Grinding robot and grinding process

Abstract

The invention provides a grinding robot and a grinding process, and belongs to the technical field of building construction equipment, and the grinding robot comprises an equipment base, a grinding execution mechanism and an equipment box body. A moving assembly is arranged at the lower end of the equipment base; the grinding executing mechanism comprises a lifting assembly, a mechanical arm and a plurality of grinding heads, the lifting assembly is arranged on the upper end face of the equipment base, the mechanical arm is mounted at the upper end of the lifting assembly, and a grinding head mounting part is arranged at the end, away from the lifting assembly, of the mechanical arm; the equipment box body is arranged on the upper end face of the equipment base, a main control module and a power module are arranged in the equipment box body, and an input module is arranged on the outer side face of the upper end of the equipment box body; and one of the plurality of polishing heads is selected to be detachably mounted on the polishing head mounting part according to preset polishing area layout information provided by the input module. According to the polishing robot, automatic polishing operation on the whole wall can be achieved, and high automation, intelligence and flexibility are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of building construction equipment, and more specifically, relates to a grinding robot and a grinding process. Background Art

[0002] Wall putty is an important supporting material in the process of architectural paint coating. It is used to fill the pores in the wall base and provide a smooth base for coating.

[0003] After the wall putty is formed, in order to ensure the flatness of the wall, it is necessary to use grinding equipment to grind the wall. The grinding equipment can complete the grinding work of most of the flat wall surface, but when grinding the corners of the wall (such as the corners, the intersection of the door and window frames and the wall) and some details (such as around the sockets and switches, the edges of the decorative lines, etc.), due to the complex shape, the use of conventional grinders may damage these areas or fail to grind accurately. At this time, it is necessary to use small manual grinding tools, such as sandpaper blocks or small grinding sponges, but manual grinding is not only inefficient and labor-intensive, but also has uneven grinding effects, which is difficult to meet the needs of high-quality building decoration. Summary of the invention

[0004] The purpose of the present invention is to provide a polishing robot, which aims to solve the problem that manual polishing of corners and some detailed parts of walls is not only inefficient and labor-intensive, but also has uneven polishing effects, making it difficult to meet the needs of high-quality building decoration.

[0005] To achieve the above object, the technical solution adopted by the present invention is: to provide a polishing robot, comprising: An equipment base, wherein a moving component is disposed at the lower end of the equipment base; A grinding actuator, the grinding actuator comprising a lifting assembly, a mechanical arm and a plurality of grinding heads, the lifting assembly being arranged on one side of the upper end surface of the equipment base, the mechanical arm being installed on the upper end of the lifting assembly, and a grinding head mounting portion for mounting the grinding head being arranged at the end of the mechanical arm away from the lifting assembly; An equipment box, the equipment box is arranged on the other side of the upper end surface of the equipment base, a main control module and a power supply module are arranged in the equipment box from top to bottom, an input module electrically connected to the main control module is arranged on the upper outer side surface of the equipment box, the power supply module is connected to the moving component, the lifting component, the mechanical arm and the grinding head, and the main control module is electrically connected to the moving component, the lifting component, the mechanical arm and the input module; One of the plurality of grinding heads is selected and detachably mounted on the grinding head mounting portion according to the preset grinding area layout information provided by the input module.

[0006] In a possible implementation, the mechanical arm includes a first rotating arm, a second rotating arm, and a third rotating arm; The first rotating arm is installed at the upper end of the lifting assembly through a first driving rotating part, the first driving rotating part is connected to the second rotating arm, and the first driving rotating part is used to drive the second rotating arm to rotate along a horizontal plane; The second rotating arm is installed at one end of the first rotating arm away from the first driving rotating part through a second driving rotating part, the second driving rotating part is connected to the third rotating arm, and the second driving rotating part is used to drive the third rotating arm to rotate along a vertical plane; The third rotating arm is mounted on an end of the second rotating arm away from the second driving rotating part through a third driving rotating part, the third driving rotating part is connected to the grinding head mounting part, and the third driving rotating part is used to drive the grinding head mounting part to rotate along a horizontal plane; The power supply module is electrically connected to the first driving rotating part, the second driving rotating part and the third driving rotating part respectively through the main control module.

[0007] In a possible implementation, the lifting component group includes: A fixed slide rail, the fixed slide rail being longitudinally mounted on the upper end surface of the equipment base; A movable slide rail, wherein the movable slide rail is longitudinally slidably arranged on the fixed slide rail, and the mechanical arm is mounted on the upper end of the movable slide rail; A linear drive mechanism, the linear drive mechanism is arranged on the upper end surface of the equipment base, and is used to drive the movable slide rail to slide longitudinally along the fixed slide rail; The support frame includes a support frame, two support arms and a fixed plate. The support frame is fixedly arranged on the upper end surface of the equipment base and is circumferentially arranged around the lower end of the fixed slide rail. The two support arms are symmetrically arranged on the left and right sides of the support frame. The fixed plate is transversely fixed to the upper ends of the two support arms. The fixed plate is fixedly connected to the middle of the fixed slide rail.

[0008] In a possible implementation, a video acquisition module is provided on the top of the movable slide rail, and the video acquisition module collects information of the actual grinding area of ​​the grinding head and sends it to the main control module. The main control module is used to correct the actual grinding area of ​​the grinding head.

[0009] In one possible implementation, the grinding head has a built-in pressure sensor, which senses the pressure information of the grinding head on the actual grinding area and sends it to the main control module. The main control module controls the robotic arm to correct the pressure value of the grinding head on the actual grinding area.

[0010] In a possible implementation, an alarm unit is disposed on the top of the equipment box, and the alarm unit is electrically connected to the main control module.

[0011] The beneficial effect of a grinding robot provided by the present invention is that: compared with the prior art, the moving component at the lower end of the equipment base can realize the movement of the entire equipment. The upper end surface of the equipment base is respectively provided with a lifting component and an equipment box, a mechanical arm is installed at the upper end of the lifting component, and a grinding head installation part is arranged at the end of the mechanical arm. A main control module and a power module are arranged from top to bottom in the equipment box, and an input module electrically connected to the main control module is arranged on the upper outer side of the equipment box. The power module provides power for the moving component, the lifting component, the mechanical arm and the communication module. The main control module is electrically connected to the moving component, the lifting component, the mechanical arm and the input module to control their actions respectively. Multiple grinding heads are selected and detachably installed on the grinding head installation part according to the preset grinding area layout information provided by the input module, which can not only meet the grinding operation of the flat wall surface, but also meet the grinding operation of the corners and some detailed parts of the wall by replacing the grinding head. The present invention provides a grinding robot that can realize automated grinding operations on entire walls, has a high degree of automation, intelligence and flexibility, can efficiently and accurately complete grinding tasks in many industrial fields, and provides strong support for improving product quality and production efficiency.

[0012] The present invention also provides a polishing process of a polishing robot, using the polishing robot, comprising the following steps: S1: inputting an indoor architectural drawing with a polishing area marked thereon into an input module, and setting a main polishing area and a plurality of auxiliary polishing areas in the polishing area; S2: Set the initial position of the grinding robot, and use the initial position of the grinding robot as the first origin to form the principal coordinate system. Use the horizontal plane where the first origin is located to construct the X 主 Axis and Y 主 Axis, build Z in height direction 主 Axis, preset the main grinding path on the main coordinate system; S3: Construct multiple auxiliary coordinate systems corresponding to multiple auxiliary polishing areas on the main polishing path, take the starting point where the polishing robot enters the auxiliary polishing area as the second origin, and construct X coordinate systems with the horizontal plane where the second origin is located. 辅助 Axis and Y 辅助 Axis, build Z in height direction 辅助Axis, preset multiple auxiliary grinding paths on multiple auxiliary coordinate systems; S4: inputting multiple grinding head models in the input module and setting multiple execution paths for changing different types of grinding heads, and matching the multiple execution paths one by one with the multiple auxiliary grinding paths; S5: Set the main pressure value P that matches the main grinding path 主 , set multiple auxiliary pressure values ​​P on multiple auxiliary grinding paths 辅助 ; S6: placing the grinding robot at the first origin position of the main coordinate system, installing the main grinding head on the grinding head mounting part and starting the grinding robot, so that the grinding robot completes the grinding operation of the main grinding area along the main grinding path; S7: Reposition the grinding robot to the first origin position of the main coordinate system, remove the main grinding head and move it along the main grinding path to multiple auxiliary grinding areas, replace the auxiliary grinding head along the corresponding execution path in the auxiliary grinding area and perform grinding operations along the corresponding auxiliary grinding paths, and complete the grinding operations of multiple auxiliary grinding areas in sequence.

[0013] In a possible implementation, in step S6, the grinding robot moves along the positive direction of the main grinding path at P 主 The grinding robot then moves in the opposite direction along the main grinding path at (50% to 70%) × P 主 The pressure value is used to complete one reciprocating grinding operation.

[0014] In a possible implementation, in step S7, the grinding robot equipped with the auxiliary grinding head sequentially moves forward once, moves negatively, and moves forward twice along the same auxiliary grinding path, and the pressure value of the grinding robot moving forward once is P 辅助 , the pressure of the grinding robot's negative movement and secondary positive movement is (50%~70%)×P 辅助 .

[0015] In a possible implementation, the video acquisition module acquires the actual grinding path information of the grinding robot in real time, and compares it with the corresponding main grinding path and the corresponding multiple auxiliary grinding paths respectively; If the actual grinding path and the main grinding path are 主 Axis and / or Y 主 The deviation value on the axis is -1cm to +1cm, or the actual grinding path and the auxiliary grinding path are 辅助 Axis and / or Y 辅助 If the deviation value on the axis is -0.5cm to +0.5cm, the robot arm is adjusted along the X-axis direction and / or the Y-axis direction through the main control module; If the actual grinding path and the main grinding path are from Z 主The deviation value on the axis is -3cm to +3cm, or the actual grinding path and the auxiliary grinding path from Z 辅助 If the deviation value on the axis is -2cm to +2cm, the robot arm and / or the lifting assembly are adjusted along the Z-axis direction through the main control module.

[0016] The beneficial effect of a grinding robot provided by the present invention is that, compared with the prior art, since the grinding process of a grinding robot provided by the present invention uses the above-mentioned grinding robot, it has the same beneficial effect as the grinding robot, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A three-dimensional diagram of a grinding robot provided by an embodiment of the present invention; Figure 2 A front view of a grinding robot provided by an embodiment of the present invention; Figure 3 A side view of a polishing robot provided by an embodiment of the present invention; Figure 4 A flow chart of a grinding process of a grinding robot provided in an embodiment of the present invention.

[0019] In the figure: 1. Equipment base; 2. Moving assembly; 3. Fixed slide rail; 4. Moving slide rail; 5. Linear drive mechanism; 6. Support frame; 7. Support arm; 8. Fixed plate; 9. Robotic arm; 10. Grinding head mounting part; 11. Equipment box; 12. Main control module; 13. Power module; 14. Input module; 15. Video acquisition module; 16. Alarm unit. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] Unless explicitly defined otherwise, the use of terms such as "first," "second," or "third," etc., are intended to distinguish different objects rather than to describe a specific order.

[0022] Unless otherwise expressly defined, directional words such as the terms "center", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise", "high", "low", etc., indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, so they cannot be understood as limiting the specific scope of protection of the present invention.

[0023] See also Figures 1 to 3 Now, a grinding robot provided by the present invention is described. A grinding robot comprises a device base 1, a grinding actuator and a device box 11.

[0024] A moving component 2 is arranged at the lower end of the equipment base 1; the grinding actuator includes a lifting component, a robot arm 9 and multiple grinding heads, the lifting component is arranged on one side of the upper end surface of the equipment base 1, the robot arm 9 is installed at the upper end of the lifting component, and a grinding head mounting part 10 for mounting the grinding head is arranged at the end of the robot arm 9 away from the lifting component; the equipment box 11 is arranged on the other side of the upper end surface of the equipment base 1, and a main control module 12 and a power supply module 13 are arranged from top to bottom in the equipment box 11, and an input module 14 electrically connected to the main control module 12 is arranged on the outer side surface of the upper end of the equipment box 11, the power supply module 13 is connected to the moving component 2, the lifting component, the robot arm 9 and the grinding head, and the main control module 12 is electrically connected to the moving component 2, the lifting component, the robot arm 9 and the input module 14; multiple grinding heads are selected and detachably mounted on the grinding head mounting part 10 according to the preset grinding area layout information provided by the input module 14.

[0025] The present invention provides a grinding robot. Compared with the prior art, the mobile component 2 at the lower end of the equipment base 1 can realize the movement of the entire equipment. The upper end surface of the equipment base 1 is respectively provided with a lifting component and an equipment box 11, the upper end of the lifting component is provided with a mechanical arm 9, and the end of the mechanical arm 9 is provided with a grinding head installation part 10. The equipment box 11 is provided with a main control module 12 and a power module 13 from top to bottom. The upper end outer side surface of the equipment box 11 is provided with an input module 14 electrically connected to the main control module 12. The power module 13 provides power for the mobile component 2, the lifting component, the mechanical arm 9 and the communication module. The main control module 12 is electrically connected to the mobile component 2, the lifting component, the mechanical arm 9 and the input module 14 to control their actions respectively. According to the preset grinding area layout information provided by the input module 14, a plurality of grinding heads are selected and detachably installed on the grinding head installation part 10, which can not only meet the grinding operation of the flat wall surface, but also meet the grinding operation of the corners and some detailed parts of the wall by replacing the grinding head. The present invention provides a grinding robot that can realize automated grinding operations on entire walls, has a high degree of automation, intelligence and flexibility, can efficiently and accurately complete grinding tasks in many industrial fields, and provides strong support for improving product quality and production efficiency.

[0026] It is worth noting that: in the definition Figure 2 When the front view of a grinding robot provided by an embodiment of the present invention is a viewing direction relative to the wall when the grinding robot is in a working state; Figure 3 The side view of a polishing robot provided by an embodiment of the present invention is a viewing direction parallel to the wall when the polishing robot is in a working state.

[0027] Among them, the multiple grinding heads include at least a disc grinding head, a roller grinding head, a conical grinding head and a spherical grinding head. When grinding a flat wall surface, a disc grinding head is installed on the grinding head mounting part 10 for grinding operations. When grinding the corners and some detailed parts of the wall, the roller grinding head, the conical grinding head and the spherical grinding head are selectively replaced for grinding operations.

[0028] Specifically, the robot arm 9 includes a first rotating arm, a second rotating arm and a third rotating arm. The first rotating arm is installed at the upper end of the lifting assembly through a first driving rotating part, the first driving rotating part is connected to the second rotating arm, and the first driving rotating part is used to drive the second rotating arm to rotate along a horizontal plane; the second rotating arm is installed at an end of the first rotating arm away from the first driving rotating part through a second driving rotating part, the second driving rotating part is connected to the third rotating arm, and the second driving rotating part is used to drive the third rotating arm to rotate along a vertical plane; the third rotating arm is installed at an end of the second rotating arm away from the second driving rotating part through a third driving rotating part, the third driving rotating part is connected to the grinding head mounting part 10, and the third driving rotating part is used to drive the grinding head mounting part 10 to rotate along a horizontal plane; the power supply module 13 is electrically connected to the first driving rotating part, the second driving rotating part and the third driving rotating part respectively through the main control module 12. The three rotating arms and the three driving rotating parts of the robot arm 9 cooperate with each other to form a flexible, changeable, precise and efficient motion system. With the coordinated action of the power module 13 and the main control module 12, it can meet the grinding requirements under various complex working conditions, providing a solid guarantee for the high-performance operation of the grinding robot.

[0029] See also Figure 2 and Figure 3 The lifting assembly group includes a fixed slide rail 3, a movable slide rail 4, a linear drive mechanism 5 and a support frame. The fixed slide rail 3 is longitudinally mounted on the upper end surface of the equipment base 1; the movable slide rail 4 is longitudinally slidably arranged on the fixed slide rail 3, and the mechanical arm 9 is installed on the upper end of the movable slide rail 4; the linear drive mechanism 5 is arranged on the upper end surface of the equipment base 1, and is used to drive the movable slide rail 4 to slide longitudinally along the fixed slide rail 3; the support frame includes a support frame 6, two support arms 7 and a fixed plate 8, the support frame 6 is fixedly arranged on the upper end surface of the equipment base 1 and is arranged around the lower end of the fixed slide rail 3, the two support arms 7 are symmetrically arranged on the left and right sides of the support frame 6, the fixed plate 8 is transversely fixedly arranged on the upper ends of the two support arms 7, and the fixed plate 8 is fixedly connected to the middle of the fixed slide rail 3.

[0030] Through the ingenious design of the lifting assembly, the grinding robot can make large-scale position adjustments in the vertical direction. The fixed slide rail 3 is longitudinally installed on the upper end surface of the equipment base 1, providing stable support and guidance for the mobile slide rail 4, so that the mobile slide rail 4 can slide longitudinally on it. This design enables the mechanical arm 9 installed on the upper end of the mobile slide rail 4 to achieve vertical lifting movement, thereby expanding the operating coverage of the grinding head. The high-precision linear guide pair used between the mobile slide rail 4 and the fixed slide rail 3 further ensures the smoothness and accuracy of the movement. The rolling elements in the linear guide pair can convert sliding friction into rolling friction, reducing the influence of friction, making the movement of the mobile slide rail 4 smoother and the positioning more accurate. This ensures that when the mechanical arm 9 is at different height positions, the grinding head can accurately align with the target position of the grinding surface, thereby improving the accuracy and quality of grinding and meeting the requirements for high-precision grinding operations.

[0031] The support frame 6 is fixedly arranged on the upper end surface of the equipment base 1 and is arranged around the lower end of the fixed slide rail 3, forming a stable basic support structure. Two symmetrically arranged support arms 7 extend upward from the left and right sides of the support frame 6 respectively, which evenly share the weight of the fixed slide rail 3 and the load from above, effectively preventing the fixed slide rail 3 from shaking and deforming during operation. The fixed plate 8, which is laterally fixed to the upper ends of the two support arms 7, is fixedly connected to the middle part of the fixed slide rail 3, further enhancing the rigidity and stability of the fixed slide rail 3. This structural design enables the entire lifting assembly to remain stable when bearing the weight of the mechanical arm 9 and the grinding head as well as various external forces during the operation, ensuring the smooth sliding of the movable slide rail 4 and the accurate movement of the mechanical arm 9, providing a solid guarantee for the stability and reliability of the grinding operation.

[0032] During the actual grinding process, the improved stability enables the grinding head to act on the grinding surface with uniform pressure and speed, avoiding problems such as uneven grinding and poor surface quality caused by shaking or instability, thereby ensuring the consistency and reliability of the grinding effect and improving the grinding quality and pass rate.

[0033] See also Figure 2 and Figure 3 A video acquisition module 15 is provided on the top of the movable slide rail 4. The video acquisition module 15 acquires information about the actual area to be polished by the polishing head and sends it to the main control module 12. The main control module 12 is used to correct the actual polishing area of ​​the polishing head. The video acquisition module 15 uses a high-resolution image sensor and an advanced optical lens, and has excellent image acquisition capabilities. Even in a complex working environment, such as interference conditions such as strong light and dust, it can quickly and accurately capture the images around the polishing head.

[0034] When the grinding robot starts working, the video acquisition module 15 starts quickly and continuously shoots the actual area to be polished by the grinding head at a very high frame rate. After the collected image information is quickly processed and encoded, it is sent to the main control module 12 in real time in the form of high-speed data transmission. These image information contains rich details, such as the position, shape, size and surface features of the area to be polished, etc., providing accurate data support for subsequent grinding work.

[0035] The main control module 12, as the brain of the grinding robot, immediately conducts in-depth analysis after receiving the actual information of the area to be polished sent by the video acquisition module 15. It has built-in advanced image recognition algorithms and intelligent analysis systems, which can quickly and accurately identify and process the collected images. By carefully comparing with the preset grinding area layout information, the main control module 12 can accurately calculate the deviation between the actual position and the ideal position of the grinding head. Once the deviation is detected, the main control module 12 will respond quickly. It uses a complex and accurate control algorithm to adjust the mechanical arm 9 according to the size and direction of the deviation, so as to achieve the purpose of real-time adjustment of the motion trajectory of the grinding head. Specifically, the main control module 12 will send corresponding control signals to each driving rotating part responsible for controlling the movement of the mechanical arm 9, accurately adjust the rotation angle and speed of the first driving rotating part, the second driving rotating part and the third driving rotating part, thereby driving the mechanical arm 9 and the grinding head to make slight position adjustments, and realize accurate deviation correction of the actual grinding area of ​​the grinding head.

[0036] The way in which the video acquisition module 15 and the main control module 12 work together brings many significant advantages to the grinding robot. First, the accuracy and quality of grinding are greatly improved. The real-time acquisition of information about the area to be polished by the video acquisition module 15 and the real-time correction by the main control module 12 can ensure that the grinding head always acts accurately on the target area, effectively avoiding the occurrence of the above-mentioned problems, thereby significantly improving the surface quality of the wall after grinding and meeting higher production standards and quality requirements.

[0037] In addition, this intelligent deviation correction mechanism also improves the working safety of the grinding robot. During the grinding process, if the grinding head deviates from the preset grinding area, it may cause safety hazards to the surrounding areas and personnel. Through real-time monitoring and deviation correction, the deviation of the grinding head can be discovered and corrected in time, avoiding safety accidents caused by the loss of control of the grinding head, and providing more reliable safety protection for the production environment.

[0038] Preferably, the grinding head has a built-in pressure sensor, which senses the pressure information of the grinding head on the actual grinding area and sends it to the main control module 12. The main control module 12 controls the mechanical arm 9 to correct the pressure value of the grinding head on the actual grinding area. As an operating component that directly acts on the wall, the pressure exerted by the grinding head on the actual grinding area directly affects the grinding effect. The pressure sensor built into the grinding head can sense the pressure information generated when the grinding head contacts the surface of the grinding area in real time and accurately. The pressure sensor adopts highly sensitive sensing elements and advanced signal processing technology, and has extremely high accuracy and rapid response capabilities. Whether in the fine grinding scene with light pressure or the rough grinding process with heavy pressure, it can accurately capture the slight changes in pressure and quickly send this information to the main control module 12 in the form of electrical signals. After receiving the pressure information from the pressure sensor, the main control module 12 immediately conducts an in-depth analysis of it. It compares the current pressure value with the preset ideal pressure value in detail, and quickly calculates the deviation between the actual pressure and the ideal pressure through a complex and accurate algorithm. Once it is detected that the pressure deviation exceeds the allowable range, the main control module 12 will respond quickly.

[0039] Specifically, the main control module 12 will send corresponding control instructions to each driving rotating part of the control robot 9 according to the pressure deviation. For example, if the pressure value fed back by the pressure sensor is higher than the preset value, the main control module 12 will send instructions to the first driving rotating part, the second driving rotating part and the third driving rotating part to adjust the posture and position of the robot 9 so that the grinding head is appropriately away from the surface of the grinding area, thereby reducing the pressure of the grinding head on the grinding area; on the contrary, if the pressure value is lower than the preset value, the main control module 12 will control the robot 9 to drive the grinding head close to the surface of the grinding area to increase the pressure.

[0040] This pressure correction mechanism based on the pressure sensor and the main control module 12 brings many significant advantages to the grinding operation. First, it greatly improves the stability of the grinding quality. In the traditional grinding process, due to factors such as uneven roughness and irregular shape of the surface of the grinding area and slight fluctuations in the movement of the robot arm 9, it is difficult to ensure that the grinding head always acts on the grinding area with a constant ideal pressure throughout the grinding process. The coordinated work of the pressure sensor and the main control module 12 can monitor and adjust the pressure in real time to ensure that the pressure of the grinding head on the grinding area is always kept within the ideal range, effectively avoiding problems such as surface damage to the grinding area caused by excessive pressure or insufficient grinding caused by too little pressure, thereby ensuring the flatness, finish and consistency of the surface of the grinding area after grinding, and improving the grinding quality. By real-time monitoring and adjusting the pressure, the grinding robot can quickly and accurately adjust the pressure of the grinding head according to the specific grinding area and process requirements, without frequent manual intervention, greatly improving production efficiency and flexibility. In addition, this mechanism further improves the working safety of the grinding robot. During the grinding process, if the pressure of the grinding head is out of control, it may cause a violent collision between the grinding head and the grinding area, damage the grinding head and the grinding area, and even pose a safety threat to the operator. The real-time monitoring and correction functions of the pressure sensor and the main control module 12 can detect and correct abnormal pressure in time, avoid safety accidents caused by excessive pressure, and provide reliable protection for safe production.

[0041] See also Figure 2 , an alarm unit is provided on the top of the equipment box 11, and the alarm unit is electrically connected to the main control module 12. The alarm unit and the main control module 12 realize real-time communication by means of electrical connection. The main control module 12 always monitors the operating status of each component of the robot, including the moving component 2, the lifting component, the mechanical arm 9, the grinding head and related sensors. Once any abnormal situation is detected, such as motor overload, high temperature, sensor failure, abnormal grinding head pressure or excessive position deviation, the main control module 12 will respond quickly and immediately send a corresponding alarm signal to the alarm unit, which provides many important guarantees for the safe and stable operation of the grinding robot.

[0042] See also Figure 4 Based on the same inventive concept, the present invention also provides a grinding process of a grinding robot, using the above-mentioned grinding robot, comprising the following steps: S1: Input an indoor architectural drawing with a polishing area marked into the input module 14, and set a main polishing area and multiple auxiliary polishing areas in the polishing area. Clarify the specific range to be polished, and distinguish the main polishing area from the auxiliary polishing area, so as to provide a clear target for subsequent path planning and polishing operations.

[0043] Specifically, the operator opens the indoor architectural drawing file through the input module 14, such as a touch screen. Then, the operator uses the graphic marking tool to circle the main polishing area on the drawing, and then divides multiple auxiliary polishing areas according to actual needs and building structure characteristics. For example, in a polishing task of an indoor wall, the main polishing area may be a large area of ​​flat wall, while the auxiliary polishing area is the corners, door and window frames and other parts that require special treatment.

[0044] S2: Set the initial position of the grinding robot, and use the initial position of the grinding robot as the first origin to form the principal coordinate system. Use the horizontal plane where the first origin is located to construct the X 主 Axis and Y 主 Axis, build Z in height direction 主 Axis, preset the main grinding path on the main coordinate system. Establish a unified main coordinate system to provide accurate positioning reference for the movement of the grinding robot, and plan the operation path of the main grinding area to ensure the orderly progress of the grinding work.

[0045] Specifically, first determine the placement position of the grinding robot in the room as the initial position, and use this as the first origin. According to the actual working scenario, the two mutually perpendicular directions in the horizontal direction are usually defined as X 主 Axis and Y 主 Axis, the vertical height direction is defined as Z 主 Then, the best grinding path covering the main grinding area is drawn on the main coordinate system by using professional path planning software or a preset algorithm through the input module 14. For example, for a rectangular main grinding area wall, the main grinding path may be a round-trip linear motion trajectory from left to right and from top to bottom.

[0046] S3: Construct multiple auxiliary coordinate systems corresponding to multiple auxiliary polishing areas on the main polishing path, take the starting point where the polishing robot enters the auxiliary polishing area as the second origin, and construct X coordinate systems with the horizontal plane where the second origin is located. 辅助 Axis and Y 辅助 Axis, build Z in height direction 辅助 Axis, preset multiple auxiliary grinding paths on multiple auxiliary coordinate systems. For different auxiliary grinding areas, establish independent coordinate systems to facilitate more accurate planning of the grinding path of each area to adapt to complex building structures and different grinding requirements.

[0047] Specifically, when the main grinding path is determined, for each auxiliary grinding area, find the starting point where the grinding robot enters the area as the second origin. Also, establish an X 辅助 Axis and Y 辅助 Axis, height direction is Z 辅助Axis. Then, according to the shape, size and special requirements of the auxiliary grinding area, a special auxiliary grinding path is planned on the respective auxiliary coordinate system. For example, for the auxiliary grinding area of ​​the corner, the auxiliary grinding path may move along the broken line of the corner to ensure that all angles of the corner can be fully polished.

[0048] S4: Input multiple grinding head models in the input module 14 and set multiple execution paths for replacing different types of grinding heads, and match the multiple execution paths to multiple auxiliary grinding paths one by one. Different grinding areas may require different types of grinding heads to achieve the best grinding effect. By setting the matching relationship between the execution path and the auxiliary grinding path, it is ensured that the grinding robot can replace the appropriate grinding head in time at the appropriate position, thereby improving the grinding quality and efficiency.

[0049] Specifically, the operator enters the model information of various grinding heads in the input module 14, such as sandpaper grinding heads of different particle sizes, grinding wheel grinding heads of different shapes, etc. Then, according to factors such as the flatness, roughness, and surface requirements of each auxiliary grinding area, the required grinding head model is determined, and an execution path from the current position to the replacement position and then back to continue grinding is set for each grinding head model. Finally, these execution paths are accurately matched with the corresponding auxiliary grinding paths. For example, for the auxiliary grinding area of ​​the door and window frame, it may be necessary to use a smaller and more flexible grinding head, so an execution path is set for the grinding head of this model from the main grinding path to the replacement point, and then back to the frame to continue grinding after replacement, and it is matched with the auxiliary grinding path of the area.

[0050] S5: Set the main pressure value P that matches the main grinding path 主 , set multiple auxiliary pressure values ​​P on multiple auxiliary grinding paths 辅助 According to the performance and grinding requirements of different grinding areas, the pressure of the grinding head on the surface of the grinding area is accurately controlled to ensure the consistency and quality stability of the grinding effect, and avoid damage to the wall surface or insufficient grinding due to excessive or insufficient pressure.

[0051] Specifically, by analyzing the performance of the main grinding area, such as the hardness and thickness of the paint on the wall, combined with experience or previous test data, a suitable main pressure value P is set in the input module 14. 主 For each auxiliary polishing area, the corresponding auxiliary pressure value P is set according to its specific conditions, such as the material of the door and window frame, the characteristics of the decorative layer, etc. 辅助 For example, for the main wall grinding area with higher hardness, a higher main pressure value P may be set. 主 To ensure that the paint layer can be effectively removed; for delicate parts such as door and window frames, set a lower auxiliary pressure value P 辅助 , to prevent damage to the frame.

[0052] S6: Place the grinding robot at the first origin of the main coordinate system, install the main grinding head on the grinding head mounting part 10 and start the grinding robot, and the grinding robot completes the grinding operation of the main grinding area along the main grinding path. Start grinding the main grinding area, according to the preset main coordinate system and main grinding path, use a suitable grinding head, and operate with the set main pressure value to complete the large-area basic grinding work.

[0053] Specifically, the operator places the grinding robot at the first origin of the main coordinate system, and after confirming that it is correct, installs the main grinding head suitable for the main grinding area on the grinding head mounting part 10. Then the grinding robot is started through the input module 14, and the robot follows the preset main grinding path at the main pressure value P 主 During the grinding process, the various components of the robot work together, such as the moving component 2 controls the position movement of the robot, the lifting component adjusts the grinding height, and the mechanical arm 9 accurately controls the posture and position of the grinding head to ensure that the main grinding area is fully and evenly polished.

[0054] S7: Reposition the grinding robot to the first origin position of the main coordinate system, remove the main grinding head and move it to multiple auxiliary grinding areas along the main grinding path, replace the auxiliary grinding head along the corresponding execution path in the auxiliary grinding area and perform grinding along the corresponding auxiliary grinding path, and complete the grinding of multiple auxiliary grinding areas in sequence. After completing the grinding of the main grinding area, grind each auxiliary grinding area, and ensure that each auxiliary grinding area can achieve the ideal grinding effect by replacing grinding heads of different models, according to the preset auxiliary coordinate system and auxiliary grinding path, and the corresponding auxiliary pressure value.

[0055] Specifically, after the main grinding area is finished, the grinding robot is moved back to the first origin position of the main coordinate system, and the operator removes the main grinding head. Then, the robot moves along the main grinding path to the first auxiliary grinding area. After arriving, according to the preset execution path, the robot is replaced with an auxiliary grinding head suitable for the area at a specific position. Then, in the auxiliary grinding area, the robot follows the corresponding auxiliary grinding path and auxiliary pressure value P 辅助 After completing one auxiliary grinding area, repeat the above steps to grind other auxiliary grinding areas in turn until the grinding work of all auxiliary grinding areas is completed.

[0056] In step S6, the grinding robot moves along the positive direction of the main grinding path at a speed of P 主 The grinding robot then moves in the opposite direction along the main grinding path at (50% to 70%) × P 主 The pressure value is used to complete one reciprocating grinding operation.

[0057] Positive P 主 Grinding with a pressure value of (50% to 70%) × P can effectively remove bulges, burrs, slurry and other defects on the wall surface with greater pressure, laying the foundation for subsequent fine grinding. 主 The pressure value of the grinding is small, and the microscopic unevenness and scratches that may exist on the wall surface after positive grinding can be repaired, making the wall surface smoother and flatter, and improving the overall texture. Positive grinding causes stress in the wall, and reverse grinding with a small pressure helps to release these stresses, reduce the risk of cracks and hollows in the wall due to stress concentration, and enhance the stability of the wall structure. 主 Grinding with high pressure may cause over-grinding in some areas, thinning or damaging the wall. Using lower pressure in the opposite direction can avoid over-grinding and protect the integrity and strength of the wall.

[0058] In step S7, the grinding robot equipped with the auxiliary grinding head moves forward once, moves negatively, and moves forward twice in sequence along the same auxiliary grinding path. The pressure value of the grinding robot's forward movement is P 辅助 , the pressure of the grinding robot's negative movement and secondary positive movement is (50%~70%)×P 辅助 .

[0059] Polishing robot with P 辅助 A positive movement grinding is performed with a pressure value of 100 mm / s, which is the first carving of a specific area of ​​the wall. 辅助 The pressure can effectively remove stubborn stains, rough parts or uneven materials left over from previous construction on the wall surface, creating a good foundation for subsequent fine grinding. Through this initial grinding with a relatively high pressure, the wall surface can be quickly smoothed to ensure that subsequent grinding operations can be carried out more evenly. After a forward grinding, the grinding robot will grind the wall surface with a pressure of (50% to 70%) × P 辅助 The pressure value is used for negative movement grinding. The pressure at this stage is relatively small, and its main function is to further refine the wall surface after a positive grinding. Since a single grinding may leave some tiny undulations or scratches on the wall surface, a smaller pressure can more finely trim these uneven areas, further improving the flatness of the wall surface. At the same time, a smaller pressure also helps to avoid over-grinding the wall and protect the original structure and texture of the wall. Finally, the grinding robot again uses (50% to 70%) × P 辅助The second positive grinding is performed with a pressure value of . This step is the final optimization of the entire auxiliary grinding area. After the first two grinding operations, the wall surface has basically reached a certain degree of flatness and smoothness, but there may still be some minor defects. The second positive grinding can make the final correction to these minor defects under relatively small pressure, making the wall surface reach a nearly perfect state and meet higher quality requirements.

[0060] During the entire grinding process, grinding operations in different directions and pressure values ​​help release the stress generated by grinding inside the wall. During the first positive grinding, a large pressure will cause a certain amount of stress concentration inside the wall. The subsequent negative movement and the second positive movement use a smaller pressure, which can gradually release these stresses without destroying the wall structure, avoiding problems such as cracks and falling off of the wall due to stress concentration, thereby effectively protecting the structural integrity and stability of the wall. By reasonably setting the pressure values ​​at different stages, especially using relatively small pressures during the negative movement and the second positive movement, the depth and degree of grinding can be accurately controlled to avoid over-grinding the wall. Over-grinding may cause excessive material loss on the wall surface, affecting the strength and service life of the wall. This segmented pressure control method ensures that the quality of the wall is protected to the greatest extent while achieving the ideal grinding effect.

[0061] The video acquisition module 15 collects the actual grinding path information of the grinding robot in real time, and compares it with the corresponding main grinding path and the corresponding multiple auxiliary grinding paths respectively; if the actual grinding path is different from the main grinding path, the video acquisition module 15 will automatically compare the actual grinding path information with the main grinding path. 主 Axis and / or Y 主 The deviation value on the axis is -1cm to +1cm, or the actual grinding path and the auxiliary grinding path are 辅助 Axis and / or Y 辅助 The deviation value on the axis is -0.5cm to +0.5cm, then the robot arm 9 is adjusted along the X-axis direction and / or the Y-axis direction by the main control module 12; if the actual grinding path is different from the main grinding path from Z 主 The deviation value on the axis is -3cm to +3cm, or the actual grinding path and the auxiliary grinding path from Z 辅助 If the deviation value on the axis is -2 cm to +2 cm, the robot arm 9 and / or the lifting assembly are adjusted along the Z-axis direction through the main control module 12.

[0062] The video acquisition module 15 always pays attention to the actual grinding path of the robot. It collects the actual grinding path information of the grinding robot during the working process in real time, which covers the movement trajectory of the robot in all directions. The actual grinding path information collected will be carefully compared with the preset main grinding path and multiple auxiliary grinding paths. This comparison is the key link to ensure that the grinding robot works accurately according to the preset path. By constantly comparing the actual path with the preset path, the path deviation can be discovered in time and corresponding adjustment measures can be taken.

[0063] Deviation processing based on X and Y axis direction: When the actual grinding path is different from the main grinding path in X 主 Axis and / or Y 主 When there is a deviation on the axis, and the deviation value is within the range of -1cm to +1cm, or the actual grinding path and the auxiliary grinding path are at X 辅助 Axis and / or Y 辅助 When the deviation value on the axis is between -0.5cm and +0.5cm. The main control module 12 will send precise control instructions to the robot arm 9 according to the direction and size of the deviation, so as to adjust the robot arm 9 along the X-axis direction and / or the Y-axis direction. In actual grinding work, the deviation in the horizontal direction may cause omission or repeated grinding of the grinding area, affecting the quality and efficiency of grinding. By timely fine-tuning the robot arm 9 in the X and Y axis directions, it can be ensured that the grinding head always moves accurately along the preset path to ensure the uniformity and integrity of the grinding. For example, when performing the main grinding on a large area of ​​wall, if the robot arm 9 has a deviation of +0.8cm in the X-axis direction, the main control module 12 will respond quickly and control the robot arm 9 to move 0.8cm in the negative X-axis direction to return it to the preset main grinding path, thereby avoiding the problem of uneven grinding caused by deviation.

[0064] Deviation processing based on the Z axis direction: for the deviation between the actual grinding path and the main grinding path in Z 主 If the deviation is between -3cm and +3cm, or the actual grinding path and the auxiliary grinding path are different in Z 辅助 When the deviation value on the axis is between -2cm and +2cm, the adjustment strategy of the main control module 12 will be more complicated. When the deviation value on the axis is between -2cm and +2cm, the main control module 12 will not only adjust the robot arm 9 along the Z-axis direction according to the deviation, but may also adjust the lifting component.

[0065] There may be height differences between different grinding areas in the Z-axis direction, or due to factors such as the vibration of the equipment itself, the grinding head may easily deviate in the Z-axis direction. If this deviation is not adjusted in time, it may cause uneven contact pressure between the grinding head and the wall surface, thus affecting the grinding effect. For example, when performing auxiliary grinding on a wall with a certain height difference, if the actual grinding path is in the Z 辅助 If there is a +1.5cm deviation on the axis, the main control module 12 may, according to the specific situation, first adjust the posture of the robot arm 9 to make the grinding head as close to the preset height as possible. If the requirement is still not met, the lifting assembly will be further controlled to move the entire robot arm 9 and the grinding head downward by 1.5cm in the Z-axis direction to ensure that the grinding head can accurately grind the wall with appropriate pressure and position.

[0066] This precise path deviation detection and adjustment mechanism enables the polishing robot to always maintain a high degree of accuracy and stability in complex working environments. By carrying out targeted processing of path deviations in different directions and degrees, it not only improves the polishing quality and ensures the flatness and finish of the wall surface, but also effectively avoids various problems caused by path deviations, such as over-polishing, under-polishing, surface scratches, etc. At the same time, this mechanism also improves the automation and intelligence level of the polishing robot, reduces the need for manual intervention, improves work efficiency, and brings higher benefits and quality assurance to industrial production.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A polishing robot, characterized in that: include: A device base (1), wherein a moving component (2) is provided at the lower end of the device base (1); A grinding actuator, the grinding actuator comprising a lifting assembly, a mechanical arm (9) and a plurality of grinding heads, the lifting assembly being arranged on one side of the upper end surface of the equipment base (1), the mechanical arm (9) being mounted on the upper end of the lifting assembly, and a grinding head mounting portion (10) for mounting the grinding head being arranged at an end of the mechanical arm (9) away from the lifting assembly; A device box (11), the device box (11) being arranged on the other side of the upper end surface of the device base (1), a main control module (12) and a power module (13) being arranged in the device box (11) from top to bottom, an input module (14) electrically connected to the main control module (12) being arranged on the upper outer side surface of the device box (11), the power module (13) being connected to the moving component (2), the lifting component, the mechanical arm (9) and the grinding head, and the main control module (12) being electrically connected to the moving component (2), the lifting component, the mechanical arm (9) and the input module (14); One of the plurality of grinding heads is selected and detachably mounted on the grinding head mounting portion (10) according to the preset grinding area layout information provided by the input module (14).

2. A grinding robot as claimed in claim 1, characterized in that: The mechanical arm (9) comprises a first rotating arm, a second rotating arm and a third rotating arm; The first rotating arm is installed at the upper end of the lifting assembly through a first driving rotating part, the first driving rotating part is connected to the second rotating arm, and the first driving rotating part is used to drive the second rotating arm to rotate along a horizontal plane; The second rotating arm is installed at one end of the first rotating arm away from the first driving rotating part through a second driving rotating part, the second driving rotating part is connected to the third rotating arm, and the second driving rotating part is used to drive the third rotating arm to rotate along a vertical plane; The third rotating arm is mounted on an end of the second rotating arm away from the second driving rotating part through a third driving rotating part, the third driving rotating part is connected to the grinding head mounting part (10), and the third driving rotating part is used to drive the grinding head mounting part (10) to rotate along a horizontal plane; The power supply module (13) is electrically connected to the first driving rotating part, the second driving rotating part and the third driving rotating part respectively through the main control module (12).

3. A grinding robot as claimed in claim 2, characterized in that: The lifting component group comprises: A fixed slide rail (3), the fixed slide rail (3) being longitudinally mounted on the upper end surface of the equipment base (1); A movable slide rail (4), wherein the movable slide rail (4) is longitudinally slidably arranged on the fixed slide rail (3), and the mechanical arm (9) is mounted on the upper end of the movable slide rail (4); A linear drive mechanism (5), the linear drive mechanism (5) being arranged on the upper end surface of the device base (1) and being used for driving the movable slide rail (4) to slide longitudinally along the fixed slide rail (3); A support frame, the support frame comprising a support frame (6), two support arms (7) and a fixed plate (8), the support frame (6) being fixedly arranged on the upper end surface of the equipment base (1) and surrounding the lower end circumference of the fixed slide rail (3), the two support arms (7) being symmetrically arranged on the left and right sides of the support frame (6), the fixed plate (8) being transversely fixedly arranged on the upper ends of the two support arms (7), and the fixed plate (8) being fixedly connected to the middle part of the fixed slide rail (3).

4. A grinding robot as claimed in claim 3, characterized in that: A video acquisition module (15) is arranged on the top of the movable slide rail (4), and the video acquisition module (15) acquires information of the actual area to be polished of the polishing head and sends it to the main control module (12), and the main control module (12) is used to correct the actual polishing area of ​​the polishing head.

5. A grinding robot as claimed in claim 4, characterized in that: The grinding head has a built-in pressure sensor, which senses the pressure information of the grinding head on the actual grinding area and sends it to the main control module (12). The main control module (12) controls the mechanical arm (9) to correct the pressure value of the grinding head on the actual grinding area.

6. A grinding robot as claimed in claim 5, characterized in that: An alarm unit is arranged on the top of the equipment box (11), and the alarm unit is electrically connected to the main control module (12).

7. A grinding process of a grinding robot, characterized in that: Using the grinding robot as claimed in claim 6, comprising the following steps: S1: inputting an indoor architectural drawing with a polishing area marked thereon into an input module (14), and setting a main polishing area and a plurality of auxiliary polishing areas in the polishing area; S2: Set the initial position of the grinding robot, and use the initial position of the grinding robot as the first origin to form the principal coordinate system. Use the horizontal plane where the first origin is located to construct the X 主 Axis and Y 主 Axis, build Z in height direction 主 Axis, preset the main grinding path on the main coordinate system; S3: Construct multiple auxiliary coordinate systems corresponding to multiple auxiliary polishing areas on the main polishing path, take the starting point where the polishing robot enters the auxiliary polishing area as the second origin, and construct X coordinate systems with the horizontal plane where the second origin is located. 辅助 Axis and Y 辅助 Axis, build Z in height direction 辅助 Axis, preset multiple auxiliary grinding paths on multiple auxiliary coordinate systems; S4: inputting a plurality of grinding head models into the input module (14) and setting a plurality of execution paths for replacing the grinding heads of different models, and matching the plurality of execution paths one by one with the plurality of auxiliary grinding paths; S5: Set the main pressure value P that matches the main grinding path 主 , set multiple auxiliary pressure values ​​P on multiple auxiliary grinding paths 辅助 ; S6: placing the grinding robot at the first origin position of the main coordinate system, installing the main grinding head on the grinding head mounting part (10) and starting the grinding robot, so that the grinding robot completes the grinding operation of the main grinding area along the main grinding path; S7: Reposition the grinding robot to the first origin position of the main coordinate system, remove the main grinding head and move it along the main grinding path to multiple auxiliary grinding areas, replace the auxiliary grinding head along the corresponding execution path in the auxiliary grinding area and perform grinding operations along the corresponding auxiliary grinding paths, and complete the grinding operations of multiple auxiliary grinding areas in sequence.

8. A grinding process of a grinding robot as claimed in claim 7, characterized in that: In step S6, the grinding robot moves along the positive direction of the main grinding path at a speed of P 主 The grinding robot then moves in the opposite direction along the main grinding path at (50% to 70%) × P 主 The pressure value is used to complete one reciprocating grinding operation.

9. A grinding process of a grinding robot as claimed in claim 7, characterized in that: In step S7, the grinding robot equipped with the auxiliary grinding head moves forward once, moves negatively, and moves forward twice in sequence along the same auxiliary grinding path. The pressure value of the grinding robot's forward movement is P 辅助 , the pressure of the grinding robot's negative movement and secondary positive movement is (50%~70%)×P 辅助 .

10. The grinding process of a grinding robot according to claim 7, characterized in that: The video acquisition module (15) acquires the actual grinding path information of the grinding robot in real time, and compares it with the corresponding main grinding path and the corresponding multiple auxiliary grinding paths respectively; If the actual grinding path and the main grinding path are 主 Axis and / or Y 主 The deviation value on the axis is -1cm to +1cm, or the actual grinding path and the auxiliary grinding path are 辅助 Axis and / or Y 辅助 If the deviation value on the axis is -0.5 cm to +0.5 cm, the robot arm (9) is adjusted along the X-axis direction and / or the Y-axis direction through the main control module (12); If the actual grinding path and the main grinding path are from Z 主 The deviation value on the axis is -3cm to +3cm, or the actual grinding path and the auxiliary grinding path from Z 辅助 If the deviation value on the axis is -2 cm to +2 cm, the robot arm (9) and / or the lifting component are adjusted along the Z-axis direction through the main control module (12).

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