WO2023098342A1 - 打磨机构及打磨机器人 - Google Patents

打磨机构及打磨机器人 Download PDF

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Publication number
WO2023098342A1
WO2023098342A1 PCT/CN2022/127293 CN2022127293W WO2023098342A1 WO 2023098342 A1 WO2023098342 A1 WO 2023098342A1 CN 2022127293 W CN2022127293 W CN 2022127293W WO 2023098342 A1 WO2023098342 A1 WO 2023098342A1
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WO
WIPO (PCT)
Prior art keywords
module
grinding
dust
synchronous
spline shaft
Prior art date
Application number
PCT/CN2022/127293
Other languages
English (en)
French (fr)
Inventor
周逛
杨海
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
Priority claimed from CN202111444750.4A external-priority patent/CN116197755A/zh
Priority claimed from CN202111465219.5A external-priority patent/CN116214299A/zh
Priority claimed from CN202111465230.1A external-priority patent/CN116214300A/zh
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 WO2023098342A1 publication Critical patent/WO2023098342A1/zh

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/04Headstocks; Working-spindles; Features relating thereto
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B7/00Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
    • B24B7/10Single-purpose machines or devices
    • B24B7/18Single-purpose machines or devices for grinding floorings, walls, ceilings or the like

Definitions

  • the present application relates to the technical field of construction robots, for example, to a grinding mechanism and a grinding robot.
  • the plane grinding device includes a grinding assembly and a power assembly.
  • the power assembly includes: a spline shaft, including a spline segment with spline teeth, and the spline segment is connected to the grinding assembly in transmission; the power shaft is provided with a mounting hole in the axial direction, At least part of the spline shaft is passed through the installation hole, and the end of the installation hole is provided with an inner spline keyboard and an outer spline keyboard, which are sleeved on the spline section, and the power shaft and spline The key shaft is connected through the inner flower keyboard and the outer flower keyboard.
  • the inner flower keyboard and the outer flower keyboard can prevent dust from entering the installation hole.
  • One of the outer flower keyboard and the inner flower keyboard is on the edge of the inner ring near the other side There is a stepped inner groove; the rotating motor is connected with the power shaft to drive the grinding component to grind the construction plane.
  • the automatic grinding device in the related art has the following disadvantages: the spline is sliding friction, and the frictional resistance is large.
  • the present application provides a grinding mechanism, which can improve the poor grinding quality of the grinding device in the related art.
  • the present application also provides a grinding robot, which includes the above grinding mechanism.
  • Embodiments of the present application provide a grinding mechanism, comprising:
  • a spline nut the spline nut is mounted on the base;
  • spline shaft passes through the spline nut
  • a grinding disc module the grinding disc module is connected to one end of the spline shaft;
  • the linear drive module is arranged on the base, and is configured to push the spline shaft to move axially so that the grinding disc module is pressed against the working surface;
  • a rotation driving module is arranged on the base, and is configured to drive the spline nut to rotate to drive the spline shaft to rotate, so as to rotate the grinding disc module to grind the working surface.
  • Embodiments of the present application provide a grinding robot, including:
  • the grinding mechanism is connected to the end of the mechanical arm.
  • Fig. 1 is the schematic diagram of the polishing robot that the embodiment of the present application provides;
  • Figure 2 is an exploded view of the grinding mechanism
  • Fig. 3 is a sectional view of the grinding mechanism
  • Fig. 4 is the schematic diagram of installing cylinder
  • FIG. 5 is a schematic diagram of a linear drive module
  • Fig. 6 is the schematic diagram of housing
  • Fig. 7 is a schematic diagram of the cooperation between the rotary drive module and the mounting plate, the spline shaft and the spline nut;
  • Fig. 8 is a partial sectional view of Fig. 7;
  • Fig. 9 is a partially enlarged view of part L of Fig. 8.
  • Fig. 10 is a schematic diagram of the first dustproof module
  • Figure 11 is an exploded view of Figure 10
  • Figure 12 is a sectional view of Figure 10
  • Fig. 13 is a partially enlarged view of part M of Fig. 12;
  • Fig. 14 is a partially enlarged view of part N of Fig. 12;
  • Fig. 15 is a schematic diagram of a state when the spline shaft cooperates with the first dustproof module
  • Fig. 16 is a schematic diagram of another state when the spline shaft cooperates with the first dustproof module
  • Fig. 17 is a schematic diagram of the shape change of the first dust-proof film
  • Figure 18 is a schematic diagram of the grinding disc module
  • Fig. 19 is a schematic diagram from another perspective of Fig. 18;
  • Fig. 20 is a partial sectional view of a power assembly in the related art
  • Figure 21 is a partial exploded view of a power assembly in the related art
  • Figure 22 is a schematic diagram of the cooperation between the grinding disc module and the spline shaft
  • Fig. 23 is a partial sectional view of Fig. 22;
  • Figure 24 is an exploded view of Figure 22;
  • Fig. 25 is a schematic diagram of an adjustment structure composed of a floating shaft and a spring in the related art
  • Fig. 26 is a schematic diagram of the lifting mechanism provided by the embodiment of the present application.
  • Figure 27 is an exploded view of Figure 26;
  • Fig. 28 is the front view of Fig. 1 after the first-level lifting unit and the second-level lifting unit are hidden;
  • Figure 29 is an exploded view of Figure 28;
  • Figure 30 is a cross-sectional view along the A-A direction of Figure 28;
  • Figure 31 is a cross-sectional view along the B-B direction of Figure 28;
  • Figure 32 is a partially enlarged view of part C of Figure 31;
  • Figure 33 is a schematic diagram of a first-level lifting unit
  • Figure 34 is a cross-sectional view of the D-D direction of Figure 33;
  • Figure 35 is an exploded view of Figure 33;
  • Figure 36 is an exploded view of the secondary lifting unit
  • Figure 37 is a schematic diagram after the lifting mechanism is raised
  • FIG. 38 is a partially enlarged view of part E of FIG. 37 .
  • Second bearing 631. Shaft spacer; 64. First dust-proof film; 651 , the first pressure ring; 652, the second pressure ring; 66, the second guide rod; 67, the roller group; 68, the bearing cover; 69, the suction nozzle; 70, the outer cover; 71, the cover body; 711, the bottom wall; 712, side wall; 72, safety contact edge; 73, brush; 81, bearing seat; 811, body; 812, universal ball contact block; 82, first bearing; 821, bearing pressing block; 83, first guide Rod; 84, limit part; 85, limit pad; 1101, grinding bottom plate; 1102, flexible disk; 1103, sandpaper; 120, self-adaptive module; 1201, self-aligning ball bearing; 12022, transmission part; 120221, cross groove; 1203, rotating transmission part; 12031, second connection part; 12032, toggle part; 1204, self-aligning bearing cover; 130, second dustproof module; , second dust-proof film;
  • setting and "connection” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, It can also be an electrical connection; it can be a direct connection, or an indirect connection through an intermediary, or an internal communication between two components.
  • connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, It can also be an electrical connection; it can be a direct connection, or an indirect connection through an intermediary, or an internal communication between two components.
  • the embodiment of the present application provides a grinding robot 1000, including:
  • the mechanical arm 200 is provided with the walking chassis 100 ; and the grinding mechanism 300 is connected to the end of the mechanical arm 200 .
  • the grinding robot 1000 can have better grinding quality by using the grinding mechanism 300 .
  • the walking chassis 100 and the robot arm 200 can refer to the chassis and the robot arm of the grinding equipment in the related art.
  • the grinding mechanism 300 includes:
  • a spline nut 21, the spline nut 21 is installed on the base;
  • the spline shaft 22 is passed through the spline nut 21;
  • grinding disc module 30 the grinding disc module 30 is connected to one end of the spline shaft 22;
  • the linear drive module 40 is disposed on the base, and is configured to push the spline shaft 22 to move axially so that the grinding disc module 30 is pressed against the working surface;
  • the rotary driving module 50 is arranged on the base, and is configured to drive the spline nut 21 to rotate to drive the spline shaft 22 to rotate, so as to rotate the grinding disc module 30 to grind the working surface.
  • the spline nut 21 has a rotating part and a fixed part, the fixed part is fixedly connected with the base, the rotating part is rotatably arranged on the fixed part, and the output end of the rotation driving module 50 is connected with the rotating part to drive the rotating part to rotate , the spline shaft 22 is passed through the rotating part.
  • the spline shaft 22 and the spline nut 21 form a ball spline, so that the frictional force received by the spline shaft 22 in the axial direction is rolling friction.
  • the rotary drive module 50 can drive the spline shaft 22 to rotate through the spline nut 21, and the linear drive module 40 can drive the spline shaft 22 to perform linear motion and make the grinding disc module 30 press against the working surface, so that the The grinding disc module 30 connected to the key shaft 22 can maintain pressure against the working surface while rotating and grinding, so that the grinding effect is better, and there is rolling friction between the spline shaft 22 and the spline nut 21, which will not Axial obstruction affects motion and pressure control.
  • the base includes a mounting plate 11 and a mounting cylinder 12, the mounting plate 11 is connected to the mounting cylinder 12, the linear drive module 40 is set in the inner cavity of the mounting cylinder 12, the rotary drive module 50 and the spline nut 21 Set on the mounting plate 11.
  • the installation barrel 12 can provide a shield for the linear drive module 40 to prevent the linear drive module 40 from being affected by dust, and the installation plate 11 provides an installation base for the rotary drive module 50 and the spline nut 21 .
  • the grinding mechanism 300 also includes a first dust-proof module 60 and an outer cover 70, the outer cover 70 is fixedly connected to the base, and the first dust-proof module 60 and the grinding disc module 30 are located at In the chamber of the outer cover 70 , in the axial direction of the spline shaft 22 , the grinding disc module 30 is located on the first side of the first dustproof module 60 , and the rotary drive module 50 and the linear drive module 40 are located on the first side of the first dustproof module 60 . On both sides, the spline shaft 22 passes through the first dustproof module 60 to connect with the grinding disc module 30 .
  • the outer cover 70 can be arranged on the outside of the grinding disc module 30 , so that the impurities produced by the grinding disc module 30 will not float around, and the first dustproof module 60 can protect the rotary driving module 50 and the linear driving module 40 .
  • the outer cover 70 includes a cover body 71, a safety edge 72 and a brush 73, the cover body 71 includes a bottom wall 711 and a side wall 712, the side wall 712 is surrounded by the bottom wall 711, and the side wall 712 The first end is connected to the bottom wall 711 , the brush 73 is disposed on the second end of the side wall 712 , the bottom wall 711 is fixed to the base, and the safety contact edge 72 is disposed on the outer surface of the side wall 712 .
  • the bottom wall 711 is fixedly connected with the mounting plate 11
  • the motor 51 is located outside the cover body 71 and the motor shaft passes through the bottom wall 711
  • the spline nut 21 also passes through the bottom wall 711
  • the sealing disc 61 below is pressed against the side wall 712. And maintain a fixed position relative to the mounting plate 11 .
  • the safety touch edge 72 can touch the obstacle and give feedback, so that the mechanical arm 200 stops, preventing the mechanical arm 200 from continuing to move on the original track, causing the cover body 71 to be damaged and damage the internal components, and the brush 73 can move with the cover body 71 During the process, remove the dust attached to the work surface after grinding.
  • the hair brush 73 is a wool brush, which avoids damaging the working surface, and can effectively form a dense barrier to prevent dust from spilling out of the cover 71 .
  • the linear drive module 40 includes:
  • linear drive member 41 the linear drive member 41 is fixed on the base;
  • the universal ball 42 is rotatably mounted on the output end of the linear drive member 41 , and the universal ball 42 is set to abut against the bearing seat 81 .
  • the low-friction cylinder used in this embodiment is used as the linear drive member 41 , and the universal ball 42 is connected to the output end of the low-friction cylinder through the universal ball mounting seat 43 and the mounting screw 44 .
  • the installation cylinder 12 includes a main support cylinder 121.
  • the second end of the main support cylinder 121 is used to connect the installation plate 11.
  • the first end is provided with a cylinder installation plate 45 for installing a low-friction cylinder.
  • the cylinder installation plate 45 can pass through the installation flange. 46 is connected with the end of the mechanical arm 200.
  • An electrical proportional valve mounting piece 47 can be set on the mounting flange 46 to install the electrical proportional valve. By adjusting the input value of the electrical proportional valve, the output pressure of the low-friction cylinder can be adjusted and kept constant. There is a pipe on the low-friction cylinder. Connector 48 to connect the electric proportional valve. By designing the structure of the installation cylinder 12, the low-friction cylinder can be conveniently installed, and can be connected with the mechanical arm 200, and can also be used to install an electric proportional valve to conveniently control the output force of the low-friction cylinder.
  • the universal ball 42 and the bearing seat 81 can roll and fit, on the one hand, the driving force of the linear drive member 41 can be transmitted in the axial direction of the spline shaft 22, and on the other hand, the reaction force brought by the working surface can be removed in the radial direction, preventing the linear
  • the output end of the driving member 41 is damaged by the reaction force to affect normal driving.
  • the grinding mechanism 300 also includes:
  • the bearing seat 81 is slidably mounted on the base along the axial direction of the spline shaft 22;
  • the first bearing 82, the first bearing 82 is arranged on the bearing seat 81, and the end of the spline shaft 22 away from the grinding disc module 30 is installed on the bearing seat 81 through the first bearing 82;
  • the linear drive module 40 is configured to act on the bearing seat 81 to push the spline shaft 22 to move in the axial direction.
  • the first bearing 82 enables the spline shaft 22 to keep rotating relative to the bearing seat 81 , and the bearing seat 81 can facilitate the transmission of the driving force of the linear drive module 40 .
  • the grinding mechanism 300 further includes: a first guide rod 83 , the first guide rod 83 is fixed on the base and arranged parallel to the spline shaft 22 , and the bearing seat 81 is slidably sleeved on the first guide rod 83 .
  • the first guide rod 83 can prevent the rotation of the bearing seat 81 and guide the movement direction of the bearing seat 81 .
  • the first guide rod 83 is provided with a limiting portion 84 for limiting the stroke of the bearing seat 81 .
  • the limiting portion 84 can assist in adjusting the linear motion stroke of the spline shaft 22 , avoiding uncontrolled pressure caused by excessive movement, and avoiding interference between the bearing seat 81 and the spline nut 21 .
  • the bearing seat 81 includes a body 811 and a universal ball contact block 812
  • the first bearing 82 is an angular contact ball bearing
  • the spline shaft 22 is in angular contact with the bearing pressing block 821
  • the inner ring of the ball bearing is fixedly connected
  • the outer ring of the angular contact ball bearing is fixedly connected with the body 811 of the bearing housing 81
  • the universal ball contact block 812 is arranged on the upper side of the body 811 .
  • the limiting part 84 is fixed on the mounting plate 11, the body 811 and the universal ball contact block 812 are sleeved on the first guide rod 83 and located above the limiting part 84, and can be between the body 811 and the limiting part 84
  • the limit block 85 is detachably set to change the limit travel range.
  • the limiting portion 84 in this embodiment is a limiting sleeve, which can be used as a part of the first guide rod 83 , or can be installed separately and inserted into a rod to form the first guide rod 83 .
  • the universal ball 42 and the bearing seat 81 are rolled and fitted, the main reason is that the universal ball 42 is against the universal ball contact block 812, and the contact with the universal ball contact block 812 is a rolling point contact, and only the normal force can be transmitted. (that is, the axial force along the spline shaft 22), so that the output end of the low-friction cylinder can be prevented from being subjected to a large radial force and the service life will be affected.
  • the rotary drive module 50 comprises a motor 51, a first synchronous wheel 52, a second synchronous wheel 53 and a synchronous belt 54, the motor 51 is arranged on the base, and the output end of the motor 51 is connected to the first synchronous wheel 52, the second synchronous wheel 53 is connected to the spline nut 21, and the first synchronous wheel 52 and the second synchronous wheel 53 are connected through a synchronous belt 54.
  • the motor 51 can drive the spline nut 21 to rotate through the transmission of the first synchronous wheel 52 , the second synchronous wheel 53 and the synchronous belt 54 , so that the spline shaft 22 rotates.
  • the brushless DC motor used in this embodiment, and the diameters of the first synchronous wheel 52 and the second synchronous wheel 53 can be designed respectively to adjust the transmission ratio.
  • the disk 61 is fixed on the outer cover 70 and has a through hole for the spline shaft 22 to pass through.
  • the outer periphery of the sealing disk 61 is provided with a sealing rubber strip 611.
  • the floating disk 62 is installed on the spline shaft 22 through the second bearing 63. The floating disk 62 can follow the The spline shaft 22 moves in the axial direction, and the first dust-proof film 64 is arranged around the spline shaft 22.
  • the first end of the first dust-proof film 64 is connected to the sealing disc 61 through the first pressure ring 651, and the second end is connected to the sealing disc 61 through the second
  • the pressure ring 652 is connected to the floating plate 62 .
  • the first pressure ring 651 and the second pressure ring 652 can stably fix the first dustproof film 64 between the sealing disk 61 and the floating disk 62 .
  • the first dust-proof module 60 also includes a second guide rod 66 and a roller set 67, the second guide rod 66 is fixed on the floating plate 62 and arranged parallel to the spline shaft 22, the roller set 67 is arranged on the sealing plate 61, and the roller set 67 includes For the two rollers arranged in pairs, the second guide rod 66 is inserted into the gap between the two rollers and is rollingly matched with the rollers.
  • the second bearing 63 is a dust-proof bearing, the outer ring of which is installed on the floating plate 62 through the bearing cover 68 , the inner ring is loosely fitted and fixed on the spline shaft 22 , and the lower end of the inner ring is provided with a shaft spacer 631 .
  • a dust suction nozzle 69 is installed on the sealing disc 61 , which can be connected to an external suction device to suck the dust contained in the cover body 71 after grinding.
  • the first dust-proof film 64 is installed between the floating plate 62 and the sealing plate 61 , which can protect the rotary drive module 50 and the linear drive module 40 , prevent impurities from grinding from entering, and also avoid affecting the movement of the spline shaft 22 .
  • the floating disc 62 can be prevented from rotating along with the spline shaft 22 , and tearing of the first dust-proof film 64 can be avoided.
  • the first dust-proof film 64 is made of soft material, and is in the middle position of the movement stroke of the spline shaft 22 in the middle state, and as the spline shaft 22 moves forward or backward, the first dust-proof film
  • the dust film 64 also has two limit states.
  • FIG. 15 and FIG. 16 show the position of the first dust-proof film 64 in the two limit states. In the two limit states, please refer to FIG.
  • the first dust-proof film 64 itself is ring-shaped. Before installation, the radius of its outer circle is slightly larger than the radius of the boss of the sealing disc 61 . When it is installed, its outer circle is flush with the edge of the boss. This makes the first dust-proof film 64 slightly wrinkled in the middle state, but in the limit state, it can also avoid being stretched by the spline shaft 22 to generate stress, and will not hinder the movement of the spline shaft 22. The whole is basically in the The constrained state does not interfere with the work of other parts.
  • the first dust-proof film 64 in this embodiment is cut from a flat film, and its size determination method can be combined with FIG. 17 .
  • AB is the most tense state at the upper limit position of the membrane
  • AD is the most tense state at the lower limit
  • AC is the most relaxed state at the midpoint of the stroke
  • AB AC
  • BD is the entire stroke
  • the inner ring of the first dust-proof film 64 can be pressed directly by the second pressure ring 652 through screws, but when installing the outer ring, the first dust-proof film 64 should be creased in advance so that the outer ring of the first dust-proof film 64
  • the ring is flush with the outer edge of the boss of the sealing disc 61, and then the first pressure ring 651 is used to press down the screw.
  • the length of stroke BD is fixed at 30 mm, and the length of AC can be adjusted. If the structural size allows, AC can be as long as possible, which can reduce the bending angle ⁇ CAD of the first dust-proof film 64 and the length of tension and relaxation Difference.
  • the grinding disc module 30 is mainly composed of grid sandpaper 31 , Velcro 32 , and connecting mechanism 33 .
  • the connection mechanism 33 is installed on the spline shaft 22, the Velcro 32 is fixed on the connection mechanism 33, and the grid sandpaper 31 is fixed on the Velcro 32, and the spline shaft 22 applies pressure to the connection mechanism 33 and drives it to rotate, thereby
  • the grid sandpaper 31 can grind the working surface.
  • the grid sandpaper 31 can be easily disassembled on the Velcro 32, and the connecting mechanism 33 can be connected with the spline shaft 22, so that the grid sandpaper 31 can be used for grinding.
  • the grinding mechanism 300 also includes an adaptive module 120, and the adaptive module 120 includes a self-aligning ball bearing 1201, an adjustment transmission part 1202 and a rotation transmission part 1203, and the inner ring of the self-aligning ball bearing 1201 is connected to
  • the output end of the rotary drive module 50 i.e. the spline shaft 22 hereinafter
  • the outer ring of the self-aligning ball bearing 1201 is connected with the grinding disc module 30 through the adjustment transmission part 1202, and the rotary transmission part 1203 is arranged on the output of the rotary drive module 50 end;
  • the rotation transmission member 1203 can dial and adjust the rotation of the transmission member 1202 to make the grinding disc module 30 rotate.
  • the aligning angle of the self-aligning ball bearing 1201 used in this embodiment is less than or equal to 5°.
  • the grinding disc module 30 can pass through the self-adaptive module 120 Maintain a suitable grinding angle with the grinding surface, and the self-aligning ball bearing 1201 keeps the center of gravity of the grinding disc module 30 on the same straight line, which will not affect the rotating grinding work, and avoid the use of the grinding mechanism due to the center of gravity offset
  • the robotic arm 200 of the robot is damaged.
  • the adjustment transmission member 1202 includes a first connection part 12021 and a transmission part 12022, the first connection part 12021 is connected to the outer ring of the self-aligning ball bearing 1201 through the self-aligning bearing cap 1204, and the transmission part 12022 is connected to the outer ring of the self-aligning ball bearing 1201
  • the rotation transmission member 1203 has a gap, and when the rotation driving module 50 is working, the rotation transmission member 1203 can rotate to contact with the transmission part 12022 to drive the transmission part 12022 and the first connection part 12021 to rotate.
  • the gap between the transmission part 12022 and the rotating transmission part 1203 can allow the adjustment of the whole adjustment transmission part 1202 without hindering its movement.
  • the transmission part 12022 includes a cross groove 120221, and the rotating transmission member 1203 includes a second connecting part 12031 and a plurality of toggle parts 12032.
  • a plurality of toggle parts 12032 can be accommodated and there is a gap between the toggle parts 12032 (generally, it can be selected to be more than 1 mm).
  • the second connecting part 12031 is connected to the output end of the rotation driving module 50 .
  • the cross groove 120221 and the toggle part 12032 can cooperate with each other to ensure the uniform transmission of force and make the rotary grinding more stable.
  • the toggle part 12032 is a cam roller, and the rotation axis of the cam roller is perpendicular to the rotation axis of the output end of the rotary driving module 50 .
  • the cam roller can rotate itself so that there is rolling friction with the groove wall of the cross groove 120221 to reduce wear.
  • the grinding disc module 30 includes:
  • Sandpaper 1103 the sandpaper 1103 is connected to the first side of the flexible disc 1102 , the second side of the flexible disc 1102 is connected to the grinding bottom plate 1101 , and the grinding bottom plate 1101 is fixedly connected to the adjustment transmission member 1202 .
  • the flexible disk 1102 can reduce the impact between the grinding surface and prevent damage to the grinding surface, the sandpaper 1103 can polish the grinding surface, and the grinding bottom plate 1101 can be connected with the adjusting transmission member 1202 for transmission.
  • the flexible disc 1102 is detachably connected to at least one of the sandpaper 1103 and the sanding bottom plate 1101 . Through the detachable setting, it is convenient to replace parts in time to meet the grinding needs.
  • the hook surface of the Velcro 32 is provided on both sides of the flexible disk 1102 , and the suede surface of the Velcro 32 is correspondingly provided on the sandpaper 1103 and the sanding base 1101 .
  • this embodiment adopts a sponge disc as the flexible disc 1102 .
  • the grinding mechanism also includes a second dust-proof module 130, the second dust-proof module 130 includes a second dust-proof film 1301, a third pressure ring 1302 and a fourth pressure ring 1303, and the second dust-proof film 1301 is sleeved on the rotation drive module 50
  • the output end of the second dust-proof film 1301 is connected to the adjustment transmission member 1202 through the third pressure ring 1302, and the inner ring of the second dust-proof film 1301 is connected to the rotation transmission member 1203 through the fourth pressure ring 1303 to prevent dust Enter the area between the adjustment drive 1202 and the rotation drive 1203 .
  • the second dustproof film 1301 can effectively prevent dust from entering the adaptive module 120 .
  • the grinding mechanism also includes a reset module 140.
  • the reset module 140 includes a reset disc 1401 and an extension spring 1402.
  • the reset disc 1401 is fixed to the rotary transmission member 1203.
  • the reset disc 1401 is connected with the grinding disc module 30 through the extension spring 1402 and makes the grinding disc module 30 have A tendency to return to the initial state.
  • the reset disk 1401 can restore the rotating transmission member 1203 to the original state under the action of the tension spring 1402, so as to maintain the stability of the structure.
  • the grinding mechanism 300 of this embodiment When the grinding mechanism 300 of this embodiment is working, it can be driven by the mechanical arm 200 to move to the side of the working surface as a whole.
  • the grinding disc module 30 is driven by the mechanical arm 200 to approach the grinding surface, and the outer cover 70 is in contact with the working surface at the same time.
  • the low-friction cylinder pushes the spline shaft 22 to move to the working surface, and finally resists the working surface.
  • the driving force of the low-friction cylinder to the spline shaft 22 can be kept consistent and precisely controlled.
  • the grinding disc module 30 can be held against the working surface with a constant pressure, combined with the structure of the ball spline, it can prevent the spline shaft 22 from being subjected to axial sliding friction and affect the control of the pressure. Then the motor 51 drives the spline shaft 22 to rotate through the spline nut 21, and drives the grinding disc module 30 to rotate to perform the grinding work.
  • the dust can be covered by the outer cover 70, so that it is not easy to escape into the workplace, and Dust can be sucked away through the dust suction nozzle 69, and the operation process is environmentally friendly, and because of the first dust-proof module 60, it can completely prevent dust from affecting the work of the rotary drive module 50 and the linear drive module 40, and will not hinder the movement of the spline shaft 22. sports.
  • the universal ball 42 can roll to eliminate the position deviation and avoid the low-friction cylinder being subjected to lateral loads that cause damage to the spline shaft.
  • the driving force output by 22 is not controlled to ensure constant pressure on the working surface during continuous work.
  • the pressure of grinding is very sensitive. Therefore, by ensuring the stability of the driving force, the quality of grinding can be effectively improved.
  • the sandpaper 1103 of the grinding disc module 30 is attached to the grinding surface.
  • the key shafts 22 are kept on the same straight line, which overcomes the disadvantages of four floating shafts in the related art, prevents strong vibration and noise during the grinding process due to center of gravity offset, and prevents the operation stability of the mechanical arm 200 from being affected.
  • the grinding mechanism 300 of the present application drives the spline shaft 22 to move linearly through the linear drive module 40, drives the spline nut 21 to rotate through the rotation drive module 50 to make the spline shaft 22 rotate, and finally makes the grinding disc module 30 At the same time, it has both linear motion and rotary motion, and can press against the working surface for grinding, effectively improving the grinding quality.
  • the grinding robot 1000 using the grinding mechanism 300 can also perform better automatic grinding.
  • the grinding mechanism 300 adopts the self-aligning ball bearing 1201, cooperates with the corresponding adjustment transmission part 1202 and the rotation transmission part 1203, the grinding disc module 30 can maintain a suitable grinding angle between the self-adaptive module 120 and the grinding surface, and adjust
  • the center ball bearing 1201 keeps the center of gravity of the grinding disc module 30 on the same straight line, which does not affect the rotating grinding work, avoids damage to the mechanical arm 200 of the robot using the grinding mechanism 300 due to the deviation of the center of gravity, and avoids serious damage. Loud vibration and noise.
  • the grinding robot 1000 also includes:
  • the lifting mechanism 400 includes an installation base 410 and a drive unit 420, the installation base 410 is arranged on the walking chassis 100, the drive unit 420 is arranged on the installation base 410, the output of the drive unit 420 end is connected with the mechanical arm 200; and
  • a dust-proof component, the dust-proof component is arranged on the installation base 410;
  • the dustproof assembly makes a dynamic seal between the output end of the driving unit 420 and the installation base 410 .
  • the polishing robot 1000 further includes an electric control cabinet 600 and a robotic arm control cabinet 700 , the walking chassis 100 used is an AGV chassis, and is equipped with a battery cabinet 800 and a dust box 900 .
  • the grinding mechanism 300 is used for grinding the wall surface, and the working environment is prone to dust. It can be understood that the grinding robot 1000 of the present application can also be used in other working environments with a lot of dust, so as to avoid the impact of dust on the lifting process.
  • the dust-proof component prevents the dust generated during the operation from entering the lifting mechanism 400.
  • the grinding robot 1000 can lift the mechanical arm 200 more smoothly when driving the grinding mechanism 300 to work.
  • the dustproof assembly includes a seal 501 and a baffle 502, the baffle 502 and the installation base 410 form an installation chamber, and the baffle 502 is provided with a chute 5021 in the vertical direction;
  • the driving unit 420 includes a driving member 421, a timing belt 422 and a slider 423.
  • the driving member 421 is arranged on the installation base 410 and the output end extends into the installation chamber.
  • the output end of the driving member 421 is connected to the timing belt 422.
  • Block the chute 5021, the slider 423 is fixed on the timing belt 422 and located in the chute 5021, the slider 423 is located outside the installation chamber, and is set to drive the movement of the mechanical arm 200;
  • the sealing member 501 is arranged in the circumferential direction of the chute 5021 and is located in the installation chamber;
  • the synchronous belt 422 keeps in contact with the sealing member 501 and blocks the chute 5021 from time to time during the movement.
  • the driving member 421 of this embodiment is composed of a servo motor 4211 and a reducer 4212, and the output shaft of the reducer 4212 is located in the installation chamber.
  • the baffle plate 502 and the installation base 410 can form an installation chamber for the output end of the driver 421 and the synchronous belt 422 to be installed, and the synchronous belt 422 keeps in contact with the sealing member 501 so that the chute 5021 of the baffle plate 502 is blocked , so as to prevent external dust from entering the installation chamber, and the slider 423 can be set as an external connection to the mechanical arm 200 .
  • the installation base 410 can be a frame structure, and then the rear side of the frame can be sealed with a dustproof plate, and the front side can be sealed with a baffle 502, so that the installation chamber can be closed without the baffle 502 Except the chute 5021 on the top, there are no other openings.
  • the sliding block 423 is fixedly connected with the timing belt 422 through the toothed block 441 of the primary timing belt.
  • drive unit 420 comprises synchronous driving wheel 451, synchronous idler 452, synchronous idler 452 and synchronous driving wheel 451 are arranged in the installation chamber, synchronous belt 422 is wound around synchronous idler 452 and synchronous driving Wheel 451 , the output end of the driving member 421 is connected with the synchronous driving wheel 451 .
  • the synchronous belt 422 can move stably, so as to ensure the stable movement of the slider 423 .
  • the lifting mechanism 400 also includes a tensioning unit, the synchronous idler wheel 452 is connected with the installation base 410 through the tensioning unit, and the tensioning unit can adjust the synchronous idler wheel 452 to approach or move away from the synchronous driving wheel 451, so that the synchronous belt 422 is relaxed or tensioned , when the timing belt 422 is tensioned, the timing belt 422 is attached to the sealing member 501 .
  • the tensioning unit can keep the synchronous belt 422 tensed so as to cooperate with the sealing member 501 to ensure the sealing effect.
  • the tensioning unit includes a tensioning screw 460
  • the shaft of the synchronous idler 452 is provided with a screw hole
  • the tensioning screw 460 is passed through the top of the installation base 410 and threaded with the shaft of the synchronous idler 452 through the screw hole , turning the tensioning screw 460 can drive the synchronous idler 452 to rise or fall.
  • tensioning screws 460 are provided at both ends of the shaft of the synchronous idler 452 .
  • the sealing member 501 is a sealing strip, and the light back of the timing belt 422 adheres to the surface of the sealing strip to form a dynamic sealing surface.
  • the sealing strip can be kept attached to the light back side of the synchronous belt 422, so as to form a dynamic sealing surface.
  • the wear resistance of the sealing strip is lower than that of the timing belt 422 .
  • the sealing strip with lower wear resistance can prevent the synchronous belt 422 from being worn while ensuring the sealing performance.
  • low-friction soft materials such as polytetrafluoroethylene can be selected to make sealing strips.
  • the sealing strip made of low-friction flexible material can effectively guarantee the sealing and avoid damage to the synchronous belt 422 .
  • the width of the synchronous belt 422 is D, and the width of the chute 5021 is F, satisfying D-F>10mm. Since the thickness of the sealing strip is greater than the distance between the timing belt 422 and the baffle 502 , when the timing belt 422 is tensioned, it can keep in contact with the sealing strip to realize sealing.
  • the width of the synchronous belt 422 ensures that the synchronous belt 422 cannot block the chute 5021 in the width direction due to the influence of external force during operation. It should be noted that the timing belt 422 will not contact the baffle 502 after being tensioned, but has a gap to avoid friction with the baffle 502 .
  • the lifting mechanism 400 also includes a first-level lifting unit 471 and a first-level V-shaped guide rail 472, the first-level V-shaped guide rail 472 is arranged on both sides of the installation base 410, and the first-level lifting unit 471 includes a first-level The output component 4711, the first-level frame 4712 and the first-level V-shaped guide wheel 4713, the first-level frame 4712 is fixedly connected with the slider 423, the first-level output component 4711 is arranged on the first-level frame 4712 and is configured to connect to the mechanical arm 200 , the first-level V-shaped guide wheel 4713 is arranged on the first-level frame 4712 and cooperates with the first-level V-shaped guide rail 472 .
  • the first-level rack 4712 is connected to the slider 423 through the connecting beam 47121, so that the first-level rack 4712 can be used as an extension of the slider 423, which is more convenient to connect with the mechanical arm 200.
  • the first-level V-shaped guide rail 472 and the first-level V-shaped guide rail 472 The fit itself has dust-proof performance, and no additional dust-proof structure can prevent dust from affecting the lifting, thus saving space.
  • An upper limit block 411 and a lower limit block 412 are provided on the installation base 410 to limit the range of up and down movement of the primary frame 4712 and avoid damage to components due to excessive movement.
  • the lifting mechanism 400 also includes a secondary lifting unit 480
  • the secondary lifting unit 480 includes a secondary frame 481 and a secondary V-shaped guide wheel 482
  • the primary lifting unit 471 also includes a secondary V-shaped guide wheel 482.
  • the guide rail 4714, the secondary V-shaped guide rail 4714 is arranged on the primary frame 4712
  • the secondary V-shaped guide wheel 482 is arranged on the secondary frame 481 and cooperates with the secondary V-shaped guide rail 4714
  • the primary output assembly 4711 passes through the secondary machine
  • the frame 481 is connected to the robot arm 200 .
  • the secondary frame 481 can transmit the driving force, so that the range of motion of the mechanical arm 200 is wider.
  • the cooperation of the secondary V-shaped guide wheel 482 and the secondary V-shaped guide rail 4714 itself has dustproof performance , no additional dust-proof structure can prevent dust from affecting the lifting, thus saving space.
  • the primary output assembly 4711 includes a linkage synchronous belt 47112 and a linkage wheel 47114, the linkage wheel 47114 is set on the primary frame 4712, the linkage timing belt 47112 is wound around the linkage wheel 47114, and the first end of the linkage timing belt 47112
  • the secondary synchronous belt toothed block 491 and the secondary synchronous belt fixing block 492 are fixed to the installation base 410 , and the second end of the linkage synchronous belt 47112 is fixed to the secondary frame 481 through the synchronous belt toothed block 493 .
  • a movable pulley structure is formed, so that the mechanical arm 200 can be driven by a smaller driving force, and when the driving force is the same, the moving speed of the mechanical arm 200 is faster.
  • the slider 423 of the driving unit 420 of the present application is connected to the first-level lifting unit 471 and the second-level lifting unit 480, the slider 423 and the connected first-level lifting unit 471 and the second-level lifting unit 480 can be used together.
  • the dust-proof component performs dynamic sealing between the output end and the installation base 410 .
  • the lifting module of the automatic grinding equipment in the related art is often affected by dust such as putty dust during grinding, which makes its transmission belt and transmission wheel easily damaged.
  • the guide mechanism is also easily affected by dust, and it is necessary to install an organ cover. dust-proof parts, but it will take up a lot of space, reducing the available stroke of the lifting module.
  • the use cost is relatively high.
  • this embodiment only has a chute 5021 on the baffle plate 502 as an opening, and uses a timing belt 422 to block the chute 5021, and is equipped with a sealing strip.
  • the timing belt 422 can lean against the sealing on the strip, so that the chute 5021 is effectively blocked, and the gap will not leak out due to the movement of the timing belt 422, so that dust cannot enter the installation chamber, effectively avoiding the influence of dust, and ensuring that the driving member 421 and the synchronous driving wheel 451, The normal cooperation between the synchronous belt 422 and the synchronous driving wheel 451 and the synchronous idler wheel 452.
  • the sealing strip is made of low-friction flexible material, which will not affect the service life of the synchronous belt 422, and the later maintenance cost is low, and the use is more economical.
  • the grinding robot 1000 of the present application uses a dustproof component to protect the lifting mechanism 400 from dust, so that the lifting mechanism 400 can smoothly drive the mechanical arm 200 without affecting normal work due to dust in the working environment.

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

Abstract

本申请提供一种打磨机构及打磨机器人,涉及建筑机器人技术领域。打磨机构包括基座;花键螺母,花键螺母安装于基座;花键轴,花键轴穿设于花键螺母;打磨盘模块,打磨盘模块连接于花键轴的一端;直线驱动模块,直线驱动模块设置于基座,被设置为推动花键轴沿轴向移动以使打磨盘模块抵压于作业面;以及旋转驱动模块,旋转驱动模块设置于基座,被设置为驱动花键螺母旋转以带动花键轴旋转,从而使打磨盘模块旋转以打磨作业面。

Description

打磨机构及打磨机器人
本申请要求在2021年11月30日提交中国专利局、申请号为202111444750.4的中国专利申请的优先权,要求在2021年12月03日提交中国专利局、申请号为202111465219.5的中国专利申请的优先权,要求在2021年12月03日提交中国专利局、申请号为202111465230.1的中国专利申请的优先权,以上申请的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,例如涉及一种打磨机构及打磨机器人。
背景技术
传统墙面在进行油漆、防水基膜等装修工艺施工前,需要将刮完腻子的墙面进出打磨处理,一般是工人手持打磨装置对墙面进行打磨,使墙面平整、美观、有一定的粗糙度,便于后续施工。人工打磨墙面作业强度高,粉尘大,对人体伤害大。
相关技术有一些自动打磨的装置,如“CN202010333243.2一种平面打磨装置和平面打磨机器人”,公开一种平面打磨装置和平面打磨机器人。平面打磨装置包括打磨组件和动力组件,动力组件包括:花键轴,包括有花键齿的花键段,花键段与打磨组件传动连接;动力轴,动力轴沿轴向设置有安装孔,花键轴的至少部分穿设于安装孔,安装孔的端部设有可拆卸连接的内花键盘和外花键盘,内花键盘和外花键盘套设于花键段上,动力轴与花键轴通过内花键盘、外花键盘传动连接,内花键盘和外花键盘能阻挡粉尘进入安装孔中,外花键盘和内花键盘中的一个在靠近另一个的一侧的内环边缘上设有台阶内槽;旋转电机,与动力轴传动连接,用于驱动打磨组件打磨施工平面。
但相关技术中的自动打磨的装置存在如下缺点:花键是滑动摩擦,摩擦阻力大。
发明内容
本申请提供一种打磨机构,其能够改善相关技术中打磨装置打磨质量不佳的问题。
本申请还提供一种打磨机器人,其包括上述打磨机构。
本申请的实施例提供了一种打磨机构,包括:
基座;
花键螺母,所述花键螺母安装于所述基座;
花键轴,所述花键轴穿设于所述花键螺母;
打磨盘模块,所述打磨盘模块连接于所述花键轴的一端;
直线驱动模块,所述直线驱动模块设置于所述基座,被设置为推动所述花键轴沿轴向移动以使所述打磨盘模块抵压于作业面;以及
旋转驱动模块,所述旋转驱动模块设置于所述基座,被设置为驱动所述花键螺母旋转以带动所述花键轴旋转,从而使所述打磨盘模块旋转以打磨所述作业面。
本申请的实施例提供了一种打磨机器人,包括:
行走底盘;
机械臂,所述机械臂设置所述行走底盘;以及
如上所述的打磨机构,所述打磨机构连接于所述机械臂的末端。
附图说明
下面将对实施例中所需要使用的附图作简单地介绍,应当理解,以下附图仅示出了本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他相关的附图。
图1为本申请的实施例提供的打磨机器人的示意图;
图2为打磨机构的爆炸图;
图3为打磨机构的剖视图;
图4为安装筒的示意图;
图5为直线驱动模块的示意图;
图6为外罩的示意图;
图7为旋转驱动模块和安装板、花键轴以及花键螺母配合的示意图;
图8为图7的局部剖视图;
图9为图8的L部分的局部放大图;
图10为第一防尘模块的示意图;
图11为图10的爆炸图;
图12为图10的剖视图;
图13为图12的M部分的局部放大图;
图14为图12的N部分的局部放大图;
图15为花键轴与第一防尘模块配合时的一种状态的示意图;
图16为花键轴与第一防尘模块配合时的另一种状态的示意图;
图17为第一防尘膜的形态变化的示意图;
图18为打磨盘模块的示意图;
图19为图18的另一视角下的示意图;
图20为相关技术中的动力组件的局部剖视图;
图21为相关技术中的动力组件的局部爆炸图;
图22为打磨盘模块与花键轴的配合示意图;
图23为图22的局部剖视图;
图24为图22的爆炸图;
图25为相关技术中的浮动轴跟弹簧组成调节结构的示意图;
图26为本申请的实施例提供的升降机构的示意图;
图27为图26的爆炸图;
图28为图1隐去一级升降单元、二级升降单元后的正视图;
图29为图28的爆炸图;
图30为图28的A-A方向的剖视图;
图31为图28的B-B方向的剖视图;
图32为图31的C部分的局部放大图;
图33为一级升降单元的示意图;
图34为图33的D-D方向的剖视图;
图35为图33的爆炸图;
图36为二级升降单元的爆炸图;
图37为升降机构升起后的示意图;
图38为图37的E部分的局部放大图。
图标:
1000、打磨机器人;100、行走底盘;200、机械臂;300、打磨机构;11、安装板;12、安装筒;121、主支撑筒;21、花键螺母;22、花键轴;30、打磨盘模块;31、网格砂纸;32、魔术贴;33、连接机构;40、直线驱动模块;41、直线驱动构件;42、万向球;43、万向球安装座;44、安装螺钉;45、气缸安装板;46、安装法兰;47、电气比例阀安装件;48、管接头;50、旋转驱动模块;51、电机;52、第一同步轮;53、第二同步轮;54、同步带;60、第一防尘模块;61、密封盘;611、密封胶条;62、浮动盘;63、第二轴承;631、轴隔套;64、第一防尘膜;651、第一压环;652、第二压环;66、第二导向杆;67、滚轮组;68、轴承盖;69、吸尘嘴;70、外罩;71、罩体;711、底壁;712、侧壁;72、安全触边;73、毛刷;81、轴承座;811、本体;812、万向球接触块;82、第一轴承;821、轴承压块;83、第一导向杆;84、限位部;85、限位垫块;1101、打磨底板;1102、柔性盘;1103、砂纸;120、自适应模块;1201、调心球轴承;1202、调节传动件;12021、第一连接部;12022、传动部;120221、十字槽;1203、旋转传动件;12031、第二连接部;12032、拨动部;1204、调心轴承盖;130、第二防尘模块;1301、第二防尘膜;1302、第三压环;1303、第四压环;140、复位模块;1401、复位盘;1402、拉簧;400、升降机构;410、安装基座;411、上限位块;412、下限位块;420、驱动单元;421、驱动件;4211、伺服电机;4212、减速机;422、同步带;423、滑块;441、一级同步带齿形块;451、同步驱动轮;452、同步惰轮;460、张紧螺钉;471、一级升降单元;4711、一级输出组件;47112、联动同步带;47114、联动轮;4712、一级机架;47121、连接梁;4713、一级V型导轮;4714、二级V型导轨;472、一级V型导轨;480、二级升降单元;481、二级机架;482、二级V型导轮;491、二级同步带齿形块;492、二级同步带固定块;493、同步带齿形块;501、密封件;502、挡板;5021、滑槽;600、电控柜;700、机械臂控制柜;800、电池柜;900、集尘箱。
具体实施方式
下面将结合本申请实施例中的附图,对本申请实施例进行清楚、完整地描述,所描述的实施例是本申请一部分实施例,而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以多种不同的配置来布置和设计。
因此,以下对在附图中提供的本申请的实施例的详细描述仅仅表示本申请 的选定实施例。基于本申请中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。
应注意到:相似的标号和字母在下面的附图中表示类似项,因此,一旦一项在一个附图中被定义,则在随后的附图中不需要对其进行定义和解释。
在本申请的描述中,需要说明的是,术语“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,或者是该产品使用时惯常摆放的方位或位置关系,仅是为了便于描述本申请和简化描述,而不是指示或暗示所指的装置或元件具有特定的方位、以特定的方位构造和操作。此外,术语“第一”、“第二”等仅用于区分描述,而不能理解为指示或暗示相对重要性。
在本申请的描述中,还需要说明的是,术语“设置”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域的普通技术人员而言,可以根据实际情况理解上述术语在本申请中的实际含义。
实施例
请参照图1,本申请的实施例提供了一种打磨机器人1000,包括:
行走底盘100;
机械臂200,机械臂200设置行走底盘100;以及打磨机构300,打磨机构300连接于机械臂200的末端。打磨机器人1000通过使用该打磨机构300,能够有更好的打磨质量。其中,行走底盘100和机械臂200可以参考相关技术中的打磨设备的底盘和机械臂。
关于打磨机构300,请结合图2和图3,打磨机构300包括:
基座;
花键螺母21,花键螺母21安装于基座;
花键轴22,花键轴22穿设于花键螺母21;
打磨盘模块30,打磨盘模块30连接于花键轴22的一端;
直线驱动模块40,直线驱动模块40设置于基座,被设置为推动花键轴22沿轴向移动以使打磨盘模块30抵压于作业面;以及
旋转驱动模块50,旋转驱动模块50设置于基座,被设置为驱动花键螺母21旋转以带动花键轴22旋转,从而使打磨盘模块30旋转以打磨作业面。
本实施例中,花键螺母21具有转动部和固定部,固定部与基座固定连接, 转动部可转动地设置于固定部,旋转驱动模块50的输出端与转动部连接以驱使转动部转动,花键轴22则穿设于转动部。花键轴22与花键螺母21形成滚珠花键,使得花键轴22在轴向受到的摩擦力为滚动摩擦。
简单而言,旋转驱动模块50可以通过花键螺母21带动花键轴22转动,直线驱动模块40可以带动花键轴22进行直线运动并使得打磨盘模块30抵压在作业面上,使得与花键轴22连接的打磨盘模块30可以在旋转打磨的同时,与作业面之间保持抵压,使得打磨效果更佳,并且花键轴22与花键螺母21之间为滚动摩擦,不会在轴向受到阻碍而影响运动和对压力的控制。
请结合图2至图4,基座包括安装板11和安装筒12,安装板11与安装筒12连接,直线驱动模块40设置于安装筒12的内腔,旋转驱动模块50和花键螺母21设置于安装板11。
安装筒12可以为直线驱动模块40提供遮挡,防止直线驱动模块40被灰尘影响,安装板11则为旋转驱动模块50和花键螺母21提供了安装基础。
此外,请继续结合图3,并可以参考图6,打磨机构300还包括第一防尘模块60和外罩70,外罩70固定连接于基座,第一防尘模块60和打磨盘模块30都位于外罩70的腔室内,在花键轴22的轴向上,打磨盘模块30位于第一防尘模块60的第一侧,旋转驱动模块50和直线驱动模块40位于第一防尘模块60的第二侧,花键轴22穿过第一防尘模块60以连接打磨盘模块30。外罩70可以罩设在打磨盘模块30的外部,使得打磨盘模块30打磨产生的杂质不会四处飘洒,第一防尘模块60可以对旋转驱动模块50和直线驱动模块40进行防护。在本实施例中,外罩70包括罩体71、安全触边72和毛刷73,罩体71包括底壁711和侧壁712,侧壁712围设在底壁711的周围,侧壁712的第一端与底壁711连接,毛刷73设置于侧壁712的第二端,底壁711与基座固定,安全触边72设置于侧壁712的外表面。其中,底壁711与安装板11固定连接,电机51位于罩体71外侧且电机轴穿过底壁711,花键螺母21也是穿过底壁711,下文的密封盘61与侧壁712抵紧并相对于安装板11保持位置固定。
安全触边72可以触碰到障碍后反馈,使得机械臂200停止,防止机械臂200继续在原轨迹移动使得罩体71撞伤而损坏内部构件,毛刷73则可以在随罩体71移动的过程中,将打磨后依附在作业面上的灰尘扫除。在本实施例中,毛刷73选用的是羊毛刷,避免磨坏作业面,并且可以有效形成致密阻挡,防止灰尘洒出罩体71外部。
请结合图5,直线驱动模块40包括:
直线驱动构件41,直线驱动构件41固定于基座;
万向球42,万向球42可转动地安装于直线驱动构件41的输出端,万向球42被设置为抵持轴承座81。其中,本实施例采用的低摩擦气缸作为直线驱动构件41,万向球42通过万向球安装座43以及安装螺钉44与低摩擦气缸的输出端连接。安装筒12包括主支撑筒121,主支撑筒121的第二端用来连接安装板11,第一端设有气缸安装板45以用于安装低摩擦气缸,气缸安装板45可以通过安装法兰46和机械臂200末端连接。在安装法兰46上可以设置电气比例阀安装件47,以用于安装电气比例阀,通过调整电气比例阀的输入值,能够调整低摩擦气缸的输出压力并保持恒定,低摩擦气缸上有管接头48来连接电气比例阀。通过设计安装筒12的结构,能够方便安装低摩擦气缸,并且可以与机械臂200连接,还能够用于安装电气比例阀,以方便控制低摩擦气缸的输出力。
万向球42与轴承座81可以滚动配合,一方面可以在花键轴22的轴向传递直线驱动构件41的驱动力,一方面可以在径向卸掉作业面带来的反作用力,防止直线驱动构件41的输出端被反作用力损坏而影响正常的驱动。
请结合图7至图9,打磨机构300还包括:
轴承座81,轴承座81沿花键轴22的轴向可滑动地安装于基座;
第一轴承82,第一轴承82设置于轴承座81,花键轴22远离打磨盘模块30的一端通过第一轴承82安装于轴承座81;
本实施例中,直线驱动模块40被设置为作用于轴承座81,以推动花键轴22沿轴向移动。
第一轴承82使得花键轴22能够相对于轴承座81保持旋转,轴承座81可以便于传递直线驱动模块40的驱动力。打磨机构300还包括:第一导向杆83,第一导向杆83固定于基座且平行于花键轴22设置,轴承座81可滑动地套设于第一导向杆83。第一导向杆83可以防止轴承座81旋转,并且使得轴承座81的运动方向被引导。第一导向杆83上设有限位部84,用于限制轴承座81的行程。限位部84可以辅助调整花键轴22的直线运动行程,避免过量移动而导致压力不受控,也避免轴承座81与花键螺母21之间产生干涉。
在一实施例中,请结合图8和图9,轴承座81包括本体811和万向球接触块812,第一轴承82为角接触球轴承,花键轴22通过轴承压块821与角接触球轴承的内圈固定连接,角接触球轴承的外圈与轴承座81的本体811固定连接,万向球接触块812则设置于本体811的上侧。在安装板11上固定有限位部84,本体811和万向球接触块812都套设于第一导向杆83且位于限位部84的上方,并且可以在本体811与限位部84之间可拆卸地设置限位垫块85,以改变限位的行程范围。其中,本实施例的限位部84是限位套筒,可以作为第一导向杆83 的一部分,也可以单独安装并插入杆件形成第一导向杆83。当万向球42与轴承座81滚动配合时,主要是万向球42抵靠在万向球接触块812上,与万向球接触块812之间是滚动点接触,只能够传递法向力(即沿着花键轴22轴向的作用力),从而可以避免低摩擦气缸的输出端受到较大的径向力而影响使用寿命。
请继续结合图7和图8,旋转驱动模块50包括电机51、第一同步轮52、第二同步轮53和同步带54,电机51设置于基座,电机51的输出端与第一同步轮52连接,第二同步轮53与花键螺母21连接,第一同步轮52和第二同步轮53通过同步带54传动连接。电机51可以通过第一同步轮52、第二同步轮53以及同步带54的传动,驱动花键螺母21旋转,使得花键轴22旋转。本实施例采用的无刷直流电机,并且第一同步轮52和第二同步轮53可以分别设计直径大小,以调整传动比。
关于第一防尘模块60,在一实施例中,请结合图10至图14,第一防尘模块60包括密封盘61、浮动盘62、第二轴承63和第一防尘膜64,密封盘61固定于外罩70且具有供花键轴22穿过的通孔,密封盘61的外周设有密封胶条611,浮动盘62通过第二轴承63安装于花键轴22,浮动盘62能够随花键轴22沿轴向移动,第一防尘膜64环绕花键轴22设置,第一防尘膜64的第一端通过第一压环651连接于密封盘61,第二端通过第二压环652连接于浮动盘62。第一压环651和第二压环652能够稳定地将第一防尘膜64固定在密封盘61和浮动盘62之间。第一防尘模块60还包括第二导向杆66和滚轮组67,第二导向杆66固定于浮动盘62且平行于花键轴22设置,滚轮组67设置于密封盘61,滚轮组67包括成对设置的两个滚轮,第二导向杆66插入两个滚轮之间的间隙且与滚轮滚动配合。其中,第二轴承63为防尘轴承,其外圈通过轴承盖68安装于浮动盘62,内圈间隙配合并固定于于花键轴22,内圈的下端并设有轴隔套631。
此外,请再结合图12,在密封盘61上安装有吸尘嘴69,可以连接外部抽吸设备,以对打磨后容置于罩体71内的灰尘进行抽吸。
第一防尘膜64安装于浮动盘62和密封盘61之间,可以对旋转驱动模块50和直线驱动模块40进行防护,避免打磨产生的杂质进入,也避免影响花键轴22的运动。通过设置第二导向杆66和滚轮组67,可以防止浮动盘62随着花键轴22转动,避免对第一防尘膜64产生撕扯。
在一实施例中,第一防尘膜64是柔软材料制作,在中间状态下处于花键轴22运动行程的中间位置,而随着花键轴22的向前或者向后运动,第一防尘膜64也会具有两个极限状态,比如图15和图16就展示了第一防尘膜64在两个极限状态下的位置情况。在两个极限状态下,请结合图17,以第一防尘膜64处于花键轴22左侧的这一半(标号64所指处)为例,会分别处于AB位置或者AD 位置,而AC位置则是中间状态时第一防尘膜64的位置,BD则是花键轴22的直线运动的行程(BD右侧的点划线代表花键轴22的轴线),AB、AB、BD形成等腰三角形。只要AC与AB或者AD的比值较小,则第一防尘膜64的弯折角度较小,弯曲应力也较小,有利于提高第一防尘膜64的疲劳寿命。第一防尘膜64本身呈环形,在安装之前,其外圆半径比密封盘61的凸台的半径稍大,在安装时,其外圆与凸台的边缘齐平。这就使得在中间状态时,第一防尘膜64轻微褶皱,而在极限状态时,也可以避免被花键轴22拉伸而产生应力,不会阻碍花键轴22的运动,整体基本处于被约束的状态,不会干涉其他零件的工作。
举例而言,本实施例的第一防尘膜64由一张平面膜裁剪而成,其尺寸确定方法可以结合图17。AB为膜上极限位置最张紧状态,AD为下极限最张紧状态,AC为行程中点最松弛状态,AB=AC,BD为整个行程,BD=30mm。由图中几何关系可知,∠CAD=arctan(CD/AC)=20.56°,AD=CD/arcsin(∠CAD)=42.72mm。由此可知,第一防尘膜64最张紧状态AD的长度比最松弛状态AC长2.72mm,为了防止第一防尘膜64产生拉伸形变,其外径至少要比密封盘61的凸台外径大2.72×2=5.44mm,为了加工方便和留少量余量对其进行取整为6mm,所以第一防尘膜64的外径取为216mm,内径则根据安装要求取为93mm。第一防尘膜64的内圈直接用第二压环652通过螺钉压住即可,但安装外圈的时候,要预先褶皱一下第一防尘膜64,使第一防尘膜64的外圈与密封盘61的凸台外边缘齐平,再用第一压环651通过螺钉压住。行程BD的长度30mm是固定的,AC的长度可以调整,在结构尺寸允许的情况下,AC尽可能的长,可以减小第一防尘膜64的弯曲角∠CAD和张紧与松弛的长度差。
请结合图18和图19,打磨盘模块30主要由网格砂纸31、魔术贴32、连接机构33组成。连接机构33安装在花键轴22上,魔术贴32固定在连接机构33上,网格砂纸31则固定于魔术贴32上,由花键轴22对连接机构33施加压力并驱动其旋转,从而使得网格砂纸31可以对作业面进行打磨。网格砂纸31可以方便地拆装在魔术贴32上,连接机构33则可以与花键轴22连接,从而使得网格砂纸31可以用于打磨。
如图22至图24所示,打磨机构300还包括自适应模块120,自适应模块120包括调心球轴承1201、调节传动件1202和旋转传动件1203,调心球轴承1201的内圈连接于旋转驱动模块50的输出端(即下文中的花键轴22),调心球轴承1201的外圈通过调节传动件1202与打磨盘模块30连接,旋转传动件1203设置于旋转驱动模块50的输出端;
本实施例中,旋转驱动模块50工作时,旋转传动件1203能够拨动调节传动件1202旋转,以使得打磨盘模块30旋转。
本实施例所用的调心球轴承1201的调心角度小于等于5°通过使用调心球轴承1201,配合相应的调节传动件1202和旋转传动件1203,打磨盘模块30可以通过该自适应模块120与打磨面之间保持合适的打磨角度,并且调心球轴承1201使得打磨盘模块30的重心一直保持在同一直线上,不会影响旋转打磨工作,避免因重心偏移而最终导致使用该打磨机构的机器人的机械臂200损坏。
请继续结合图22至图24,调节传动件1202包括第一连接部12021和传动部12022,第一连接部12021通过调心轴承盖1204与调心球轴承1201的外圈连接,传动部12022与旋转传动件1203具有间隙,旋转驱动模块50工作时,旋转传动件1203能够转动至与传动部12022接触以带动传动部12022与第一连接部12021旋转。
传动部12022和旋转传动件1203之间的间隙可以容许整个调节传动件1202进行调节活动,避免阻碍其移动。
传动部12022包括十字槽120221,旋转传动件1203包括第二连接部12031和多个拨动部12032,多个拨动部12032连接于第二连接部12031的外周且呈十字形分布,十字槽120221能够容置多个拨动部12032且与拨动部12032之间具有间隙(一般可以选择设置为1mm以上),第二连接部12031与旋转驱动模块50的输出端连接。十字槽120221和拨动部12032可以相互配合,以保障作用力均匀传递,使得旋转打磨更稳定。其中,拨动部12032为凸轮滚子,凸轮滚子的转动轴线垂直于旋转驱动模块50的输出端的转动轴线。凸轮滚子可以通过自身的旋转,使得与十字槽120221的槽壁之间为滚动摩擦,降低磨损。
在另一实施例中,请继续结合图22至图24,打磨盘模块30包括:
打磨底板1101;
柔性盘1102;以及
砂纸1103,砂纸1103与柔性盘1102的第一侧连接,柔性盘1102的第二侧与打磨底板1101连接,打磨底板1101与调节传动件1202固定连接。
柔性盘1102可以减少与打磨面之间的冲击,防止损坏打磨面,砂纸1103则可以对打磨面进行打磨,打磨底板1101可以与调节传动件1202连接,以进行传动。
柔性盘1102与砂纸1103和打磨底板1101中的至少一个可拆卸连接。通过可拆卸设置,可以方便及时更换部件,满足打磨需求。可选的,本实施例在柔性盘1102的两侧都设置有魔术贴32的钩面,在砂纸1103和打磨底板1101上对应设有魔术贴32的绒面。其中,本实施例采用了海绵盘作为柔性盘1102。
打磨机构还包括第二防尘模块130,第二防尘模块130包括第二防尘膜 1301、第三压环1302和第四压环1303,第二防尘膜1301套设于旋转驱动模块50的输出端,第二防尘膜1301的外圈通过第三压环1302与调节传动件1202连接,第二防尘膜1301的内圈通过第四压环1303与旋转传动件1203连接以防止灰尘进入调节传动件1202和旋转传动件1203之间的区域。第二防尘膜1301可以有效防止粉尘进入到自适应模块120之中。
打磨机构还包括复位模块140,复位模块140包括复位盘1401和拉簧1402,复位盘1401固定于旋转传动件1203,复位盘1401通过拉簧1402与打磨盘模块30连接且使得打磨盘模块30具有回复到初始状态的趋势。复位盘1401在拉簧1402的作用下可以使得旋转传动件1203恢复到初始状态,以便于保持结构的稳定。
本实施例的原理是:
请结合图20和图21,动力轴202与花键轴201之间存在滑动摩擦,其摩擦阻力过大,对于实际作业并不方便,而花键轴22是靠弹性件206抵压在墙面,无法实现恒力抵压,并且压力大小并不能精确控制。其防尘是依靠防尘环实现,即依靠内花键盘204以及外花键盘203实现,其并不能完全做到防尘,细小灰尘仍然会进入花键轴22与其他部件之间的缝隙内,导致花键轴22卡死,影响正常工作。请结合图25,相关技术中的浮动轴H跟弹簧G组成调节结构,在实际使用中,会产生振动过大进而影响机械臂运行稳定的致命问题,同时存在噪音大,磨损过快,弹簧容易疲劳的问题。详细的,采用4根浮动轴跟弹簧配合时,弹簧容易疲劳,失效而导致打磨不均匀。角度变动依靠四根浮动轴伸缩不同长度而实现。轴承和衬套之间是滑动磨损,会导致间隙随着使用时间的增长而间隙变大,从而在打磨过程中,重心偏移,产生强烈震动和噪音,震动会影响机械臂运行的稳定性。
本实施例的打磨机构300在工作时,可以由机械臂200带动其整体移动到作业面旁,打磨盘模块30在机械臂200的带动下与打磨面靠近,同时外罩70与作业面接触,然后通过低摩擦气缸推动花键轴22向作业面移动,并最终抵持于作业面,通过控制电气比例阀的输入值,可以使得低摩擦气缸对花键轴22的驱动力保持一致且控制精确,使得打磨盘模块30可以以恒定的压力抵持于作业面,结合滚珠花键的结构,可以避免花键轴22受到轴向的滑动摩擦而影响对压力的控制。然后电机51通过花键螺母21驱动花键轴22旋转,带动打磨盘模块30旋转,以进行打磨工作,在打磨的过程中,灰尘可以被外罩70笼罩,不容易逸散到工作场所中,并且可以通过吸尘嘴69抽走灰尘,作业过程环保,并且由于有第一防尘模块60,可以完全避免灰尘影响旋转驱动模块50以及直线驱动模块40的工作,并且不会阻碍花键轴22的运动。在打磨盘模块30打磨的过程中, 如果有定位误差或者有作业面变形产生反作用力时,万向球42可以滚动,以消除位置偏差,避免低摩擦气缸受到横向的负载而使得对花键轴22输出的驱动力不受控制,确保持续工作时,对作业面有恒定的压力。对于人工腻子面而言,打磨的压力很敏感,因此,通过保障驱动力的稳定,可以有效提升打磨的质量。同时,依靠调心球轴承1201的内圈相对于外圈转动,使得打磨盘模块30的砂纸1103与打磨面贴合,在调节过程中,打磨盘模块30的重心不偏移并能够一直与花键轴22保持在同一直线上,克服了相关技术中四根浮动轴的执行的缺点,防止因为重心偏移而导致打磨的过程产生强烈震动和噪音,且防止影响机械臂200的运行稳定性。
综上所述,本申请的打磨机构300通过直线驱动模块40带动花键轴22直线运动,通过旋转驱动模块50带动花键螺母21旋转以使得花键轴22旋转,最终使得打磨盘模块30可以同时兼具直线运动和旋转运动,并可以抵压于作业面进行打磨,有效提升打磨质量,应用该打磨机构300的打磨机器人1000也能够有更好地进行自动打磨。另外,打磨机构300采用了调心球轴承1201,配合相应的调节传动件1202和旋转传动件1203,打磨盘模块30可以通过该自适应模块120与打磨面之间保持合适的打磨角度,并且调心球轴承1201使得打磨盘模块30的重心一直保持在同一直线上,不会影响旋转打磨工作,避免因重心偏移而最终导致使用该打磨机构300的机器人的机械臂200损坏,且避免产生较大震动和噪音。
另外,打磨机器人1000还包括:
请结合图26至图28,升降机构400,升降机构400包括安装基座410和驱动单元420,安装基座410设置于行走底盘100,驱动单元420设置于安装基座410,驱动单元420的输出端与机械臂200连接;以及
防尘组件,防尘组件设置于安装基座410;
本实施例中,防尘组件使得驱动单元420的输出端与安装基座410之间形成动态密封。
在一实施例中,打磨机器人1000还包括电控柜600以及机械臂控制柜700,所用的行走底盘100为AGV底盘,并配置有电池柜800和集尘箱900。打磨机构300用于对墙面进行打磨,工作环境容易有灰尘。可以理解的是,本申请的打磨机器人1000还可以用于其他一些有较多灰尘的作业环境中,以避免升降过程有灰尘影响。
简单而言,防尘组件使得作业产生的灰尘不会进入到升降机构400中,打磨机器人1000通过使用该升降机构400,机械臂200在带动打磨机构300作业 的过程中的升降可以更为顺畅。
请结合图29至图32,防尘组件包括密封件501和挡板502,挡板502与安装基座410围成安装腔室,挡板502在竖直方向开设有滑槽5021;
驱动单元420包括驱动件421、同步带422和滑块423,驱动件421设置于安装基座410且输出端伸入安装腔室,驱动件421的输出端与同步带422传动连接,同步带422将滑槽5021封挡,滑块423固定于同步带422且位于滑槽5021内,滑块423位于安装腔室外侧,被设置为带动机械臂200运动;
密封件501设置于滑槽5021的周向且处于安装腔室内;
本实施例中,同步带422在运动过程中与密封件501保持接触且将滑槽5021时时封挡。
在一实施例中,本实施例的驱动件421由伺服电机4211和减速机4212构成,减速机4212的输出轴处于安装腔室中。
挡板502和安装基座410可以围成安装腔室,以供驱动件421的输出端以及同步带422进行安装,同步带422与密封件501保持接触使得挡板502的滑槽5021被封挡,从而避免了外部灰尘进入到安装腔室中,滑块423则可以被设置为外接机械臂200。在本实施例中,安装基座410可以是一个框架结构,然后框架的后侧用防尘板进行封挡,前侧则可以用挡板502进行封挡,以使得安装腔室除了挡板502上的滑槽5021以外,没有其他的开口。在本实施例中,滑块423通过一级同步带齿形块441与同步带422固定连接。
请结合图29和图30,驱动单元420包括同步驱动轮451、同步惰轮452,同步惰轮452和同步驱动轮451设置于安装腔室内,同步带422绕设于同步惰轮452和同步驱动轮451,驱动件421的输出端与同步驱动轮451连接。通过同步驱动轮451和同步惰轮452,同步带422可以稳定运动,以保障滑块423的稳定运动。
升降机构400还包括张紧单元,同步惰轮452与安装基座410通过张紧单元连接,张紧单元能够调节同步惰轮452靠近或者远离同步驱动轮451,以使得同步带422松弛或者张紧,同步带422被张紧时,同步带422与密封件501贴合。张紧单元可以使得同步带422保持张紧,以与密封件501保持配合,保障密封的效果。
请结合图30,张紧单元包括张紧螺钉460,同步惰轮452的转轴开设有螺孔,张紧螺钉460穿设于安装基座410顶部且通过螺孔与同步惰轮452的转轴螺纹连接,旋拧张紧螺钉460能够带动同步惰轮452上升或者下降。如图28所示,本实施例在同步惰轮452的转轴的两端都设有张紧螺钉460。通过使用张紧 螺钉460,在进行张紧调节时十分方便,即便在使用过程中也可以进行张紧,不需要拆开安装基座410和挡板502,并且调节后的稳定性有保障。而在安装同步带422时,则可以先松开张紧螺钉460,在安装完毕后,再将同步带422张紧,安装过程也方便。
请结合图31和图32,在本实施例中,密封件501为密封条,同步带422的光背面与密封条的表面贴合且形成动密封面。密封条可以与同步带422的光背面保持贴合,以便于形成动密封面。可以选择的是,密封条的耐磨性较之同步带422的耐磨性更低。耐磨性更低的密封条,可以在保障密封性的同时,避免同步带422被磨损。比如可以选择聚四氟乙烯这样的低摩擦柔软材料制作密封条。低摩擦柔性材料制成的密封条可以有效保障密封性且避免损坏同步带422。
在一实施例中,密封条的厚度为H,同步带422张紧时,同步带422与挡板502的内壁之间的间距为S,满足H>S。在本实施例中H-S=0.5mm。同步带422的宽度为D,滑槽5021的宽度为F,满足D-F>10mm。由于密封条的厚度大于同步带422与挡板502之间的间距,使得同步带422被张紧时,即可与密封条保持接触,实现密封。同步带422的宽度保障了同步带422在运行的过程中,能够不因为外力的影响而不能在宽度方向上遮挡滑槽5021。需要说明的是,同步带422在张紧后也不会与挡板502接触,而是具有间距,避免与挡板502之间产生摩擦。
请结合图33至图35,升降机构400还包括一级升降单元471和一级V型导轨472,一级V型导轨472设置于安装基座410的两侧,一级升降单元471包括一级输出组件4711、一级机架4712和一级V型导轮4713,一级机架4712与滑块423固定连接,一级输出组件4711设置于一级机架4712且被设置为连接机械臂200,一级V型导轮4713设置于一级机架4712且与一级V型导轨472配合。一级机架4712通过连接梁47121与滑块423连接,使得一级机架4712可以作为滑块423的延伸,更方便与机械臂200连接,一级V型导轨472和一级V型导轨472的配合本身具备防尘性能,不需要额外的防尘结构就可以避免灰尘影响升降,从而节省空间。在安装基座410上设有上限位块411和下限位块412,以限制一级机架4712的上下运动范围,避免过量移动损坏部件。
请结合图36至图38,升降机构400还包括二级升降单元480,二级升降单元480包括二级机架481和二级V型导轮482,一级升降单元471还包括二级V型导轨4714,二级V型导轨4714设置于一级机架4712,二级V型导轮482设置于二级机架481且与二级V型导轨4714配合,一级输出组件4711通过二级机架481与机械臂200连接。二级机架481作为一级输出组件4711的延伸,可以传导驱动力,使得机械臂200的活动范围更广,二级V型导轮482和二级V 型导轨4714的配合本身具备防尘性能,不需要额外的防尘结构就可以避免灰尘影响升降,从而节省空间。
请结合图38,一级输出组件4711包括联动同步带47112和联动轮47114,联动轮47114设置于一级机架4712,联动同步带47112绕设于联动轮47114,联动同步带47112的第一端通过二级同步带齿形块491、二级同步带固定块492与安装基座410固定,联动同步带47112的第二端通过同步带齿形块493与二级机架481固定。通过使用联动轮47114,并结合联动同步带47112的作用,形成动滑轮结构,使得机械臂200可以被更小的驱动力驱动,而驱动力相同时,机械臂200的运动速度更快。
可以理解的是,本申请的驱动单元420的滑块423在连接一级升降单元471和二级升降单元480后,滑块423以及所连接的一级升降单元471和二级升降单元480可以共同视为驱动单元420的输出端,防尘组件在输出端与安装基座410之间进行动态密封。
相关技术中的自动打磨设备的升降模组常常受到打磨时的腻子粉尘这样的灰尘影响,使得其传动带和传动轮容易被损坏,此外导向机构上也容易有灰尘影响,需要加装风琴罩一类的防尘部件,但会占很大空间,缩小了升降模组的可用行程。此外,由于风琴罩结构复杂,使用成本较高。
而本实施例则是仅在挡板502上有滑槽5021作为开口,并用同步带422将滑槽5021封挡,并且配置有密封条,在同步带422张紧后,即可抵靠在密封条上,使得滑槽5021被有效封挡,不会由于同步带422的运动而漏出缝隙,使得灰尘不能进入到安装腔室,有效避免了灰尘的影响,保障驱动件421与同步驱动轮451,同步带422与同步驱动轮451、同步惰轮452之间的正常配合。加之密封条是低摩擦柔性材料制作,不会影响同步带422的使用寿命,后期维护成本低,使用更加经济。
综上所述,本申请的打磨机器人1000通过防尘组件来对升降机构400进行防尘,使得升降机构400能够顺畅驱动机械臂200,不会因为作业环境中的灰尘影响正常工作。

Claims (37)

  1. 一种打磨机构,包括:
    基座;
    花键螺母,所述花键螺母安装于所述基座;
    花键轴,所述花键轴穿设于所述花键螺母;
    打磨盘模块,所述打磨盘模块连接于所述花键轴的一端;
    直线驱动模块,所述直线驱动模块设置于所述基座,被设置为推动所述花键轴沿轴向移动以使所述打磨盘模块抵压于作业面;以及
    旋转驱动模块,所述旋转驱动模块设置于所述基座,被设置为驱动所述花键螺母旋转以带动所述花键轴旋转,从而使所述打磨盘模块旋转以打磨所述作业面。
  2. 根据权利要求1所述的打磨机构,所述打磨机构还包括:
    轴承座,所述轴承座沿所述花键轴的轴向可滑动地安装于所述基座;
    第一轴承,所述第一轴承设置于所述轴承座,所述花键轴远离所述打磨盘模块的一端通过所述第一轴承安装于所述轴承座;
    其中,所述直线驱动模块被设置为作用于所述轴承座,以推动所述花键轴沿轴向移动。
  3. 根据权利要求2所述的打磨机构,其中,所述直线驱动模块包括:
    直线驱动构件,所述直线驱动构件固定于所述基座;
    万向球,所述万向球可转动地安装于所述直线驱动构件的输出端,所述万向球被设置为抵持所述轴承座。
  4. 根据权利要求2所述的打磨机构,所述打磨机构还包括:
    第一导向杆,所述第一导向杆固定于所述基座且平行于所述花键轴设置,所述轴承座可滑动地套设于所述第一导向杆。
  5. 根据权利要求4所述的打磨机构,其中,所述第一导向杆上设有限位部,被设置为限制所述轴承座的行程。
  6. 根据权利要求1所述的打磨机构,其中,所述旋转驱动模块包括电机、第一同步轮、第二同步轮和同步带,所述电机设置于所述基座,所述电机的输出端与所述第一同步轮连接,所述第二同步轮与所述花键螺母连接,所述第一同步轮和所述第二同步轮通过所述同步带传动连接。
  7. 根据权利要求1所述的打磨机构,所述打磨机构还包括:第一防尘模块和外罩,所述外罩固定连接于所述基座,所述第一防尘模块和所述打磨盘模块都位于所述外罩的腔室内,所述花键轴穿过所述第一防尘模块以连接所述打磨盘模块,在所述花键轴的轴向上,所述打磨盘模块位于所述第一防尘模块的第一侧,所述旋转驱动模块和所述直线驱动模块位于所述第一防尘模块的第二侧。
  8. 根据权利要求7所述的打磨机构,其中,所述第一防尘模块包括:密封盘、浮动盘、第二轴承和第一防尘膜,所述密封盘固定于所述外罩且具有供所述花键轴穿过的通孔,所述浮动盘通过所述第二轴承安装于所述花键轴,所述浮动盘能够随所述花键轴沿轴向移动,所述第一防尘膜环绕所述花键轴设置,所述第一防尘膜的第一端连接于所述密封盘,所述第一防尘膜的第二端连接于所述浮动盘。
  9. 根据权利要求8所述的打磨机构,其中,所述第一防尘模块还包括:第二导向杆和滚轮组,所述第二导向杆固定于所述浮动盘且平行于所述花键轴设置,所述滚轮组设置于所述密封盘,所述滚轮组包括成对设置的两个滚轮,所述第二导向杆插入两个所述滚轮之间的间隙且与所述滚轮滚动配合。
  10. 根据权利要求8所述的打磨机构,其中,所述第一防尘模块还包括第一压环和第二压环,所述第一防尘膜的第一端通过所述第一压环连接于所述密封 盘,所述第一防尘膜的第二端通过所述第二压环连接于所述浮动盘。
  11. 根据权利要求7所述的打磨机构,其中,所述外罩包括罩体、安全触边和毛刷,所述罩体包括底壁和侧壁,所述侧壁围设在所述底壁的周围,所述侧壁的第一端与所述底壁连接,所述毛刷设置于所述侧壁的第二端,所述底壁与所述基座固定,所述安全触边设置于所述侧壁的外表面。
  12. 根据权利要求1所述的打磨机构,其中,所述基座包括安装板和安装筒,所述安装板与所述安装筒连接,所述直线驱动模块设置于所述安装筒的内腔,所述旋转驱动模块和所述花键螺母设置于所述安装板。
  13. 根据权利要求12所述的打磨机构,其中,所述安装筒包括主支撑筒、气缸安装板、安装法兰和电气比例阀安装件,所述气缸安装板设置于所述主支撑筒的第一端,所述安装板连接于所述主支撑筒的第二端,所述直线驱动模块包括低摩擦气缸,所述低摩擦气缸设置于所述气缸安装板且处于所述主支撑筒内部,所述安装法兰设置于所述气缸安装板的远离所述主支撑筒的一侧,所述安装法兰被设置为与机械臂连接,所述电气比例阀安装件设置于所述安装法兰,以用于安装调节所述低摩擦气缸输出力的电气比例阀。
  14. 根据权利要求1所述的打磨机构,其中,所述花键轴与所述花键螺母形成滚珠花键。
  15. 根据权利要求1所述的打磨机构,其中,所述打磨盘模块包括网格砂纸、魔术贴、连接机构,所述连接机构安装在所述花键轴上,所述魔术贴固定在所述连接机构上,所述网格砂纸固定于所述魔术贴。
  16. 根据权利要求1所述的打磨机构,所述打磨机构还包括:自适应模块,所述自适应模块包括调心球轴承、调节传动件和旋转传动件,所述调心球轴承的内圈连接于所述旋转驱动模块的输出端,所述调心球轴承的外圈通过所述调 节传动件与所述打磨盘模块连接,所述旋转传动件设置于所述旋转驱动模块的输出端;
    所述旋转驱动模块工作时,所述旋转传动件能够拨动所述调节传动件旋转,以使得所述打磨盘模块旋转。
  17. 根据权利要求16所述的打磨机构,其中,所述调节传动件包括第一连接部和传动部,所述第一连接部与所述调心球轴承连接,所述传动部与所述旋转传动件具有间隙,所述旋转驱动模块工作时,所述旋转传动件能够转动至与所述传动部接触以带动所述传动部与所述第一连接部旋转。
  18. 根据权利要求17所述的打磨机构,其中,所述传动部包括十字槽,所述旋转传动件包括第二连接部和多个拨动部,多个所述拨动部连接于所述第二连接部的外周且呈十字形分布,所述十字槽能够容置多个所述拨动部且与所述拨动部之间具有所述间隙,所述第二连接部与所述旋转驱动模块的输出端连接。
  19. 根据权利要求18所述的打磨机构,其中,所述拨动部为凸轮滚子,所述凸轮滚子的转动轴线垂直于所述旋转驱动模块的输出端的转动轴线。
  20. 根据权利要求16所述的打磨机构,其中,所述打磨盘模块包括:
    打磨底板;
    柔性盘;以及
    砂纸,所述砂纸与所述柔性盘的第一侧连接,所述柔性盘的第二侧与所述打磨底板连接,所述打磨底板与所述调节传动件固定连接。
  21. 根据权利要求20所述的打磨机构,其中,所述柔性盘与所述砂纸和所述打磨底板中的至少一个可拆卸连接。
  22. 根据权利要求16所述的打磨机构,其中,所述打磨机构还包括第二防尘模块,所述第二防尘模块包括第二防尘膜、第三压环和第四压环,所述第二防 尘膜套设于所述旋转驱动模块的输出端,所述第二防尘膜的外圈通过所述第三压环与所述调节传动件连接,所述第二防尘膜的内圈通过所述第四压环与所述旋转传动件连接以防止灰尘进入所述调节传动件和所述旋转传动件之间的区域。
  23. 根据权利要求16所述的打磨机构,所述打磨机构还包括复位模块,所述复位模块包括复位盘和拉簧,所述复位盘固定于所述旋转传动件,所述复位盘通过所述拉簧与所述打磨盘模块连接且使得所述打磨盘模块具有回复到初始状态的趋势。
  24. 一种打磨机器人,包括:
    行走底盘;
    机械臂,所述机械臂设置所述行走底盘;以及
    根据权利要求1-23任一项所述的打磨机构,所述打磨机构连接于所述机械臂的末端。
  25. 根据权利要求24所述的打磨机器人,所述打磨机器人还包括:
    升降机构,所述升降机构包括安装基座和驱动单元,所述安装基座设置于所述行走底盘,所述驱动单元设置于所述安装基座,所述驱动单元的输出端与所述机械臂连接;以及
    防尘组件,所述防尘组件设置于所述安装基座;
    其中,所述防尘组件使得所述驱动单元的输出端与所述安装基座之间形成动态密封。
  26. 根据权利要求25所述的打磨机器人,其中,所述防尘组件包括密封件和挡板,所述挡板与所述安装基座围成安装腔室,所述挡板在竖直方向开设有滑槽;
    所述驱动单元包括驱动件、同步带和滑块,所述驱动件设置于所述安装基座且输出端伸入所述安装腔室,所述驱动件的输出端与所述同步带传动连接,所述同步带将所述滑槽封挡,所述滑块固定于所述同步带且位于所述滑槽内,所述滑块位于所述安装腔室外侧,被设置为带动所述机械臂运动;
    所述密封件设置于所述滑槽的周向且处于所述安装腔室内;
    其中,所述同步带在运动过程中与所述密封件保持接触且将所述滑槽时时封挡。
  27. 根据权利要求26所述的打磨机器人,其中,所述驱动单元包括同步驱动轮、同步惰轮,所述同步惰轮和所述同步驱动轮设置于所述安装腔室内,所述同步带绕设于所述同步惰轮和所述同步驱动轮,所述驱动件的输出端与所述同步驱动轮连接。
  28. 根据权利要求27所述的打磨机器人,其中,所述升降机构还包括张紧单元,所述同步惰轮与所述安装基座通过所述张紧单元连接,所述张紧单元能够调节所述同步惰轮靠近或者远离所述同步驱动轮,以使得所述同步带松弛或者张紧,所述同步带被张紧时,所述同步带与所述密封件贴合。
  29. 根据权利要求28所述的打磨机器人,其中,所述张紧单元包括张紧螺钉,所述同步惰轮的转轴开设有螺孔,所述张紧螺钉穿设于所述安装基座顶部且通过所述螺孔与所述同步惰轮的转轴螺纹连接,旋拧所述张紧螺钉能够带动所述同步惰轮上升或者下降。
  30. 根据权利要求26所述的打磨机器人,其中,所述密封件为密封条,所述同步带的光背面与所述密封条的表面贴合且形成动密封面。
  31. 根据权利要求30所述的打磨机器人,其中,所述密封条的耐磨性较之所述同步带的耐磨性更低。
  32. 根据权利要求31所述的打磨机器人,其中,所述密封条采用低摩擦柔性材料制成。
  33. 根据权利要求30所述的打磨机器人,其中,所述密封条的厚度为H,所述同步带张紧时,所述同步带与所述挡板的内壁之间的间距为S,满足H>S。
  34. 根据权利要求26所述的打磨机器人,其中,所述同步带的宽度为D,所述滑槽的宽度为F,满足D-F>10mm。
  35. 根据权利要求26所述的打磨机器人,其中,所述升降机构还包括一级升降单元和一级V型导轨,所述一级V型导轨设置于所述安装基座的两侧,所述一级升降单元包括一级输出组件、一级机架和一级V型导轮,所述一级机架与所述滑块固定连接,所述一级输出组件设置于所述一级机架且被设置为连接所述机械臂,所述一级V型导轮设置于所述一级机架且与所述一级V型导轨配合。
  36. 根据权利要求35所述的打磨机器人,其中,所述升降机构还包括二级升降单元,所述二级升降单元包括二级机架和二级V型导轮,所述一级升降单元还包括二级V型导轨,所述二级V型导轨设置于所述一级机架,所述二级V型导轮设置于所述二级机架且与所述二级V型导轨配合,所述一级输出组件通过所述二级机架与所述机械臂连接。
  37. 根据权利要求36所述的打磨机器人,其中,所述一级输出组件包括联动同步带和联动轮,所述联动轮设置于所述一级机架,所述联动同步带绕设于所述联动轮,所述联动同步带的第一端与所述安装基座固定,所述联动同步带的第二端与所述二级机架固定。
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