Polishing mechanism and polishing method of wall polishing robot

Abstract

The application relates to a polishing mechanism and a polishing method of a wall polishing robot, which comprises: a mounting seat for being mounted on the robot; a plurality of first springs which are mounted on the mounting seat and are arranged at intervals; a grinding head assembly which is mounted on the first springs and is used for polishing the wall; and a first pressure detection piece which is mounted on the first springs, the elastic force value of the first spring is detected through the first pressure detection piece, and when the elastic force value of the first spring is equal to a reference elastic force value, the grinding head assembly on the corresponding first spring is stopped from polishing. A plurality of grinding head assemblies are arranged to facilitate separate polishing of small protruding parts. After the grinding head assembly is pressed on the wall, the first spring located at the protruding part is in a compressed state, with the grinding head assembly polishing the protruding part, the compression amount of the first spring becomes smaller, and the compression amount of the first spring is equal to that when the first spring is located at the reference area, so that it is ensured that the current polishing position is consistent with the flatness at the reference area.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of building technology, in particular to a polishing mechanism and polishing method of a wall polishing robot. BACKGROUND

[0002] The polishing mechanism of the existing wall polishing robot is usually provided with a large polishing disc, which is driven to rotate by a motor to polish the wall. Each time, the polishing must be carried out on the area with the size of the polishing disc. The polishing range is large, and it is impossible to polish the small protrusions on the wall separately, and the polishing degree cannot be well controlled. SUMMARY

[0003] The present application aims to overcome the defects of the prior art, and provides a polishing mechanism and polishing method of a wall polishing robot to solve the problem that the polishing mechanism of the existing wall polishing robot cannot polish the small protrusions on the wall separately and cannot well control the polishing degree.

[0004] To achieve the above-mentioned purpose, the present application provides a polishing mechanism of a wall polishing robot, comprising:

[0005] a mounting seat for mounting on a robot;

[0006] a plurality of first springs mounted on the mounting seat and arranged at intervals;

[0007] a grinding head assembly mounted on the first spring and used for polishing the wall; and

[0008] a first pressure detection member mounted on the first spring, the elastic force value of the first spring is detected through the first pressure detection member, and when the elastic force value of the first spring is equal to a reference elastic force value, the grinding head assembly on the corresponding first spring is stopped.

[0009] The present application sets multiple grinding head assemblies to facilitate separate polishing of small protrusions. After the grinding head assembly is pressed on the wall, the first spring located in the protruding part is in a compressed state. As the grinding head assembly polishes the protruding part, the compression amount of the first spring becomes smaller until it is equal to the compression amount of the first spring located in the reference area, thereby ensuring that the current polishing position is consistent with the flatness at the reference area.

[0010] The further improvement of the polishing mechanism of the wall polishing robot of the present application is that the polishing mechanism further comprises a guide column penetrating the mounting seat, the guide column partially extends out of the mounting seat and is mounted and connected with the first pressure detection member, and the side of the first pressure detection member away from the guide column is mounted and connected with the grinding head assembly.

[0011] The first spring sleeve is arranged on the guide column and is connected between the first pressure detection member and the mounting seat.

[0012] The mounting seat is provided with a through hole for the first spring, and the hole wall of the through hole is provided with a guide groove, and the setting direction of the guide groove is consistent with the setting direction of the first spring.

[0013] The guide column is provided with a sliding block corresponding to the guide groove, and the sliding block is slidably arranged in the guide groove.

[0014] The first pressure detection member is arranged in the mounting seat.

[0015] The first spring is arranged in the mounting seat, one end of the first spring is connected to the first pressure detection member, the other end of the first spring is provided with a connecting rod, the connecting rod is partially arranged outside the mounting seat and is connected to the grinding head assembly.

[0016] The mounting seat is provided with a through hole for the first spring, and the hole wall of the through hole is provided with a guide groove, and the setting direction of the guide groove is consistent with the setting direction of the first spring.

[0017] The connecting rod is provided with a guide block corresponding to the guide groove, and the guide block is slidably arranged in the guide groove.

[0018] The application further provides a construction method of the grinding mechanism of the wall grinding robot.

[0019] A reference area is found on the wall.

[0020] The grinding mechanism is moved by the robot control, the first pressure detection member is started to detect the elastic force value of the first spring in real time, a part of the grinding head assembly is pressed on the reference area to obtain the reference elastic force value of the first spring in the reference area, another part of the grinding head assembly is arranged at a grinding position, the grinding head assembly in the grinding position is started to grind the current grinding position, and when the elastic force value of the first spring is equal to the reference elastic force value, the grinding head assembly on the corresponding first spring is closed, and when all the grinding head assemblies are closed, the current grinding position is grinded.

[0021] The grinding mechanism is moved by the robot control, a part of the grinding head assembly is pressed on the grinded position, the elastic force value of the first spring in the grinded position is equal to the reference elastic force value, another part of the grinding head assembly is arranged at a next grinding position, and the grinding construction of the next grinding position is completed, and the step is repeated until the grinding construction of the whole wall is completed.

[0022] The application further provides a polishing mechanism of a wall polishing robot.

[0023] a base for being installed on the robot;

[0024] a plurality of second springs installed on the base and arranged at intervals;

[0025] a connecting seat installed on the second spring;

[0026] a shaft rotatably installed at one end of the connecting seat;

[0027] a polishing disc installed at the other end of the shaft;

[0028] a driving assembly installed on the base and drivingly connected with the plurality of shafts, the driving assembly being capable of driving the plurality of polishing discs to rotate to polish the wall; and

[0029] a second pressure detecting member installed on the second spring, the second pressure detecting member being capable of detecting the elastic force value of the second spring, in construction, a part of the polishing discs is attached to the polished position and the elastic force value of the second spring at the polished position is equal to 0, another part of the polishing discs is located at the to-be-polished position to polish the wall, when the elastic force value of the second spring at the to-be-polished position is equal to 0, the polishing discs stop polishing.

[0030] The application controls the rotation of all the polishing discs through a driving assembly, a part of the polishing discs is attached to the polished position, the polishing discs at the polished position do not press against the wall for polishing because the elastic force value of the second spring at the polished position is equal to 0, the second spring at the to-be-polished position is in a compressed state because the wall at the to-be-polished position is uneven and has many protruding parts, the compression amount of the second spring decreases with the polishing of the protruding parts, until the elastic force value of the second spring at the current polishing position is equal to 0, the second springs at the two positions are both in a non-compressed state, thereby ensuring that the flatness of the current polishing position is consistent with that of the polished position.

[0031] The polishing mechanism of the wall polishing robot further comprises a transmission gear sleeved on the shaft, and a plurality of transmission gears are meshingly connected.

[0032] The driving assembly comprises a driving motor installed on the base and a driving gear installed on the output shaft of the driving motor, the driving gear being meshingly connected with the transmission gear.

[0033] The polishing mechanism of the wall polishing robot further comprises that the second pressure detecting member is installed on the base.

[0034] The grinding mechanism further includes a guide rod with one end mounted on the second pressure detection element and the other end passing through the connecting seat, and the second spring is sleeved on the guide rod and installed between the second pressure detection element and the connecting seat.

[0035] The present invention also provides a construction method for the sanding mechanism of the wall sanding robot as described above, comprising the following steps:

[0036] Find a reference area on the wall;

[0037] The robot controls the movement of the grinding mechanism and activates the second pressure detection element to detect the spring force value of the second spring in real time. A portion of the grinding disc is placed against the reference area and the spring force value of the second spring in the reference area is equal to 0. The other portion of the grinding disc is placed in a grinding position. The drive component is activated to drive the grinding disc to rotate to grind the current grinding position. When the spring force value of each second spring in the current grinding position is equal to 0, the drive component is turned off to stop grinding.

[0038] The sanding mechanism is moved by robot control. A portion of the sanding disc is placed against the already sanded position, and the elastic force of the second spring at the already sanded position is equal to 0. The other portion of the sanding disc is placed at the next sanding position, and the sanding work at the next sanding position is completed. This step is repeated until the sanding work of the entire wall surface is completed. Attached Figure Description

[0039] Figure 1 This is a perspective view of the sanding mechanism of the wall sanding robot of the present invention in a first specific embodiment.

[0040] Figure 2 This is a side view of the sanding mechanism of the wall sanding robot of the present invention in a first specific embodiment.

[0041] Figure 3 This is a top view of the sanding mechanism of the wall sanding robot of the present invention in a first specific embodiment.

[0042] Figure 4 for Figure 3 Cross-sectional view along the EE direction.

[0043] Figure 5 for Figure 4 A magnified view of a portion of region F in the middle.

[0044] Figure 6 This is a state diagram of the wall sanding robot of the present invention during wall sanding in a first specific embodiment.

[0045] Figure 7This is a top view of the sanding mechanism of the wall sanding robot of the present invention in a second specific embodiment.

[0046] Figure 8 This is a cross-sectional view of the sanding mechanism of the wall sanding robot of the present invention in a second specific embodiment.

[0047] Figure 9 for Figure 8 A magnified view of a portion of region G in the middle.

[0048] Figure 10 This is a cross-sectional view of the sanding mechanism of the wall sanding robot of the present invention in a third specific embodiment.

[0049] Figure 11 This is a perspective view of the sanding mechanism of the wall sanding robot of the present invention in a fourth specific embodiment.

[0050] Figure 12 This is a top view of the sanding mechanism of the wall sanding robot of the present invention in a fourth specific embodiment.

[0051] Figure 13 for Figure 12 Cross-sectional view along the HH direction.

[0052] Figure 14 for Figure 12 Cross-sectional view along the middle II direction.

[0053] Figure 15 for Figure 14 A magnified view of a portion of region J in the middle.

[0054] Figure 16 This is a plan view of the gear transmission of the grinding mechanism of the wall grinding robot of the present invention in the fourth specific embodiment.

[0055] Figure 17 This is an elevation view of the gear transmission of the grinding mechanism of the wall grinding robot of the present invention in the fourth specific embodiment.

[0056] Symbol description: mounting seat 10, plate 101, support block 102, through hole 11, sliding groove 12, through hole 13, guide groove 14, operating rod 15, first spring 21, guide column 22, sliding block 221, limiting piece 222, connecting rod 23, guide block 231, first pressure detection piece 24, grinding head assembly 30, first motor 31, grinding disc 32, base 40, mounting groove 41, positioning groove 42, second pressure detection piece 50, second spring 61, connecting seat 62, positioning block 621, guide rod 63, first bearing 64, first gear 71, connecting pipe 711, second bearing 712, first rod 713, second gear 72, mounting pipe 721, third bearing 722, second rod 723, third gear 73, branch pipe 731, fourth bearing 732, third rod 733, fourth gear 74, sleeve pipe 741, fifth bearing 742, fourth rod 743, shaft 81, polishing disc 82, drive motor 91, drive gear 92, main rod 921, main grinding disc 922. DETAILED DESCRIPTION

[0057] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0058] The present application provides a grinding mechanism and grinding method of a wall grinding robot, which is used for grinding a wall, utilizes densely distributed grinding head assemblies and polishing discs to adapt to small protruding defects on the wall, and utilizes pressure detection pieces to detect the spring force value of the spring, thereby controlling the compression amount of the spring, and more quickly and accurately self-adapting grinding, facilitating control of the grinding depth.

[0059] The grinding mechanism and grinding method of the wall grinding robot of the present application will be described below with reference to the drawings.

[0060] Reference should be made to Figure 1 and Figure 8 In the present embodiment, the grinding mechanism of the wall grinding robot comprises: a mounting seat 10 for mounting on a robot; a plurality of first springs 21 mounted on the mounting seat 10 and arranged at intervals; a grinding head assembly 30 mounted on the first spring 21 and used for grinding a wall; and a first pressure detection piece 24 mounted on the first spring 21, which is used for detecting the spring force value of the first spring 21, and when the spring force value of the first spring 21 is equal to a reference spring force value, the grinding head assembly 30 on the corresponding first spring 21 is stopped from grinding.

[0061] Preferably, the size of the grinding head assembly 30 is small to fit small protruding defects on the wall surface, and the distance between two adjacent grinding head assemblies 30 is small, i.e. densely arranged. During construction, the grinding head assembly 30 acts on the wall surface, and the wall surface acts on the grinding head assembly 30, so that the grinding head assembly 30 is subjected to force and transmits the force to the first pressure detecting member 24, which senses the pressure and outputs the spring force value. The first spring 21 is compressed by the force, and the pressure borne by the first spring 21 is proportional to the compression amount, so that the compression amount can be calculated according to the spring force value of the first pressure detecting member 24. The size of the compression amount reflects the size of the surface defects of the wall surface.

[0062] In the embodiment, the grinding mechanism finds a reference area on the wall surface as a reference for subsequent grinding during construction, and obtains a reference spring force value of the first spring 21 located in the reference area. During grinding, a part of the grinding head assemblies 30 are pressed on the ground position and make the spring force value of the first spring 21 located in the ground position equal to the reference spring force value, i.e. to ensure that the compression amount of a part of the first spring 21 on the grinding mechanism is always equal to the compression amount of the first spring 21 located in the reference area, and the other part of the grinding head assemblies 30 are located in a construction position for grinding. When the spring force value of the first spring 21 is equal to the reference spring force value, the grinding head assemblies 30 on the corresponding first spring 21 are closed, so that each grinding head assembly 30 is controlled according to the compression of the first spring 21 at each grinding head assembly 30, and the grinding degree is well controlled.

[0063] When the grinding mechanism acts on the uneven wall surface, the compression amount of each grinding head assembly 30 is different, and the pressure borne is different, so that the compression amount of each grinding head assembly 30 can be calculated according to the spring force value of the first pressure detecting member 24, and the size of the protruding part of the defects on the wall surface is obtained. Each grinding head assembly 30 grinds the protrusion, and as the grinding process proceeds, the protrusion gradually becomes smaller, the first spring 21 gradually elongates, and the grinding head assembly 30 gradually recovers, until the first pressure detecting member 24 returns to the initial value, indicating that the protrusion on the wall surface also disappears, resulting in a smooth wall surface.

[0064] Referring to Figures 2 to 6 In the first specific embodiment, the grinding mechanism further comprises a guide column 22 arranged in the mounting seat 10, the guide column 22 partially extends out of the mounting seat 10 and is connected with the first pressure detecting member 24, and the side of the first pressure detecting member 24 away from the guide column 22 is connected with the grinding head assembly 30; the first spring 21 is sleeved on the guide column 22 and is connected between the first pressure detecting member 24 and the mounting seat 10. The guide column 22 plays a guiding and limiting role for the first spring 21, reduces the deformation of the first spring 21 in directions other than the compression and elongation direction, so that the first spring 21 runs more smoothly.

[0065] Referring toFigure 5 Further, the mounting base 10 is provided with a through hole 11 for the guide column 22, and the hole wall of the through hole 11 is provided with a sliding groove 12, and the setting direction of the sliding groove 12 is consistent with the length direction of the guide column 22; the guide column 22 is provided with a sliding block 221 corresponding to the sliding groove 12, and the sliding block 221 is slidably arranged in the sliding groove 12. The sliding groove 12 and the sliding block 221 play a guiding and limiting role for the guide column 22, so that the guide column 22 moves along the direction of the sliding groove 12.

[0066] Referring to Figures 2 to 6 Further, the mounting base 10 includes a pair of parallel plates 101 and a support block 102 connected between the pair of plates 101. The guide column 22 is arranged through one of the plates 101, and the robot is arranged on the other plate 101. The polishing mechanism further includes a limiting piece 222 arranged on the guide column 22 away from the pressure detecting piece, and the limiting piece 222 is arranged on the corresponding plate 101 to limit the guide column 22 from being pulled out of the plate 101.

[0067] Preferably, the first pressure detecting piece 24 is a pressure sensor.

[0068] Referring to Figures 7 to 9 In the second specific embodiment, the first pressure detecting piece 24 is arranged in the mounting base 10; the first spring 21 is arranged through the mounting base 10, one end of the first spring 21 is connected to the first pressure detecting piece 24, and the other end is provided with a connecting rod 23, and the connecting rod 23 partially extends out of the mounting base 10 and is connected to the polishing head assembly 30.

[0069] Referring to Figures 7 to 9 Further, the mounting base 10 is provided with a through hole 13 for the first spring 21, and the hole wall of the through hole 13 is provided with a guide groove 14, and the setting direction of the guide groove 14 is consistent with the setting direction of the first spring 21; the connecting rod 23 is provided with a guide block 231 corresponding to the guide groove 14, and the guide block 231 is slidably arranged in the guide groove 14. The through hole 13 plays a guiding and limiting role for the first spring 21. The guide block 231 and the guide groove 14 play a guiding and limiting role for the connecting rod 23, so that the connecting rod 23 moves along the direction of the guide groove 14.

[0070] Preferably, the first pressure detecting piece 24 is a pressure sensor.

[0071] Referring to Figure 10In the third specific embodiment, a distribution pressure sensor can also be provided, and all the first springs 21 are connected to the distribution pressure sensor, so as to measure the pressure distribution of the entire distribution pressure sensor, and the spring force of each first spring 21 at the corresponding position can be obtained according to the cloud chart.

[0072] Referring to Figure 9 In the embodiment, the grinding head assembly 30 comprises a first motor 31 and a grinding disc 32 connected to the output shaft of the first motor 31, and the first motor 31 can drive the grinding disc 32 to rotate to realize the grinding of the wall surface.

[0073] Referring to Figure 1 Further, the grinding mechanism further comprises an operating rod 15 connected to the mounting seat 10 away from the grinding head assembly 30, and the operating rod 15 is provided for being mounted on the robot.

[0074] The application further provides a construction method of the grinding mechanism of the wall surface grinding robot, which comprises the following steps:

[0075] Finding a reference area on the wall surface;

[0076] Moving the grinding mechanism by the robot control, and starting the first pressure detection member 24 to detect the spring force value of the first spring 21 in real time, and pressing a part of the grinding head assembly 30 on the reference area and obtaining the reference spring force value of the first spring 21 at the reference area, and pressing another part of the grinding head assembly 30 at a grinding position, and starting the grinding head assembly 30 at the grinding position to grind the current grinding position, and closing the grinding head assembly 30 corresponding to the first spring 21 when the spring force value of the first spring 21 is equal to the reference spring force value, and grinding the current grinding position when all the grinding head assemblies 30 are closed.

[0077] Moving the grinding mechanism by the robot control, pressing a part of the grinding head assembly 30 on the ground position, and making the spring force value of the first spring 21 at the ground position equal to the reference spring force value, and making another part of the grinding head assembly 30 at a next grinding position, and completing the grinding construction of the next grinding position, and repeating the step until the grinding construction of the entire wall surface is completed.

[0078] Referring to Figures 11 to 15In a fourth specific embodiment, the present application further provides a polishing mechanism of a wall polishing robot, comprising: a base 40 for being mounted on the robot; a plurality of second springs 61 mounted on the base 40 and arranged at intervals; a connecting seat 62 mounted on the second springs 61; a shaft 81 rotatably mounted on one end of the connecting seat 62; a polishing disc 82 mounted on the other end of the shaft 81; a driving assembly mounted on the base 40 and drivingly connected with the plurality of shafts 81, by which the plurality of polishing discs 82 can be driven to rotate to polish the wall; and a second pressure detecting member 50 mounted on the second springs 61, by which the elastic force value of the second springs 61 is detected, in construction, a part of the polishing discs 82 is abutted against the polished position and the elastic force value of the second spring 61 at the polished position is equal to 0, and the other part of the polishing discs 82 is located at the to-be-polished position for polishing, and when the elastic force value of the second spring 61 at the to-be-polished position is equal to 0, the polishing disc 82 is stopped from polishing.

[0079] The present application controls the rotation of all the polishing discs 82 by a driving assembly, and a part of the polishing discs 82 is abutted against the polished position, and since the elastic force value of the second spring 61 at the polished position is equal to 0, the polishing disc 82 at the polished position will not be pressed against the wall for polishing, and since the wall at the to-be-polished position is uneven and has many protruding parts, the second spring 61 at the protruding part will be in a compressed state, and with the polishing disc 82 polishing the protruding part, the compression amount of the second spring 61 becomes smaller, until the elastic force value of the second spring 61 at the current polishing position is equal to 0, and the second springs 61 at the two positions are both in a non-compressed state, thereby ensuring that the flatness of the current polishing position is consistent with that of the polished position.

[0080] Referring to Figure 15 Further, the second pressure detecting member 50 is mounted on the base 40, and the polishing mechanism further comprises a guide rod 63 mounted on one end of the second pressure detecting member 50 and penetrating through the connecting seat 62, and the second spring 61 is sleeved on the guide rod 63 and connected between the second pressure detecting member 50 and the connecting seat 62.

[0081] Referring to Figures 11 to 15 Preferably, the second pressure detecting member 50 is a distributed pressure sensor, and the distributed pressure sensor is mounted in the base 40, and the base 40 is provided with a plurality of mounting grooves 41 corresponding to the distributed pressure sensor, the guide rod 63, the second spring 61 and the connecting seat 62 are located in the mounting grooves 41, the groove wall of the mounting grooves 41 is provided with a positioning groove 42, the setting direction of the positioning groove 42 is consistent with the length direction of the shaft 81, the connecting seat 62 is provided with a positioning block 621 corresponding to the positioning groove 42, and the positioning block 621 is slidably arranged in the positioning groove 42.

[0082] Referring to Figure 15 Further, the connecting seat 62 is provided with a slot corresponding to the shaft 81, a first bearing 64 is installed at the top of the slot, the shaft 81 is inserted and installed in the first bearing 64, the first bearing 64 has a spacing with the bottom wall of the slot, the top of the guide rod 63 extends into the slot, and the top of the guide rod 63 can move in the slot with the expansion and contraction of the spring.

[0083] Referring to Figure 11 Further, the polishing mechanism further comprises a transmission gear sleeved and installed on the shaft 81, and a plurality of transmission gears are meshingly connected; the driving assembly comprises a driving motor 91 installed on the base 40 and a driving gear 92 installed on the output shaft of the driving motor 91, and the driving gear 92 is meshingly connected with the transmission gear.

[0084] Referring to Figures 11 to 15 Further, the driving assembly comprises a driving motor 91 installed in the base 40 and a driving gear 92 arranged outside the base 40 and corresponding to the driving motor 91, the output shaft of the driving motor 91 extends out of the base 40 and is drivingly connected with the driving gear 92 to drive the rotation of the driving gear 92, the polishing mechanism further comprises a main rod 921 installed on the side of the driving gear 92 away from the base 40, a main grinding disc 922 installed on the end of the main rod 921 away from the driving gear 92, a first gear 71, a second gear 72, a third gear 73 and a fourth gear 74 with a height greater than the driving gear 92; the main rod 921 and a plurality of shafts 81 are arrayed; the main rod 921 is located at the center position of the array.

[0085] The first gear 71 and the second gear 72 are alternately sleeved and installed on the shaft 81 arranged in the same row as the driving gear 92, the driving gear 92 is meshingly connected with the corresponding first gear 71, the first gear 71 and the corresponding second gear 72 are meshingly connected, and the first gear 71 is partially higher than the top surface of the second gear 72 and forms an engaging portion;

[0086] The third gear 73 and the fourth gear 74 are alternately sleeved and installed on the shaft 81 in the remaining rows, the first gear 71 and the third gear 73 are arranged in the same column and aligned, the first gear 71 is meshingly connected with the corresponding third gear 73, the adjacent two third gears 73 are meshingly connected, the second gear 72 and the corresponding fourth gear 74 are arranged in the same column and aligned, the second gear 72 and the corresponding fourth gear 74 are meshingly connected, the driving gear 92 and the corresponding fourth gear 74 are arranged in the same column and aligned, and the driving gear 92 and the corresponding fourth gear 74 are meshingly connected. The third gear 73 and the fourth gear 74 are staggered to avoid the meshing connection between multiple gears to affect the rotation of the gears.

[0087] Referring to Figure 16 and Figure 17 , by driving the motor 91 to drive the driving gear 92 to rotate, the first gear 71 and the second gear 72 arranged in the same row with the driving gear 92 are driven to rotate, the first gear 71 drives the third gear 73 arranged in the same column with the first gear 71 to rotate, the second gear 72 drives the fourth gear 74 arranged in the same column with the second gear 72 to rotate, and then drives all the shaft rods 81 and the polishing discs 82 on the shaft rods 81 to rotate together, and the driving gear 92 also drives the main rod 921 and the main polishing disc 922 on the main rod 921 to rotate together, so as to realize the polishing of the wall surface.

[0088] Referring to Figure 13 Furthermore, the shaft rod 81 of the first gear 71 is sleeved with a connecting pipe 711, one end of the connecting pipe 711 is fixed on the base 40, the other end is sleeved with a second bearing 712, the bottom of the first gear 71 is sleeved and installed on the second bearing 712, the first gear 71 is supported and installed on the base 40 through the connecting pipe 711, and the shaft rod 81 can rotate in the connecting pipe 711. A first guide groove is arranged in the first gear 71 corresponding to the shaft rod 81, the arrangement direction of the first guide groove is consistent with the arrangement direction of the shaft rod 81, a first rod part 713 is arranged on the shaft rod 81 corresponding to the first gear 71, and the first rod part 713 is slidably arranged in the first guide groove.

[0089] Referring to Figure 13 Furthermore, the shaft rod 81 of the second gear 72 is sleeved with an installation pipe 721, one end of the installation pipe 721 is fixed on the base 40, the other end is sleeved with a third bearing 722, the bottom of the second gear 72 is sleeved and installed on the third bearing 722, the second gear 72 is supported and installed on the base 40 through the installation pipe 721, and the shaft rod 81 can rotate in the installation pipe 721. A second guide groove is arranged in the second gear 72 corresponding to the shaft rod 81, the arrangement direction of the second guide groove is consistent with the arrangement direction of the shaft rod 81, a second rod part 723 is arranged on the shaft rod 81 corresponding to the second gear 72, and the second rod part 723 is slidably arranged in the second guide groove.

[0090] Referring to Figure 14 Furthermore, the shaft rod 81 of the third gear 73 is sleeved with a support pipe 731, one end of the support pipe 731 is fixed on the base 40, the other end is sleeved with a fourth bearing 732, the bottom of the third gear 73 is sleeved and installed on the fourth bearing 732, the third gear 73 is supported and installed on the base 40 through the support pipe 731 to be aligned with the meshing part, and the shaft rod 81 can rotate in the support pipe 731. A third guide groove is arranged in the third gear 73 corresponding to the shaft rod 81, the arrangement direction of the third guide groove is consistent with the arrangement direction of the shaft rod 81, a third rod part 733 is arranged on the shaft rod 81 corresponding to the third gear 73, and the third rod part 733 is slidably arranged in the third guide groove.

[0091] Referring to Figure 14 Further, the fourth gear 74 is sleeved with a sleeve 741 on the shaft 81, one end of the sleeve 741 is fixed on the base 40, the other end is sleeved with a fifth bearing 742, the bottom of the fourth gear 74 is sleeved and installed on the fifth bearing 742, the fourth gear 74 is supported and installed on the base 40 in alignment with the second gear 72 through the sleeve 741, and the shaft 81 can rotate in the sleeve 741. A fourth guide groove is arranged in the fourth gear 74 corresponding to the shaft 81, the setting direction of the fourth guide groove is consistent with the setting direction of the shaft 81, and a fourth rod portion 743 is arranged on the shaft 81 corresponding to the fourth gear 74, and the fourth rod portion 743 is slidably arranged in the fourth guide groove.

[0092] Preferably, the polishing mechanism further comprises a docking rod installed on the base 40 away from the polishing disc 82, and the docking rod is installed on the robot.

[0093] The application also provides a construction method of the polishing mechanism of the wall polishing robot.

[0094] Finding a reference area on the wall;

[0095] Moving the polishing mechanism by the robot control, and starting the second pressure detection member 50 to detect the spring force value of the second spring 61 in real time, a part of the polishing disc 82 is attached to the reference area, and the spring force value of the second spring 61 located in the reference area is equal to 0, and another part of the polishing disc 82 is located in a polishing position, the driving assembly is started, the driving assembly drives the polishing disc 82 to rotate to polish the current polishing position, when the spring force value of each second spring 61 in the current polishing position is equal to 0, the driving assembly is turned off to stop polishing;

[0096] Moving the polishing mechanism by the robot control, a part of the polishing disc 82 is attached to the polished position, and the spring force value of the second spring 61 located in the polished position is equal to 0, and another part of the polishing disc 82 is located in the next polishing position, and the polishing construction of the next polishing position is completed, and the step is repeated until the polishing construction of the entire wall is completed.

[0097] The working process of the polishing mechanism of the wall polishing robot of the application is described below.

[0098] The whole polishing mechanism is evenly divided into A, B, C and D four blocks, one of which, such as A, is used as a reference for polishing implementation. Specifically, before polishing construction, the whole wall surface is measured, and a small area with better performance is used as a reference. The polishing mechanism is used to polish the wall surface at this position. During polishing, the A block of the polishing mechanism is always located at the polished position, so the wall surface corresponding to the A block is flat, the compression amount of the first spring 21 at the A block is the same, and the pressure of the first pressure detection member 24 at the A block is the same. The B, C and D blocks of the polishing mechanism are partially located on the wall surface to be polished, so the corresponding wall surface is not flat. The compression amount of the first spring 21 of the B, C and D blocks is different from that of the first spring 21 of the A block. The pressure of the first pressure detection member 24 of the B, C and D blocks is different from that of the first pressure detection member 24 of the A block. With the progress of polishing, the compression amount of the first spring 21 and the pressure of the first pressure detection member 24 are restored to be the same as those of the A block, indicating that the defect protruding points disappear, and the wall surface is smooth.

[0099] It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to the present specification are only used to cooperate with the content disclosed in the specification, to enable those skilled in the art to understand and read, and are not used to limit the conditions that the present application can be implemented, so they do not have technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effect and purpose that the present application can produce, should still fall within the scope of the technical content disclosed by the present application. At the same time, the terms such as "up", "down", "left", "right", "middle" and "one" in the present specification are only for the convenience of clear description, and are not used to limit the scope of the present application. The change or adjustment of the relative relationship, without substantially changing the technical content, is also considered as the scope of the present application.

Claims

1. A sanding mechanism for a wall sanding robot, characterized in that, include: Mounting bracket for mounting on robots; A plurality of first springs are installed on the mounting base and spaced apart; A grinding head assembly mounted on the first spring for grinding the wall surface; and The first pressure detection element installed on the first spring detects the spring force value of the first spring. When the spring force value of the first spring is equal to the reference spring force value, the grinding head assembly on the corresponding first spring stops grinding. The grinding mechanism further includes a guide post passing through the mounting base, the guide post extending out of the mounting base and being installed and connected to the first pressure detection element, and the side of the first pressure detection element away from the guide post being installed and connected to the grinding head assembly. The first spring is sleeved on the guide post and is installed between the first pressure detection element and the mounting base; The grinding head assembly includes a first motor and a grinding disc mounted on the output shaft of the first motor. The first motor can drive the grinding disc to rotate in order to grind the wall surface.

2. The sanding mechanism of the wall sanding robot as described in claim 1, characterized in that, The mounting base is provided with a through hole for the guide post to pass through, and the wall of the through hole is provided with a sliding groove, the direction of the sliding groove being consistent with the length direction of the guide post; The guide post is provided with a slider corresponding to the slide groove, and the slider is slidably disposed in the slide groove.

3. The sanding mechanism of the wall sanding robot as described in claim 1, characterized in that, The first pressure sensing element is installed inside the mounting base; The first spring is inserted into the mounting base. One end of the first spring is connected to the first pressure detection element, and the other end is connected to a connecting rod. The connecting rod extends out of the mounting base and is connected to the grinding head assembly.

4. The sanding mechanism of the wall sanding robot as described in claim 3, characterized in that, The mounting base is provided with a through hole for the first spring to pass through, and the wall of the through hole is provided with a guide groove, the direction of the guide groove being consistent with the direction of the first spring. The connecting rod is provided with a guide block corresponding to the guide groove, and the guide block is slidably disposed in the guide groove.

5. A construction method for the sanding mechanism of the wall sanding robot as described in claim 1, characterized in that, Includes the following steps: Find a reference area on the wall; The grinding mechanism is moved by robot control, and the first pressure detection element is activated to detect the spring force value of the first spring in real time. A portion of the grinding head assembly is pressed onto the reference area and the reference spring force value of the first spring located in the reference area is obtained. Another portion of the grinding head assembly is placed in a grinding position. The grinding head assembly located in the grinding position is activated to grind the current grinding position. When the spring force value of the first spring is equal to the reference spring force value, the grinding head assembly on the corresponding first spring is turned off. When all grinding head assemblies are turned off, the grinding of the current grinding position is completed. The sanding mechanism is moved by robot control, pressing a portion of the sanding head assembly onto the already sanded position and making the spring force of the first spring at the already sanded position equal to the reference spring force value, while moving another portion of the sanding head assembly to the next sanding position and completing the sanding work at the next sanding position. This step is repeated until the sanding work of the entire wall surface is completed.

6. A sanding mechanism for a wall sanding robot, characterized in that, include: A base for mounting on the robot; Several second springs are installed on the base and spaced apart; A connecting seat mounted on the second spring; A shaft that is rotatably mounted on the connecting seat at one end; A grinding disc is installed at the other end of the shaft; A drive assembly mounted on the base and drivenly connected to several shafts can drive several grinding discs to rotate for grinding the wall surface. as well as The second pressure detection element installed on the second spring detects the spring force value of the second spring. During construction, a portion of the grinding disc is placed against the already ground position and the spring force value of the second spring at the already ground position is equal to 0, so that the other portion of the grinding disc is placed at the position to be ground for grinding. When the spring force value of the second spring at the position to be ground is equal to 0, the grinding disc stops grinding. A transmission gear is fitted onto the shaft, and several transmission gears are meshed together. The drive assembly includes a drive motor mounted on the base and a drive gear mounted on the output shaft of the drive motor, wherein the drive gear is meshed with the transmission gear. The output shaft of the drive motor extends out of the base and is driven by the drive gear to drive the gear to rotate. The grinding mechanism also includes a main rod installed on the side of the drive gear away from the base, a main grinding disc installed on the end of the main rod away from the drive gear, and a first gear, a second gear, a third gear, and a fourth gear with a height greater than the drive gear. The main rod and several shafts are arranged in an array. The main rod is located at the center of the array. The first gear and the second gear are alternately mounted on the shaft arranged in the same row as the drive gear. The drive gear meshes with the corresponding first gear, and the first gear meshes with the corresponding second gear. The first gear is partially higher than the top surface of the second gear and has a meshing part. The third gear and the fourth gear are alternately mounted on the remaining rows of shafts. The first gear and the third gear are arranged in the same row and aligned. The first gear meshes with the corresponding third gear. Two adjacent third gears mesh with each other. The second gear and the corresponding fourth gear are arranged in the same row and aligned. The second gear meshes with the corresponding fourth gear. The drive gear and the corresponding fourth gear are arranged in the same row and aligned. The drive gear meshes with the corresponding fourth gear. The third gear and the fourth gear are staggered.

7. The sanding mechanism of the wall sanding robot as described in claim 6, characterized in that, The second pressure detection element is mounted on the base; The grinding mechanism further includes a guide rod with one end mounted on the second pressure detection element and the other end passing through the connecting seat, and the second spring is sleeved on the guide rod and installed between the second pressure detection element and the connecting seat.

8. A construction method for the sanding mechanism of the wall sanding robot as described in claim 6, characterized in that, Includes the following steps: Find a reference area on the wall; The robot controls the movement of the grinding mechanism and activates the second pressure detection element to detect the spring force value of the second spring in real time. A portion of the grinding disc is placed against the reference area and the spring force value of the second spring in the reference area is equal to 0. The other portion of the grinding disc is placed in a grinding position. The drive component is activated to drive the grinding disc to rotate to grind the current grinding position. When the spring force value of each second spring in the current grinding position is equal to 0, the drive component is turned off to stop grinding. The sanding mechanism is moved by robot control. A portion of the sanding disc is placed against the already sanded position, and the elastic force of the second spring at the already sanded position is equal to 0. The other portion of the sanding disc is placed at the next sanding position, and the sanding work at the next sanding position is completed. This step is repeated until the sanding work of the entire wall surface is completed.

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