The device 43 and the telescopic support mechanism 42 rise or fall together to other outer wall areas. Then, the telescopic abutment mechanism 42 drives the floating polishing device 43 to abut against the outer wall surface again, so that the polishing operation can be continued.
  • the floating sanding device 43 is always in contact with the outer wall surface, and the lifting driving mechanism 41 is controlled to act, and the floating sanding device 43 is driven to slide against the outer wall surface to replace the sanding area.
  • the telescopic support mechanism 42 may include a second connecting plate 421 assembled and fixed with the first connecting plate 416, and disposed on the second connecting plate 421.
  • the floating sanding device 43 is disposed on the second connecting seat 423.
  • the telescopic arm group itself can be telescopically moved, and thus can drive the floating sanding device 43 to move closer to or away from the wall to meet different construction needs.
  • the floating sanding device 43 can be pushed against and pressed against the outer wall, and it is in close contact with the outer wall to ensure the polishing quality and polishing efficiency.
  • the telescopic arm set may include a telescopic driving member 424 and a first telescopic arm 425 and a second telescopic arm 426 arranged side by side and spaced apart.
  • the telescopic driving member 424 includes a driving seat 424a and a driving arm that are connected to each other. 424b, the driving seat 424a is hinged to the second telescopic arm 426, the driving arm 424b is hinged to the first telescopic arm 425, and both ends of the first telescopic arm 425 are hinged to the first telescopic arm 425, respectively.
  • both ends of the second telescopic arm 426 are hinged to the first connecting seat 422 and the second connecting seat 423, respectively.
  • the four hinge points on the first connecting seat 422 and the second connecting seat 423 constitute the four vertices of the quadrilateral, namely the first telescopic arm 425, the second telescopic arm 426, the first connecting seat 422 and the second connecting seat.
  • the seat 423 constitutes a quadrilateral structure.
  • the prolate corresponds to the extension of the floating sanding device 43, and the width corresponds to the retraction of the floating sanding device 43.
  • the floating sanding device 43 can flexibly complete the leaning action according to the switching of different processes or different wall shapes, so as to ensure that the sanding operation is effectively performed.
  • the telescopic support mechanism 42 may further include a rotation driving support 427 for outputting a rotation driving force, the rotation driving support 427 is disposed on the second connecting plate 421 and connected to the first connecting seat 422.
  • the rotating drive support 427 can output rotating power, thereby driving the floating grinding head 432 assembled with the second connecting plate 421 to have the rotating ability, so as to complete the adjustment of the angle and posture of the mechanical arm group.
  • the rotating drive support 427 can be composed of a rotating motor and a rotating drum. With the structural characteristics of the rotating drum, it can effectively resist the overturning moment of the robotic arm group and the floating grinding device 43, and prevent the front end weight from being too heavy and causing some weak connection strengths. The connection part is broken, which can effectively enhance the reliability of the device.
  • the telescopic support mechanism 42 may further include a rotating and swinging assembly 200 that includes a rotating seat connected to the second connecting seat 423, A rotating platform fitted on the rotating seat and a driving motor arranged on the rotating seat and drivingly connected with the rotating platform, and the floating grinding device 43 is connected with the rotating platform.
  • a rotating and swinging assembly 200 that includes a rotating seat connected to the second connecting seat 423, A rotating platform fitted on the rotating seat and a driving motor arranged on the rotating seat and drivingly connected with the rotating platform, and the floating grinding device 43 is connected with the rotating platform.
  • the driving motor can output power to drive the rotating platform 92 to rotate around the rotating shaft seat, and finally drive the floating sanding device 43 to complete a 90° swing, so that the sanding head 432 can better fit and fit the walls of different flatness, or to The sides of the yin and yang angles, balconies, and other parts with sudden angle changes are polished to ensure the polishing ability and polishing effect of the floating polishing device 43.
  • the floating polishing device 43 may include: a mounting seat 431, a polishing head 432, a polishing driving member 433, and a rotating floating mechanism 434.
  • the mounting base 431 may include a fixing plate and a bracket arranged at intervals from the fixing plate.
  • the polishing head 432 is arranged on the fixed plate.
  • the polishing driving member 433 is disposed between the fixing plate and the bracket and drivingly connected with the polishing head 432.
  • the rotating floating mechanism 434 may include an elastic floating body, a sleeve, and a universal ball.
  • One end of the sleeve is fixedly connected to the grinding head 432, and the universal ball is rotatably nested in the sleeve and connected to the The grinding head 432 is against each other, and the elastic floating body is connected between the universal ball and the bracket.
  • the mounting seat 431 is the carrier substrate of the floating sanding device 43, and is used to fix the sanding head 432, the sanding driving member 433, and the rotating floating mechanism 434; since the mounting seat 431 is composed of a fixed plate and a bracket arranged at intervals, the sanding head 432 can be fixed On the fixed plate, the grinding driving member 433 can be arranged between the fixed plate and the holder and directly drivingly connected with the grinding head 432, which can reduce unnecessary intermediate power transmission links and enable the grinding head 432 to perform higher-speed rotation grinding. , Improve the polishing efficiency.
  • the rotating floating mechanism 434 is connected between the fixed plate and the bracket, when the polishing head 432 encounters a continuous uneven wall with inclined or curved surfaces, the elastic floating body deforms and expands by itself, which can provide the polishing head 432 with cushioning and The floating ability enables the grinding head 432 to be reliably against the wall.
  • the universal ball can rotate in any direction in the sleeve, so that the grinding head 432 has a certain adaptive angle adjustment and floating ability.
  • the grinding head 432 can always closely adhere to various uneven walls during the moving and grinding process to ensure the grinding effect. Continuity, the wall sanding effect is smoother, the sanding efficiency is better, and the sanding quality is better.
  • the polishing driving member 433 may be, but not limited to, a rotating electric machine, a rotating cylinder, a rotating electric cylinder, etc., and in this embodiment, the polishing driving member 433 is a rotating electric machine.
  • the rotating motor can be installed in a horizontal position between the fixed plate and the bracket and directly rigidly connected with the grinding head 432.
  • the power output goes directly to the grinding head 432, and the intermediate power transmission loss is small, so that the grinding head 432 can achieve higher Rotation speed, thereby improving the quality and efficiency of polishing the wall.
  • the power shaft of the rotating electric machine is fixedly connected to the grinding head 432 through the grinding head fixing block, which can further improve the connection rigidity.
  • the outer surface of the universal ball is a spherical surface
  • the inner cylinder wall of the sleeve is a smooth and continuous arc surface, so the universal ball and the inner cylinder wall are in arc-line contact.
  • This arc contact method can ensure that the universal ball can rotate and roll in any direction and any angle in the sleeve with low friction resistance, so that the grinding head 432 can change the grinding angle and float accordingly, and has a strong face on uneven walls.
  • the polishing head 432 can be close to the front wall and fully participate in the polishing operation, ensuring the polishing quality and polishing efficiency.
  • the polishing head 432 moves close to the wall, the polishing head 432 is always continuously changing the angle and continuously floating, which can ensure the smooth and smooth polishing of the wall in a large area, and thoroughly smooth out burrs such as laitance and explosion points.
  • the above-mentioned elastic floating member is, for example, a floating pressure spring.
  • the floating pressure spring contracts to provide cushioning and support, which can prevent the wall and the polishing head 432 from being damaged by rigid impacts.
  • the floating pressure spring can further provide floating ability, and automatically return to the original position after the polishing head 432 is out of contact with the wall.
  • a limit block may be provided on the fixed plate, and the limit block is connected to the polishing driving member 433.
  • the number of limit blocks is two and they are arranged at symmetrical intervals on the bottom surface of the fixed plate.
  • the limit blocks are provided with through holes, and fastening bolts are installed in the through holes, which can lock the polishing driving part 433 and ensure the polishing driving part 433. The installation is firm without deflection and movement, ensuring stable power output.
  • the number of the rotating and floating mechanisms 434 may be four, and the four rotating and floating mechanisms 434 are arranged in a rectangular shape and are all connected between the fixed plate and the bracket.
  • the four rotating floating mechanisms 434 distributed in a rectangular shape are more evenly connected to the polishing head 432, which ensures that the polishing head 432 is more stable when the polishing head 432 is close to the wall and rotates at a high speed.
  • the universal ball includes a sphere and a rod connected to the sphere.
  • the sphere is rotatably nested in the sleeve and abuts against the grinding head 432.
  • the bracket includes a seat and is arranged on the seat.
  • the guide shaft on the body, the rod body is rigidly connected with the guide shaft, the elastic floating body is sleeved on the guide shaft, and the elastic floating body is pressed and arranged between the sleeve and the seat body between. Therefore, the universal ball can be reliably connected to the guide shaft through the rod body and fixed to the seat body.
  • the seat body provides the rotation base point, so that the sphere can rotate in the sleeve in the universal direction (any direction), ensuring a wide adjustment range of the angle and direction of the grinding head 432. There are many changes, and the applicability to walls of different flatness is stronger.
  • the ball is in clearance fit with the inner wall of the sleeve. In this way, the sphere can be free from or less restricted by the inner wall of the sleeve and has a greater degree of freedom.
  • the universal ball is easier to float at an angle and is adapted to the grinding needs of more complex and uneven walls.
  • the rotating and floating mechanism 434 may further include a fixed ring, the fixed ring is sleeved on the guide shaft, and the elastic floating body is pressed and arranged between the fixed ring and the seat body .
  • the fixing ring can prevent the universal ball from falling out of the sleeve.
  • the fixed ring can have a structure similar to a hoop, which is not only easy to install, but can also be adapted to install guide shafts with different shaft diameters, or slide on the guide shaft to adapt to floating pressures of different lengths. Spring, strong applicability.
  • the fixing ring may also have other structural forms, as long as it can restrict the universal ball from falling out of the sleeve, all of which fall within the scope of protection of the present application.
  • the floating sanding device 43 further includes a pressure sensor 435 electrically connected to the electric control box 51, and the seat body includes a first pallet and a second pallet that are arranged side by side at intervals.
  • the guide shaft is arranged on the second supporting plate and slidingly penetrates through the first supporting plate, and the pressure sensor 435 is arranged on the second supporting plate and abuts against the first supporting plate.
  • the reaction pressure exerted by the wall will be transmitted to the fixed ring through the grinding head 432 and the sleeve, and the fixing will slide along the guide shaft and compress the floating pressure spring to compress, and the reaction pressure will further push
  • the first pallet is close to the second pallet, and at the same time the first pallet squeezes the pressure sensor 435, the pressure sensor 435 can obtain the increased pressure value and transmit the real-time pressure value back to the electric control box 51 .
  • the electric control box 51 Since the preset pressure value that the grinding head 432 can work normally is pre-stored in the electric control box 51, when the real-time pressure value matches the preset pressure value, the electric control box 51 will output a command to the grinding driving member 433, which is driven by the grinding The piece 433 drives the polishing head 432 to start rotating and polishing the wall.
  • the floating polishing device 43 further includes a sensor fixing seat, the second support plate is provided with a mounting hole, the pressure sensor 435 is inserted into the mounting hole, and the sensor fixing seat is arranged at The second supporting plate is fixed with the pressure sensor 435.
  • Embedding the pressure sensor 435 in the mounting hole can effectively reduce the overall thickness of the seat body, thereby reducing the overall volume of the floating grinding device 43, and realizing a miniaturized, light-weight and thin design. After that, it is connected to the pressure sensor 435 through the sensor fixing seat, which can ensure that the pressure sensor 435 is installed firmly and the pressure value of the pressure sensor 435 is accurately detected.
  • the seat body may also include an anti-falling ring, a first support set on the first support plate and a second support set on the second support plate, the guide shaft and the The first support and the second support are passed through and sleeved, and the anti-drop ring is fixed on the end of the guide shaft and is located on the side of the second support plate away from the first support plate. Since the guide shaft is a slender rod body, the first support and the second support are sleeved with the guide shaft, which can strengthen the rigidity of the guide shaft and play a supporting and fixing role for the guide shaft. In addition, by installing the anti-falling ring at the end of the guide shaft, the guide shaft can be prevented from slipping off from below the second pallet.
  • the polishing head 432 may be a combined structure, and the polishing head 432 may include a disk shell, a polishing disk, a brush, and a dust suction tube, so as to facilitate the replacement of worn parts after long-term work, while remaining intact Parts, reduce costs.
  • the grinding disc and the dust suction pipe are respectively arranged on the grinding disc shell, the brush is arranged on the grinding disc shell and surrounding the outer periphery of the grinding disc, and the grinding disc is provided with dust suction holes , The dust suction hole is in communication with the dust suction pipe. Therefore, under the power drive of the polishing driving member 433, the grinding edge on the grinding disc can be continuously ground and smoothed to the wall, and high-quality and efficient grinding operations can be completed.
  • the external brush is on the outer periphery of the grinding disc, it can prevent the dust generated during the grinding process from overflowing and causing environmental pollution. Since the dust suction pipe is connected to the vacuum cleaner 52, the dust can be sucked into the suction pipe through the dust suction hole and finally enters the vacuum cleaner 52 to be filtered out. This operation method of vacuuming and purifying while grinding can effectively take into account the efficiency of operation and environmental sanitation. , To prevent dust from causing damage to equipment or workers.

Abstract

一种打磨机器人，包括：轨架（10）；主行走装置（20），主行走装置（20）移动设置于轨架（10）上，且主行走装置（20）上设置有打磨执行装置（40）；及副行走装置（30），副行走装置（30）移动设置于轨架（10）上并用于与主行走装置（20）协同配合，且副行走装置（30）上设置有打磨辅助装置（50），打磨辅助装置（50）用于辅助打磨执行装置（40）进行打磨作业。该打磨机器人，打磨工作空间广，转弯通过能力强，可靠性高。

Description

打磨机器人
相关申请的交叉引用
本申请要求于2019年12月31日提交中国专利局，申请号为201911424569.X，申请名称为“打磨机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及建筑机器人技术领域，特别是涉及一种打磨机器人。
背景技术
传统的，在建筑物建造施工过程中，当完成混凝土浇筑、铝模拆除等作业后，室外墙面的铝模拼缝处极易出现的浮浆以及爆点等现象，会影响后续施工工艺的进行，因此就需要对存在该缺陷的墙面进行打磨作业。而该外墙面打磨需要工人依附于爬架，在室外进行高空手动作业完成，劳动强度大同时危险性高。基于此，市面上出现了能够取代人力进行自动或半自动打磨的打磨机器人。这类打磨机器人通常将包含打磨头在内的所有功能单元全部集成在一个行走底盘上，不仅会导致打磨机器人的结构复杂、臃肿，压缩打磨头的工作空间，较难完成小转弯半径的路径行走，同时会导致单位面积轨架承受的载重量过大，容易发生轨架形变断裂，打磨机器人脱落轨架造成安全事故的问题。
发明内容
基于此，有必要提供一种打磨机器人，旨在解决现有技术打磨工作空间有限，转弯通过能力差，可靠性低的问题。
其技术方案如下：
一种打磨机器人，其包括：
轨架；
主行走装置，所述主行走装置移动设置于所述轨架上，且所述主行走装置上设置有打磨执行装置；及
副行走装置，所述副行走装置移动设置于所述轨架上并用于与所述主行走装置协同配合，且所述副行走装置上设置有打磨辅助装置，所述打磨辅助装置用于辅助所述打磨执行装置进行打磨作业。
附图说明
图1为本申请一实施例所述的打磨机器人的结构示意图；
图2为图1的正视结构示意图；
图3为本申请一实施例所述的第一行走小车与第二行走小车的组装结构图；
图4为本申请一实施例所述的伸缩顶靠机构的结构示意图；
图5为图4的后视结构示意图；
图6为本申请一实施例所述的升降驱动机构的结构示意图；
图7为图6的爆炸结构示意图；
图8为本申请一实施例所述的浮动打磨装置的结构示意图。
附图标记说明：10、轨架；11、爬架；12、天轨；13、地轨；20、主行走装置；30、副行走装置；40、打磨执行装置；41、升降驱动机构；411、升降驱动组件；412、主动轮；413、从动轮；414、传动件；415、安装块；416、第一连接板；417、升降导轮组；418、上行限位开关；419、下行限位开关；42、伸缩顶靠机构；421、第二连接板；422、第一连接座；423、第二连接座；424、伸缩驱动件；424a、驱动座；424b、驱动臂；425、第一伸缩臂；426、第二伸缩臂；427、旋转驱动支撑；43、浮动打磨装置；431、安装座；432、打磨头；433、打 磨驱动件；434、旋转浮动机构；435、压力传感器；50、打磨辅助装置；51、电控箱；52、吸尘器；53、电池；60、机架；61、升降轨道；70、第一行走小车；71、第一转动关节；72、第一行走底盘；73、第二转动关节；74、第一导向行走轮组；80、第二行走小车；81、第二行走底盘；82、行走驱动件；83、行走轮组；84、第三转动关节；85、第二导向行走轮组；90、整线板；100、刮灰板；200、旋转摆动组件。
具体实施方式
为使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及具体实施方式，对本申请进行进一步的详细说明。应当理解的是，此处所描述的具体实施方式仅用以解释本申请，并不限定本申请的保护范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
为了更好描述具体实施方式中公开的实施例，可参考一副或多副附图。但用于描述附图的实施例不应被理解为最佳实施例，也不应构成对实施方式范围的限制。
本申请中所述“第一”、“第二”不代表具体的数量及顺序，仅仅是用于名称的区分。
如图1和图2所示，为本申请一实施例展示的打磨机器人，其用于取代传统人力手动打磨操作，对墙面完成高效、高精的自动打磨整平作业，用以去除墙面上产生的浮浆、爆点等制造成型缺陷。以房屋建造为例，打磨机器人通过安装于房屋当前建设楼层墙壁的外侧，即能够对在建的每一层楼层的外墙壁进行打磨作业。当完成当前楼层墙壁打磨作业后，可自行攀爬至新建的上一楼层高度，继续进行打磨作业。
在一些实施例中，该打磨机器人包括：轨架10、主行走装置20及副行走装置30。轨架10用于承载固定主行走装置20和副行走装置30，并提供两者行走的轨道。轨架10的构型应当与建筑物外墙的延伸构型适配。轨架10例如环绕建筑物的外墙设置，使得打磨机器人可环绕外墙面移动并完成整面墙壁打磨，同时更利于减小打磨机器人的位姿调整难度和耗时，提高工作效率。
在一些实施例中，主行走装置20和副行走装置30的移动动力依靠两者安装的底部动力底盘(及在后方案提及的第二行走小车80)提供，通过控制动力输出的一致性，可以保持两者前后的既定安全间隔，避免发生撞车事故。可选地，副行走装置30布置在主行走装置20的下游，即跟随主行走装置20一起移动。其它实施例中，副行走装置30可以布置在主行走装置20的上方。
为了提高打磨机器人的整体性以及安全性，主行走装置20与副行走装置30之间可以通过钢丝绳连接。钢丝绳的数量、安装位置及布置角度等不作具体限定。
所述主行走装置20移动设置于所述轨架10上，且所述主行走装置20上设置有打磨执行装置40，打磨执行装置40为对建筑物外墙面实施打磨作业的直接执行单元。所述副行走装置30移动设置于所述轨架10上并用于与所述主行走装置20协同配合，且所述副行走装置30上设置有打磨辅助装置50，所述打磨辅助装置50用于辅助所述打磨执行装置40进行打磨作业；例如为打磨执行装置40供给必备的电能等。
上述实施方式将具有如下有益效果：上述方案的打磨机器人应用于建筑物浇筑成型之后，对建筑物外墙进行打磨平整的施工场合，其区别于现有技术的主要不同之处在于，用于承载各功能单元的行走装置进行了分体设计，即轨架10上移动安装了主行走装置20和副行走装置30，并且将打磨执行装置40安装在了主行走装置20上，而将打磨辅助装置50安装在了副行走装置30上。主行走装置20和副行走装置30的结构被大幅精简，重量也大幅减少，且两者附接在轨架10的不同部位处，使得单位面积的轨架10所承载的载重也大为减小，可有效防止轨架10因载重过大而发生形变断裂，提高打磨机器人运行工作安全可靠性。此外，通 过主行走装置20承载打磨执行装置40，主行走装置20可以做的更窄小，可预留出更多空间供打磨执行装置40工作。在经过小转弯半径的轨道路段时，主行走装置20和副行走装置30可处于不同转弯角度位置，具备极佳的弯道通行能力，能满足阴阳角打磨需求，提升打磨工作性能。
请继续参阅图1和图2，在一些实施方式中，所述打磨执行装置40包括设置于所述主行走装置20上的升降驱动机构41、与所述升降驱动机构41连接的伸缩顶靠机构42及与所述伸缩顶靠机构42连接的浮动打磨装置43。工作时，升降驱动机构41能够带动浮动打磨装置43沿建筑物外墙面上下往复移动，从而能够对正面外墙完成可靠打磨。伸缩顶靠机构42则用于驱动浮动打磨装置43与外墙面顶靠紧密，使浮动打磨装置43与外墙面完全、有效接触，保证打磨效率和质量。而浮动打磨装置43除具备基本的打磨能力之外，还具有浮动让位能力，可避免与凹凸不平的外墙面发生刚性接触而受到损坏。
所述打磨辅助装置50包括分别设置于所述副行走装置30上的电控箱51、吸尘器52和电池53，所述升降驱动机构41、所述伸缩顶靠机构42、所述浮动打磨装置43以及所述吸尘器52均与所述电控箱51电连接，所述吸尘器52还与所述浮动打磨装置43连接，所述电池53与所述电控箱51电连接。电池53的电能通过电控箱51可高效地分别输送至升降驱动机构41、伸缩顶靠机构42、浮动打磨装置43和吸尘器52中，以供给各设备工作所需的电能。此外，电控箱51可根据预设程序精准控制上述各设备准确协同配合作业，高质高效完成外墙面打磨。由于打磨作业过程中会必不可少的产生大量粉尘，吸尘器52可及时抽取并过滤夹带粉尘的空气，避免粉尘对设备或人员造成伤害，实现绿色环保施工。
需要说明的是，上述的电池53和吸尘器52的类型、工作原理等，不作具体限定，可根据本领域技术人员的实际需要在现有技术中进行选择使用。
请继续参阅图1至图3，在一些实施方式中，所述轨架10可以包括爬架11及分别设置于所述爬架11上下两端的天轨12和地轨13，所述主行走装置20和所述副行走装置30均包括机架60、设置于所述机架60顶端的第一行走小车70及设置于所述机架60底端的第二行走小车80，所述第一行走小车70移动设置于所述天轨12上，所述第二行走小车80移动设置于所述地轨13上。爬架11的设置使得打磨机器人当完成当前层外墙面打磨作业后，可攀爬至新建的上一层建筑物楼层，以实现不同楼层连续打磨作业。通过第一行走小车70与天轨12组装配合，第二行走小车80与地轨13组装配合，可以很好的约束主行走装置20和副行走装置30上下两端沿垂直与外墙面方向的自由度，以防止主行走装置20和副行走装置30从轨架10上倾覆、脱落，避免造成安全事故。
请继续参阅图3，在一些实施例中，所述第一行走小车70可以包括设置于所述机架60上的第一转动关节71、与所述第一转动关节71连接的第一行走底盘72、设置于所述第一行走底盘72上的第二转动关节73及与所述第二转动关节73连接的第一导向行走轮组74，所述第一导向行走轮组74与所述天轨12滚轮配合。如此，第一行走小车70借助第一转动关节71能够相对机架60整体旋转摆动，并且第一导向行走轮组74也能够进一步通过第二转动关节73相对第一行走底盘72旋转摆动，两者协同配合后能够大大提升主行走装置20和副行走装置30对于轨架10上转弯路段的通过能力，并具备应对沿垂直外墙面方向冲击力的减振能力。在一些实施例中，第一转动关节71和第二转动关节73由挡片、深沟球轴承、中心旋转抽乘坐和法兰座等部件组装构成，具备水平方向360度旋转的能力。当然，其它实施例中，第一转动关节71和第二转动关节73也可以采用现有技术中的其它转动结构、设备或装置，也都在本申请的保护范围内。
此外，第一导向行走轮组74可以包括四个橡胶滚轮，四个橡胶滚轮分成两组，两组橡胶滚轮分别安装在第一行走底盘72的长度方向(也即主行走装置20和副行走装置30行进方向)的首尾两端，天轨12被夹设在每组两个橡胶滚轮之间。第一导向行走轮组74不仅具备良好的滚动能力，同时各橡胶滚轮与天轨12的侧向抵触，还起到侧向限位作用，防止第一行走小车70从天轨12上脱落。
在一些实施例中，所述第二行走小车80可以包括第二行走底盘81、设置于所述第二行走底盘81上的行走驱动件82、设置于所述第二行走底盘81上并与所述行走驱动件82驱动连接的行走轮组83、连接于所述第二行走底盘81与所述行走轮组83之间的第三转动关节84及设置于所述行走轮组83上的第二导向行走轮组85，所述行走轮组83和所述第二导向行走轮组85均与所述地轨13配合。行走驱动件82输出动力带动行走轮组83转动，第二行走小车80便能够在地轨13上行走，也即主行走装置20和副行走装置30的行走动力均依靠布设于底部的行走驱动件82与行走轮组83配合提供，第一行走小车70充当被动行走角色。第二行走小车80在地轨13上移动，进而带动整个打磨机器人移动，改变打磨装置的位置，实现对整面墙壁完成打磨作业。当然，其它实施例中，第一行走小车70和第二行走小车80可以都安装行走驱动件82并同步输出动力。
在一些实施例中，行走驱动件82为驱动电机，例如包括但不限于伺服电机、步进电机等。
由于第三转动关节84本身能够进行周向360度旋转，可满足并适应小转弯半径爬架11轨道的行进通过要求，防止主行走装置20和副行走装置30发生卡死问题，影响打磨机器人正常工作。
可以理解的，第三转动关节84可以为类似于万向联轴器的结构，具备和提供灵活旋转的能力。
在一些实施例中，副行走装置30为打磨机器人的部分行走载体，同时扮演多功能集成体的角色。即副行走装置30除了包括上述机架60以外，机架60上还设置有多层层架，各层层架沿纵向依次布置，由上至下分别安装电控箱51、吸尘器52和电池53，如此利于对打磨机器人进一步进行“瘦身”，最大程度避免打磨机器人连续转弯时与墙面发生干涉。
此外，在不同的实施例中，根据功能的不同，机架60的布置结构形式也可以不相同。例如，主行走装置20上的机架60的尺寸可设计更狭窄一些，以为伸缩顶靠机构42提供更大的运动空间，此时配合升降驱动机构41可覆盖3m高度的外墙面打磨需要。副行走装置30的机架60的尺寸可设计较宽一些，以提供更多的安装空间，用来存纳电控箱51、吸尘器52和电池53，并满足纵向存放要求。
请继续参阅图6和图7，升降驱动机构41用来带动浮动打磨装置43沿外墙面高度方向上下移动，其实现方式可以有多种。在一些实施例中，所述升降驱动机构41包括设置于机架60上的升降驱动组件411、设置于所述机架60上并与所述升降驱动组件411连接的主动轮412、设置于所述机架60上并与所述主动轮412纵向间隔布置的从动轮413、套装于所述主动轮412和所述从动轮413上的传动件414、设置于所述传动件414上的安装块415、与所述安装块415连接的第一连接板416及设置于所述第一连接板416上的升降导轮组417，所述机架60设有升降轨道61，所述升降导轮组417移动设置于所述升降轨道61内。伸缩顶靠机构42和浮动打磨装置43与第一连接板416安装。当升降驱动组件411输出动力后，主动轮412和从动轮413转动带动传动件414旋转，即可通过安装块415带动第一连接板416上移或下降，实现打磨执行装置40对外墙面不同区域打磨需要。该升降驱动机构41的结构简单，易于制造，使用及维保成本低。通过升降导轮组417与升降轨道61滚动配合，能够保证第一连接板416上下移动平稳而不会发生晃动，避免浮动打磨装置43发生晃动而影响打磨质量。
在一些实施例中，主动轮412和从动轮413可以均为链轮，传动件414为链条，链条咬合套装在两个链轮上。链传动机构的连接强度更高，承载能力更大，且可有效防止打滑发生，避免影响浮动打磨装置43的升降移动效果。在一些实施例中，升降驱动组件411由旋转电机和减速机构成。升降轨道61的截面例如为V型，实现与升降导轮组417的线接触，可减小移动摩擦阻力，减轻升降驱动组件411负载。
为了避免第一连接板416和第二连接板421上升或下降时冲出升降轨道61而造成安全事故，所述升降驱动机构41还可以包括分别设置于所述机架60上并均与所述电控箱51电连接的上行限位开关418和下行限位开关419，所述上行限位开关418靠近所述主动轮412布置，所述下行限位开关419靠近所述从动轮413布置。此时，上行限位开关418和下行限位开关 419能够分别监测第一连接板416和第二连接板421的上行极限位置和下行极限位置，从而及时反馈信号给电控箱51，电控箱51控制升降驱动组件411停止工作从而避免上述问题发生。
可以理解的，上述的上行限位开关418和下行限位开关419可以是现有技术中任意用来检测位置的检测部件，例如包括但不限于光电传感器、激光传感器、红外传感器等。
此外，所述升降驱动机构41还可以包括设置于所述第一连接板416上的整线板90。该整线板90能够与拖链配合，对打磨机器人上外露的电线实现收纳。并且所述升降驱动机构41还包括设置于所述第一连接板416上的刮灰板100。刮灰板100为一个时，其可以安装于整线板90的相对侧。刮灰板100为两个时，一个安装在整线板90的同侧，另一个安装在相对侧。刮灰板100与机架60接触或者间隙配合，随着第一连接板416上下移动，刮灰板100能够对机架60上附着的灰尘进行刮除而达到清理的目的。
在一种实施方式中，当浮动打磨装置43完成当前区域外墙面打磨作业后，使伸缩顶靠机构42回退，使浮动打磨装置43离开外墙面，之后升降驱动机构41动作带动浮动打磨装置43和伸缩顶靠机构42一同上升或下降至其他外墙面区域。然后，伸缩顶靠机构42再次驱动浮动打磨装置43顶靠外墙面，以便能够持续进行打磨作业。或者，在另一种实施方式中，浮动打磨装置43始终与外墙面顶靠接触，控制升降驱动机构41进行动作，带动浮动打磨装置43紧贴外墙面滑行来更换打磨区域。
请继续参阅图4和图5，在一些实施例中，所述伸缩顶靠机构42可以包括与所述第一连接板416组装固定的第二连接板421、设置于所述第二连接板421上的第一连接座422、与所述第一连接座422连接的伸缩臂组、与所述伸缩臂组连接的第二连接座423。所述浮动打磨装置43设置于所述第二连接座423上。通过第二连接板421与第一连接板416组装固定，伸缩顶靠机构42和浮动打磨装置43能够跟随升降驱动机构41同步升降移动。伸缩臂组自身能够进行伸缩移动，进而可带动浮动打磨装置43靠近或远离墙面移动以满足不同施工需要。当伸缩臂组伸长时，即可抵推浮动打磨装置43顶靠并压紧在外墙面上，与外墙面紧密接触，保证打磨质量和打磨效率。
在一些实施例中，所述伸缩臂组可以包括伸缩驱动件424和并排间隔布置的第一伸缩臂425和第二伸缩臂426，所述伸缩驱动件424包括相互连接的驱动座424a及驱动臂424b，所述驱动座424a铰接于所述第二伸缩臂426上，所述驱动臂424b铰接于所述第一伸缩臂425上，所述第一伸缩臂425的两端分别铰接于所述第一连接座422和所述第二连接座423上，所述第二伸缩臂426的两端分别铰接于所述第一连接座422和所述第二连接座423上。此时，位于第一连接座422和第二连接座423上的四个铰接点构成四边形的四个顶点，即第一伸缩臂425、第二伸缩臂426、第一连接座422和第二连接座423构成四边形结构。当驱动座424a推动驱动臂424b伸出或收缩时，四边形的形状趋近于扁长或宽短，扁长对应于浮动打磨装置43伸长，而宽短对应于浮动打磨装置43的回缩。如此，浮动打磨装置43便能够根据不同工序的切换或者不同墙面形状灵活完成顶靠动作，保证打磨作业有效进行。
当然了，需要说明的是，其它实施例中，为了能够实现对浮动打磨装置43的伸缩驱动以完成顶靠动作，也可以是采用现有技术中其它具备伸缩能力的机构或设备，例如可以包括但不限于伸缩杆、剪叉机构等。
所述伸缩顶靠机构42还可以包括用于输出旋转驱动力的旋转驱动支撑427，所述旋转驱动支撑427设置于所述第二连接板421上并与所述第一连接座422连接。旋转驱动支撑427可以输出旋转动力，从而带动与第二连接板421装联的浮动打磨头432具备旋转能力，以完成机械臂组角度和位姿的调整。此外，旋转驱动支撑427可以由旋转电机和回转筒构成，借助回转筒的结构特点，可有效抵抗机械臂组和浮动打磨装置43的倾覆力矩，防止前端重量过大造成某些连接强度较弱的连接部位断裂，可有效增强装置的可靠性。
请继续参阅图4和图5，在一些实施例中，所述伸缩顶靠机构42还可以包括旋转摆动组件200，所述旋转摆动组件200包括与所述第二连接座423连接的旋转座、转动套装于所述 旋转座上的旋转平台及设置于所述旋转座上并与所述旋转平台驱动连接的驱动电机，所述浮动打磨装置43与所述旋转平台连接。这样，驱动电机能够输出动力驱动旋转平台92绕旋转轴座转动，并最终带动浮动打磨装置43完成90°摆转，使打磨头432更好的适配贴合不同平整度的墙面，或对阴阳角、阳台等角度激变部位的侧面完成打磨，保证浮动打磨装置43的打磨能力和打磨效果。
请继续参阅图8，在一些实施例中，浮动打磨装置43可以包括：安装座431、打磨头432、打磨驱动件433及旋转浮动机构434。所述安装座431可以包括固定板及与所述固定板间隔设置的托座。所述打磨头432设置于所述固定板上。所述打磨驱动件433设置于所述固定板与所述托座之间并与所述打磨头432驱动连接。所述旋转浮动机构434可以包括弹性浮动体、套筒及万向球，所述套筒的一端与所述打磨头432固定连接，所述万向球转动嵌套于所述套筒内并与所述打磨头432相抵，所述弹性浮动体连接于所述万向球与所述托座之间。
安装座431为浮动打磨装置43的承载基体，用于固定打磨头432、打磨驱动件433以及旋转浮动机构434；由于安装座431由间隔设置的固定板与托座构成，使得打磨头432能够固定在固定板上，打磨驱动件433能够设置在固定板与托座之间并与打磨头432直接驱动连接，这样可以减少不必要的中间动力传输环节，使打磨头432能够进行更高转速旋转打磨，提升打磨效能。此外，由于固定板与托座之间还连接有旋转浮动机构434，当打磨头432遇见存在斜面或弧面的连续不平整墙壁时，弹性浮动体通过自身形变伸缩，可提供打磨头432缓冲和浮动能力，使打磨头432可靠顶靠墙壁。并且万向球能够在套筒内朝任意方向转动，使得打磨头432具备一定自适应角度调整和浮动能力，打磨头432能够在移动打磨过程中始终紧密贴合各种不平整墙壁，保证打磨效果连续性，墙壁打磨效果更加光滑平顺，打磨效率更好、打磨质量更好。
可以理解的，打磨驱动件433可以是但不限于旋转电机、旋转气缸、旋转电缸等，本实施例中打磨驱动件433为旋转电机。组装时，旋转电机能够以卧式姿态安装在固定板与托座之间并与打磨头432直接刚性连接，动力输出直达打磨头432，中间动力传输耗损小，使打磨头432能够获得更高的旋转速度，从而提升对墙壁的打磨质量和效率。在一些实施例中，旋转电机的动力轴通过磨头固定块与打磨头432固定连接，能够进一步提高连接刚性。
且可以理解的，由于万向球的外表面是球面，套筒的内筒壁是平滑连续的弧面，因而万向球与内筒壁是弧线接触的。这种弧线接触方式可以确保万向球在套筒内能够朝任何方向、任何角度旋转滚动且摩擦阻力小，使打磨头432相应进行打磨角度变化和浮动，面对不平整墙壁上具备较强的适应能力，打磨头432能够紧贴前壁而充分参与打磨作业，保证打磨质量和打磨效率。并且，在打磨头432紧贴墙壁移动时，打磨头432始终在进行角度连续变换和连续浮动，能够保证较大区域内墙壁打磨平滑光顺，彻底磨平浮浆以及爆点等毛刺。
上述的弹性浮动件例如采用浮动压力弹簧。打磨头432与墙壁接触瞬间及压紧过程中，浮动压力弹簧收缩而提供缓冲及支撑，可防止墙壁和打磨头432受刚性撞击损坏。并且当打磨头432紧贴不同不平整墙壁而发生摆转时，浮动压力弹簧还能够进一步提供浮动能力，并在打磨头432脱离接触墙壁后自动恢复原位。
当然，需要说明的是，在其它实施例中，根据实际需要，本领域技术人员也可以采用具有同等或相近形变和浮动能力的部件或结构替换浮动压力弹簧，例如柔性橡胶柱。
此外，所述固定板上可以设置有限位块，所述限位块与所述打磨驱动件433连接。例如，限位块的数量为两个并在固定板的底面对称间隔布置，限位块上开设有通孔，通孔内安装紧固螺栓，可锁紧打磨驱动件433，保证打磨驱动件433安装牢固而不发生偏摆和移动，保证动力输出稳定。
在一些实施例中，所述旋转浮动机构434的数量可以为四个，四个所述旋转浮动机构434呈矩形布置并均连接于所述固定板与所述托座之间。呈矩形分布的四个旋转浮动机构434与打磨头432的连接更加均匀，保证打磨头432与墙壁紧贴高速旋转工作时更加稳定。所述万向球包括球体及与所述球体连接的杆体，所述球体转动嵌套于所述套筒内并与所述打磨头432 相抵，所述托座包括座体及设置于所述座体上的导向轴，所述杆体与所述导向轴刚性连接，所述弹性浮动体套装于所述导向轴上，且所述弹性浮动体抵压设置于所述套筒与所述座体之间。因而万向球通过杆体能够与导向轴可靠连接并与座体固定，由座体提供旋转基点，使得球体能够在套筒内万向(任意方向)旋转，保证打磨头432角度调整范围大，方向变化多，对不同平整度的墙壁的适用性更强。
在一些实施例中，所述球体与所述套筒的内筒壁间隙配合。这样，球体可不受或较少受套筒内筒壁的约束和阻力而具备更大的自由度，万向球更容易进行角度浮动，适应更多复杂不平整墙面的打磨需要。
在一些实施例中，所述旋转浮动机构434还可以包括固定环，所述固定环套装于所述导向轴上，所述弹性浮动体抵压设置于所述固定环与所述座体之间。固定环能够防止万向球从套筒内脱落掉出。在一些实施例中，固定环可以为类似于抱箍的结构，不仅安装方便，并且能够适配安装具有不同轴径的导向轴，或者在导向轴上滑移来适配不同长度的浮动压力弹簧，适用性强。当然，在其它实施例中，固定环也可以是其它结构形式，只要能够限制万向球从套筒内脱出即可，都在本申请的保护范围内。
在实际工作中，出于节能降耗的目的，同时避免发生意外安全事故，正常情况下，打磨头432只在与墙壁接触之后在开始旋转打磨。而打磨头432与墙壁的接触紧密程度，也会较大程度影响对墙壁的打磨质量和打磨效率。基于此，在一些实施例中，所述浮动打磨装置43还包括与电控箱51电连接的压力传感器435，所述座体包括间隔并排设置的第一托板和第二托板，所述导向轴设置于所述第二托板上并滑动贯穿设置于所述第一托板上，所述压力传感器435设置于所述第二托板上并与所述第一托板相抵。因而随着打磨头432逐渐顶靠压紧墙壁，墙壁施加的反作用压力会通过打磨头432、套筒传递给固定环，固定化沿导向轴滑移而压缩浮动压力弹簧压缩，反作用压力会进一步推动第一托板靠近第二托板，与此同时第一托板对压力传感器435进行挤压，压力传感器435便能够获得实施增大的压力值，并将实时压力值传输回电控箱51中。由于电控箱51中预存了打磨头432可以正常工作的预设压力值，因而当实时压力值与预设压力值匹配时，电控箱51便会输出指令给打磨驱动件433，由打磨驱动件433驱动打磨头432开始旋转对墙壁进行打磨作业。
在一些实施例中，所述浮动打磨装置43还包括传感器固定座，所述第二托板开设有安装孔，所述压力传感器435插置于所述安装孔内，所述传感器固定座设置于所述第二托板上并与所述压力传感器435固定。将压力传感器435嵌装在安装孔内，可有效减少座体的整体厚度，进而减小浮动打磨装置43的整体体积，实现小型化、轻薄化设计。之后通过传感器固定座与压力传感器435连接，可保证压力传感器435安装牢固，保证压力传感器435压力值检测精准。
此外，所述座体还可以包括防脱环、设置于所述第一托板上的第一支座及设置于所述第二托板上的第二支座，所述导向轴与所述第一支座以及所述第二支座穿设套接，所述防脱环固设于所述导向轴的端部并位于所述第二托板背离所述第一托板的一侧。由于导向轴为细长杆体，使第一支座和第二支座与导向轴套接，可加强导向轴的刚度，对导向轴起到支撑固定作用。此外，通过在导向轴的端部安装防脱环，可防止导向轴从第二托板的下方滑脱。
在一些实施例中，打磨头432可以为组合体结构，所述打磨头432可以包括磨盘壳、打磨盘、毛刷和吸尘管，从而在长期工作后便于对耗损部件进行更换，而保留完好部件，减少成本支出。所述打磨盘和所述吸尘管分别设置于所述磨盘壳上，所述毛刷设置于所述磨盘壳上并围设于所述打磨盘的外周，所述打磨盘开设有吸尘孔，所述吸尘孔与所述吸尘管连通。因而在打磨驱动件433的动力驱动下，打磨盘上的磨棱能够对墙壁实现连续磨削磨平，完成高质高效打磨作业。由于毛刷外设在打磨盘外周，因而能够防止打磨过程中产生的粉尘外溢，造成环境污染。由于吸尘管与吸尘器52连接，粉尘便能够通过吸尘孔吸入吸尘管并最终进入吸尘器52被滤除掉，这种边打磨边吸尘净化的作业方式，可以有效兼顾作业效率和环境卫生，防止粉尘对设备或工人造成损害。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (15)

  1. 一种打磨机器人，包括：
    轨架；
    主行走装置，所述主行走装置移动设置于所述轨架上，且所述主行走装置上设置有打磨执行装置；及
    副行走装置，所述副行走装置移动设置于所述轨架上并用于与所述主行走装置协同配合，且所述副行走装置上设置有打磨辅助装置，所述打磨辅助装置用于辅助所述打磨执行装置进行打磨作业。
  2. 根据权利要求1所述的打磨机器人，其中，所述打磨执行装置包括设置于所述主行走装置上的升降驱动机构、与所述升降驱动机构连接的伸缩顶靠机构及与所述伸缩顶靠机构连接的浮动打磨装置，所述打磨辅助装置包括分别设置于所述副行走装置上的电控箱、吸尘器和电池，所述升降驱动机构、所述伸缩顶靠机构、所述浮动打磨装置以及所述吸尘器均与所述电控箱电连接，所述吸尘器还与所述浮动打磨装置连接，所述电池与所述电控箱电连接。
  3. 根据权利要求2所述的打磨机器人，其中，所述轨架包括爬架及分别设置于所述爬架上下两端的天轨和地轨，所述主行走装置和所述副行走装置均包括机架、设置于所述机架顶端的第一行走小车及设置于所述机架底端的第二行走小车，所述第一行走小车可移动地设置于所述天轨上，所述第二行走小车可移动地设置于所述地轨上。
  4. 根据权利要求3所述的打磨机器人，其中，所述第一行走小车包括设置于所述机架上的第一转动关节、与所述第一转动关节连接的第一行走底盘、设置于所述第一行走底盘上的第二转动关节及与所述第二转动关节连接的第一导向行走轮组，所述第一导向行走轮组与所述天轨滚轮配合。
  5. 根据权利要求4所述的打磨机器人，其中，所述第二行走小车包括第二行走底盘、设置于所述第二行走底盘上的行走驱动件、设置于所述第二行走底盘上并与所述行走驱动件驱动连接的行走轮组、连接于所述第二行走底盘与所述行走轮组之间的第三转动关节及设置于所述行走轮组上的第二导向行走轮组，所述行走轮组和所述第二导向行走轮组均与所述地轨配合。
  6. 根据权利要求3所述的打磨机器人，其中，所述升降驱动机构包括设置于机架上的升降驱动组件、设置于所述机架上并与所述升降驱动组件连接的主动轮、设置于所述机架上并与所述主动轮纵向间隔布置的从动轮、套装于所述主动轮和所述从动轮上的传动件、设置于所述传动件上的安装块、与所述安装块连接的第一连接板及设置于所述第一连接板上的升降导轮组，所述机架设有升降轨道，所述升降导轮组可移动地设置于所述升降轨道内。
  7. 根据权利要求6所述的打磨机器人，其中，所述升降驱动机构还包括分别设置于所述机架上并均与所述电控箱电连接的上行限位开关和下行限位开关，所述上行限位开关靠近所述主动轮布置，所述下行限位开关靠近所述从动轮布置。
  8. 根据权利要求6所述的打磨机器人，其中，所述升降驱动机构还包括设置于所述第一连接板上的整线板；和/或所述升降驱动机构还包括设置于所述第一连接板上的刮灰板。
  9. 根据权利要求6所述的打磨机器人，其中，所述伸缩顶靠机构包括与所述第一连接板组装固定的第二连接板、设置于所述第二连接板上的第一连接座、与所述第一连接座连接的伸缩臂组、与所述伸缩臂组连接的第二连接座，所述浮动打磨装置设置于所述第二连接座上。
  10. 根据权利要求9所述的打磨机器人，其中，所述伸缩臂组包括伸缩驱动件和并排间隔布置的第一伸缩臂和第二伸缩臂，所述伸缩驱动件包括相互连接的驱动座及驱动臂，所述驱动座铰接于所述第二伸缩臂上，所述驱动臂铰接于所述第一伸缩臂上，所述第一伸缩臂的两端分别铰接于所述第一连接座和所述第二连接座上，所述第二伸缩臂的两端分别铰接于所述第一连接座和所述第二连接座上。
  11. 根据权利要求9所述的打磨机器人，其中，所述伸缩顶靠机构还包括用于输出旋转 驱动力的旋转驱动支撑，所述旋转驱动支撑设置于所述第二连接板上并与所述第一连接座连接。
  12. 根据权利要求11所述的打磨机器人，其中，所述伸缩顶靠机构还包括旋转摆动组件，所述旋转摆动组件包括与所述第二连接座连接的旋转座、转动套装于所述旋转座上的旋转平台及设置于所述旋转座上并与所述旋转平台驱动连接的驱动电机，所述浮动打磨装置与所述旋转平台连接。
  13. 根据权利要求2至12任一项所述的打磨机器人，其中，所述浮动打磨装置包括安装座、打磨头、打磨驱动件及旋转浮动机构，所述安装座包括固定板及与所述固定板间隔设置的托座，所述打磨头设置于所述固定板上，所述打磨驱动件设置于所述固定板与所述托座之间并与所述打磨头驱动连接，所述旋转浮动机构包括弹性浮动体、套筒及万向球，所述套筒的一端与所述打磨头固定连接，所述万向球转动嵌套于所述套筒内并与所述打磨头相抵，所述弹性浮动体连接于所述万向球与所述托座之间。
  14. 根据权利要求13所述的打磨机器人，其中，所述旋转浮动机构的数量为四个，四个所述旋转浮动机构呈矩形布置并均连接于所述固定板与所述托座之间；所述万向球包括球体及与所述球体连接的杆体，所述球体转动嵌套于所述套筒内并与所述打磨头相抵，所述托座包括座体及设置于所述座体上的导向轴，所述杆体与所述导向轴刚性连接，所述弹性浮动体套装于所述导向轴上，且所述弹性浮动体抵压设置于所述套筒与所述座体之间。
  15. 根据权利要求14所述的打磨机器人，其中，所述浮动打磨装置还包括压力传感器和传感器固定座，所述座体包括间隔并排设置的第一托板和第二托板，所述导向轴设置于所述第二托板上并滑动贯穿设置于所述第一托板上，所述压力传感器设置于所述第二托板上并与所述第一托板相抵；所述传感器固定座设置于所述第二托板上并与所述压力传感器固定。
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