CN108756177B - Working method of polishing robot for building construction - Google Patents
Working method of polishing robot for building construction Download PDFInfo
- Publication number
- CN108756177B CN108756177B CN201810625061.5A CN201810625061A CN108756177B CN 108756177 B CN108756177 B CN 108756177B CN 201810625061 A CN201810625061 A CN 201810625061A CN 108756177 B CN108756177 B CN 108756177B
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- motor
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- dust
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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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable machines
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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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
- 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
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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
- 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
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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
- 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
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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
- B24B7/186—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like with disc-type tools
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
A working method of a polishing robot for building construction comprises an underframe mechanism, a vertical frame mechanism, a polishing mechanism, a dust suction and removal mechanism and a detection control system. The chassis mechanism is connected with the vertical frame mechanism and is erected on the chassis mechanism, the grinding mechanism is installed on the vertical frame mechanism, the dust suction mechanism is arranged on the chassis mechanism and is connected with the grinding mechanism, and the detection control system controls the chassis mechanism, the vertical frame mechanism, the grinding mechanism and the dust suction mechanism to work through detection.
Description
Technical Field
The invention relates to a robot suitable for automatic wall surface decoration, in particular to a working method of a polishing robot for building construction.
Background
Putty scraping is carried out on the wall surface which is already cemented in the building, and the putty scraping is commonly called as white scraping; after putty is applied, the wall surface is polished to be smooth and then is scraped with imitation porcelain or painted, the putty application work is finished manually at present, the wall surface is polished manually, the labor intensity is high, the efficiency is low, the quality depends on the proficiency of workers, the workers need to build a frame and scrape the wall surface little by using sand paper, and the workers work tired in one day; the electric sand paper machine is held by hands, but the electric sand paper machine is required to be held by hands for polishing, so that workers are tired in working for one day; the key point is that the dust caused by polishing is too large, the damage to the human body is too large, even if the protection is carried out, the human body is also greatly damaged and is dirty and tired, the engineering cost is increased along with the continuous increase of wages of workers, more and more young people are not willing to engage in heavy physical labor, and the work requirement that a robot replaces people to complete putty scraping is urgent.
Disclosure of Invention
The invention aims to provide a working method of a polishing robot for building construction.
In order to achieve the purpose, the invention adopts the technical scheme that: a polishing robot for building construction comprises an underframe mechanism, a vertical frame mechanism, a polishing mechanism, a dust suction and removal mechanism and a detection control system. The chassis mechanism is connected with the vertical frame mechanism and is erected on the chassis mechanism, the grinding mechanism is installed on the vertical frame mechanism, the dust suction mechanism is arranged on the chassis mechanism and is connected with the grinding mechanism, and the detection control system controls the chassis mechanism, the vertical frame mechanism, the grinding mechanism and the dust suction mechanism to work through detection.
According to polishing robot, characterized by: the chassis mechanism consists of a chassis, a driving wheel, an adjusting wheel, an auxiliary wheel, a jack lifting motor fixing part, a driving motor and a driving motor transmission mechanism; the bottom frame is provided with a bottom plate, a jack lifting motor is connected with a jack screw shaft through a coupling, and is fixedly connected with a jack through a jack lifting motor fixing piece, the top of the jack is fixedly connected with a jack fixing piece, the jack fixing piece is fixed on the bottom frame, and the bottom of the jack is fixedly connected with an adjusting wheel; the driving motor is fixed under the underframe and drives the driving wheel and the additional wheel to move through the driving motor transmission mechanism.
According to polishing robot, characterized by: the vertical frame mechanism consists of a vertical frame, a lifting motion mechanism and a diagonal draw bar; the grudging post comprises two pole settings and many horizontal poles, the elevating movement mechanism is fixed with the guide rail respectively on two faces of two pole settings, two sliders overlap respectively on two guide rails and with guide rail sliding connection, lifter plate and two slider fixed connection, be fixed with the rack respectively on two corresponding faces of two pole settings, two elevator motor fix on the lifter plate, two elevator motor are fixedly connected with lifting gear respectively, lifting gear and rack meshing constitute gear drive, the one end and the grudging post fixed connection of diagonal draw bar, the other end and the one end fixed connection of chassis, the one end fixed mounting of grudging post is at the other end of chassis, the grudging post, a triangle-shaped is constituteed to the diagonal draw bar.
According to polishing robot, characterized by: the grinding mechanism consists of a fixed seat, a dust cover, an adjusting motor gear, a sand wheel motor fixed seat, a dust cover dust outlet, a spring, an adjusting motor, a sliding seat, a sand wheel motor, a sand paper base plate and an adjusting rack; sliding connection has the slide and constitutes the sliding pair in the fixing base, fixedly connected with adjustment rack on the slide, adjustment rack and adjustment motor gear engagement constitute gear drive, the adjustment motor gear is fixed on the adjustment motor, the adjustment motor is fixed on the lifter plate, sliding connection has emery wheel motor fixing base slide bar in the slide, emery wheel motor fixing base and emery wheel motor fixing base slide bar hinged joint, it has the spring to overlap on emery wheel motor fixing base slide bar and between emery wheel motor fixing base and slide, emery wheel motor fixing base and dust cover fixed connection, the emery wheel motor is fixed on emery wheel motor fixing base, fixedly connected with emery paper backing plate on the emery wheel motor, the emery paper backing plate is in the dust cover, fixed mounting has the emery paper on the emery paper backing plate.
According to polishing robot, characterized by: the dust suction and removal mechanism consists of a dust suction device and a dust removal device, the dust suction device is fixed on the bottom plate of the underframe, the dust removal device is fixedly arranged in the dust suction device, and the dust outlet of the dust cover is connected with the dust suction port of the dust suction device through a pipe.
According to polishing robot, characterized by: the detection control system is composed of a first distance meter, a second distance meter, a third distance meter, a travel switch and a main control circuit, wherein the first distance meter, the second distance meter, the third distance meter and the travel switch are respectively connected with the main control circuit, the travel switches are respectively fixed on the upper portion and the lower portion of the vertical frame, and the main control circuit is respectively connected with the adjusting motor, the sand wheel motor, the driving motor, the jack lifting motor and the lifting motor.
According to polishing robot, characterized by: the driving motor transmission mechanism is composed, wherein the transmission device is in mechanical transmission.
According to polishing robot, characterized by: the jack is a rack jack.
The working method of the polishing robot for building construction comprises the following steps: when the lifting device works, the robot is placed relative to a wall surface, the position of the robot is adjusted by the distance between the vertical frame and the wall surface, the lifting motor works to place the sand paper base plate to the bottom, the travel switch is closed at the moment, the signal is transmitted to the main control circuit, the manual key of the control panel is started, the main control circuit starts the adjusting motor through the internal driving gating circuit, the sand paper base plate fixedly provided with the sand paper is enabled to approach the wall surface, after the sand paper is contacted with the wall surface, the main control circuit stops the adjusting motor through the internal driving gating circuit, the automatic key of the control panel is started, the sand wheel motor, the dust collecting device and the lifting motor are started, the lifting motor rotates to drive the lifting gear to rotate, the lifting gear is meshed with the rack to form gear transmission, and the lifting gear drives the lifting plate to move upwards;
the sand wheel motor is fixedly connected with the sand wheel motor fixing seat through a bearing, the sand wheel motor is fixedly connected with a sand wheel base plate, a sand paper backing plate is fixedly connected with the sand wheel motor, and the sand paper backing plate is arranged in the dust cover and fixedly provided with sand paper; the lifting gear drives the sand paper base plate fixedly provided with the sand paper to move upwards, meanwhile, the polished dust is sucked into the dust collection device from the dust cover through the dust outlet of the dust cover through the hose, the dust collection device removes dust from the dust, the sand paper moves on the wall surface to polish and flatten putty on the wall, when the sand paper base plate fixedly provided with the sand paper reaches the top, the travel switch at the top is closed at the moment and transmits a signal to the main control circuit, the main control circuit works according to the input program and data, the main control circuit automatically starts the adjusting motor to rotate reversely through the internal driving gating circuit, and the sand wheel motor fixing seat is hinged with the sand wheel motor fixing seat sliding rod, so the sand paper is more easily in parallel contact with the wall surface;
when the sand paper is separated from the wall surface, a gear on the driving motor is meshed and connected with the driving gear, the driving gear and the belt pulley I are coaxial with the driving wheel, the belt pulley II is coaxial with the attached wheel, the belt pulley I is in transmission connection with the belt pulley II through a synchronous belt, the driving motor drives the driving gear to rotate, the driving gear drives the belt pulley I and the driving wheel to rotate, the belt pulley I drives the belt pulley II and the attached wheel to rotate, the driving wheel and the attached wheel rotate simultaneously to drive the whole robot to move forwards along the wall surface for a certain distance, the main control circuit compares data of the distance measuring instrument I and the distance measuring instrument II, when the data cannot meet requirements, the main control circuit automatically starts the jack lifting motor through an internal driving gating circuit, the jack lifting motor is connected with the jack spiral shaft through a shaft coupling and is fixedly connected with a jack pin through a, the upper connecting plate of the jack is fixedly connected with the jack fixing piece, the jack fixing piece is fixed on the underframe, and the lower connecting plate of the jack is fixedly connected with the adjusting wheel; the lifting motor of the jack rotates to drive the coupling and the screw shaft of the jack to rotate, the screw shaft rotates to drive the jack to lift, thereby after the parallelism degree of the vertical frame and the wall surface is adjusted, the main control circuit starts the adjusting motor through the internal driving gating circuit, the sandpaper backing plate fixedly provided with the sandpaper is close to the wall surface, when the sandpaper is contacted with the wall surface, the main control circuit stops the adjusting motor through the internal driving gating circuit and starts the sand wheel motor and the dust collector, the main control circuit starts the lifting motor through the internal driving gating circuit and drives the driving motor to work, the lifting motor rotates to drive the lifting gear to rotate, the lifting gear is meshed with the rack to form gear transmission, the lifting gear drives the lifting plate to move downwards, thereby driving the sandpaper backing plate fixedly provided with the sandpaper to move downwards, the lifting motor works to place the sandpaper backing plate fixedly provided with the sandpaper to the bottom, the travel switch of grudging post bottom is closed, and give main control circuit with this signal transfer, main control circuit stops elevator motor work through inside drive gate circuit, so reciprocating cycle, when the robot moved to the wall corner, the distancer third sent data signal to main control circuit, when reaching program set's minimum, main control circuit stopped drive motor through inside drive gate circuit and rotates, in the course of the work, in order to increase the steadiness of robot, can put the sand bag on the bottom plate of chassis and carry out the counter weight.
The invention has the beneficial effects that:
1. compared with the manual work, the operation is simple, the automation degree is high, the working efficiency is high, and the use cost is low.
2. The polishing, dust removal and digital movement integrated machine can be realized, and the speed is high.
3. No need of a scaffold and good safety performance.
4. People can be released from heavy physical labor, and a plurality of robots can be operated by one person to work simultaneously.
5. Can remove the harm of dust generated by materials such as polishing putty and the like to workers, and is green and environment-friendly.
Drawings
FIG. 1 is a side view of a first embodiment of the present invention.
Fig. 2 is a front view of the first embodiment of the present invention.
Fig. 3 is a rear view of the first embodiment of the present invention.
Fig. 4 is a top view of the first embodiment of the present invention.
Fig. 5 is a bottom view of the first embodiment of the present invention.
FIG. 6 is a three-dimensional schematic diagram of an embodiment of the present invention.
FIG. 7 is a schematic view of a grinding mechanism in an embodiment of the present invention
Figure 8 is a cross-sectional view of a sharpening mechanism in an embodiment of the invention.
Figure 9 is a three-dimensional schematic of a sharpening mechanism according to an embodiment of the invention.
FIG. 10 is a schematic diagram of the electrical control connection of the present invention.
In the drawings: 1. a guide rail; 2. a dust cover; 3. a drive motor gear; 4. a drive wheel; 5. an adjustment wheel; 6. a chassis; 7. a vacuum cleaner; 8. a humidifier; 9. a diagonal member; 10. a second distance meter; 11. a cross bar; 12. a rack; 13. a lifting plate; 14. a jack mount; 15. an additional moving wheel; 16. lifting the jack up and down the motor; 17. a jack lifting motor fixing part; 18. a jack pin; 19. the upper and lower connecting pieces of the jack; 20. a frame of the jack; 21. a distance meter III; 22. a sand paper backing plate; 23. a first distance meter; 24. a first lifting motor; 25. a cross bar; 26. a lifting gear; 27. a second lifting motor; 28. a slider; 29. a drive motor; 30. a drive gear; 31. a first belt pulley; 32. a second belt pulley; 33. erecting a rod; 34. adjusting a motor gear; 35. a sand wheel motor fixing seat; 36. a dust outlet of the dust cover; 37. a spring; 38. adjusting the motor; 39. a fixed seat; 40. a slide base; 41. a sand wheel motor; 42. adjusting the rack; 43. a sand wheel motor fixing seat sliding rod; 44. a master control circuit; 45. a travel switch.
Detailed Description
The invention will be further described with reference to the following figures and specific examples:
the invention relates to a polishing robot, which comprises an underframe mechanism, a vertical frame mechanism, a polishing mechanism, a dust suction and removal mechanism and a detection control system, as shown in figures 1, 2, 3, 4, 5 and 10. The chassis mechanism consists of a chassis 6, a driving wheel 4, an adjusting wheel 5, an additional driving wheel 15, a jack lifting motor 16, a jack lifting motor fixing part 17, a driving motor 28 and a driving motor transmission mechanism; a bottom plate is arranged on the underframe 6, a jack lifting motor 16 is connected with a jack screw shaft through a coupling, a fixed part of the jack lifting motor 16 is fixedly connected with a jack pin 18, an upper connecting piece 19 of the jack is fixedly connected with a jack fixed part 14, the jack fixed part 14 is fixed on the underframe 6, and a lower connecting piece 19 of the jack is fixedly connected with the adjusting wheel 5; the driving motor 28 is fixed under the underframe 6, and the driving wheel 4 and the additional wheel 15 are driven to move by the transmission mechanism of the driving motor 28; the vertical frame mechanism consists of a vertical frame, a lifting motion mechanism and a diagonal draw bar 9; the vertical frame is a fixed frame consisting of two vertical rods 33 and a plurality of cross rods 25, the lifting movement mechanism is characterized in that guide rails 1 are respectively fixed on two surfaces of the two vertical rods 33, two sliders 28 are respectively sleeved on the two guide rails 1 and are in sliding connection with the guide rails 1, a lifting plate 13 is fixedly connected with the two sliders 28, racks 12 are respectively fixed on two corresponding surfaces of the two vertical rods 33, two lifting motors 24 and 27 are fixed on the lifting plate 13, the two lifting motors 24 and 27 are respectively and fixedly connected with lifting gears 26, the lifting gears 26 are meshed with the racks 12 to form gear transmission, one end of a diagonal draw bar 9 is fixedly connected with the vertical frame, the other end of the diagonal draw bar is fixedly connected with one end of the bottom frame 6, one end of the vertical frame is fixedly installed at the other end of the bottom frame 6, and the bottom frame; the grinding mechanism consists of a fixed seat 39, a dust cover 2, an adjusting motor gear 34, a sand wheel motor fixed seat 35, a dust cover dust outlet 36, a spring 37, an adjusting motor 38, a sliding seat 40, a sand wheel motor 41, a sand paper backing plate 22 and an adjusting rack 42; a sliding seat 40 is connected in a fixed seat 39 in a sliding way to form a moving pair, a through groove is arranged on the fixed seat 39, an adjusting rack 42 is fixedly connected on the sliding seat 40, the adjusting rack 42 is meshed with an adjusting motor gear 34 to form gear transmission, the adjusting motor gear 34 is fixed on an adjusting motor 38, the adjusting motor 38 is fixed on a lifting plate 13, a sand wheel motor fixed seat sliding rod 43 is connected in the sliding seat 40 in a sliding way, a sand wheel motor fixed seat 35 is hinged with the sand wheel motor fixed seat sliding rod 43, a spring 37 is sleeved on the sand wheel motor fixed seat sliding rod 43 and between the sand wheel motor fixed seat and the sliding seat 40, the sand wheel motor fixed seat 35 is fixedly connected with a dust cover 2, a sand wheel motor 41 is fixed on the sand wheel motor fixed seat 35, the motor rod of the sand wheel motor 41 is connected with the sand wheel motor fixed seat 35 through a bearing, a sand, the sand paper backing plate 22 is arranged in the dust cover 2, and sand paper is fixedly arranged on the sand paper backing plate 22; the dust suction and removal mechanism consists of a dust suction device and a dust removal device, the dust suction device is fixed on the bottom plate of the underframe 6, the dust removal device is fixedly arranged in the dust suction device, and a dust outlet of the dust cover is connected with a dust suction port of the dust suction device through a pipe; the detection control system is composed of a first distance meter 23, a second distance meter 10, a third distance meter 21, a travel switch 45 and a main control circuit 44, wherein the first distance meter 23, the second distance meter 10, the third distance meter 21 and the travel switch 45 are respectively connected with the main control circuit 44, the travel switch 45 is respectively fixed on the upper portion and the lower portion of the vertical frame 33, and the main control circuit 44 is respectively connected with the adjusting motor 38, the sand wheel motor 41, the driving motor 29, the lifting and descending motor 16 and the lifting and descending motors 24 and 27.
According to polishing robot, characterized by: the driving motor transmission mechanism is composed, wherein the transmission device is in mechanical transmission.
According to polishing robot, characterized by: the jack is a rack jack.
The following is further illustrated with reference to specific examples:
the jack is a rack horizontal jack, also called a scissor jack.
The driving motor 29, the jack lifting motor 16, the lifting motors 24 and 27, the sand wheel motor 41 and the adjusting motor 38 are stepping motors.
The transmission device of the driving motor is a driving gear 30, a first belt pulley 31 and a second belt pulley 32, the driving gear 30 and the first belt pulley 31 are coaxial with the driving wheel 4, the second belt pulley 32 is coaxial with the auxiliary wheel 15, a gear on the driving motor 29 is meshed with the driving gear 30, and the first belt pulley 31 and the second belt pulley 32 are in transmission connection through a synchronous belt.
The dust suction device is a dust collector 7, and the dust removal device is a humidifier 8.
When in use, the robot is put well relative to the wall surface, the position of the robot is adjusted by displaying the distance between the upright frame 33 and the wall on the control panel, the elevator motors 24, 27 are then operated to bring the sandpaper backing plate 22 to the bottom, at which point the travel switch 45 is closed, and transmits the signal to the main control circuit 44, and starts the manual key of the control panel, the main control circuit 44 starts the adjusting motor 38 through the internal driving gating circuit, so that the sandpaper backing plate 22 fixedly provided with the sandpaper approaches to the wall surface, when the sandpaper contacts the wall surface, the main control circuit 44 stops adjusting the motor 38 through the internal driving gating circuit, starts the automatic key of the control panel, starts the sandwheel motor 41, the dust collector 7 and the lifting motors 24 and 27, the lifting motors 24 and 27 rotate to drive the lifting gear 26 to rotate, the lifting gear 26 is meshed with the rack 12 to form gear transmission, and the lifting gear 26 drives the lifting plate 13 to move upwards.
Because the sliding seat 40 is connected in the fixed seat 39 in a sliding way and forms a moving pair, the fixed seat 39 is provided with a through groove, the sliding seat 40 is fixedly connected with an adjusting rack 42, the adjusting rack 42 is meshed with the adjusting motor gear 34 to form gear transmission, the adjusting motor gear 34 is fixed on the adjusting motor 38, the adjusting motor 38 is fixed on the lifting plate 13, the sliding seat 40 is connected with a sand wheel motor fixed seat sliding rod 43 in a sliding way, the sand wheel motor fixed seat 35 is hinged with the sand wheel motor fixed seat sliding rod 43, a spring 37 is sleeved on the sand wheel motor fixed seat sliding rod 43 and between the sand wheel motor fixed seat and the sliding seat 40, the sand wheel motor fixed seat 35 is fixedly connected with the dust cover 2, the sand wheel motor 41 is fixed on the sand wheel motor fixed seat 35, the motor rod of the sand wheel motor 41 is connected with the sand wheel motor fixed seat 35 through a bearing, and a, the sand paper backing plate 22 is arranged in the dust cover 2, and sand paper is fixedly arranged on the sand paper backing plate 22; therefore, the lifting gears 24 and 27 drive the sandpaper backing plate 22 fixedly provided with the sandpaper to move upwards, meanwhile, the polished dust is sucked into the dust collector 7 through the hose from the dust cover 2 through the dust outlet 36 of the dust cover, the humidifier 8 removes the dust, the movement of the sandpaper on the wall surface polishes the putty on the wall smoothly, when the sandpaper backing plate 22 fixedly provided with the sandpaper reaches the top, the travel switch 45 at the top is closed at the moment, and the signal is transmitted to the main control circuit 44, the main control circuit 44 works according to the input program and data, the main control circuit 44 automatically starts the adjusting motor 38 to rotate reversely through the internal driving gating circuit, and the sandpaper is more easily in parallel contact with the wall surface due to the hinged connection of the sandwheel motor fixing seat 35 and the sandwheel motor fixing seat sliding rod 43.
When the sand paper is separated from the wall surface, the gear on the driving motor 29 is meshed with the driving gear 30, the driving gear 30 and the belt pulley 31 are coaxial with the driving wheel 4, the belt pulley II 32 is coaxial with the attached wheel 15, the belt pulley I31 is in transmission connection with the belt pulley II 32 through a synchronous belt, the driving motor 29 drives the driving gear 30 to rotate, the driving gear 30 drives the belt pulley I31 and the driving wheel 4 to rotate, the belt pulley I31 drives the belt pulley II 32 and the attached wheel 15 to rotate, the driving wheel 4 and the attached wheel 15 rotate simultaneously to drive the whole robot to move forwards along the wall surface for a certain distance, the main control circuit 44 compares the data of the distance measuring instrument I23 and the distance measuring instrument II 10, when the data cannot meet the requirement, the main control circuit 44 automatically starts the jack lifting motor 16 through an internal driving gating circuit, and the jack lifting motor 16 is connected with the jack spiral shaft, the lifting motor fixing part 17 is fixedly connected with the lifting pin 18 through the lifting jack, the upper connecting plate 19 of the lifting jack is fixedly connected with the lifting jack fixing part 14, the lifting jack fixing part 14 is fixed on the underframe 6, and the lower connecting plate 19 of the lifting jack is fixedly connected with the adjusting wheel 5; the jack lifting motor 16 rotates to drive the coupling and the jack screw shaft to rotate, the screw shaft rotates to drive the jack to lift, so that after the parallelism degree of the stand and the wall surface is adjusted, the main control circuit 44 starts the adjusting motor 38 through the internal driving gating circuit to enable the sandpaper backing plate 22 fixedly provided with the sandpaper to approach the wall surface, when the sandpaper is contacted with the wall surface, the main control circuit 44 stops the adjusting motor 38 through the internal driving gating circuit and starts the sand wheel motor 41 and the dust collector 7, the main control circuit 44 starts the lifting motors 24, 27 and the driving motor 29 to work through the internal driving gating circuit, the lifting motors 24 and 27 rotate to drive the lifting gear 26 to rotate, the lifting gear 26 is meshed with the rack 12 to form gear transmission, the lifting gear 26 drives the lifting plate 13 to move downwards to drive the sandpaper backing plate 22 fixedly provided with the sandpaper to move downwards, and the lifting motor 24, 27, 2 and the, 27 after the sandpaper backing plate 22 fixedly provided with the sandpaper is placed at the bottom, the travel switch 45 at the bottom of the stand is closed, the signal is transmitted to the main control circuit 44, the main control circuit 44 stops the work of the lifting motors 24 and 27 through the internal driving gating circuit, the reciprocating circulation is carried out, when the robot moves to a corner of a wall surface, the distance meter three 21 transmits the data signal to the main control circuit 44, when the minimum value set by a program is reached, the main control circuit 44 stops the rotation of the driving motor 29 through the internal driving gating circuit, and in the working process, in order to increase the stability of the robot, a sandbag can be placed on the bottom plate of the bottom frame 6 for balancing.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the concept and the protection scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall within the protection scope of the present invention.
Claims (1)
1. A working method of a polishing robot for building construction comprises an underframe mechanism, a vertical frame mechanism, a polishing mechanism, a dust suction mechanism and a detection control system; the chassis mechanism is connected with the vertical frame mechanism and is erected on the chassis mechanism, the polishing mechanism is arranged on the vertical frame mechanism, the dust absorption and removal mechanism is arranged on the chassis mechanism and is connected with the polishing mechanism, and the detection control system controls the chassis mechanism, the vertical frame mechanism, the polishing mechanism and the dust absorption and removal mechanism to work through detection; the grinding mechanism consists of a fixed seat, a dust cover, an adjusting motor gear, a sand wheel motor fixed seat, a dust cover dust outlet, a spring, an adjusting motor, a sliding seat, a sand wheel motor, a sand paper base plate and an adjusting rack; a sliding seat is connected in a fixed seat in a sliding manner to form a moving pair, an adjusting rack is fixedly connected on the sliding seat, the adjusting rack is meshed with an adjusting motor gear to form gear transmission, the adjusting motor gear is fixed on an adjusting motor, the adjusting motor is fixed on a lifting plate, a sand wheel motor fixed seat sliding rod is connected in the sliding seat in a sliding manner, a sand wheel motor fixed seat is hinged with the sand wheel motor fixed seat sliding rod, a spring is sleeved on the sand wheel motor fixed seat sliding rod and between the sand wheel motor fixed seat and the sliding seat, the sand wheel motor fixed seat is fixedly connected with a dust cover, a sand wheel motor is fixed on the sand wheel motor fixed seat, a sand paper backing plate is fixedly connected on the sand wheel motor, the sand paper backing plate is arranged in the dust cover;
the chassis mechanism consists of a chassis, a driving wheel, an adjusting wheel, an auxiliary wheel, a jack lifting motor fixing part, a driving motor and a driving motor transmission mechanism; the bottom frame is provided with a bottom plate, a jack lifting motor is connected with a jack screw shaft through a coupling, and is fixedly connected with a jack through a jack lifting motor fixing piece, the top of the jack is fixedly connected with a jack fixing piece, the jack fixing piece is fixed on the bottom frame, and the bottom of the jack is fixedly connected with an adjusting wheel; the driving motor is fixed below the underframe and drives the driving wheel and the additional wheel to move through the driving motor transmission mechanism;
the dust suction and removal mechanism consists of a dust suction device and a dust removal device, the dust suction device is fixed on the bottom plate of the underframe, the dust removal device is fixedly arranged in the dust suction device, and the dust outlet of the dust cover is connected with the dust suction port of the dust suction device through a pipe;
the vertical frame mechanism consists of a vertical frame, a lifting motion mechanism and a diagonal draw bar; the vertical frame is composed of two vertical rods and a plurality of cross rods, a lifting motion mechanism is characterized in that guide rails are respectively fixed on two surfaces of the two vertical rods, two sliders are respectively sleeved on the two guide rails and are in sliding connection with the guide rails, a lifting plate is fixedly connected with the two sliders, racks are respectively fixed on two corresponding surfaces of the two vertical rods, two lifting motors are fixed on the lifting plate, two lifting motors are respectively and fixedly connected with lifting gears, the lifting gears are meshed with the racks to form gear transmission, one end of a diagonal draw bar is fixedly connected with the vertical frame, the other end of the diagonal draw bar is fixedly connected with one end of the bottom frame, one end of the vertical frame is fixedly installed at the other end of the bottom frame, and the bottom frame, the;
the detection control system consists of a first distance meter, a second distance meter, a third distance meter, a travel switch and a main control circuit, wherein the first distance meter, the second distance meter, the third distance meter and the travel switch are respectively connected with the main control circuit, the travel switches are respectively fixed at the upper part and the lower part of the vertical frame, and the main control circuit is respectively connected with an adjusting motor, a sand wheel motor, a driving motor, a jack lifting motor and a lifting motor;
the working method of the polishing robot for building construction comprises the following steps: when the lifting device works, the robot is placed relative to a wall surface, the position of the robot is adjusted by the distance between the vertical frame and the wall surface, the lifting motor works to place the sand paper base plate to the bottom, the travel switch is closed at the moment, the signal is transmitted to the main control circuit, the manual key of the control panel is started, the main control circuit starts the adjusting motor through the internal driving gating circuit, the sand paper base plate fixedly provided with the sand paper is enabled to approach the wall surface, after the sand paper is contacted with the wall surface, the main control circuit stops the adjusting motor through the internal driving gating circuit, the automatic key of the control panel is started, the sand wheel motor, the dust collecting device and the lifting motor are started, the lifting motor rotates to drive the lifting gear to rotate, the lifting gear is meshed with the rack to form gear transmission, and the lifting gear drives the lifting plate to move upwards;
the sand wheel motor is fixedly connected with the sand wheel motor fixing seat through a bearing, the sand wheel motor is fixedly connected with a sand wheel base plate, a sand paper backing plate is fixedly connected with the sand wheel motor, and the sand paper backing plate is arranged in the dust cover and fixedly provided with sand paper; the lifting gear drives the sand paper base plate fixedly provided with the sand paper to move upwards, meanwhile, the polished dust is sucked into the dust collection device from the dust cover through the dust outlet of the dust cover through the hose, the dust collection device removes dust from the dust, the sand paper moves on the wall surface to polish and flatten putty on the wall, when the sand paper base plate fixedly provided with the sand paper reaches the top, the travel switch at the top is closed at the moment and transmits a signal to the main control circuit, the main control circuit works according to the input program and data, the main control circuit automatically starts the adjusting motor to rotate reversely through the internal driving gating circuit, and the sand wheel motor fixing seat is hinged with the sand wheel motor fixing seat sliding rod, so the sand paper is more easily in parallel contact with the wall surface;
when the sand paper is separated from the wall surface, a gear on the driving motor is meshed and connected with the driving gear, the driving gear and the belt pulley I are coaxial with the driving wheel, the belt pulley II is coaxial with the attached wheel, the belt pulley I is in transmission connection with the belt pulley II through a synchronous belt, the driving motor drives the driving gear to rotate, the driving gear drives the belt pulley I and the driving wheel to rotate, the belt pulley I drives the belt pulley II and the attached wheel to rotate, the driving wheel and the attached wheel rotate simultaneously to drive the whole robot to move forwards along the wall surface for a certain distance, the main control circuit compares data of the distance measuring instrument I and the distance measuring instrument II, when the data cannot meet requirements, the main control circuit automatically starts the jack lifting motor through an internal driving gating circuit, the jack lifting motor is connected with the jack spiral shaft through a shaft coupling and is fixedly connected with a jack pin through a, the upper connecting plate of the jack is fixedly connected with the jack fixing piece, the jack fixing piece is fixed on the underframe, and the lower connecting plate of the jack is fixedly connected with the adjusting wheel; the lifting motor of the jack rotates to drive the coupling and the screw shaft of the jack to rotate, the screw shaft rotates to drive the jack to lift, thereby after the parallelism degree of the vertical frame and the wall surface is adjusted, the main control circuit starts the adjusting motor through the internal driving gating circuit, the sandpaper backing plate fixedly provided with the sandpaper is close to the wall surface, when the sandpaper is contacted with the wall surface, the main control circuit stops the adjusting motor through the internal driving gating circuit and starts the sand wheel motor and the dust collector, the main control circuit starts the lifting motor through the internal driving gating circuit and drives the driving motor to work, the lifting motor rotates to drive the lifting gear to rotate, the lifting gear is meshed with the rack to form gear transmission, the lifting gear drives the lifting plate to move downwards, thereby driving the sandpaper backing plate fixedly provided with the sandpaper to move downwards, the lifting motor works to place the sandpaper backing plate fixedly provided with the sandpaper to the bottom, the travel switch of grudging post bottom is closed, and give main control circuit with this signal transfer, main control circuit stops elevator motor work through inside drive gate circuit, so reciprocating cycle, when the robot moved to the wall corner, the distancer third sent data signal to main control circuit, when reaching program set's minimum, main control circuit stopped drive motor through inside drive gate circuit and rotates, in the course of the work, in order to increase the steadiness of robot, can put the sand bag on the bottom plate of chassis and carry out the counter weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810625061.5A CN108756177B (en) | 2016-08-24 | 2016-08-24 | Working method of polishing robot for building construction |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810625061.5A CN108756177B (en) | 2016-08-24 | 2016-08-24 | Working method of polishing robot for building construction |
| CN201610717704.XA CN106271940B (en) | 2016-08-24 | 2016-08-24 | Milling robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610717704.XA Division CN106271940B (en) | 2016-08-24 | 2016-08-24 | Milling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108756177A CN108756177A (en) | 2018-11-06 |
| CN108756177B true CN108756177B (en) | 2020-08-11 |
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Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810625057.9A Withdrawn CN108818189A (en) | 2016-08-24 | 2016-08-24 | Construction milling robot |
| CN201810625058.3A Expired - Fee Related CN108797975B (en) | 2016-08-24 | 2016-08-24 | Wall putty polishing robot for building construction |
| CN201810625061.5A Active CN108756177B (en) | 2016-08-24 | 2016-08-24 | Working method of polishing robot for building construction |
| CN201610717704.XA Active CN106271940B (en) | 2016-08-24 | 2016-08-24 | Milling robot |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810625057.9A Withdrawn CN108818189A (en) | 2016-08-24 | 2016-08-24 | Construction milling robot |
| CN201810625058.3A Expired - Fee Related CN108797975B (en) | 2016-08-24 | 2016-08-24 | Wall putty polishing robot for building construction |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610717704.XA Active CN106271940B (en) | 2016-08-24 | 2016-08-24 | Milling robot |
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| Country | Link |
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| CN (4) | CN108818189A (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107263235A (en) * | 2017-08-14 | 2017-10-20 | 罗厚镇 | A kind of building wall automatically grinding pre-processing device |
| CN110125750B (en) * | 2019-05-17 | 2021-03-26 | 巢湖学院 | Semi-automatic wall grinding device |
| CN110355687A (en) * | 2019-07-04 | 2019-10-22 | 无锡中车时代智能装备有限公司 | Robot electric end face milling tools |
| CN110814898B (en) * | 2019-10-15 | 2021-08-24 | 广东博智林机器人有限公司 | Grinding device and grinding robot with same |
| CN111251104A (en) * | 2020-03-09 | 2020-06-09 | 上海雅跃智能科技有限公司 | Outer wall polishing robot |
| CN113579881B (en) * | 2020-04-30 | 2022-10-18 | 广东博智林机器人有限公司 | Polishing equipment and polishing robot with same |
| CN111546079B (en) * | 2020-05-10 | 2021-06-15 | 绍兴市卓诚新材料有限公司 | Double-axis equipment frame body of motor pump casing casting equipment |
| CN111890153A (en) * | 2020-08-05 | 2020-11-06 | 程诗栋 | Building outer wall equipment of polishing |
| CN112025485A (en) * | 2020-08-10 | 2020-12-04 | 李景乔 | Wiring groove contact plane grinding equipment for building decoration |
| CN111993188A (en) * | 2020-09-01 | 2020-11-27 | 谢永乐 | Wall skin removing device for interior decoration |
| CN114178921B (en) * | 2020-09-14 | 2023-08-15 | 广东博智林机器人有限公司 | Polishing robot |
| CN112045550A (en) * | 2020-09-15 | 2020-12-08 | 赖宗剑 | Mirror surface aluminum plate burnishing machine of polishing speed and dynamics adjustable |
| CN113714879A (en) * | 2021-09-18 | 2021-11-30 | 海南承宏环境工程有限公司 | Building wall surface construction equipment |
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| US3948005A (en) * | 1975-01-03 | 1976-04-06 | Whitsett Jack W | Ceiling grinding apparatus |
| CN2551988Y (en) * | 2002-06-22 | 2003-05-21 | 张利珍 | Portable sampling gun |
| CN1445425A (en) * | 2003-01-24 | 2003-10-01 | 柯干兴 | Sander for polishing wall space |
| US7074111B2 (en) * | 2003-09-23 | 2006-07-11 | The Boeing Company | Surface preparation device and method |
| CN1624271A (en) * | 2004-06-10 | 2005-06-08 | 柯干兴 | Wall / roofing polishing grinding machine |
| DE102004056344A1 (en) * | 2004-11-22 | 2006-05-24 | Kaefer Isoliertechnik Gmbh & Co Kg | Holder for grinding machine, has undercarriage and retainer, which are connected with each other by support, where retainer is pre-stressed in direction positioned away from undercarriage, and powder sucker for sucking of grinding powder |
| US9505099B2 (en) * | 2014-04-15 | 2016-11-29 | Vertical Concrete Polishing Inc. | Method and apparatus for applying a uniform texture to a substantially vertical surface |
| CN104259945B (en) * | 2014-09-30 | 2016-06-29 | 深圳市文业装饰设计工程股份有限公司 | A kind of building roof polishing control system |
| CN205394184U (en) * | 2016-02-26 | 2016-07-27 | 江苏师范大学 | Automatic wall body polisher of two freedoms |
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2016
- 2016-08-24 CN CN201810625057.9A patent/CN108818189A/en not_active Withdrawn
- 2016-08-24 CN CN201810625058.3A patent/CN108797975B/en not_active Expired - Fee Related
- 2016-08-24 CN CN201810625061.5A patent/CN108756177B/en active Active
- 2016-08-24 CN CN201610717704.XA patent/CN106271940B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108818189A (en) | 2018-11-16 |
| CN108797975A (en) | 2018-11-13 |
| CN108756177A (en) | 2018-11-06 |
| CN106271940A (en) | 2017-01-04 |
| CN108797975B (en) | 2020-08-18 |
| CN106271940B (en) | 2018-08-17 |
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Inventor after: Xu Lingling Inventor after: Ying Zhixiong Inventor after: Wang Bin Inventor after: Other inventor requests not to publish the name Inventor before: Request for anonymity |
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Effective date of registration: 20200722 Address after: 321000 second floor, building 1, No.999, Huadu Road, Chengxi New District, Yongkang City, Jinhua City, Zhejiang Province Applicant after: ZHEJIANG XINHUA CONSTRUCTION Co.,Ltd. Address before: 213000 Changzhou, Jiangsu New District Liaohe Road, No. 666 Applicant before: Ge Junhua |
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