CN112775742A

CN112775742A - Wall surface polishing robot

Info

Publication number: CN112775742A
Application number: CN202110034333.6A
Authority: CN
Inventors: 刘国才; 卢贤资
Original assignee: Shenzhen Banzhai Robot Co ltd
Current assignee: Shenzhen Banzhai Robot Co ltd
Priority date: 2021-01-12
Filing date: 2021-01-12
Publication date: 2021-05-11
Anticipated expiration: 2041-01-12
Also published as: CN112775742B

Abstract

A wall sanding robot, comprising: the first shell is provided with a first working side and a first back side opposite to the first working side, a first inner cavity is formed between the first working side and the first back side, a first opening is formed in the first working side, and the first opening is communicated with the first inner cavity; the elastic pressing ring is arranged at the first opening, one end of the elastic pressing ring, which is far away from the first back side, is a pressing end, the pressing end is positioned on one side, which is far away from the first back side, of the first working side, and the pressing end is configured to be in contact with a wall surface; the negative pressure dust suction device is configured to enable the first inner cavity to form negative pressure and suck dust into the first inner cavity; the working part of the polishing device penetrates through the first opening from the first inner cavity, and one end, far away from the first back side, of the working part is positioned on one side, close to the first working side of the first shell, of the pressing end; and a traveling device connected to the first housing. This wall polishing robot can realize polishing the dustless cleanness of wall, and the quality of polishing is good, the feature of environmental protection is good.

Description

Wall surface polishing robot

Technical Field

The invention relates to the technical field of constructional engineering, in particular to a wall surface polishing robot.

Background

Puttying is one of the methods for interior wall decoration, in which the putty is applied to a wall and, after drying, sandpaper is used to polish the putty flat. The traditional putty polishing is generally finished by manual operation, so that on one hand, the problems of time and labor waste and heavy labor burden are caused; on the other hand, a large amount of dust is generated in the working process, the environment is seriously polluted, and the health of the working personnel is seriously damaged.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the wall surface polishing robot which can realize dust-free cleaning polishing of the wall surface, and has good polishing quality and good environmental protection property.

The invention provides a wall surface grinding robot, comprising:

the first shell is provided with a first working side and a first back side opposite to the first working side, a first inner cavity is formed between the first working side and the first back side, a first opening is formed in the first working side, and the first opening is communicated with the first inner cavity;

the elastic pressing ring is arranged at the first opening, one end, far away from the first back side, of the elastic pressing ring is a pressing end, the pressing end is located on one side, far away from the first back side, of the first working side, and the pressing end is configured to be in contact with a wall surface;

a negative pressure suction device configured to create a negative pressure in the first lumen and to suck dust into the first lumen;

a working part of the grinding device penetrates through the first opening from the first inner cavity, one end, far away from the first back side, of the working part is located on one side, close to the first working side of the first shell, of the pressing end, and one end, far away from the first back side, of the working part is located on one side, far away from the first back side, of the first working side; and

and the walking device is connected with the first shell, one end of the walking device, which is far away from the first back side, is positioned at one side, which is close to the first working side of the first shell, of the compression end, and one end, which is far away from the first back side, of the walking device is positioned at one side, which is far away from the first working side, of the first back side.

Optionally, the wall surface grinding robot further comprises a second shell, and the second shell has a second working side and a second back side opposite to the second working side; the first shell is disposed within the second shell, the first back side is opposite the second back side and the first back side is located on a side of the second back side that is proximal to the second working side, the second working side is located on a side of the first back side that is distal from the second back side; a second opening is formed in the second working side, the elastic pressing ring penetrates through the second opening, and the pressing end is located on one side, away from the second back side, of the second working side; one end of the walking device, which is far away from the second back side, is positioned on one side, which is far away from the second back side, of the second working side; the central axes of the first opening and the second opening coincide.

Optionally, the walking device is arranged in the second shell, and the walking device is connected with the first shell through the second shell; an annular cavity is formed between the first shell and the second shell, and the walking device is located in the annular cavity.

Optionally, the wall surface polishing robot further includes a sensor and a holding member, the sensor is electrically connected to the vacuum cleaner, the holding member is slidably disposed on a side of the first back side of the first housing, the side is away from the first working side, a reset element is disposed between the holding member and the first housing, the holding member slides to trigger a start-stop signal of the sensor in a contact or non-contact manner, and the start-stop signal is configured to drive the vacuum cleaner to start or stop.

Optionally, under the condition that the wall surface grinding robot includes the second shell, the holding piece is slidably disposed on a second back side of the second shell away from one side of the second working side, and the reset element is disposed between the holding piece and the second shell.

Optionally, the holding member slides linearly along an axial direction of the elastic pressing ring, and when the holding member slides to a stroke end in a direction close to the working side, the holding member enables the sensor to send the start-stop signal.

Optionally, the negative pressure dust collector comprises an air inlet pipe, a fan and an air outlet pipe, wherein one end of the air inlet pipe is communicated with the first inner cavity of the first shell, and the other end of the air inlet pipe is communicated with an air inlet of the fan; and the exhaust port of the fan is communicated with the exhaust pipe.

Optionally, the grinding device includes a grinding head configured to perform a grinding action and a driving device configured to drive the grinding head to operate, the grinding head being disposed in the first inner cavity and having the working portion.

Optionally, the polishing head is a polishing disk, and a side of the polishing disk away from the first back side is configured as the working part; the grinding disc is provided with a chip removal hole penetrating through the grinding disc along a first direction, one end of the chip removal hole is opened at one side of the grinding disc close to the working side, and the other end of the chip removal hole is communicated with the negative pressure dust collection device.

Optionally, the traveling device includes a plurality of traveling wheels, and the plurality of traveling wheels are distributed on the outer peripheral side of the first opening along an annular shape; the central axis of the ring shape is parallel to or coincident with the central axis of the first opening.

One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

when the wall is mounted, firstly, the pressing end of the elastic pressing ring is in contact with the wall surface, the negative pressure dust suction device works to enable the first inner cavity to form negative pressure, the inner and outer pressure difference presses the first shell to the wall surface, and the elastic pressing ring is tightly attached to the wall surface under the compression of the first shell, so that on one hand, the wall surface polishing robot can be adsorbed and fixed on the wall surface, and on the other hand, the first inner cavity of the first shell is sealed by the wall surface to form a sealed operation environment; when the wall surface polisher works, along with the pushing of the walking device, the operation part of the polisher sequentially polishes all parts of the wall surface (such as putty on the wall surface), so that the wall surface reaches a flat state, waste residue and dust falling off from the wall surface in the polishing process are in a closed operation environment and are sucked by the negative pressure dust suction device, escape and scattering cannot occur, pollution to the environment and damage to the health of operators are avoided, and the environment friendliness is outstanding.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a first schematic view of a three-dimensional structure of a wall grinding robot according to some embodiments of the present invention;

FIG. 2 is a schematic cross-sectional view of a wall grinding robot according to some embodiments of the present invention;

fig. 3 is a second schematic view of a three-dimensional structure of a wall grinding robot according to some embodiments of the present invention;

FIG. 4 is a schematic cross-sectional view of a wall grinding robot according to some embodiments of the present invention;

fig. 5 is a partial structural schematic view of the wall grinding robot in fig. 4.

Description of the main element symbols:

1-a first shell, 1A-a first working side, 1B-a first back side, 11-a first inner cavity, 12-a first opening, 2-an elastic pressing ring, 3-a negative pressure dust suction device, 31-an air inlet pipe, 32-a fan, 33-an air outlet pipe, 4-a grinding device, 41-a grinding head, 411-a working part, 412-a chip removal hole, 42-a driving device, 5-a walking device, 51-a walking wheel, 6-a second shell, 61-a concave part, 6A-a second working side, 6B-a second back side, 71-a sensor, 72-a holding piece, 8-a reset element and 9-a connecting piece.

Detailed Description

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 3, some embodiments of the present invention disclose a wall surface polishing robot, which includes a first shell 1, an elastic pressing ring 2, a negative pressure dust suction device 3, a polishing device 4, and a traveling device 5, and can clean and polish a wall surface without dust.

The first housing 1 has a first working side 1A and a first rear side 1B arranged opposite to the first working side 1A, a first interior 11 being formed between the first working side 1A and the first rear side 1B. The first working side 1A is provided with a first opening 12, and the first opening 12 is communicated with the first inner cavity 11. Exemplarily, the first working side 1A of the first shell 1 is opposite to the wall surface, and the first back side 1B is located at a side of the first working side 1A away from the wall surface. The material of the first shell 1 may be determined according to actual requirements, such as a metal material, a plastic material, and the like, which is not limited in the embodiment of the present invention. Exemplarily, the first case 1 may be a square cover.

Wherein the elastic pressing ring 2 is arranged at the first opening 12. The end of the elastic pressing ring 2 away from the first back side 1B is a pressing end, the pressing end is located on the side of the first working side 1A away from the first back side 1B, and the pressing end is configured to contact with a wall surface. Exemplarily, the first shell 1 is not in direct contact with the wall surface, but is in contact with the wall surface by means of an elastic pressing ring 2. The elastic pressing ring 2 can be made of various elastic materials (such as rubber, elastic plastics and the like) and can be elastically deformed.

The vacuum cleaner 3 is configured to form a negative pressure in the first chamber 11 and to suck dust into the first chamber 11, thereby achieving a dual function and simplifying a mechanical structure. The negative pressure is a gas pressure state lower than the atmospheric pressure, and accordingly, there is a pressure difference between the inside and the outside of the first casing 1. Under the effect of inside and outside pressure differential, first shell 1 is pressed to the wall and oppresses the elasticity clamping ring 2 that is located between first shell 1 and the wall, makes elasticity clamping ring 2 elastic deformation and with the wall laminating contact, makes to form well sealed between first inner chamber 11 and the wall, prevents the dust better and lets out on the one hand, and on the other hand can keep apart inside and outside atmospheric pressure environment better, makes the negative pressure of first inner chamber 11 keep basic stability to reduce negative pressure dust extraction device 3's load consumption. In some embodiments, the vacuum cleaner 3 includes an air inlet pipe 31, a fan 32 and an air outlet pipe 33, wherein one end of the air inlet pipe 31 is communicated with the first inner cavity 11 of the first shell 1, and the other end is communicated with an air inlet of the fan 32; the exhaust port of the blower 32 communicates with the exhaust pipe 33.

The working portion 411 of the polishing device 4 passes through the first opening 12 from the first inner cavity 11, one end of the working portion 411 far away from the first back side 1B is located at one side of the pressing end close to the first working side 1A of the first shell 1, and one end of the working portion 411 far away from the first back side 1B is located at one side of the first working side 1A far away from the first back side 1B. Thus, the working part 411 extends out from the first opening 12, the space of the first inner cavity 11 can be effectively utilized, the overall dimension of the wall surface grinding robot is reduced, the space utilization rate and the compactness of the robot are improved, and the overall size of the robot is small.

The walking device 5 is connected with the first shell 1, one end of the walking device 5, which is far away from the first back side 1B, is located at one side of the pressing end, which is close to the first working side 1A of the first shell 1, and one end of the walking device 5, which is far away from the first back side 1B, is located at one side of the first working side 1A, which is far away from the first back side 1B. In some embodiments, the traveling device 5 includes a plurality of traveling wheels 51, and the plurality of traveling wheels 51 are distributed on the outer circumferential side of the first opening 12 along a ring shape, and the central axis of the ring shape is parallel to or coincides with the central axis of the first opening 12. Here, the plurality of road wheels 51 may be parallel or non-parallel. Illustratively, the plurality of road wheels 51 are evenly distributed along the ring. Thus, the working part 411 of the wall grinding robot is positioned at the center of the plurality of traveling wheels 51, and traveling accuracy and positioning accuracy are high. The number of the traveling wheels 514 is determined according to the actual design requirements, and the form thereof is also rich, including the types of common moving wheels, universal wheels, omni wheels and the like.

In some embodiments, the wall sanding robot further comprises a second housing 6, the second housing 6 having a second working side 6A and a second back side 6B disposed opposite the second working side 6A; the first shell 1 is disposed in the second shell 6, the first back side 1B is opposite to the second back side 6B, the first back side 1B is located on one side of the second back side 6B close to the second working side 6A, and the second working side 6A is located on one side of the first back side 1B far from the second back side 6B; the second working side 6A is provided with a second opening, the elastic pressing ring 2 passes through the second opening, and the pressing end is positioned on one side of the second working side 6A, which is far away from the second back side 6B; one end of the walking device 5 away from the second back side 6B is positioned on one side of the second working side 6A away from the second back side 6B; the central axes of the first opening 12 and the second opening coincide.

In case the wall milling robot comprises a second housing 6, in some embodiments the walking means 5 is arranged inside the second housing 6, the walking means 5 being connected to the first housing 1 through the second housing 6. An annular cavity is formed between the first shell 1 and the second shell 6, and the running gear 5 is positioned in the annular cavity. Thus, the wall surface grinding robot has better integrity, and the walking device 5 can be well protected by the second shell 6.

Referring to fig. 1-5, in some embodiments, the wall surface grinding robot further includes a sensor 71 and a holder 72. The sensor 71 is electrically connected to the vacuum cleaner 3, and when the sensor 71 is triggered, the sensor 71 generates a start-stop signal to the vacuum cleaner 3, wherein the start-stop signal is configured to drive the vacuum cleaner 3 to start or stop. Exemplarily, the start-stop signal is an electrical signal, and the vacuum cleaner 3 changes the start-stop state upon receiving the start-stop signal. The sensor 71 is illustratively a contact sensor or a non-contact sensor, typically a contact sensor such as a micro-switch, a pressure sensor, etc., and typically a non-contact sensor such as a photo sensor, etc.

The holder 72 is slidably disposed on a side of the first back side 1B of the first housing 1 away from the first working side 1A, and the holder 72 slides to contact or non-contact trigger the start/stop signal of the sensor 71. Exemplarily, the holding member 72 is disposed on a side surface of the first casing 1 away from the wall surface, and the holding member 72 and the first casing 1 have relative sliding therebetween. In operation, the operator pushes the holder 72 to move the holder 72 on the first housing 1. The structure of the holder 72 may be various, such as a grip handle, a grip ring, etc.

Between the holder 72 and the first housing 1, a reset element 8 is provided, in some embodiments, the reset element 8 is configured to restore the holder 72 to an initial position. The restoring element 8 is exemplarily an elastic element, and a common type thereof is various types of springs capable of outputting an elastic force, such as a tension spring, a compression spring, and the like.

Under the push of the operator, the holder 72 slides and thus triggers the start-stop signal of the sensor 71 in a contact or non-contact manner. When the operator releases his hand, the reset element 8 resets the sliding movement of the handle 72 in the opposite direction. Under the touch trigger, the holding piece 72 touches the touch sensor 71, and the touch sensor 71 sends out an electric signal (i.e. a start-stop signal) under the touch action and outputs the electric signal to the negative pressure dust collector 3; under the non-contact triggering, the holding piece 72 enters the sensing range of the non-contact sensor 71, and the non-contact sensor 71 senses and sends out an electric signal (i.e. a start-stop signal) and outputs the electric signal to the vacuum cleaner 3.

Exemplarily, the number of the holding pieces 72 is two, and the holding pieces are respectively held by two hands of an operator, so that the operation convenience and reliability are improved. The ends of the two holding pieces 72 are connected through a connecting piece 9, so that the movement synchronism is kept. The connection 9 triggers the start-stop signal of the sensor 71 in a contact or contactless manner. Illustratively, the two holding members 72 are parallel to each other to facilitate handling.

The sliding direction of the holding member 72 can be designed according to the actual requirement, and the invention is not limited to this. In some embodiments, the holder 72 slides linearly in the axial direction of the elastic pressing ring 2, and when the holder 72 slides to the end of the stroke in the direction close to the working side, the holder 72 causes the sensor 71 to send a start-stop signal. When the robot is used for climbing a wall, an operator only needs to hold and push the holding piece 72 to slide along the direction close to the wall surface, so that the wall-climbing robot can reliably cling to the wall surface and the negative pressure dust suction device 3 is started, thereby achieving two purposes and greatly improving the operation convenience and efficiency.

Exemplarily, when the sensor 71 is located inside the first housing 1, the end of the holder 72 slidingly passes through the sidewall of the first housing 1 to perform contact or non-contact triggering of the sensor 71.

In case the wall milling robot comprises the second housing 6, in some embodiments the holder 72 is slidably arranged at a side of the second back side 6B of the second housing 6 remote from the second working side 6A, and the reset element 8 is arranged between the holder 72 and the second housing 6. Furthermore, the first housing 1 is connected to the restoring element 8 via the second housing 6.

Illustratively, when the sensor 71 is located inside the second housing 6, the distal end of the holder 72 slidingly passes through the side wall of the second housing 6 for contact or contactless triggering of the sensor 71. Exemplarily, the second housing 6 has a concave portion 61 corresponding to the holding member 72, and the concave portion 61 is concave along the direction approaching the wall surface, so as to provide a holding space for an operator and a movement space for pushing the holding member 72 to slide, thereby improving the holding comfort and safety and preventing the operator's hand from being damaged.

In some embodiments, the grinding apparatus 4 includes a grinding head 41 configured to perform a grinding action, and a driving device 42 for driving the grinding head 41 to operate, the grinding head 41 being disposed in the first internal cavity 11 and having a working portion 411. The drive means 42 may be of the type of a drive motor, hydraulic motor or the like.

In some embodiments, the sanding head 41 is a sanding disc, the side of the sanding disc remote from the first back side 1B being configured as a working portion 411. The working portion 411 directly contacts the wall surface, thereby polishing the unevenness of the wall surface. Exemplarily, the grinding disc has a chip removal hole 412 penetrating therethrough along the first direction, one end of the chip removal hole 412 is opened at a side of the grinding disc close to the working side, and the other end is opened to communicate with the vacuum cleaner 3. Like this, negative pressure dust extraction 3 can be through chip removal hole 412, in time siphons away the abrasive dust dregs that will produce at the in-process of polishing and avoid taking place the waste material and pile up, and the first aspect can avoid polishing head 41's the operation of polishing to receive the interference, and on the other hand can in time dispel the heat and cool down, prevents polishing head 41's the temperature sharp rising and suffer the harm, and the third aspect can prevent to take place the dust and reveal, guarantee the clean environmental protection of operation process.

Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims

1. Wall polishing robot, its characterized in that includes:

2. The wall grinding robot of claim 1, further comprising a second housing having a second working side and a second back side disposed opposite the second working side; the first shell is disposed within the second shell, the first back side is opposite the second back side and the first back side is located on a side of the second back side that is proximal to the second working side, the second working side is located on a side of the first back side that is distal from the second back side; a second opening is formed in the second working side, the elastic pressing ring penetrates through the second opening, and the pressing end is located on one side, away from the second back side, of the second working side; one end of the walking device, which is far away from the second back side, is positioned on one side, which is far away from the second back side, of the second working side; the central axes of the first opening and the second opening coincide.

3. The wall surface grinding robot according to claim 2, wherein the traveling device is disposed in the second housing, and the traveling device is connected to the first housing through the second housing; an annular cavity is formed between the first shell and the second shell, and the walking device is located in the annular cavity.

4. The wall surface grinding robot according to claim 2, further comprising a sensor and a holding member, wherein the sensor is electrically connected with the vacuum cleaner, the holding member is slidably disposed on a side of the second back side of the second housing away from the second working side, a reset element is disposed between the holding member and the second housing, the holding member slides to trigger a start-stop signal of the sensor in a contact or non-contact manner, and the start-stop signal is configured to drive the vacuum cleaner to start or stop.

5. The wall surface grinding robot according to claim 1, further comprising a sensor and a holding member, wherein the sensor is electrically connected with the vacuum cleaner, the holding member is slidably disposed on a side of the first back side of the first housing away from the first working side, a reset element is disposed between the holding member and the first housing, the holding member slides to trigger a start-stop signal of the sensor in a contact or non-contact manner, and the start-stop signal is configured to drive the vacuum cleaner to start or stop.

6. A wall grinding robot as defined in claim 4 or 5, wherein the holding member slides linearly in the axial direction of the elastic pressing ring, and when the holding member slides to the end of the stroke in the direction close to the working side, the holding member causes the sensor to send the start/stop signal.

7. The wall surface grinding robot according to claim 1, wherein the negative pressure dust suction device comprises an air inlet pipe, a fan and an exhaust pipe, one end of the air inlet pipe is communicated with the first inner cavity of the first shell, and the other end of the air inlet pipe is communicated with an air inlet of the fan; and the exhaust port of the fan is communicated with the exhaust pipe.

8. A wall grinding robot according to claim 1, wherein the grinding device includes a grinding head configured to perform a grinding action and a driving means for driving the grinding head in operation, the grinding head being provided in the first internal cavity and having the working section.

9. The wall grinding robot according to claim 8, wherein the grinding head is a grinding disc, and a side of the grinding disc remote from the first back side is configured as the working section; the grinding disc is provided with a chip removal hole penetrating through the grinding disc along a first direction, one end of the chip removal hole is opened at one side of the grinding disc close to the working side, and the other end of the chip removal hole is communicated with the negative pressure dust collection device.

10. The wall surface grinding robot according to claim 1, wherein the traveling device includes a plurality of traveling wheels that are distributed on an outer peripheral side of the first opening along a ring shape; the central axis of the ring shape is parallel to or coincident with the central axis of the first opening.