CN217890464U - Polishing mechanism and wall-climbing robot - Google Patents

Abstract

The utility model discloses a polishing mechanism and a wall-climbing robot, wherein the polishing mechanism comprises a support, a polishing component and an air spring, and the polishing component is arranged on the support in a sliding manner and is used for polishing a component; one end of the gas spring is connected with the support, the other end of the gas spring is connected with the polishing assembly, the telescopic direction of the gas spring is parallel to the sliding direction of the polishing assembly, and the gas spring is used for pushing the polishing assembly to abut against the member. When the air spring stretches, the elastic force of the air spring is basically kept consistent, so that the pressure of the polishing assembly on the member is consistent, the phenomenon that the pressure of the polishing assembly on the member is too small or too large is avoided, and the polishing effect of the polishing assembly on the member is ensured.

Description

Polishing mechanism and wall-climbing robot

Technical Field

The utility model relates to a technical field of equipment of polishing especially relates to a grinding machanism and wall climbing robot.

Background

In the related art, when products are polished, for example, welding seams of the outer walls of a large ship and a large oil storage tank, a polishing head needs to be manually operated to be supported at the position of the welding seams so as to polish the welding seams. However, the force applied to the polishing head by the operator cannot be constant, so that the pressure of the polishing head on the weld joint is not constant, and the polishing of the weld joint is affected.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a polishing mechanism improves the effect of polishing to the component.

The utility model discloses still provide a wall climbing robot with grinding machanism.

According to the utility model discloses grinding machanism of first aspect embodiment, include:

a support;

the grinding assembly is arranged on the support in a sliding mode and used for grinding the component;

and one end of the gas spring is connected with the support, the other end of the gas spring is connected with the polishing assembly, the telescopic direction of the gas spring is parallel to the sliding direction of the polishing assembly, and the gas spring is used for pushing the polishing assembly to abut against a member.

According to the utility model discloses grinding machanism has following beneficial effect at least: when the air spring stretches, the elastic force of the air spring is basically kept consistent, so that the pressure of the polishing assembly on the member is consistent, the phenomenon that the pressure of the polishing assembly on the member is too small or too large is avoided, and the polishing effect of the polishing assembly on the member is ensured.

According to some embodiments of the present invention, the device further comprises a first driving member and a mounting seat, the first driving member is disposed on the support, the mounting seat is slidably disposed on the support, and the first driving member is used for driving the mounting seat to slide linearly relative to the support; wherein, the one end that the gas spring kept away from the subassembly of polishing is connected with the mount pad.

According to some embodiments of the utility model, the support is provided with the edge the first guide rail that the flexible direction of air spring extends, the subassembly of polishing with the mount pad all slide set up in first guide rail.

According to some embodiments of the utility model, still include first driving piece and locating part, first driving piece with the locating part is connected, is used for the drive the locating part is followed the flexible direction motion of air spring, the locating part is in under the effect of first driving piece with the subassembly looks butt of polishing, in order to promote the subassembly of polishing keeps away from the component motion.

According to some embodiments of the utility model, still include the ball-type joint, the ball-type articulate in the subassembly of polishing with between the air spring.

According to some embodiments of the invention, the first driving member is an electric push rod.

According to some embodiments of the present invention, the polishing device further comprises a first sliding seat, a second sliding seat and a second driving member, the first sliding seat is slidably connected to the support, the second sliding seat is slidably connected to the first sliding seat, the gas spring is connected to the first sliding seat, the polishing assembly is connected to the second sliding seat, the polishing assembly has a polishing wheel for polishing the component;

the sliding direction of the first sliding seat is parallel to the telescopic direction of the gas spring, the sliding direction of the first sliding seat is perpendicular to the sliding direction of the second sliding seat, and the axial direction of the grinding wheel is perpendicular to the sliding direction of the second sliding seat.

According to some embodiments of the utility model, the grinding machanism still includes two second guide rails and second connecting piece, two second guide rail parallel arrangement to fixed connection in first sliding seat, the second sliding seat with second guide rail sliding connection, second driving piece fixed connection in first sliding seat, and be located two between the second guide rail, the second connecting piece connect in the second driving piece with between the second sliding seat.

According to some embodiments of the utility model, the subassembly of polishing includes U type support, third driving piece, drive assembly, axis of rotation and wheel of polishing, a curb plate of U type support with support sliding connection, the third driving piece assemble in between two curb plates of U type support, the drive shaft of third driving piece certainly another curb plate of U type support stretches out, the axis of rotation with two curb plates of U type support rotate to be connected, the wheel of polishing is located between two curb plates of U type support to the cover is established and is fixed in the axis of rotation, drive assembly is located the outside of the curb plate of U type support, and be connected in the axis of rotation with between the drive shaft of third driving piece, the third driving piece passes through the drive assembly drive the axis of rotation rotates.

According to the utility model discloses wall climbing robot of second aspect embodiment, including foretell grinding machanism.

According to the utility model discloses wall climbing robot has following beneficial effect at least: the wall climbing robot adopts foretell grinding machanism, and the wall climbing robot is when high altitude work, and the subassembly of polishing supports all the time under the effect of air spring and holds on the lateral wall to support the holding power and keep unanimous, the wall climbing robot can polish the welding seam of boats and ships outer wall or the welding seam of oil storage tank outer wall better.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The invention will be further described with reference to the following drawings and examples, in which:

fig. 1 is a schematic view of an overall structure of another polishing mechanism according to an embodiment of the present invention;

fig. 2 is a schematic view of an overall structure of another polishing mechanism according to an embodiment of the present invention;

fig. 3 is an assembly view of the support, the first sliding seat, the pushing assembly and the gas spring according to the embodiment of the present invention;

fig. 4 is an assembly diagram of the first sliding seat, the second driving member and the second sliding seat according to the embodiment of the present invention;

fig. 5 is a schematic structural view of a polishing assembly according to an embodiment of the present invention.

Reference numerals:

the grinding machine comprises a support 100, a first guide rail 110, a grinding assembly 200, a U-shaped bracket 210, a third driving member 220, a transmission assembly 230, a rotating shaft 240, a grinding wheel 250, a gas spring 300, a ball joint 310, a first sliding seat 400, a first connecting member 410, a second guide rail 420, a first driving member 500 and a mounting seat 510; a limiting member 520, a second sliding seat 600, a second connecting member 610, and a second driving member 700.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the directional descriptions, such as the directions or positional relationships indicated by upper, lower, front, rear, left, right, etc., are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but not for indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means is one or more, a plurality of means is two or more, and the terms greater than, less than, more than, etc. are understood as excluding the term, and the terms greater than, less than, etc. are understood as including the term. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

According to a first aspect of the present invention, a polishing mechanism is disclosed, referring to fig. 1, comprising a support 100, a polishing assembly 200 and a gas spring 300, wherein the polishing assembly 200 is slidably disposed on the support 100 for polishing a component; one end of the gas spring 300 is connected to the support 100, and the other end is connected to the polishing assembly 200, the extension direction of the gas spring 300 is parallel to the sliding direction of the polishing assembly 200, and the gas spring 300 is used to push the polishing assembly 200 to abut against a member.

Specifically, because the gas spring 300 can elastically stretch and retract, the circumferential surface of the grinding wheel 250 of the grinding assembly 200 always abuts against the surface or the welding line of the component under the action of the gas spring 300 of the grinding assembly 200, so that the component can be sufficiently ground. And because the elastic force of the gas spring 300 is basically kept consistent when the gas spring 300 is stretched, the pressure of the grinding assembly 200 to the component is consistent, the pressure of the grinding assembly 200 to the component is prevented from being too small or too large, and the grinding effect of the grinding assembly 200 to the component is ensured.

In some embodiments, the polishing mechanism further includes a first driving element 500 and a mounting seat 510, the first driving element 500 is vertically disposed on the support 100, the mounting seat 510 is vertically slidably disposed on the support 100, a movable rod of the first driving element 500 is connected to the mounting seat 510, and the first driving element 500 is configured to drive the mounting seat 510 to vertically slide relative to the support 100; wherein the lower end of the gas spring 300 is connected to the mounting seat 510.

Specifically, the first driving member 500 drives the mounting seat 510 to move downwards, the mounting seat 510 and the gas spring 300 synchronously move downwards, and the gas spring 300 pushes the polishing assembly 200 to abut against a component, so that the component is polished; when it is not necessary to grind the member, the first drive member 500 drives the mount 510 upward, thereby separating the gas spring 300 from the member.

Further, the front of the support 100 is vertically provided with the first guide rail 110, and the grinding assembly 200 and the mounting seat 510 are both slidably arranged on the first guide rail 110. Through the setting of first guide rail 110, grinding assembly 200 and mount pad 510 all slide to set up in first guide rail 110, so, first guide rail 110 fixes a position mount pad 510 and grinding assembly 200 simultaneously to avoid the telescopic link of gas spring 300 to take place to rock along radial direction.

In some embodiments, referring to fig. 2 and 3, the grinding mechanism includes a first sliding seat 400 and a first connecting member 410, wherein the first sliding seat 400 is vertically slidably connected to the first guide rail 110. The grinding assembly 200 is connected to the first sliding seat 400, and the grinding assembly 200 is vertically slidably disposed on the support 100 through the first sliding seat 400. The first connecting member 410 is fixedly disposed on the top of the first sliding seat 400, an upper end of the gas spring 300 is fixedly connected to the support 100, and a lower end of the gas spring 300 is fixedly connected to the first connecting member 410. Specifically, the gas spring 300 pushes the first sliding seat 400 to slide downwards through the first connecting piece 410, and the grinding assembly 200 and the first sliding seat 400 synchronously slide downwards, so that the circumferential surface of the grinding wheel 250 of the grinding assembly 200 abuts against the welding seam position of the members.

Instead of the above driving manner, the polishing mechanism further includes a pushing assembly 500, the pushing assembly 500 is vertically disposed on the support 100, a driving portion of the pushing assembly 500 can abut against a lower surface of the first connecting member 410, the pushing assembly 500 is used for pushing the polishing assembly 200 to move upward, i.e., in a direction away from the members, and at this time, the gas spring 300 is compressed. Specifically, before the grinding assembly 200 grinds the member, the grinding assembly 200 is far away from the member under the restriction of the pushing assembly 500, and at this time, the gas spring 300 is in a contracted state. When the grinding mechanism needs to grind the component, the pushing assembly 500 releases the limitation on the grinding assembly 200, the gas spring 300 is gradually extended, the grinding assembly 200 moves towards the component, and the peripheral surface of the grinding wheel 250 of the grinding assembly 200 is abutted against the welding seam position of the component. Wherein the gas spring 300 automatically extends or contracts as the degree of sanding is greater and the sanding position is adjusted. After the polishing of the component is completed, the pushing assembly 500 pushes the sliding seat to move upwards, and the polishing assembly 200 moves upwards to the initial position synchronously to prepare for the next polishing.

Further, the pushing assembly 500 includes a first driving member 500 and a limiting member 520, the first driving member 500 can be an electric push rod, and a piston rod of the first driving member 500 vertically penetrates through the first connecting member 410 and can slide relative to the first connecting member 410. The limiting member 520 is a nut, the limiting member 520 is in threaded connection with the movable end of the piston rod of the first driving member 500, and the upper surface of the limiting member 520 is used for abutting against the lower surface of the first connecting member 410. Specifically, the piston rod of the first driving member 500 moves upward, the limiting member 520 abuts against the lower surface of the first connecting member 410, and pushes the first connecting member 410 to move upward, and at this time, the first sliding seat 400 and the polishing assembly 200 move upward synchronously. When the piston rod of the first driving member 500 moves downward, the limiting member 520 moves downward synchronously, at this time, the limiting member 520 loses the limitation on the first connecting member 410, the first connecting member 410 moves downward under the action of the gas spring 300, the first sliding seat 400 moves downward synchronously with the polishing assembly 200, and the circumferential surface of the polishing wheel 250 of the polishing assembly 200 abuts against the member.

It should be noted that, compared with a structure that an air cylinder or the like is adopted, the first driving part 500 adopts an electric push rod, and the electric push rod only needs to be powered on, and can push the first sliding seat 400 to move upwards. Therefore, the grinding mechanism in the scheme of the application has better applicability and can be better suitable for mechanical arms or wall-climbing robots.

In some embodiments, the grinding mechanism further comprises a ball joint 310, a seat of the ball joint 310 is assembled to the first connecting member 410, and a lower end portion of the gas spring 300 is connected to a movable portion of the ball joint 310. It can be seen from the above that the gas spring 300 is connected with the first connecting member 410 through the ball joint 310, and the ball joint 310 prevents the gas spring 300 from being rigidly connected with the first connecting member 410, so that when the telescopic rod of the gas spring 300 is twisted, the position of the movable portion of the ball joint 310 is correspondingly adjusted, so as to prevent the telescopic rod of the gas spring 300 from being bent due to shaking.

Instead of the above manner, referring to fig. 2 and 4, the polishing mechanism further includes a second sliding seat 600 and a second driving member 700, two second guide rails 420 are horizontally disposed on the right side surface of the first sliding seat 400, the second sliding seat 600 is slidably connected to the two second guide rails 420, and the sliding direction (vertical direction) of the first sliding seat 400 is perpendicular to the sliding direction (horizontal direction) of the second sliding seat 600 and perpendicular to the axial direction of the polishing wheel 250. The second driving member 700 is also fixedly mounted on the right side of the first sliding seat 400 and located between the upper and lower second guide rails 420. The side of the second sliding seat 600 is fixedly connected with a second connecting member 610, the piston rod of the second driving member 700 is connected with the second connecting member 610, and the polishing structure is assembled on the second sliding seat 600.

Specifically, the second driving member 700 drives the second sliding seat 600 to slide back and forth through the second connecting member 610, and the grinding assembly 200 and the second sliding seat 600 move synchronously. And since the sliding direction of the second sliding seat 600 is the same as the width direction of the weld, when the second driving member 700 drives the grinding assembly 200 to move back and forth, the grinding assembly 200 performs reciprocating grinding on two sides of the weld.

It can be understood that the second driving member 700 is hidden between the upper and lower second guide rails 420 and the side of the second sliding seat 600 close to the first sliding seat 400, so that the grinding mechanism is more compact in assembly.

Further, the second driving member 700 is an electric push rod, and compared with the structure that an air cylinder is adopted, the electric push rod is adopted in the second driving member 700, and only needs to be powered on, and the electric push rod can push the first sliding seat 400 to move upwards. Therefore, the grinding mechanism in the scheme of the application has better applicability and can be better suitable for mechanical arms or wall-climbing robots.

In some embodiments, referring to fig. 2 and 5, the grinding assembly 200 includes a U-shaped bracket 210, a third driving member 220, a transmission assembly 230, a rotating shaft 240, and a grinding wheel 250, wherein the U-shaped bracket includes two side plates and a top plate, the two side plates are arranged in parallel, the top plate is connected between the tops of the two side plates, and one of the side plates is fixedly connected with the second sliding seat 600. The third driving member 220 is fixedly connected to the lower side of the top plate and located between the two side plates, the third driving member 220 is a motor, and a driving shaft of the motor extends out of the other side plate. The rotating shaft 240 is located between the two side plates, and has one end rotatably connected to the lower end of one side plate and the other end rotatably connected to the lower end of the other side plate. The grinding wheel 250 is disposed between the two side plates of the U-shaped bracket 210 and partially exposed through the lower opening of the U-shaped bracket 210, and the grinding wheel 250 is fixed to the rotating shaft 240 in a sleeving manner. The transmission assembly 230 is connected to the outside of the side plate and between the driving shaft and the rotating shaft 240, and the third driving member 220 drives the rotating shaft 240 to rotate through the transmission assembly 230, and the rotating shaft 240 rotates in synchronization with the grinding wheel 250, thereby grinding the member. Wherein, the transmission assembly 230 may adopt a pulley structure or a gear structure.

It will be appreciated that the grinding assembly 200 is constructed as described above, and the grinding wheel 250, the U-shaped bracket 210 and the third driving member 220 can be assembled together compactly, so that the grinding assembly 200 is prevented from occupying a large space, and thus can be assembled to a robot arm or a wall-climbing robot better.

According to the utility model discloses a wall climbing robot is disclosed in the second aspect, including foretell grinding machanism. The wall climbing robot adopts foretell grinding machanism, and when the wall climbing robot was worked in the high altitude, grinding component 200 supported all the time on the lateral wall under the effect of air spring 300 to support the holding power and keep unanimous, the wall climbing robot can polish the welding seam of boats and ships outer wall or the welding seam of oil storage tank outer wall better.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art. Furthermore, the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

Claims (10)

1. Grinding machanism, its characterized in that includes:

a support;

the grinding assembly is arranged on the support in a sliding mode and used for grinding the component;

and one end of the gas spring is connected with the support, the other end of the gas spring is connected with the polishing assembly, the telescopic direction of the gas spring is parallel to the sliding direction of the polishing assembly, and the gas spring is used for pushing the polishing assembly to abut against a member.

2. The grinding mechanism as claimed in claim 1, further comprising a first driving member and a mounting seat, wherein the first driving member is disposed on the support, the mounting seat is slidably disposed on the support, and the first driving member is configured to drive the mounting seat to linearly slide relative to the support; wherein, the gas spring is kept away from the one end of subassembly of polishing and is connected with the mount pad.

3. The sharpening mechanism as recited in claim 2, wherein said support is provided with a first guide rail extending in a direction of extension and retraction of said gas spring, said sharpening assembly and said mounting block each being slidably disposed on said first guide rail.

4. The polishing mechanism as recited in claim 1 further comprising a first driving member and a retaining member, wherein the first driving member is connected to the retaining member for driving the retaining member to move along the extension direction of the gas spring, and the retaining member abuts against the polishing assembly under the action of the first driving member to push the polishing assembly away from the member.

5. The sharpening mechanism of claim 4 further including a ball joint connected between said sharpening assembly and said gas spring.

6. The sharpening mechanism as recited in any one of claims 2 or 3 wherein said first drive member is an electric pushrod.

7. The sharpening mechanism of claim 1 further comprising a first slider, a second slider, and a second drive member, said first slider being slidably coupled to said support, said second slider being slidably coupled to said first slider, said gas spring being coupled to said first slider, said sharpening assembly being coupled to said second slider, said sharpening assembly having a sharpening wheel for the sharpening member;

the sliding direction of the first sliding seat is parallel to the telescopic direction of the gas spring, the sliding direction of the first sliding seat is perpendicular to the sliding direction of the second sliding seat, and the axial direction of the grinding wheel is perpendicular to the sliding direction of the second sliding seat.

8. The sharpening mechanism as recited in claim 7, further comprising two second guide rails disposed in parallel and fixedly coupled to said first sliding seat, and a second connecting member slidably coupled to said second guide rails, said second driving member being fixedly coupled to said first sliding seat and disposed between said two second guide rails, and said second connecting member being coupled between said second driving member and said second sliding seat.

9. The grinding mechanism as claimed in claim 1, wherein the grinding assembly includes a U-shaped bracket, a third driving member, a transmission assembly, a rotating shaft and a grinding wheel, one side plate of the U-shaped bracket is slidably connected to the supporting base, the third driving member is assembled between two side plates of the U-shaped bracket, a driving shaft of the third driving member extends from the other side plate of the U-shaped bracket, the rotating shaft is rotatably connected to two side plates of the U-shaped bracket, the grinding wheel is positioned between two side plates of the U-shaped bracket and is sleeved and fixed on the rotating shaft, the transmission assembly is positioned outside the side plates of the U-shaped bracket and is connected between the rotating shaft and the driving shaft of the third driving member, and the third driving member drives the rotating shaft to rotate through the transmission assembly.

10. A wall climbing robot comprising a sharpening mechanism as claimed in any one of claims 1 to 9.

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