WO2022142670A1 - Dispositif d'aspiration de poussière et robot de ponçage du sol - Google Patents

Dispositif d'aspiration de poussière et robot de ponçage du sol Download PDF

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Publication number
WO2022142670A1
WO2022142670A1 PCT/CN2021/127299 CN2021127299W WO2022142670A1 WO 2022142670 A1 WO2022142670 A1 WO 2022142670A1 CN 2021127299 W CN2021127299 W CN 2021127299W WO 2022142670 A1 WO2022142670 A1 WO 2022142670A1
Authority
WO
WIPO (PCT)
Prior art keywords
dust
bracket
dust suction
dust collector
frame
Prior art date
Application number
PCT/CN2021/127299
Other languages
English (en)
Chinese (zh)
Inventor
周献华
孙杰
张坤
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 WO2022142670A1 publication Critical patent/WO2022142670A1/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
    • B24B7/186—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like with disc-type tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2842—Suction motors or blowers
    • 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
    • B24B37/00—Lapping machines or devices; Accessories
    • B24B37/34—Accessories
    • 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
    • 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
    • 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
    • B24B55/12—Devices for exhausting mist of oil or coolant; Devices for collecting or recovering materials resulting from grinding or polishing, e.g. of precious metals, precious stones, diamonds or the like
    • 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 floor grinder is an automatic equipment for grinding or grinding concrete floors. It is mainly used to remove the laitance on the concrete surface after it is completely dry, so as to carry out the subsequent floor surface construction work.
  • Floor grinding construction includes dry grinding and wet grinding. Among them, dry grinding will generate a lot of dust, therefore, it is usually necessary to use a high-power industrial vacuum cleaner for dust collection during the grinding process.
  • the dust suction cylinder is movably installed on the frame, and the bottom of the dust suction cylinder is provided with a dust drop port;
  • a position detector which is used for detecting the displacement of the dust suction cylinder and outputting a corresponding detection value.
  • the power element can be shut down in time, and the When the negative pressure disappears, the dust can fall into the dust collection container from the dust drop port, and then the dust in the dust collection container is collected manually, and the replacement of the dust collection container is completed. Then the dust collector can return to the initial equilibrium position under the action of the elastic element, so as to facilitate the next grinding operation.
  • the vacuuming device of this solution can monitor the amount of dust inhaled in real time without shutting down the power parts, so as to ensure that the dust can be cleaned in time, which can effectively improve the operation efficiency and the dust-absorbing effect.
  • a cover plate is rotatably connected to the bottom of the dust collector, and a counterweight is provided on the rotational connection side of the cover plate, and the counterweight block is used to keep the cover plate upward. Turn to cover the tendency of the dust outlet.
  • the present application also proposes a floor grinding robot, which includes a grinding device and the above-mentioned dust collecting device, wherein the grinding device is installed on the frame, and the grinding device is connected with the dust suction cylinder through a dust suction pipe.
  • FIG. 1 is a schematic structural diagram of a floor grinding robot according to an embodiment of the present invention.
  • FIG. 5 is a partial cross-sectional schematic diagram of the vacuum cleaner of the floor grinding robot in FIG. 1;
  • FIG. 7 is a schematic view of the state in which the cover plate of the dust collector in FIG. 5 opens the blanking opening.
  • a dust collector provided by an embodiment of the present invention includes a frame 11 , a dust collector 20 , a power member 30 , an elastic member 50 and a position detector 60 .
  • the dust suction cylinder 20 is installed on the frame 11 so as to be movable up and down, and a dust drop port 201 is provided at the bottom of the dust suction cylinder 20 .
  • the power member 30 is connected with the dust suction cylinder 20 to generate a negative pressure environment in the dust suction cylinder 20 .
  • the dust collecting container 40 is connected to the dust drop port 201 .
  • the elastic member 50 can be deformed along with the movement of the dust collector 20 , and the elastic member 50 is used to keep the upward movement and reset trend of the dust collector 20 .
  • the position detector 60 is used to detect the displacement of the dust collector 20 and output a corresponding detection value.
  • the frame 11 is used to form the main body support structure
  • the dust collector 20 is the main place where dust gathers
  • a filter element 21 may be provided inside the dust collector 20
  • the power element 30 is used to generate negative pressure in the dust collector 20 environment to provide power for the entry of external dust into the dust canister 20 .
  • the power element 30 can be a vortex fan
  • the vortex fan is connected to the dust suction cylinder 20 through an air outlet pipe 80
  • a dust suction pipe 90 can be connected to the dust suction port of the dust suction cylinder 20.
  • the vacuuming device specifically relates to a vacuuming device for a floor grinding robot.
  • the vacuuming device can cooperate with the grinding device 100 to work synchronously, so that the dust in the grinding device 100 can be removed during the grinding process. Clean up in time.
  • FIG. 1 shows a schematic structural diagram of a floor grinding robot according to an embodiment of the present invention.
  • the floor grinding robot provided by an embodiment of the present invention includes a grinding device 100 and a dust suction device.
  • the grinding device 100 is installed on the On the frame 11 of the vacuum cleaner, the grinding device 100 is connected to the dust collector 20 of the vacuum cleaner through a vacuum pipe 90 .
  • the grinding device 100 includes a grinding disc installed at the bottom of the frame 11 near the front side, and the floor grinding operation is performed through the grinding disc.
  • the dust suction device is turned on, so that the inside of the dust suction cylinder 20 is in a negative pressure state, and the dust generated in the grinding disc is sucked into the dust suction cylinder 20 through the dust suction pipe 90 .
  • dust collection can be achieved while grinding, which can effectively improve work efficiency, and can avoid environmental pollution caused by a large amount of dust generated during the dry grinding process.
  • the floor grinding robot further includes a controller, and the grinding device 100 and the vacuuming device are respectively electrically connected to the controller, and the controller is used for receiving the detection value output by the position detector 60 and the preset value.
  • the control power member 30 and the grinding device 100 stop working.
  • the detection value of the position detector 60 when the dust collector 20 is fully loaded can be pre-calculated as a preset value, and when the detection value output by the position detector 60 matches the preset value, the controller controls the power element 30 (eg The vortex fan) and the grinding device 100 automatically stop working, so that the subsequent workers can clean up the dust and replace the dust collecting container 40, which saves time and effort, and is convenient and quick.
  • the dust sucked by the dust collector 20 falls into the dust collecting container 40.
  • the dust collecting container 40 and It is not filled with dust; when the vacuuming operation is continued, there is no need to manually collect the dust collecting container 40 that is not filled with dust in advance, and the grinding operation can be restarted directly.
  • the dust is monitored together with the total weight of the dust collected in the dust collector 20.
  • the dust collector 20 continues to move downward and deforms the elastic member 50.
  • the position detector 60 can Continue to detect the displacement of the dust collector 20 until the output value of the position detector 60 matches the preset value. The dust can fall into the dust collecting container 40, and the dust can be collected manually at one time, which saves time and effort, and can effectively improve the work efficiency.
  • the frame 11 is provided with a vertically extending fixed shaft 111
  • the outer side of the dust suction cylinder 20 is provided with a bracket 22
  • the bracket 22 and the fixed shaft 111 are slidable
  • the elastic member 50 is sleeved on the fixed shaft 111
  • the top end of the elastic member 50 is in elastic contact with the bracket 22
  • the bottom end of the elastic member 50 is elastically in contact with the frame 11 .
  • a fixing frame 112 can be provided on the frame 11.
  • the fixing frame 112 is generally in a "scratch" type structure, and the two ends of the fixing shaft 111 are respectively connected to the fixing frame.
  • the upper and lower sides of the 112 are connected and fixed; of course, in other embodiments, the fixed shaft 111 can also be directly welded on the frame 11 .
  • a bracket 22 is provided on the outer side of the dust collector 20, wherein the bracket 22 and the dust collector 20 can be connected together by welding, fastener connection or integral molding. Through the sliding cooperation between the bracket 22 and the fixed shaft 111, the up and down movement of the dust suction cylinder 20 can be well guided. 22 and the dust collector 20 play a supporting role.
  • the elastic member 50 can be a spring.
  • the vacuuming cylinder 20 and the bracket 22 press the spring by their own weight, so as to give a pre-pressure to the spring.
  • the dust accumulated continuously, and the spring is compressed; when the dust is cleaned, the spring releases elastic potential energy, which can drive the dust collector 20 to reset upward.
  • the bracket 22 is provided with a linear bearing 23 , and the linear bearing 23 is slidably fitted with the fixed shaft 111 .
  • the motion stability of the dust collector 20 can be further improved, and at the same time, the accuracy of the final detection result can be ensured.
  • the sliding connection between the dust collecting cylinder 20 and the frame 11 may also be realized by using the matching structure of the guide rail and the slider.
  • a cover plate 24 is rotatably connected to the bottom of the dust collector 20 , and a counterweight block 25 is provided on the rotational connection side of the cover plate 24 .
  • the counterweight block 25 It is used to keep the tendency of the cover plate 24 to rotate upward to cover the dust outlet 201 .
  • the dust drop port 201 at the bottom of the vacuum cleaner 20 is inclined, and correspondingly, the cover plate 24 is also inclined.
  • the block 25 is generally triangular in structure, and the counterweight block 25 is installed on the rotational connection side of the cover plate 24 (ie, the side provided with the pin shaft 26 ).
  • the cover plate 24 Under the combined action of its own gravity and the gravity of the counterweight 25 , the cover plate 24 is always fastened on the dust suction cylinder 20 around the pin 26 to cover the dust drop port 201 .
  • the cover plate 24 rotates downward under the action of the gravity of the dust, so that the dust drop port 201 is opened, so that the dust can smoothly enter the dust collecting container 40 .
  • the dust collector further includes a support assembly 70 , the support assembly 70 includes a bracket 71 and a hanger 72 , and the bracket 71 is used to support the dust collecting container 40 , the hanger 72 connects the bracket 71 with the dust collector 20 .
  • the bracket 71 can play a supporting role for the dust collecting container 40 , so that when a large amount of dust falls into the dust collecting container 40 , the dust collecting container 40 can be prevented from being loosened from the dust collecting cylinder 20 .
  • the hanger 72 extends vertically, the top of the hanger 72 is connected and fixed with the bracket 22 of the dust collector 20 , the bracket 71 extends in the horizontal direction, and one side of the bracket 71 is connected to the bottom of the hanger 72 . Since the support assembly 70 and the dust collector 20 are fixedly connected as a whole, during the cleaning process, the support member 70 can move together with the dust collector 20, so the signal output by the position detector represents the dust collector. 20.
  • the overall displacement of the dust collecting container 40 and the supporting assembly 70, etc. can monitor the overall weight of the dust collecting container 20, the dust collecting container 40 and the supporting assembly 70, which can be well applied to intermittent grinding operations. Or the case where the power unit 30 is turned off in the middle.
  • the support assembly 70 further includes a limit rod 73 and a reset member 74
  • the bracket 71 is rotatably connected to the hanger 72
  • one end of the limit rod 73 is rotatably connected to the bracket 71
  • the other One end is provided with a limit slot movably connected with the hanger 72
  • the limit rod 73 is used to limit the rotation angle of the bracket 71 within a preset range
  • the reset piece 74 is connected between the bracket 71 and the hanger 72
  • reset The members 74 are used to keep the brackets 71 in a vertical tendency relative to the hangers 72 . Specifically, as shown in FIG.
  • the floor grinding robot When returning to the level ground, the bracket 71 can be automatically reset under the action of the reset member 74 (such as a gas spring), so that the bracket 71 is reset to a position perpendicular to the hanger 72 . In this way, during the whole process of the floor grinding robot going up the slope and returning to the horizontal plane, there is no need to manually retract the bracket 71, which is convenient and quick to use.
  • the reset member 74 such as a gas spring
  • the floor grinding robot further includes a front support frame 14 disposed on the side of the frame 11 away from the tailstock 12 , and the front support frame 14 has a retracted position that is retracted upward relative to the frame 11 .
  • the frame 11 is provided with traveling wheels 15
  • the tail frame 12 and the front support frame 14 are respectively provided with support wheels 16.
  • the front support frame 14 can be retracted upward, and the grinding device 100 can just be in contact with the ground at this time; as shown in FIG.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with “first”, “second” may expressly or implicitly include at least one of that feature.
  • plurality means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Grinding-Machine Dressing And Accessory Apparatuses (AREA)

Abstract

La présente invention concerne un dispositif d'aspiration de poussière et un robot de ponçage du sol. Le dispositif d'aspiration de poussière comprend : un bâti de machine ; une cuve d'aspiration de poussière qui est montée mobile sur le bâti de machine, et le fond de la cuve d'aspiration de poussière étant pourvu d'une sortie de poussière ; un élément d'alimentation qui est relié à la cuve d'aspiration de poussière, de sorte qu'un environnement de pression négative est généré dans la cuve d'aspiration de poussière ; un récipient de collecte de poussière qui est relié à la sortie de poussière ; un élément élastique qui peut être déformé conjointement avec le mouvement de la cuve d'aspiration de poussière, l'élément élastique étant utilisé pour faire en sorte que la cuve d'aspiration de la poussière maintient une tendance à se déplacer vers le haut et à se réinitialiser ; et un détecteur de position qui est utilisé pour détecter le déplacement de la cuve d'aspiration de poussière et délivrer en sortie une valeur de détection correspondante. Le dispositif d'aspiration de poussière selon la présente invention peut surveiller la quantité d'aspiration de poussière en temps réel lorsque l'élément d'alimentation n'est pas éteint, de manière à garantir que la poussière puisse être nettoyée en temps voulu, augmentant ainsi efficacement l'efficacité de fonctionnement et améliorant l'effet d'aspiration de poussière.
PCT/CN2021/127299 2020-12-29 2021-10-29 Dispositif d'aspiration de poussière et robot de ponçage du sol WO2022142670A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011591522.5A CN114750016A (zh) 2020-12-29 2020-12-29 吸尘装置和地坪研磨机器人
CN202011591522.5 2020-12-29

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Cited By (2)

* Cited by examiner, † Cited by third party
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CN117047319A (zh) * 2023-10-11 2023-11-14 杭州至信汽车配件制造有限公司 一种汽车配件加工用激光切割机器人
WO2024084016A1 (fr) * 2022-10-20 2024-04-25 Husqvarna Ab Extracteur de poussière avec un ou plusieurs capteurs de charge

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* Cited by examiner, † Cited by third party
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WO2024084016A1 (fr) * 2022-10-20 2024-04-25 Husqvarna Ab Extracteur de poussière avec un ou plusieurs capteurs de charge
CN117047319A (zh) * 2023-10-11 2023-11-14 杭州至信汽车配件制造有限公司 一种汽车配件加工用激光切割机器人
CN117047319B (zh) * 2023-10-11 2024-01-09 杭州至信汽车配件制造有限公司 一种汽车配件加工用激光切割机器人

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