CN110465843B

CN110465843B - Ceiling polishing robot

Info

Publication number: CN110465843B
Application number: CN201910775665.2A
Authority: CN
Inventors: 张丹; 姜盛坤; 刘士伟; 许涛; 吉同山; 王�锋; 李坤遥; 黄刚锋; 黄晓露; 杨晋
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-08-21
Filing date: 2019-08-21
Publication date: 2020-11-03
Anticipated expiration: 2039-08-21
Also published as: CN110465843A

Abstract

The invention relates to the technical field of construction engineering robots, and discloses a ceiling polishing robot, which comprises: the walking wheel is used for driving the machine body to move; a lifting device mounted on the body and configured to adjust a height thereof by moving in a Z-axis direction; the polishing device is configured to synchronously move along with the lifting device and comprises a polishing head and a pressure sensing device, the polishing head is configured to be capable of upwards abutting against a ceiling, and the pressure sensing device is used for acquiring a pressure value of the polishing head in real time; and the lifting device automatically adjusts the height of the lifting device according to the pressure value. The height of the polishing head is automatically adjusted according to the pressure between the polishing head and the ceiling, so that the phenomenon that the polishing head is fixed and polished when the ceiling is polished is avoided.

Description

Ceiling polishing robot

Technical Field

The invention relates to the technical field of construction engineering robots, in particular to a ceiling polishing robot.

Background

After the concrete pouring is completed and the aluminum mold is removed, workers need to perform polishing operation on the ceiling and the wall surface to complete the wall surface leveling process. For interior wall is polished, the ceiling is polished more difficultly, and the workman need build the scaffold frame, then steps on and accomplish ceiling high altitude construction of polishing on the scaffold frame.

In addition, although current polishing robot can realize that the head of polishing moves in vertical direction thereby make the head of polishing butt wall, nevertheless take place the fixed ceiling of polishing of head of polishing easily at the lift in-process, lead to the head of polishing often the card to die, reduce operation precision and quality, cause the head of polishing wearing and tearing simultaneously easily.

Disclosure of Invention

The invention aims to provide a ceiling polishing robot, which can automatically adjust the height of a polishing head according to the pressure between the polishing head and a ceiling, so that the phenomenon that the polishing head is fixed and polished when the ceiling is polished is avoided, and meanwhile, the influence of the terrain is ignored.

In order to achieve the purpose, the invention adopts the following technical scheme:

a ceiling sanding robot comprising:

the walking wheel is used for driving the machine body to move;

a lifting device mounted on the body and configured to adjust a height thereof by moving in a Z-axis direction;

the polishing device is configured to synchronously move along with the lifting device, a polishing head and a pressure sensing device are arranged at the upper end of the polishing device, the polishing head is configured to be capable of upwards abutting against a ceiling, and the pressure sensing device is used for acquiring the pressure value of the polishing head in real time;

and the lifting device automatically adjusts the height of the lifting device according to the pressure value.

As a preferable mode of the ceiling sanding robot described above, the lifting device includes a top plate, a middle plate, and a bottom plate arranged in this order from top to bottom, wherein:

the top plate is configured to slide along the Z-axis direction relative to the middle plate; the middle plate is configured to slide along the Z-axis direction relative to the bottom plate and drive the top plate to slide along the Z-axis direction; the grinding device is arranged on the top plate.

As a preferable aspect of the ceiling sanding robot described above, the lifting device further includes a first stay lifting device and a second stay lifting device, wherein:

the first supporting rod lifting device comprises a plurality of first supporting rods, one ends of the first supporting rods are fixedly connected with the top plate, and the other ends of the first supporting rods penetrate through the middle plate and the bottom plate in a sliding mode;

the second supporting rod lifting device comprises a plurality of second supporting rod bodies, one end of each second supporting rod body is fixedly connected with the middle plate, and the other end of each second supporting rod body penetrates through the bottom plate in a sliding mode.

As a preferable mode of the ceiling sanding robot, projections of the first follower bar and the second follower bar on a horizontal plane do not coincide with each other.

As a preferable mode of the ceiling polishing robot described above, the polishing apparatus further includes:

a rotation module configured to enable the sanding head to oscillate about a first axis and rotate about a second axis;

the buffer module is connected between the rotating module and the pressure sensing device and can stretch out and draw back along the Z-axis direction.

As a preferable mode of the ceiling sanding robot described above, the rotation module includes:

a drive assembly configured to drive the buffer module to rotate about the second axis; and

and the connecting piece is connected with the top plate and moves synchronously, and the driving assembly can swing around the first axis relative to the connecting piece.

As an optimal scheme of foretell ceiling polishing robot, the connecting piece is the U type, the connecting piece includes two limbs that arrange and vertical opposition along first axis, drive assembly includes lantern ring and control box, the axis of rotation of control box is followed the second axis extends and meshes with the lantern ring, the lantern ring with the head of polishing is connected, the lantern ring is connected along first axis rotation between two limbs of connecting piece.

As a preferable mode of the ceiling polishing robot described above, the buffer module includes a top buffer plate and a bottom buffer plate, the top buffer plate and the bottom buffer plate are elastically connected along a Z axis therebetween, the bottom buffer plate is connected to the top plate, and the top buffer plate is configured to fix the connecting member.

As a preferable mode of the ceiling polishing robot described above, the ceiling polishing robot further includes a plane moving device attached to the top plate, and the plane moving device is configured to drive the polishing device to move in two mutually orthogonal directions on a horizontal plane.

As an optimal scheme of the ceiling polishing robot, the plane moving device comprises a first sliding module, a second sliding module and a supporting plate which are arranged in a stacked mode, the first sliding module is connected to the top plate and drives the second sliding module to slide along an X axis, the second sliding module is arranged on the first sliding module and drives the supporting plate to slide along a Y axis, the supporting plate can extend out of the first sliding module along the X axis direction or extend out of the second sliding module along the Y axis direction, and the supporting plate is connected with the pressure sensing device.

The invention has the beneficial effects that: the pressure is fed back in real time through the pressure sensor, the polishing head is controlled to be always polished in an area range according to a preset pressure value, if the fed back pressure value is higher than the preset pressure value, the height of the lifting device is lowered to reduce the abutting force, otherwise, the height of the lifting device is raised to increase the abutting force after the fed back pressure value is lower than the preset pressure value, the height of the polishing head and the height of the ceiling are automatically adjusted through the pressure of the ceiling, and therefore the phenomenon that the polishing head is fixed to polish when the ceiling is polished is avoided.

Drawings

FIG. 1 is a schematic diagram of a ceiling sanding robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a ceiling sanding robot according to an embodiment of the present invention during stretching;

fig. 3 is a schematic structural view of a lifting device of a ceiling sanding robot according to an embodiment of the present invention;

FIG. 4 is a schematic view of the elevator apparatus shown in FIG. 3 in an extended configuration;

fig. 5 is a schematic structural view of a plane moving device of a ceiling sanding robot according to an embodiment of the present invention;

FIG. 6 is an exploded view of the planar motion device shown in FIG. 5;

fig. 7 is a schematic structural view of a polishing apparatus of a ceiling polishing robot according to an embodiment of the present invention;

figure 8 is an exploded view of the sharpening device shown in figure 7.

In the figure:

1-a fuselage; 2-a lifting device; 3-a planar moving device; 4-grinding device; 21-a top plate; 22-middle plate; 23-a base plate; 24-a first brace lifting device; 25-a second brace lifting device; 31-a first sliding module; 32-a second slide module; 33-a support plate; 41-polishing head; 42-a rotation module; 43-a buffer module; 44-a pressure sensing module; 211-top plate raised panel; 241-a first brace bar; 242-a first follower lever; 243-a first motor; 244 — a first reducer; 245 — a first diverter; 246-first lead screw lift; 251-a second brace bar; 242-a second follower lever; 243-a second motor; 244 — a second reducer; 245-a second diverter; 246-second screw lift; 310-a first sled; 311-a fixed plate; 320-a second sled; 331-a first support part; 332-a second support; 411-grinding disc; 412-a brush; 421-a connector; 422-a collar; 423-control box; 431-top buffer plate; 432-bottom buffer plate; 433-straight rod; 434-linear bearings; 435-a spring; 4231-a motor case; 4232 cylindrical box.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 and 2, the present invention provides a ceiling sanding robot for sanding a ceiling.

The ceiling polishing robot includes: the device comprises a machine body 1, a storage electrical device and a power supply; the lifting device 2 comprises a top plate 21, a middle plate 22 and a bottom plate 23 which are arranged at intervals and in parallel, the middle plate 22 is connected between the top plate 21 and the bottom plate 23, the bottom plate 23 is fixedly connected to the machine body 1, and the top plate 21 and the middle plate 22 are configured to move in the Z-axis direction respectively; a plane moving device 3 configured to move on the top plate 21 in a pair of mutually orthogonal directions; and a grinding means 4 having a lower end elastically connected to the plane moving means 3 and performing pressure data transmission and an upper end configured to grind the ceiling and to be twistable in a pair of mutually orthogonal directions, while the lifting means 2 controls the height of the top plate 21 according to the pressure data.

According to the ceiling polishing robot in the embodiment, the lifting device 2 can control the height of the top plate 21 and the middle plate 22 far away from the bottom plate 23, so as to control the height of the plane moving device 3, the plane moving device 3 can control the horizontal position of the polishing device 4, the polishing device 4 can perform pressure data transmission in real time in the polishing process, and the upper end of the polishing device 4 is configured to be twisted along two mutually orthogonal axes on the horizontal plane where the polishing device is located, so that the invisible terrain is realized, and the phenomenon of polishing by abutting against and fixing is prevented; the grinding device 4 is elastically connected with the plane moving device, so that the grinding device can be stretched and deformed to provide a buffer distance; meanwhile, the grinding device 4 also transmits pressure data to the lifting device so as to better finish the uniform grinding operation of the ceiling concrete.

With continued reference to fig. 1 and 2, the bottom of the body 1 is further provided with a traveling wheel for driving the body 1 to move, and the traveling wheel includes a steering wheel at the left front, a universal wheel at the right front, and two bearing wheels at the rear and fixed in angle. The embodiment realizes autonomous movement by arranging the steering wheel. It should be noted that the left, right, and rear are not limited thereto.

As shown in fig. 3-4, the lifting device 2 further includes a first supporting rod lifting device 24, a first fixed end of which is connected to the middle plate 22, and a first movable end of which is connected to the top plate 21, wherein the first supporting rod lifting device 24 drives the top plate 21 to reciprocate in a direction perpendicular to the middle plate 22. In the initial state, the distance between the top plate 21 and the middle plate 22 is shortest, and after the first operation is started by the first stay lifting device 24, the top plate 21 is gradually separated from the middle plate 22 in the direction perpendicular to the middle plate 22, whereas when the top plate 21 is at the longest distance from the middle plate 22, the top plate 21 is gradually close to the middle plate 22 in the direction perpendicular to the middle plate 22 after the second operation is started by the first stay lifting device 24. In this embodiment, the top plate 21, the middle plate 22 and the bottom plate 23 are all horizontally disposed, and after the first operation, the top plate 21 is lifted upwards; after the second operation, the top plate 21 is lowered downward.

The lifting device 2 further comprises a second supporting rod lifting device 25, a second fixed end of which is fixedly connected to the bottom plate 23, a second movable end of which is fixedly connected to the middle plate 22, and the second supporting rod lifting device 25 drives the middle plate 22 to reciprocate in a direction perpendicular to the bottom plate 23. In the initial state, the distance between the middle plate 22 and the bottom plate 23 is shortest, after the second strut lifting device 25 starts the third operation, the middle plate 22 gradually moves away from the bottom plate 23 in the direction perpendicular to the bottom plate 23, whereas when the middle plate 22 is longest in the distance away from the bottom plate 23, after the second strut lifting device 25 starts the fourth operation, the middle plate 22 gradually moves closer to the bottom plate 23 in the direction perpendicular to the bottom plate 23. In this embodiment, after the third operation, the middle plate 22 is lifted upward; after the fourth operation, the middle plate 22 is dropped downward.

The first power assembly includes a first motor 243, a first reducer 244, first diverters 245, and first lead screw lifters 246, an output of the first motor 243 is connected to an input of the first reducer 244, an output of the first reducer 244 is connected to an input of at least one first diverter 245, an output of each first diverter 245 is connected to an input of at least one first lead screw lifter 246, and an output of each first lead screw lifter 246 is connected to one first strut 241.

In this embodiment, the first motor 243 is transversely disposed along the middle portion of the middle plate 22, the first speed reducer 244 is connected to the output end of the first motor 243, the first speed reducer 244 is longitudinally and symmetrically connected to two first deflectors 245, and the first deflectors 245 are transversely and symmetrically connected to two first screw lifters 246.

In this embodiment, four first lead screw lifters 246 are arranged at four corners of the same rectangle, and accordingly the middle plate 22 is rectangular.

Further, the middle plate 22 is provided with a plurality of through holes in regions other than the first motor 243, the first speed reducer 244, the first diverter 245, and the first screw lifter 246, thereby reducing the weight of the middle plate 22.

In this embodiment, the top plate 21 is provided with a top plate protruding plate 211 corresponding to each first stay 241, the top plate protruding plate 211 protrudes out of the surface of the top plate 21, and the lower end surface of the top plate protruding plate 211 is fixedly connected with the first stay 241, so as to reduce the original height of the device.

Further, a plurality of through holes are also provided in the top plate 21, thereby reducing the weight of the top plate 21.

Further, the first stay lifting device 24 is further provided with a first follower bar 242 along the Z-axis direction, in this embodiment, one side of each first stay 241 is correspondingly provided with one first follower bar 242, and one end of each first follower bar 242 is fixedly connected to the top plate 21 and vertically penetrates through the middle plate 22 and the bottom plate 23. When the first supporting rod 241 drives the top plate 21 to move, the first follower rod 242 moves simultaneously, and the first supporting rod 241 and the first follower rod 242 work together to complete the vertical movement of the top plate 21. Thereby improving the stability of the movement of the first brace lifting device 4 along the Z-axis direction.

The second power assembly comprises a second motor 253, a second speed reducer 254, a second steering gear 255 and a second lead screw lifter 256, wherein the output end of the second motor 253 is connected with the input end of the second speed reducer 254, the output end of the second speed reducer 254 is connected with the input end of at least one second steering gear 255, the output end of each second steering gear 255 is connected with the input end of at least one second lead screw lifter motor 256, and the output end of each second lead screw lifter 256 is connected with one second support rod 251.

In this embodiment, the second motor 253 is transversely arranged along the middle of the bottom plate 23, the second speed reducer 254 is connected to the output end of the second motor 253, the second speed reducer 254 is longitudinally and symmetrically connected to two second deflectors 255, and the second deflectors 255 are transversely and symmetrically connected to two second lead screw lifters 256.

In the present embodiment, four second lead screw lifters 256 are arranged at four vertices of the same rectangle, and accordingly the base plate 23 is rectangular.

Further, the base plate 23 is provided with a plurality of through holes in a support region other than the second motor 253, the second speed reducer 254, the first diverter 255, and the first screw lifter 256, thereby reducing the weight of the base plate 3.

Further, a second follower rod 252 is further disposed between the middle plate 22 and the bottom plate 23, one side of the second supporting rod 251 is correspondingly disposed with a second follower rod 252, and one end of the second follower rod 252 is fixedly connected to the middle plate 22 and vertically penetrates through the bottom plate 23. When the second supporting rod 251 drives the middle plate 22 to move, the second follower rod 252 moves simultaneously, and the second supporting rod 251 and the second follower rod 252 work together to complete the vertical movement of the middle plate 22. The stability of the movement of the second brace lifting device 25 in the Z-axis direction is further improved.

It should be noted that the projections of the first stay bar 241, the second stay bar 251, the first follower bar 242, and the second follower bar 252 on the horizontal plane do not overlap, that is, the bars are designed to be staggered, so that the stressed support areas of the top plate 21, the middle plate 22, and the bottom plate 23 are larger.

It should be noted that the middle portion 22 and the bottom plate 23 are further provided with through holes for electrical wiring of the electrical equipment.

In the initial state, the distance between the top plate 21 and the middle plate 22 is the shortest, and after the first operation is started by the first stay lifting device 24, the top plate 21 gradually moves in the Z-axis direction and away from the middle plate 22, whereas when the top plate 21 is at the longest distance away from the middle plate 22, and after the second operation is started by the first stay lifting device 24, the top plate 21 gradually approaches the middle plate 22 in the Z-axis direction. If the lifting distance of the first supporting rod lifting device 24 is not enough, the second supporting rod lifting device 25 starts the third operation, the middle plate 22 gradually gets away from the middle plate 22 along the Z-axis direction, otherwise, when the middle plate 22 gets away from the bottom plate 23 for the longest distance, the middle plate 22 gradually gets close to the bottom plate 23 along the Z-axis direction after the second supporting rod lifting device 25 starts the fourth operation.

As shown in fig. 5 and 6, the plane moving device 3 includes a first slide module 31, a second slide module 32, and a support plate 33 stacked, the first slide module 31 being attached to the top plate 21 and driving the second slide module 32 to slide along the X-axis, the second slide module 32 being disposed on the first slide module 31 and driving the support plate 33 to slide along the Y-axis, one end of the support plate 33 protruding from the second slide module 32 to mount the actuator. The stacked first sliding module 31, second sliding module 32 and supporting plate 203 further increase the height of the actuator, and simultaneously save the occupied area. In addition, the supporting plate 33 can move in the directions of the X axis and the Y axis, and meanwhile, the supporting plate 33 protrudes from the second sliding module 202, so that the polishing device 4 mounted on the supporting plate 303 can enable the polishing device 4 to be abutted against a wall surface, and the situation that the wall corner cannot be polished is avoided.

Further, a first output slider (an output end of the first sliding module 31) of the first sliding module 31 moves along the length direction of the first sliding module 31 and is provided with a first sliding plate 310, and the bottom of the second sliding module 32 is in threaded connection with the first sliding plate 310; the second output slider (the output end of the second sliding module 32) of the second sliding module 32 moves along the length direction of the second sliding module 32 and is provided with a second sliding plate 320, the support plate 33 includes a first support portion 331 and a second support portion 332, the first support portion 331 is screwed on the second sliding plate 320, the second support portion 332 is connected to one side of the first support portion 331 to protrude from the second sliding module 32, and the polishing device 4 is provided on the second support portion 332. Further, in order to improve the stability of the second sliding module 32 moving along with the first sliding module 31, a fixing plate 311 having the same length and the same width corresponding to the second sliding module 32 is further disposed between the first sliding plate 310 and the second sliding module 32.

As shown in fig. 7 and 8, the polishing device 4 includes a polishing head 41, a rotation module 42, a buffer module 43 and a pressure sensing module 44, wherein the polishing head 41 is used for polishing a seam of a wall (ceiling), one end of the rotation module 42 is connected to the polishing head 41, the rotation module 42 can drive the polishing head 41 to swing around a first axis L1 and rotate around a second axis L2, the first axis L1 and the second axis L2 are on the same horizontal plane and are perpendicular to each other, the buffer device 43 is connected to the other end of the rotation module 42, the buffer device 43 can extend and retract along the length direction, and the pressure sensing module 44 is connected to one end of the buffer device 43 far from the rotation module 42 to measure the abutting pressure value of the polishing head 41.

In this embodiment, the polishing surface of the polishing head 41 faces upward, the rotating module 42, the buffer module 43 and the pressure sensor 44 are sequentially arranged from top to bottom, the pressure sensor 44 is fixedly connected with the support plate 33, and when the polishing head 41 polishes a ceiling, the polishing head 41 can swing around the first axis L1 and rotate around the second axis L2 under the action of the rotating module 42, so that the polishing head 41 is prevented from being abutted against a fixed polishing phenomenon, and the buffer module 43 realizes the vertical compression of the polishing head 41, and when the polishing head 41 is excessively abutted against the ceiling, the polishing head 41 can be compressed and deformed to provide a buffer distance; the pressure sensing module 44 measures the abutting pressure value of the sanding head 41 and feeds back data information to the lifting device 2.

The sanding head 41 includes a sanding disc 411 and a brush 412, the brush 412 being formed at a circumferential edge of the sanding disc 411, the sanding disc 411 being circular in this embodiment, and the brush 412 being annularly arranged at the edge of the sanding disc 411 and being disposed upward.

The rotating module 42 comprises a connecting member 421, a collar 422 and a control box 423, the connecting member 421 is U-shaped and has two vertically opposite limbs, the collar 422 has a circumferential inner wall and two radially horizontally opposite connecting walls, the connecting walls of the collar 422 are rotatably connected to the limbs around a first axis L1, and the rotating shaft 4232 of the control box 423 is rotatably engaged with the collar 422 around a second axis L2, wherein the first axis L1 penetrates through the two limbs and the two connecting walls, and the second axis L2 is parallel to the length direction of the control box 423.

The first axis L1 and the second axis L2 are both located in the plane of the collar 422, the two connecting walls of the collar 422 swing relative to the limbs of the connecting member 421, and the control box 423 vertically penetrates through the collar 422 and rotates relative to the collar 422, so that the control box 423 moves in two orthogonal directions (as shown by arrows in fig. 6).

Further, the connecting wall of the lantern ring 422 is provided with a first through hole, the limb part is provided with a second through hole, the lantern ring 422 is fixed on the limb part through an inserted bar, and the inserted bar penetrates through the first through hole and extends into the second through hole.

The control box 423 comprises a motor box 4231 and a rotary shaft 4232, the rotary shaft 4232 being driven by the motor box 4231 to rotatably engage the collar 422 about the second axis L2. The outer wall of the rotation shaft 4232 forms a screw groove, and the inner wall of the collar 422 forms a resistance plate which is engaged with the outer wall of the rotation shaft 4232. When the rotation shaft 4232 rotates, the rotation shaft 4232 rotates around the second axis line along the inner wall of the collar 422 due to the collar 422 being fixed, and simultaneously, the motor case 4232 is rotated around the second axis line L2.

The motor housing 4231 includes a drive housing and a slide housing which are opposed to each other and connected to each other, one end of the rotation shaft 4232 is connected to a drive portion of the drive housing, the other end is slidably connected to the slide housing, and the drive housing and the slide housing are rotated in synchronization when the rotation shaft 4232 is rotated. That is, the rotational shaft 4232 is rotated about the second axis L2 by the drive case.

It should be noted that one end of the sanding disc 411 is fixedly connected to either the driving box or the sliding box, so as to move synchronously with the control box 423. As can be seen from the above, the motor box 4231 can rotate around the second axis L2 along the inner wall of the collar 422, and can also swing around the first axis L1 of the connecting member 421 along with the collar 422, so as to complete the rotation of two degrees of freedom, and further when the lower bottom supporting surface of the device is not parallel to the ceiling plate, the motor box 4231 and the collar 422 cooperate to make the polishing disc 411 always perpendicular to the ceiling plate for positive pressure.

Buffer module 43 includes top buffer board 431, end buffer board 432, straight-bar 433, linear bearing 434 and spring 435, top buffer board 431 and end buffer board 432 interval opposition, a plurality of linear bearing 434 sets up perpendicularly on top buffer board 431, a plurality of straight-bar 433 corresponds wears to establish inside and connect the end buffer board 432 of linear bearing 434, linear bearing 434 can slide along straight-bar 433, it is equipped with spring 435 to correspond straight-bar 433 between top buffer board 431 and the end buffer board 432, spring 435 cover is established outside straight-bar 433 simultaneously.

The linear bearing 434 is fixedly connected with the top buffer plate 431, when the top buffer plate 431 is pressed, the linear bearing 434 moves along the straight rod 433, and the top buffer plate 431 is guided by the linear bearing 434 and the straight rod 433 to move towards the bottom buffer plate 432.

Further, the connecting member 421 is vertically connected to the upper surface (end surface away from the bottom buffer plate 432) of the top buffer plate 431.

Further, the top buffer plate 431 and the bottom buffer plate 432 are rectangular, and four straight rods 433, four linear bearings 434 and four springs 435 are respectively and correspondingly arranged at four corners of the top buffer plate 431 and the bottom buffer plate 432.

The pressure sensing module 44 is fixed on the lower surface of the bottom buffer plate 432 by a plurality of bolts and is connected to the support plate 33 (specifically, the second support portion 332) so as to move in the same horizontal plane and in the orthogonal direction.

It should be noted that the pressure sensing device 44 is preferably a piezoresistive pressure sensor, when the pressure changes, the monocrystalline silicon wafer of the piezoresistive pressure sensor generates strain, so that the strain resistance directly diffused thereon generates a change proportional to the measured pressure, and then a bridge circuit obtains a corresponding voltage output signal. In this embodiment, the single crystal silicon wafer is upwardly abutted against the bottom plate 432, and when the polishing head 41 is abutted against the ceiling, the buffer 43 is compressively deformed to push the bottom plate 432 to press the single crystal silicon wafer downward.

When the polishing device 4 works, the polishing disc 411 and the brush 412 of the polishing head 41 can polish a ceiling and a wall surface, the driving device 42 drives the polishing head 41 to twist in two mutually orthogonal directions, so that the polishing phenomenon that the polishing head 41 is propped against and fixed is prevented, and when the polishing head 41 is propped against the ceiling excessively, the buffer module 43 can be compressed and deformed to provide a buffer distance; meanwhile, the bottom buffer plate 432 transmits the pressure to the pressure sensing module 44, and at this time, the pressure sensing module 44 measures the abutting pressure value and feeds back data information to the lifting device 2.

The working principle of the ceiling polishing robot provided by the invention is as follows: the moving wheel set of the machine body 1 moves on the ground, the first support rod lifting device 24 drives the top plate 21 to reciprocate in the direction vertical to the middle plate 22, the second support rod lifting device 25 drives the middle plate 22 to reciprocate in the direction vertical to the bottom plate 23, so that the height of the polishing device 4 is controlled, when the polishing head 41 abuts against a ceiling, the buffer module 43 can be compressed and deformed to provide a buffer distance, meanwhile, the pressure sensing module 44 measures the abutting pressure value of the polishing head 41 and feeds back data information to the lifting device 2, and the lifting device 2 compares the pressure value with a preset pressure value to adjust the height of the lifting device; meanwhile, the rotating module 42 of the polishing device 4 can drive the polishing head 41 to twist on two degrees of freedom, so that the polishing head is always vertical to a ceiling or a wall surface, and the phenomenon of abutting against and fixing polishing is prevented; and finishing the uniform polishing operation of the ceiling concrete.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims

1. A ceiling sanding robot, comprising:

the device comprises a machine body (1) and travelling wheels for driving the machine body (1) to move;

a lifting device (2) mounted on the body (1) and configured to adjust its height by moving in a Z-axis direction;

a grinding device (4) configured to move synchronously with the lifting device (2), wherein the grinding device (4) comprises a grinding head (41), a rotating module (42), a buffering module (43) and a pressure sensing device (44) which are arranged along the same vertical direction, the grinding head (41) is configured to be capable of upwards abutting against a ceiling, the buffering module (43) is connected between the rotating module (42) and the pressure sensing device (44), the buffering module (43) is capable of stretching along the Z-axis direction, the pressure sensing device (44) is used for acquiring a pressure value of the grinding head (41) in real time, and the rotating module (42) is configured to enable the grinding head (41) to swing around a first axis (L1) and drive the grinding head (41) to rotate around a second axis (L2); the lifting device (2) automatically adjusts the height of the lifting device according to the pressure value; and

the plane moving device (3) comprises a first sliding module (31), a second sliding module (32) and a supporting plate (33) which are stacked, the first sliding module (31) is connected to a top plate (21) of the lifting device (2) and can drive the second sliding module (32) to slide along an X axis, the second sliding module (32) is arranged on the first sliding module (31) and can drive the supporting plate (33) to slide along a Y axis, and the supporting plate (33) can extend out of the first sliding module (31) along the X axis or extend out of the second sliding module (32) along the Y axis and is connected with the pressure sensing device (44) at an extending end;

wherein the rotation module (42) comprises: a drive assembly configured to drive the sanding head (41) in rotation about the second axis (L2); and a connecting piece (421) which is connected with the top plate (21) and moves synchronously, and the driving component can swing around the first axis (L1) relative to the connecting piece; the connecting member (421) is U-shaped, the connecting member (421) comprises two limbs which are arranged along a first axis (L1) and are vertically opposite, the driving assembly comprises a collar (422) and a control box (423), a rotating shaft (4232) of the control box (423) extends along a second axis (L2) and is meshed with the collar (422), the collar (422) is connected with the polishing head (41), and the collar (422) is rotatably connected between the two limbs of the connecting member (421) along a first axis (L1);

the buffer module (43) comprises a top buffer plate (431) and a bottom buffer plate (432), the top buffer plate (431) and the bottom buffer plate (432) are elastically connected along a Z axis, the bottom buffer plate (432) is connected with the top plate (21), and the top buffer plate (431) is configured to fix the connecting piece (421).

2. A ceiling sanding robot according to claim 1, characterized in that the lifting device (2) comprises the top plate (21), middle plate (22) and bottom plate (23) arranged in sequence from top to bottom, wherein:

the top plate (21) is configured to be capable of sliding along the Z-axis direction relative to the middle plate (22); the middle plate (22) is configured to slide along the Z-axis direction relative to the bottom plate (23) and drive the top plate (21) to slide along the Z-axis direction; the grinding device (4) is arranged on the top plate (21).

3. A ceiling sanding robot as defined in claim 2, wherein the lifting device (2) further comprises a first strut lifting device (24) and a second strut lifting device (25), wherein:

the first supporting rod lifting device (24) comprises a plurality of first follow-up rods (242), one end of each first follow-up rod (242) is fixedly connected with the top plate (21), and the other end of each first follow-up rod (242) penetrates through the middle plate (22) and the bottom plate (23) in a sliding mode;

the second supporting rod lifting device (25) comprises a plurality of second following rods (252), one end of each second following rod (252) is fixedly connected with the middle plate (22), and the other end of each second following rod penetrates through the bottom plate (23) in a sliding mode.

4. A ceiling sanding robot as defined in claim 3, wherein the projections of the first follower bar (242) and the second follower bar (252) in the horizontal plane do not coincide with each other.