CN110424698A - Milling Machine - Google Patents
Milling Machine Download PDFInfo
- Publication number
- CN110424698A CN110424698A CN201910696647.5A CN201910696647A CN110424698A CN 110424698 A CN110424698 A CN 110424698A CN 201910696647 A CN201910696647 A CN 201910696647A CN 110424698 A CN110424698 A CN 110424698A
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- Prior art keywords
- milling
- mobile platform
- face
- milling machine
- detection device
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Classifications
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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
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
- E04F21/245—Rotary power trowels, i.e. helicopter trowels
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Auxiliary Devices For Machine Tools (AREA)
Abstract
The invention discloses a kind of Milling Machines, the Milling Machine includes mobile platform, milling attachment, dust exhaust apparatus, detection device and control device, mobile platform can walk on the matrix face to milling, milling attachment is set on mobile platform and the milling module including that can carry out milling to matrix face, dust exhaust apparatus is set on mobile platform and is used for dust suction, detection device is used to detect the flatness in matrix face, control device is electrically connected with detection device and milling attachment respectively, to control milling attachment work according to the testing result of detection device.Milling Machine according to an embodiment of the present invention can neatly walk on matrix face, and milling effect is good, milling efficiency is high.
Description
Technical field
The present invention relates to construction robot technical fields, more particularly, to a kind of Milling Machine.
Background technique
In cement flooring, perhaps metope carries out cement flooring or metope after floating operation and can also have some out-of-flatnesses
Region, even can also perhaps there is the defects of convex closure to influence the flat of cement flooring or metope in metope in cement flooring
Whole effect, and cement flooring or metope are flattened by artificial mode, leveling effect is poor, difficulty is big, and related skill
Milling machine device people's milling efficiency in art is low, flexibility is poor.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention proposes a kind of milling
Machine is cut, the Milling Machine can neatly walk in matrix face, and milling effect is good, milling efficiency is high.
Milling Machine according to an embodiment of the present invention, the Milling Machine include mobile platform, milling attachment, dust exhaust apparatus, inspection
Surveying device and control device, the mobile platform can walk on the matrix face to milling, and the milling attachment is set to the shifting
On moving platform and the milling module including that can carry out milling to described matrix face, the dust exhaust apparatus are set on the mobile platform
And be used for dust suction, the detection device is used to detect the flatness in described matrix face, the control device respectively with the detection
Device and milling attachment electrical connection, are worked with controlling the milling attachment according to the testing result of the detection device.
Milling Machine according to an embodiment of the present invention can be compared with by the way that mobile platform and milling attachment are arranged in Milling Machine
Neatly to carry out milling flat operation to matrix face, Milling Machine can be improved to the efficiency of the flat operation of matrix facing cut, by movement
Dust exhaust apparatus is set on platform, the impurity in matrix face can be preferably drawn during Milling Machine is walked, so that matrix
Face is more clean, by the way that detection device and control device are arranged in Milling Machine, will preferably can have difference on matrix face
The region milling of flatness is put down to sustained height, and the effect for milling flat operation is good.
In addition, Milling Machine according to the present invention, can also have the following additional technical features:
In some embodiments of the invention, mounting groove is limited on the mobile platform, the dust exhaust apparatus includes inhaling
Dirt barrel and sucker, the dust-absorbing tube are set in the mounting groove, and the sucker is connected to by connecting tube with the dust-absorbing tube.
Optionally, the sucker is formed as arc, and the bottom wall of the sucker is equipped with the suction inlet being connected to the dust-absorbing tube,
The sucker limits the open installation space in side, and the milling module includes milling cutter, and the milling cutter is rotatably arranged at institute
It states in installation space.
In some embodiments of the invention, the milling attachment further includes horizontal drive apparatus and vertical driving device,
The horizontal drive apparatus is set on the mobile platform, and the horizontal drive apparatus can drive the milling module along level side
To movement, the vertical driving device is set between the horizontal drive apparatus and the milling module, and can be in the level
It is moved in left-right direction under the drive of driving device, the vertical driving device is for driving the milling module along the vertical direction
It is mobile.
Optionally, the horizontal drive apparatus includes drag chain, and the drag chain extends along the horizontal direction, the drag chain
Mobile terminal is connected with the vertical driving device.
Optionally, the mobile platform includes front face, rear surface, left wall face and right wall, before the mobile platform
Wall surface is equipped with installation step, and the horizontal drive apparatus is set on the installation step, on the rear surface of the mobile platform
Equipped with control panel, the control panel is electrically connected with the control device.
Optionally, wherein at least one of the front face, rear surface, left wall face and right wall are equipped with anti-striker,
At least one of the front face, rear surface, left wall face and right wall be equipped with first distance detection device, described first away from
It is electrically connected with the control device from detection device to control the walking path of the mobile platform.
Optionally, the bottom wall of the mobile platform is equipped with second distance detection device, the second distance detection device
It is electrically connected with the control device to control the walking path of the mobile platform.
Optionally, the detection device includes laser emitter and laser pickoff, and the laser emitter is suitable for setting
On described matrix face, the laser pickoff is set in the milling module, and the laser pickoff can receive described sharp
The laser signal that optical transmitting set issues is transmitted to detect the flatness in described matrix face.
In some embodiments of the invention, the mobile platform is equipped with drawable drawer, and the Milling Machine is also wrapped
Power module is included, the power module is detachably arranged in the drawer.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of an angle of Milling Machine according to an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of another angle of Milling Machine according to an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the dust exhaust apparatus of Milling Machine according to an embodiment of the present invention；
Fig. 4 is the explosive view of the dust exhaust apparatus of Milling Machine according to an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the removal dust exhaust apparatus of Milling Machine according to an embodiment of the present invention；
Fig. 6 is the perspective view of the milling attachment of Milling Machine according to an embodiment of the present invention；
Fig. 7 is the main view of the milling attachment of Milling Machine according to an embodiment of the present invention；
Fig. 8 is the left view of the milling attachment of Milling Machine according to an embodiment of the present invention；
Fig. 9 is the top view of the milling attachment of Milling Machine according to an embodiment of the present invention；
Figure 10 is the explosive view of the milling attachment of Milling Machine according to an embodiment of the present invention；
Figure 11 is the explosive view of the milling module of Milling Machine according to an embodiment of the present invention；
Figure 12 is the structural schematic diagram of an angle of the mobile platform of Milling Machine according to an embodiment of the present invention；
Figure 13 is the structural schematic diagram of another angle of the mobile platform of Milling Machine according to an embodiment of the present invention；
Schematic diagram when Figure 14 is the detection device work of Milling Machine according to an embodiment of the present invention；
When Figure 15 is the first laser transmitter and first laser receiver operation of Milling Machine according to an embodiment of the present invention
Schematic diagram.
Appended drawing reference:
100: Milling Machine；
1: mobile platform；11: mounting groove；12: installation step；13: control panel；14: second distance detection device；15:
Anti- striker；16: first distance detection device；17: drawer；18: power module；
2: milling attachment；21: milling module；211: the second mounting racks；212: third motor；213: milling cutter；2131: recessed
Slot；214: retarder；215: knife bar；2151: convex block；22: horizontal drive apparatus；221: the first guiding structures；222: drag chain；
23: vertical driving device；231: the first mounting racks；232: the second motors；233: mobile mounting plate；234: the second guiding structures；
2341: the second guide rails；2342: the second sliding blocks；
3: dust exhaust apparatus；31: dust-absorbing tube；32: sucker；321: suction inlet；322: installation space；33: connecting tube；34: inhaling
Stitch baffle；35: third mounting rack；36: locating shim；
4: detection device；41: laser emitter；42: laser pickoff；
5: control device；
61: first laser emits part；62: first laser receiving element.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specific side
Position is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, defining " first ", "
Two " feature can explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise
Illustrate, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It should be noted that generally requiring to carry out smoothing out construction work to ground or metope during construction
Industry, after smoothing out construction operation, may due to contain in ground perhaps metope impurity or smooth out construction effect it is bad etc. because
Element is easy so that perhaps metope out-of-flatness is to influence the beauty of ground or metope on ground, in addition, in daily life,
Since ground and metope are for a long time by exposing to the weather, also be easy to cause ground or metope out-of-flatness, thus influence ground or
The beauty of person's metope.
The present invention propose it is a kind of Milling Machine 100 can preferably ground-to-ground face or metope carry out milling flat operation so that ground
Perhaps metope is more smooth so that ground or metope are more beautiful in face.It is understood that needing to mill the flat of flat operation
Face can also be not limited only to ground or metope, write and describe for convenience, and the plane for needing to mill flat operation is known as matrix
Face.The Milling Machine 100 of the embodiment of the present invention is illustrated so that Milling Machine 100 is to half-dried cement flooring as an example.
Milling Machine 100 according to an embodiment of the present invention is described below with reference to Fig. 1-Figure 15.
As shown in Fig. 1-Figure 13, Milling Machine 100 according to an embodiment of the present invention includes mobile platform 1, milling attachment 2, inhales
Dirt device 3, detection device 4 and control device 5.
Specifically, mobile platform 1 can walk on the matrix face to milling, and milling attachment 2 is set on mobile platform 1, milling
Turning device 2 includes the milling module 21 that milling can be carried out to matrix face, and dust exhaust apparatus 3 is set on mobile platform 1 and is used for dust suction,
That is, milling attachment 2 and dust exhaust apparatus 3 can be installed on mobile platform 1, mobile platform 1 can be to milling
Matrix is walked on face, and so as to drive milling attachment 2 and dust exhaust apparatus 3 to walk in matrix face, milling attachment 2 is in matrix face row
During walking, milling module 21 can carry out milling flat operation to the region of out-of-flatness on matrix face, so that matrix face is more
Smooth, dust exhaust apparatus 3 can draw the impurity on matrix face during matrix face is walked, in some instances, dust suction dress
It sets 3 and can draw milling module 21 and matrix face is carried out to mill the impurity generated when flat operation, drawn as a result, by dust exhaust apparatus 3
The impurity in matrix face can make matrix face more clean and tidy.
It is understood that mobile platform 1 drives milling attachment 2 when walking on matrix face due to the out-of-flatness of matrix face
It will appear the state of " jolting ", so that the distance between milling attachment 2 and matrix face change.
Detection device 4 can be used for detecting the flatness in matrix face, and control device 5 is filled with detection device 4 and milling respectively
2 electrical connections are set, are worked with controlling milling attachment 2 according to the testing result of detection device 4, that is to say, that detection device 4 can obtain
The information of the flatness in the matrix face that takes the information of the flatness in matrix face, and can will acquire passes to control device 5, control
After device 5 receives the information of the flatness in matrix face, can according to the flatness information in the matrix face of acquisition to milling attachment 2 into
Row control, in some instances, control device 5 can control the distance between milling attachment 2 and matrix face, so that milling fills
Setting 2 can put down matrix facing cut to sustained height, so that matrix face is more smooth, it is, of course, understood that control dress
Setting 5 also can control the revolving speed of milling attachment 2, preferably to carry out milling flat work to the region on matrix face with different flatness
Industry, here with no restriction.
Milling Machine 100 according to an embodiment of the present invention as a result, by the way that mobile platform 1 and milling are arranged in Milling Machine 100
Device 2 can more neatly carry out matrix face milling flat operation, and Milling Machine 100 can be improved to the flat operation of matrix facing cut
Efficiency preferably can draw matrix during Milling Machine 100 is walked by the way that dust exhaust apparatus 3 is arranged on mobile platform 1
The impurity in face, can be with by the way that detection device 4 and control device 5 are arranged in Milling Machine 100 so that matrix face is more clean
Preferably the region milling on matrix face with different flatness is put down to sustained height, the effect for milling flat operation is good.
In some embodiments of the invention, as Figure 1-Figure 5, mounting groove 11, dust suction dress are limited on mobile platform 1
Setting 3 includes dust-absorbing tube 31 and sucker 32, and dust-absorbing tube 31 is set in mounting groove 11, and sucker 32 is connected by connecting tube 33 and dust-absorbing tube 31
It is logical, that is to say, that dust-absorbing tube 31 can cooperate with mounting groove 11, preferably dust-absorbing tube 31 to be mounted on mobile platform 1, inhale
Dirt barrel 31 can follow mobile platform 1 to walk on matrix face after being mounted on mobile platform 1, follow in dust-absorbing tube 31 mobile flat
For platform 1 during walking on matrix face, dust exhaust apparatus 3 can draw the impurity on matrix face by sucker 32, so that miscellaneous
Matter is movable towards dust-absorbing tube 31 along connecting tube 33.
In some instances, it is formed with accommodation space in dust-absorbing tube 31, it is movable towards dust-absorbing tube 31 along connecting tube 33
Impurity can be stored in accommodation space, it is persistently right can also be conducive to Milling Machine 100 in order to the storage and transport of impurity
Matrix face carries out dust suction operation, and the working efficiency of Milling Machine 100 can be improved.Meanwhile holding the installation of the dust-absorbing tube after impurity 31
On mobile platform 1, the walking of mobile platform 1 can be made more stable.
In some embodiments of the invention, sucker 32 is formed as arc, and the bottom wall of sucker 32 is equipped with to be connected with dust-absorbing tube 31
Logical suction inlet 321, sucker 32 limit the open installation space 322 in side, and milling module 21 includes milling cutter 213, milling cutter 213
It is rotatably arranged in installation space 322.Such as shown in Fig. 1-Fig. 5, sucker 32 is formed as arc-shaped slot, and Open Side Down for slot
The suction inlet 321 of arc is formed, the suction inlet 321 of arc can reduce the area of suction inlet 321, dust exhaust apparatus 3 can be improved
The suction of suck up impurity, so as to be conducive to collection and absorption to impurity on matrix face.Further, sucker 32 is in level
Projection on face is formed as arc-shaped, and arc-shaped inside is formed with the installation space 322 for allowing milling cutter 213 to install, and installation is empty
Between 322 there are the open open ports in front side, part milling cutter 213 can stretch out from open ports, by by sucker 32 and 213 sets of milling cutter
If mode, sucker 32 and milling cutter 213 can be made to occupy lesser space, to be conducive to the dress of sucker 32 Yu milling cutter 213
Match.
Further, by the setting sucker 32 on dust exhaust apparatus 3, and part milling cutter 213 is stretched out from open ports,
Milling cutter 213 can be made first to contact with the region of the out-of-flatness in matrix face, not only preferably matrix face can be carried out to mill flat work
Industry can also protect sucker 32, can prevent sucker 32 from first colliding or wearing with generating after the matrix face contact of out-of-flatness, from
And the pick-up performance of dust exhaust apparatus 3 is influenced, high reliablity is practical.
In some embodiments of the invention, the height in the perigee distance matrix face of sucker 32 is greater than milling attachment 2
The height in perigee distance matrix face.That is, the minimum point of sucker 32 is in milling cutter in up and down direction as shown in Figure 1
The top of 213 minimum point, it is possible thereby to the region for further avoiding the out-of-flatness in sucker 32 and matrix face occur abrasion or
Collision, meanwhile, so that the minimum point of sucker 32 is higher than the minimum point of milling cutter 213, the area of the suck up impurity of sucker 32 can be increased
The area in domain, to be more advantageous to the impurity that dust exhaust apparatus 3 draws matrix face.
In some embodiments of the invention, as Figure 1-Figure 5, dust exhaust apparatus 3 further includes inhaling seam baffle 34, inhales seam gear
Piece 34 is set on the side wall of the separate milling cutter 213 of sucker 32, and in example as Figure 1-Figure 5, inhaling seam baffle 34 can match
On the lateral wall for closing the rear side for being mounted on sucker 32, after inhaling on the lateral wall for the rear side that seam baffle 34 is mounted on sucker 32, seam is inhaled
Baffle 34 horizontal plane the arc for being projected as being open towards milling cutter 213, as a result, when sucker 32 moves from the front to the back, to draw
When the impurity in matrix face, the impurity in matrix face can preferably be collapsed by inhaling seam baffle 34, can prevent the impurity in matrix face cannot
Dust suction main body is entered by suction inlet 321 in time, and causes the omission of impurity, so as to improve 3 suck up impurity of dust exhaust apparatus
Effect, it is practical.
Further, inhale seam baffle 34 the length in the circumferential direction of sucker 32 be greater than or equal to sucker 32 circumferential direction on most
Long length, in some instances, inhaling seam baffle 34 can be greater than in the circumferential direction of sucker 32 in the length in the circumferential direction of sucker 32
Maximum length inhales the circumferential direction that length of the seam baffle 34 in the circumferential direction of sucker 32 can be equal to sucker 32 in other examples
On maximum length, thus, it is possible to make inhale seam baffle 34 reliably the impurity in matrix face is collapsed.
Optionally, the height for stitching the perigee distance matrix face of baffle 34, the perigee distance base less than milling attachment 2 are inhaled
The height of dignity.That is, inhaling the minimum point of seam baffle 34 in milling cutter 213 in up and down direction as Figure 1-Figure 5
The lower section of minimum point, further, inhaling seam baffle 34 can abut with matrix face, and inhaling seam baffle 34 as a result, can be preferably right
The impurity in matrix face is collapsed, to preferably improve the effect of 3 suck up impurity of dust exhaust apparatus.Wherein, inhale seam baffle 34 with
After matrix face abuts, there is clearance space, it is to be understood that if milling cutter 213 is supported with matrix face between milling cutter 213 and matrix face
It connects, is easy so that milling cutter 213 carries out secondary operation to more smooth matrix face, so that the milling for being easy to increase Milling Machine 100 is flat
The difficulty of operation.
In some examples of the invention, inhaling seam baffle 34 is soft part, and soft part here refers to suction seam baffle 34
Quality it is more soft, it is to be understood that inhale seam baffle 34 collapse matrix face impurity when, it is easy to can encounter with convex closure
Matrix face region, alternatively, milling cutter 213 carries out after milling flat operation the convex closure in matrix face, the height of convex closure is still higher than suction
The minimum point of baffle 34 is stitched, damage is generated to prevent from colliding between suction seam baffle 34 and convex closure, so that inhaling seam baffle 34
Quality it is more soft, not only can the impurity preferably to matrix face collapse, it is also possible that inhale seam baffle 34 be not easy
Damage, so as to longer service life.
Optionally, the material for inhaling seam baffle 34 can be foam, rubber, plastics etc., here with no restriction.
In some embodiments of the invention, as shown in fig. 5-10, milling attachment 2 further includes 22 He of horizontal drive apparatus
Vertical driving device 23, horizontal drive apparatus 22 are set on mobile platform 1, and horizontal drive apparatus 22 can drive milling module 21
It moves in the horizontal direction, that is to say, that milling module 21 can be connected with horizontal drive apparatus 22, milling module 21 and horizontal drive
After dynamic device 22 is connected, horizontal drive apparatus 22 can drive milling module 21, so that milling module 21 is relative to mobile platform 1
It moves in the horizontal direction, wherein horizontal direction can be with reference to the left and right directions in Fig. 5, and milling module 21 is to matrix face as a result,
It can be moved in left-right direction during milling flat operation, to carry out milling flat operation in the lateral direction to matrix face, so as to
The flat operating efficiency of milling to improve milling module 21.
Vertical driving device 23 is set between horizontal drive apparatus 22 and milling module 21, and can be in horizontal drive apparatus 22
Drive under move in left-right direction, vertical driving device 23 is for driving milling module 21 to move along the vertical direction.Namely
It says, the side of vertical driving device 23 can cooperate with horizontal drive apparatus 22 to be connected, and the other side of vertical driving device 23 can
To be connected with milling module 21, horizontal drive apparatus 22 can drive vertical driving device 23 to move in the horizontal direction as a result,
So that vertical driving device 23 drives milling module 21 to move in the horizontal direction, further, in horizontal drive apparatus
During 22 driving milling modules 21 move in the horizontal direction, vertical driving device 23 can drive milling module 21 along perpendicular
For histogram to movement, vertical direction here can refer to up and down direction as shown in Figure 5.
It is understood that during milling module 21 is along horizontal direction milling operation, due to matrix face injustice
Whole, Milling Machine 100 is walked in the different location in matrix face, is easy so that milling module 21 occurs relative to the distance in matrix face
Variation, to influence milling attachment 2 to the effect of the flat operation of matrix facing cut, the Milling Machine 100 of the application can be in milling module
21 relative to the distance in matrix face when changing, and passes through vertical driving device 23 and adjusts the position of milling module 21 in above-below direction
It sets, so that the distance between milling module 21 and matrix face are adjusted, matrix face is carried out to be conducive to milling attachment 2
Flat operation is milled, the effect for milling flat operation is good.
In some examples of the invention, as shown in fig. 5-10, horizontal drive apparatus 22 further includes the first guiding structure
221, the first guiding structure 221 includes the first guide rail and the first sliding block, and the first guide rail is set on mobile platform 1, and the first sliding block can
It is slidably set on the first guide rail, vertical driving device 23 is connected with the first sliding block.That is, the first guide rail can be with first
Sliding block cooperation, so that the first sliding block is slided along the first guide rail.First guide rail can be horizontally extending, and first is sliding as a result,
Block can slide in the horizontal direction when sliding along the first rail, and further, vertical driving device 23 can be fitted to
On one sliding block, vertical driving device 23 can follow the first sliding block to slide in the horizontal direction as a result, so that milling module 21
The first sliding block is followed to slide in the horizontal direction, to carry out milling flat operation to matrix face.
Further, vertical driving device 23 includes the first mounting rack 231, the second motor 232 and mobile mounting plate 233,
First mounting rack 231 can be connect with the first sliding block, and the second motor 232 is set on the first mounting rack 231, mobile mounting plate 233
It is driven by the second motor 232 to move in the vertical direction, milling module 21 is set on mobile mounting plate 233.That is,
By the way that the first mounting rack 231 is arranged between the first sliding block and the second motor 232, the second motor 232 can preferably be installed
On the first sliding block, after the second motor 232 is mounted on the first sliding block, the second motor 232 can drive movement relatively stablely
Mounting plate 233, so that mobile mounting plate 233 is movable in the vertical direction, further, milling module 21 can be fitted to
On mobile mounting plate 233, so that milling module 21 follows mobile mounting plate 233 movable in the vertical direction, to adjust milling
Module 21 is cut relative to the distance between matrix face, it is practical.
Optionally, vertical driving device 23 further includes the second guiding structure 234, and the second guiding structure 234 is led including second
Rail 2341 and the second sliding block 2342, the second guide rail 2341 are set on the first sliding block, and the second sliding block 2342 is slidingly disposed at second
On guide rail 2341, mobile mounting plate 233 is connected with the second sliding block 2342.That is, the second guide rail 2341 can be slided with first
Block is cooperatively connected, so that the second guiding structure 234 is fitted on the first sliding block, the second sliding block 2342 can be led with second
Rail 2341 cooperates, and can slide along the second guide rail 2341, and optionally, as shown in fig. 5-10, the second guide rail 2341 is along perpendicular
Histogram is to extension, thus, it is possible to make the second sliding block 2342 movable along the vertical direction, mobile mounting plate 233 can be coupled
On the second sliding block 2342, mobile mounting plate 233 can be made to follow the second sliding block 2342 movable along the vertical direction, to drive
Milling module 21 is movable along the vertical direction.
In some embodiments of the invention, milling module 21 includes the second mounting rack 211, third motor 212 and milling cutter
213, the second mounting rack 211 is set in vertical driving device 23, that is to say, that the second mounting rack 211 can be filled with vertical driving
23 cooperations are set to be connected, optionally, the second mounting rack 211 can be connected by mobile mounting plate 233 with the cooperation of the second sliding block 2342,
So that the second mounting rack 211 can follow the second sliding block 2342 movable along the vertical direction.
Further, third motor 212 is set on the second mounting rack 211, the motor shaft of milling cutter 213 and third motor 212
Transmission is connected.That is, third motor 212 can be fitted on the second mounting rack 211, the cooperation peace of third motor 212
After on the second mounting rack 211, third motor 212 can drive milling cutter 213 to rotate, to carry out milling flat operation to matrix face,
When second mounting rack 211 follows the second sliding block 2342 movable along the vertical direction, third motor 212 can follow the second mounting rack
211 is movable along the vertical direction, so as to adjust milling cutter 213 relative to the distance between matrix face, so as to preferably make
Milling cutter 213 is obtained matrix face is carried out to mill flat operation.
Optionally, milling module 21 further includes retarder 214 and knife bar 215, the electricity of retarder 214 and third motor 212
Arbor transmission is connected, and knife bar 215 is connected with retarder 214, and retarder 214 can preferably play reduction revolving speed as a result, increases
The effect of torque, thus to increase the power of 213 milling of milling cutter.
Further, as shown in fig. 7, milling cutter 213 is detachably connected with knife bar 215, wherein the peripheral wall of knife bar 215 is equipped with
Multiple convex blocks 2151, milling cutter 213 are equipped with multiple grooves 2131, and multiple convex blocks 2151 are matched with multiple grooves 2131 one-to-one correspondence
It closes, here multiple refer to two or more.That is, convex block 2151 can cooperate with groove 2131, by convex
Milling cutter 213 can be fitted on knife bar 215 by the cooperation of block 2151 and groove 2131, when needing milling cutter 213 and knife bar
215 when being split, and convex block 2151 and groove 2131 can be made to be detached from and cooperated, and structure is simple, and disassembly efficiency is high, so as to
It is conveniently replaceable the milling cutter 213 of damage, thereby may be ensured that the efficiency of the flat operation of milling of milling module 21.Further, by setting
The cooperation of the multiple convex blocks 2151 and multiple grooves 2131 that have, it is relatively firm after milling cutter 213 can be made to cooperate with knife bar 215.
Optionally, milling cutter 213 can have multiple sizes, for example, the diameter of milling cutter 213 can for 10mm, 20mm,
25mm, 34mm, 53mm etc., the size of milling cutter 213 can be according to factors such as the models of the working environment of milling operation, milling cutter 213
It is differently set, here with no restriction.It is possible to further be replaced not according to actual working environment or working region
With the milling cutter 213 of size, to improve the effect of the flat operation of milling of milling attachment 210.
Further, after milling cutter 213 and knife bar 215 are cooperatively connected by convex block 2151 and groove 2131, can also lead to
It crosses clamp device to be further fixed, further to reinforce the cooperation between milling cutter 213 and knife bar 215, can make
Milling cutter 213 steadily carries out milling operation to matrix face.
In some embodiments of the invention, as shown in Figure 3-Figure 5, dust exhaust apparatus 3 further includes third mounting rack 35, third
Mounting rack 35 can cooperate with the second mounting rack 211, so that dust exhaust apparatus 3 can preferably be mounted on milling module 21
On.Further, locating shim 36 can be equipped between third mounting rack 35 and the second mounting rack 211, locating shim 36 is to adjust
The minimum point of whole sucker 32 and the distance between the minimum point of milling cutter 213, so that dust exhaust apparatus 3 preferably passes through suction
Disk 32 draws milling cutter 213 and is milling the impurity generated when flat operation.Optionally, the thickness of locating shim 36 in the up-down direction can be with
It is not limited here with sizes with preferably adjusting the minimum point of sucker 32 and the distance between the minimum point of milling cutter 213
System.
Optionally, horizontal drive apparatus 22 includes drag chain 222, and drag chain 222 is horizontally extending, in such as Fig. 5-Figure 10 institute
In the example shown, drag chain 222 can be set on mobile platform 1 in the horizontal direction, and drag chain 222 includes fixing end and mobile terminal, be moved
Moved end can move in the horizontal direction relative to fixing end, and in some instances, fixing end can be fixedly mounted on mobile flat
On platform 1, after fixing end is fixedly mounted on mobile platform 1, mobile terminal can move in the horizontal direction relative to fixing end, thus
Mobile terminal can be made to move in the horizontal direction on mobile platform 1.
Further, mobile terminal can be connected with vertical driving device 23, that is to say, that mobile terminal can be with vertical driving
Device 23 is cooperatively connected, and first motor drives mobile terminal when moving in the horizontal direction on mobile platform 1 as a result, can drive
Vertical driving device 23 moves in the horizontal direction relative to mobile platform 1, so that milling module 21 can be relative to movement
Platform 1 moves in the horizontal direction, to carry out milling flat operation to ground.In a specific example, horizontal drive apparatus 22 is also wrapped
Fixed mounting plate is included, fixed mounting plate is located between mobile terminal and vertical driving device 23, by mobile terminal and vertical driving
Fixed mounting plate is set between device 23, the mating connection between mobile terminal and vertical driving device 23 can be conducive to, thus
The assembly efficiency of milling attachment 2 can be improved.
Further, milling module 21 is movable in the horizontal direction, when carrying out milling operation to matrix face, drag chain
222 can limit the activity in the horizontal direction of vertical driving device 23 so that vertical driving device 23 steadily along
Horizontal direction activity, so that milling module 21 is steadily along horizontal direction activity, it is flat to carry out milling to matrix face
Operation, milling effect are good.
In some embodiments of the invention, as shown in Fig. 1-Figure 13, mobile platform 1 includes front face, rear surface, left wall
Face and right wall, the front face of mobile platform 1 are equipped with installation step 12, and horizontal drive apparatus 22 is set on installation step 12,
As a result, by the way that installation step 12 is arranged on mobile platform 1, the horizontal drive dress that can make can preferably be mounted on movement
On platform 1, further, the rear surface of mobile platform 1 is equipped with control panel 13, and control panel 13 is electrically connected with control device 5
It connects, as a result, by the way that control panel 13 is arranged on mobile platform 1, can be advantageously implemented man-machine between Milling Machine 100 and people
Interaction, can be conducive to user and preferably operate Milling Machine 100, in some instances, can be compiled on control panel 13
Journey, so that control device 5 can be run according to the coded program in programming, it is right so as to preferably control Milling Machine 100
Matrix face carries out milling flat operation.
Optionally, wherein at least one of front face, rear surface, left wall face and right wall are equipped with anti-striker 15, In
In some examples, anti-striker 15 can be set in front face, rear surface, left wall face and right wall, for example, can on any one
Mobile platform can be prevented so that anti-striker 15 to be arranged on the front face of mobile platform 1 after anti-striker 15 is mounted on front face
1 in advancement, and front face and barrier collide and generate damage, it is, of course, understood that can also be mobile flat
The rear surface of platform 1, left wall face are perhaps arranged anti-striker 15 in right wall or are respectively provided on each wall surface of mobile platform 1
Anti- striker 15 can specifically be carried out according to size, model or structure of environment, mobile platform 1 that mobile platform 1 uses etc.
The layout of different anti-strikers 15, here with no restriction.
Further, at least one of front face, rear surface, left wall face and right wall are equipped with first distance detection dress
16 are set, first distance detection device 16 is electrically connected to control the walking path of mobile platform 1 with control device 5.In some examples
In, it can be equipped with first distance in any one in the front face of mobile platform 1, rear surface, left wall face and right wall and examine
Surveying device 16 can be in the front face and rear surface of mobile platform 1, or the antetheca in mobile platform 1 in other examples
First distance detection device 16 is set on multiple wall surfaces such as face and left wall face, it is to be understood that the first detection device 4 is in movement
The layout of platform 1 can also have other modes, specifically can be according to environment that mobile platform 1 uses, mobile platform 1
Size, model or structure etc. carry out the layout of different anti-strikers 15, here with no restriction.
In a specific example, first distance detection device 16 is located on front face, and first distance detection device 16 can
With the distance between the front face and the barrier that detect mobile platform 1 value, so that control device 5 can be controlled according to distance value
The walking path of mobile platform 1 so that mobile platform 1 in advancement can avoiding barrier, can prevent from moving
Platform 1 during traveling with collide and cause the damage of mobile platform 1 between barrier, to influence mobile platform
1 use.
Optionally, the bottom wall of mobile platform 1 is equipped with second distance detection device 14, second distance detection device 14 and control
Device 5 processed is electrically connected to control the walking path of mobile platform 1.In the example shown in fig. 2, second distance detection device 14
There are six being set on the bottom wall of mobile platform 1, wherein left side wall of two second distance detection devices 14 adjacent to mobile platform 1
Setting, two second distance detection devices 14 are arranged adjacent to the right side wall of mobile platform 1, and two second distance detection devices 14 are adjacent
The rear wall setting of nearly mobile platform 1.
For convenience of description, the second distance detection device 14 of neighbouring left side wall is known as second distance detection device a, it will be adjacent
The second distance detection device 14 of nearly right side wall is known as second distance detection device b, and the second distance of neighbouring rear wall is detected
Device 14 is known as second distance detection device c, it is to be understood that can have step on matrix face, mobile platform 1 is being advanced
During, it is fallen from step by being easy when step, so that the danger of mobile platform 1 " overturning " occurs, second distance inspection
Surveying device a, second distance detection device b, second distance detection device c can detecte 1 bottom surface of mobile platform apart from matrix face
Distance value, in a specific example, mobile platform 1 can walk from left to right, on the direction of travel of mobile platform 1
With step, when at the position that mobile platform 1 runs to step, the data for the distance value that second distance detection device b is obtained
The range for having exceeded the setting of mobile platform 1, at this point, mobile platform 1 can stop walking.
In some embodiments of the invention, as shown in Fig. 1-Figure 14, detection device 4 includes laser emitter 41 and laser
Receiver 42, laser emitter 41 are suitable for being arranged on matrix face, and laser pickoff 42 is set in milling module 21, laser pick-off
Device 42 can receive the laser signal of the sending of laser emitter 41 to detect the flatness in matrix face.That is, milling module
21 during following mobile platform 1 to walk, when carrying out milling flat operation to matrix face, between milling module 21 and matrix face
Distance can change, and laser pickoff 42 can receive the laser signal of the transmitting of laser emitter 41, so that milling
Machine 100 can drive vertical driving mould group according to laser signal, to adjust the distance between milling module 21 and matrix face, thus
Preferably matrix facing cut can be put down to sustained height, so that matrix face is more smooth.
In a specific example, as shown in Fig. 1-Figure 15, Milling Machine 100 includes that first laser emits part 61 and first
Laser pick-off part 62, first laser transmitting part 61 are received for emitting the first laser plane being parallel to the horizontal plane, first laser
Part 62 is used to receive the elevation information of first laser plane, to obtain milling height threshold.That is, due to matrix face bumps
First laser receiving element 62 is placed on matrix face not after first laser transmitting part 61 emits first laser plane by injustice
Same position, elevation information acquired in first laser receiving element 62 is different, as a result, by first laser receiving element 62 in matrix
After different location obtains different elevation informations, different elevation informations is compared, with distance maximum in elevation information
Value is milling height threshold, can be with by the milling height threshold of acquisition so as to preferably obtain the minimum point in matrix face
Milling module 21 is set in the position of Milling Machine 100, so that Milling Machine 100 is using minimum point as the benchmark of the height of milling,
And then it can preferably mill flat matrix face.
It is understood that Milling Machine 100 will appear " jolting " when matrix face is walked, so that milling module 21
Height changes, and laser emitter 41 can launch the second laser plane being overlapped with first laser plane, laser pick-off
Device 42 is set on the car body, and second laser part can follow car body dipping and heaving, so that the height that laser pickoff 42 obtains
Information changes, after the elevation information that Milling Machine 100 will acquire is compared with milling height threshold, it can be deduced that height change
Value, Milling Machine 100 can control vertical driving device 23 according to height change value, so that vertical driving device 23 can be adjusted
The height of whole milling module 21 in the up-down direction, so that Milling Machine 100 continues with the minimum point in matrix face to matrix face
It carries out milling flat operation, the effect for milling flat operation is good.
In some embodiments of the invention, mobile platform 1 is equipped with drawable drawer 17, and Milling Machine 100 further includes
Power module 18, power module 18 can provide electric power to Milling Machine 100, so that Milling Machine 100 is able to carry out walking, milling
The functions such as operation, dust suction operation.Further, power module 18 is detachably arranged in drawer 17, as a result, not only can be advantageous
Power module 18 is replaced in Milling Machine 100, so that Milling Machine 100 can be continued for work, it can also be convenient for electricity
Source module 18 repairs, practical.
Milling Machine 100 according to an embodiment of the present invention other constitute and operate for those of ordinary skill in the art and
It says it is all known, is not detailed herein.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " optionally ", " further
The description on ground ", " further ", specific examples or " some examples " etc. means tool described in conjunction with this embodiment or example
Body characteristics, structure, material or feature are included at least one embodiment or example of the invention.In the present specification, right
The schematic representation of above-mentioned term may not refer to the same embodiment or example.Moreover, description specific features, structure,
Material or feature can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of Milling Machine characterized by comprising
Mobile platform, the mobile platform can walk on the matrix face to milling；
Milling attachment, the milling attachment is set on the mobile platform and the milling including that can carry out milling to described matrix face
Module；
Dust exhaust apparatus, the dust exhaust apparatus are set on the mobile platform and are used for dust suction；
Detection device, the detection device are used to detect the flatness in described matrix face；
Control device, the control device are electrically connected with the detection device and the milling attachment respectively, according to the inspection
The testing result for surveying device controls the milling attachment work.
2. Milling Machine according to claim 1, which is characterized in that limit mounting groove, the suction on the mobile platform
Dirt device includes dust-absorbing tube and sucker, and the dust-absorbing tube is set in the mounting groove, and the sucker passes through connecting tube and the suction
Dirt barrel connection.
3. Milling Machine according to claim 2, which is characterized in that the sucker is formed as arc, the bottom wall of the sucker
Equipped with the suction inlet being connected to the dust-absorbing tube, the sucker limits the open installation space in side, the milling module packet
Milling cutter is included, the milling cutter is rotatably arranged in the installation space.
4. Milling Machine according to claim 1, which is characterized in that the milling attachment further include:
Horizontal drive apparatus, the horizontal drive apparatus are set on the mobile platform, and the horizontal drive apparatus can drive institute
Milling module is stated to move in the horizontal direction；
Vertical driving device, the vertical driving device are set between the horizontal drive apparatus and the milling module, and can
It is moved in left-right direction under the drive of the horizontal drive apparatus, the vertical driving device is for driving the milling module
It moves along the vertical direction.
5. Milling Machine according to claim 4, which is characterized in that the horizontal drive apparatus includes drag chain, the drag chain
Extend along the horizontal direction, the mobile terminal of the drag chain is connected with the vertical driving device.
6. Milling Machine according to claim 4, which is characterized in that the mobile platform includes front face, rear surface, left wall
Face and right wall, the front face of the mobile platform are equipped with installation step, and the horizontal drive apparatus is set to the erecting bed
On rank, the rear surface of the mobile platform is equipped with control panel, and the control panel is electrically connected with the control device.
7. Milling Machine according to claim 6, which is characterized in that the wherein front face, rear surface, left wall face and right wall
At least one of face is equipped with anti-striker, and at least one of the front face, rear surface, left wall face and right wall are equipped with
First distance detection device, the first distance detection device are electrically connected with the control device to control the mobile platform
Walking path.
8. Milling Machine according to claim 7, which is characterized in that the bottom wall of the mobile platform is examined equipped with second distance
Device is surveyed, the second distance detection device is electrically connected with the control device to control the walking path of the mobile platform.
9. Milling Machine according to claim 4, which is characterized in that the detection device includes:
Laser emitter, the laser emitter are suitable for being arranged on described matrix face；
Laser pickoff, the laser pickoff are set in the milling module, and the laser pickoff can receive described sharp
The laser signal that optical transmitting set issues is transmitted to detect the flatness in described matrix face.
10. Milling Machine according to claim 1, which is characterized in that the mobile platform is equipped with drawable drawer, institute
Stating Milling Machine further includes power module, and the power module is detachably arranged in the drawer.
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| CN201910696647.5A CN110424698A (en) | 2019-07-30 | 2019-07-30 | Milling Machine |
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|---|---|---|---|
| CN201910696647.5A CN110424698A (en) | 2019-07-30 | 2019-07-30 | Milling Machine |
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| CN110424698A true CN110424698A (en) | 2019-11-08 |
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ID=68411471
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| CN111546156A (en) * | 2020-04-07 | 2020-08-18 | 广东博智林机器人有限公司 | Polishing equipment |
| SE2150219A1 (en) * | 2020-12-18 | 2022-06-19 | Husqvarna Ab | Concrete surface mapping robots, systems, and methods for processing concrete surface |
| WO2022132019A1 (en) * | 2020-12-18 | 2022-06-23 | Husqvarna Ab | Concrete surface mapping robots, systems, and methods for processing concrete surfaces |
| CN116393742A (en) * | 2023-04-07 | 2023-07-07 | 安徽全柴动力股份有限公司 | Special equipment for milling two sides of bearing bush and bush groove of cylinder body and processing method thereof |
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