Polishing head device for floor polishing and method of use thereof

Abstract

The application discloses a polishing head device for ground polishing and a use method thereof, which comprises a rotating lifting device connected with one end of a mechanical arm body, a three-dimensional force sensor arranged at the other end of the mechanical arm body, a polyurethane frame body arranged at the input end of the three-dimensional force sensor, a polishing motor arranged at one end of the polyurethane frame body, a polishing wheel arranged at the output end of the polishing motor, a mounting seat arranged at the other end of the polyurethane frame body, an electric lever and a first displacement sensor arranged side by side on the mounting seat, and a laser receiver arranged at the upper end of the electric lever. The laser receiver and the three-dimensional force sensor are arranged to assist the polishing wheel in adjusting the polishing depth, and the rotating lifting device and the moving mechanism drive the mechanical arm body to realize lifting, horizontal translation and rotation, so that the polishing efficiency is improved, and the structure is simple, compact and convenient to operate.

Description

Technical Field

[0001] This invention relates to the field of road construction technology, and in particular to a grinding head device for ground grinding and its usage method. Background Technology

[0002] Existing stone grinding machines are typically used by manually moving the machine. The grinding time for different areas is determined manually, resulting in varying grinding times for different areas. The longer the grinding time, the lower the level of the ground in that area; conversely, the shorter the grinding time, the higher the level of the ground. This leads to uneven levels in different areas after grinding, significantly affecting the aesthetics and the overall flatness of the floor. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a grinding head device for floor grinding that improves grinding efficiency and facilitates automated operation, and a method for using the same.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A grinding head device for floor grinding is provided, connected to the robotic arm of a floor grinding robot. The grinding head device includes a three-dimensional force sensor, a polyurethane frame, a grinding motor, and a grinding wheel arranged sequentially from top to bottom. The polyurethane frame includes an upper frame block and a lower frame block respectively connected to a fixed base. Each frame block has at least one storage frame, and two storage frames at corresponding positions on the two frame blocks together form a hollow placement frame. Each placement frame contains a polyurethane column. Each polyurethane column has a first process through hole and a second process through hole, the axes of which are perpendicular to each other in the projection direction of the horizontal plane. The grinding head device also includes a mounting base disposed on the polyurethane frame. An electric cylinder and a first displacement sensor are arranged side by side on the mounting base. A connecting block is provided at the output end of the electric cylinder. A gimbal motor is fixed at one end of the connecting block, and the other end is connected to the detection head of the first displacement sensor. A laser receiver is provided at the output end of the gimbal motor.

[0005] Using the above structure, a three-dimensional force sensor, a polyurethane frame, an electric cylinder, a grinding motor, and a grinding wheel are installed on the robotic arm body. In use, the horizontal laser emitter is positioned and the light source is adjusted to a suitable height. The laser receiver searches for the horizontal laser source by the lifting and lowering of the electric cylinder output and the rotation of the gimbal motor output, ensuring the receiver receives the horizontal laser in real time. Then, after the lower end of the grinding wheel contacts the ground, it adaptively tilts according to the flatness of the ground, causing the grinding motor to tilt as a whole. This causes the polyurethane frame to deform accordingly. The resulting deformation is transmitted to the three-dimensional force sensor to form an initial value. Then, according to the construction requirements, the grinding depth is set, and the grinding motor is turned on. The grinding continues until the desired depth is reached. When in position, the vertical drive mechanism raises the grinding wheel, and the moving unit extends the robotic arm. Based on the initial values, the grinding wheel grinds directly to the depth value. This process is repeated. When the moving mechanism moves the robotic arm forward to its limit, the grinding wheel is raised again, the robotic arm is moved back, and the walking device moves the entire ground grinding robot. After reaching the correct position, the aforementioned actions are repeated to continue grinding the ground. During this process, the output end of the electric cylinder extends adaptively to ensure that the height of the laser receiver remains constant so that the first displacement sensor can receive the data of the moving distance, assisting the output end of the electric cylinder to return to the initial position and ensuring that the grinding wheel returns to the starting position synchronously. This process is simple, compact, and easy to operate.

[0006] To ensure the perpendicularity of the first displacement sensor and the accuracy of the measurement, it is preferable to provide a connecting plate between the electric cylinder and the first displacement sensor.

[0007] To facilitate automatic and continuous control, preferably, the three-dimensional force sensor, the grinding motor, and the first displacement sensor are all connected to the PLC controller.

[0008] A method for floor grinding,

[0009] Includes the following steps:

[0010] S101. Place the horizontal laser emitter in the construction area and adjust the light source to a suitable height;

[0011] S102. Move the floor grinding robot to the construction location;

[0012] S103. Make the laser receiver search for the horizontal laser source and receive the horizontal laser in real time to determine the initial position;

[0013] S104. The robotic arm body can synchronously drive the three-dimensional force sensor to move downward under the drive of a rotary lifting device. When the grinding wheel touches the ground and the three-dimensional force sensor has a value in the z direction displayed on the PLC controller, the rotary lifting device stops moving and reads the corresponding value on the first displacement sensor on the PLC controller.

[0014] S105. Start the grinding motor. According to the preset grinding depth, the grinding wheel is moved down synchronously by the rotary lifting device to perform grinding.

[0015] S106. After the deep grinding is completed, the rotating lifting device synchronously drives the robotic arm body and the grinding wheel to rotate in the horizontal direction to grind the corresponding ground position.

[0016] S107. After the corresponding ground area is polished, the rotating lifting device will simultaneously move the robotic arm body and the polishing wheel to the initial position.

[0017] S108. Control the grinding wheel to move forward and grind the next un-grinded area.

[0018] To ensure the continuity of the grinding area and avoid missed areas, preferably, the robotic arm body can move back and forth along its length under the drive of a moving mechanism. Step S108 includes the following sub-steps:

[0019] S1081. Determine whether the robotic arm body has moved forward to the forward limit position;

[0020] S1082. If the robotic arm moves forward to its limit position, control the ground grinding robot to move forward a first distance so that the grinding wheel moves to the next ungrinded area, and proceed to step S1084.

[0021] S1083. If the robotic arm body has not moved to the forward limit position, the control mechanism drives the robotic arm body to extend forward a second distance so that the grinding wheel moves to the next un-grinded area, and proceeds to step S1084.

[0022] S1084. Repeat steps S105 to S107 to sand the currently unsanded area of ​​the ground.

[0023] In order to accurately obtain the initial position data, preferably, in step 104), when the lower frame block is attached to the ground and shifts, it drives the lower end of the polyurethane column to shift synchronously and causes the polyurethane frame to undergo adaptive deformation. In order to make the deformation of the polyurethane column more sensitive, a first process through hole and a second process through hole are provided on the polyurethane column to reduce the resistance of deformation. The resulting deformation is transmitted to the three-dimensional force sensor and the initial value is displayed on the PLC controller.

[0024] To ensure the continuity and integrity of the floor grinding, preferably, in step 9), the distance by which the moving mechanism extends the robotic arm body is equal to the diameter of the grinding wheel.

[0025] To better ensure the continuity and integrity of the entire polished surface, preferably, in step 11), the moving distance of the ground polishing robot is the same as the total travel length of the moving mechanism.

[0026] Beneficial effects: This invention is equipped with a laser receiver and a three-dimensional force sensor to assist the grinding wheel in adjusting the grinding depth. The rotating lifting device and the moving mechanism drive the robotic arm body to achieve both lifting and horizontal translation and rotation, thereby improving grinding efficiency. The structure is simple and compact, and the operation is convenient. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0028] Figure 1 This is a schematic diagram of the structure of the present invention.

[0029] Figure 2 for Figure 1 Enlarged view of point A in the image.

[0030] Figure 3 for Figure 1 Enlarged view of point B in the image.

[0031] Figure 4 This is a schematic diagram of the installation structure in use of the present invention.

[0032] Figure 5 This is a schematic diagram of the lifting device.

[0033] Figure 6 This is a schematic diagram of the installation structure of the enclosure.

[0034] Figure 7 This is a structural diagram of the box.

[0035] Figure 8 This is a schematic diagram of the installation structure of the vertical drive mechanism.

[0036] Figure 9 This is a schematic diagram of the lead screw installation structure.

[0037] Figure 10 This is a schematic diagram of the installation structure of the robotic arm body.

[0038] Figure 11 for Figure 10 Enlarged view of point C in the image.

[0039] Figure 12 This is a schematic diagram of the partition installation structure.

[0040] Figure 13This is a schematic diagram of the installation structure of the power motor.

[0041] Figure 14 This is a schematic diagram of the field usage status of the present invention.

[0042] Figure 15 This is a schematic diagram illustrating the usage principle of the present invention.

[0043] The meanings of the labels in the attached diagram are as follows:

[0044] Mounting base-11; Housing-2; Base-21; Center hole-211; Guide hole-212; Long channel-213; Concave guide groove-214; Upper cavity-22; Guide rod-23; Induction block-24; Rotating gear-31; Transmission gear-32; Second motor-33;

[0045] First motor - 40; Lead screw - 41; Lead screw nut - 42; Second portal frame - 431; Vertical support - 4311; Horizontal top support - 4312; Second through hole - 432; Second ball bearing - 433

[0046] First portal frame mounting bracket - 441; First through hole - 442; First ball bearing - 443; Stop block - 45; First gear - 461; Second gear - 462; Toothed belt - 463; Second displacement sensor - 5;

[0047] Mounting slot-60; chassis-61; power motor-611; drive gear-612; support plate-62; fixing block-620; slide rail-621;

[0048] Robotic arm body - 63; toothed groove - 630; protrusion - 631; first stop - 632; vertical section - 6321; second stop - 633; ​​extension section - 6331; positioning hole - 634; partition - 635; first sensor - 641; second sensor - 642;

[0049] 3D force sensor-7; polyurethane frame-71; upper shelf block-711; lower shelf block-712; storage frame-713; polyurethane column-714; first process through hole-715; second process through hole-716; grinding motor-72; grinding wheel-721; mounting base-73; electric bar-74; connecting block-741; gimbal motor-742; first displacement sensor-75; connecting plate-751; laser receiver-76. Detailed Implementation

[0050] like Figure 1 and Figure 3As shown, the present invention includes a moving mechanism connected to one end of a robotic arm body 63 for reciprocating movement of the robotic arm body 63 along its length. A rotary lifting device is provided on the moving mechanism. A three-dimensional force sensor 7 is provided at one end of the robotic arm body 63. A polyurethane frame 71 is provided at the input end of the three-dimensional force sensor 7. The polyurethane frame 71 includes an upper frame block 711 and a lower frame block 712 respectively connected to a fixed base. Each of the two frame blocks is provided with at least one storage frame 713. The two storage frames 713 at corresponding positions on the two frame blocks enclose a placement frame. A polyurethane column 714 is provided in each placement frame. A first process through hole 715 and a second process through hole 716 are provided on each polyurethane column 714. The axes of the two process through holes are perpendicular to each other in the projection direction of the horizontal plane.

[0051] A grinding motor 72 is provided at one end of the polyurethane frame 71. A grinding wheel 721 is provided at the output end of the grinding motor 72. An electric bar 74 and a first displacement sensor 75 are arranged side by side on the fixed base. A laser receiver 76 is provided at the upper end of the electric bar 74. The three-dimensional force sensor 7, the grinding motor 72 and the first displacement sensor 75 are all connected to the PLC controller.

[0052] like Figure 3 , Figures 9 to 12 As shown, the moving mechanism includes a moving unit connected to a mounting base, disposed between the bottom of the mounting base and the robotic arm body 63, and a guide unit disposed between the two sides of the mounting base and the robotic arm body 63; the mounting base includes a chassis 61 and support plates 62 disposed on both sides of the chassis 61 along the width direction of the robotic arm body 63; the chassis 61 is provided with a mounting groove 60 that penetrates the chassis 61 in a vertical direction.

[0053] The moving unit includes a drive gear 612 that is horizontally and rotatably disposed in the mounting groove 60, the length direction of the drive gear 612 being perpendicular to the length direction of the robotic arm body 63; the moving unit also includes a toothed groove 630 distributed along the length direction of the robotic arm body 63 at the bottom of the robotic arm body 63 and a power motor 611 axially connected to the drive gear 612.

[0054] The guiding unit includes fixing blocks 620 respectively disposed on opposite sides of the two support plates 62, and a sliding groove 621 provided on the fixing blocks 620; the guiding unit also includes guide protrusions 631 respectively disposed on the transverse side walls of the robotic arm body 63 along the length direction of the robotic arm body 63, the guide protrusions 631 extending into the sliding grooves 621 to slide in cooperation with the sliding grooves 621; a first stop block 632 is provided on the robotic arm body 63 at a position corresponding to one side of the guide protrusions 631, and another stop block 632 is provided on the other side of the guide protrusions 631. A second stop 633 is provided on one side. The first stop 632 includes two horizontal sections and a vertical section 6321 between the two horizontal sections. The second stop 633 includes a base block and an extension section 6331 that is provided on the base block and extends horizontally. A first sensor 641 is provided on the support plate 62 at the position corresponding to the vertical section 6321, and a second sensor 642 is provided at the position corresponding to the extension section 6331. Both the first sensor 641 and the second sensor 642 are connected to a PLC controller (not shown).

[0055] The robotic arm body 63 has a cavity structure, in which at least one partition 635 is uniformly provided. Positioning holes 634 for welding and fixing are provided on the robotic arm body 63 at positions corresponding to the partition 635.

[0056] Depend on Figures 3 to 8 As shown, the present invention also includes a rotary lifting device for raising, lowering, and rotating the robotic arm body 63. The rotary lifting device includes a mounting base 11 on the walking device of the ground grinding robot, a box 2 that can move vertically on the mounting base 11, a vertical drive mechanism on the mounting base 11 for driving the box 2 to move vertically, a rotating tooth 31 on the upper part of the box, a transmission tooth 32 that meshes with the rotating tooth 31, and a second motor 33 for driving the transmission tooth 32 to rotate. The mounting base is fixedly connected to the upper end of the rotating tooth 31 so that it can rotate with the rotating tooth 31.

[0057] Specifically, the housing 2 includes a base 21 and an upper cavity 22 disposed on the base 21. The base 21 has a central hole 211 extending vertically and a plurality of guide holes 212 arranged around the central hole 211. Each guide hole 212 extends vertically through the base 21. A guide rod 23 is disposed in each guide hole 212. The lower end of the guide rod 23 is fixed to the mounting base 11, and a stop block 45 is screwed to the upper end of the guide rod 23. The bottom of the base 21... An elongated channel 213 is provided that runs through the base 21 in the horizontal or vertical direction; the vertical drive mechanism includes a lead screw 41 passing through the central hole 211, a lead screw nut 42 screwed onto the lead screw 41 and fixedly connected to the bottom of the base 21, an upper mounting part provided in the upper cavity 22 for rotatably mounting the upper end of the lead screw 41 thereon, a lower mounting part provided in the elongated channel 213 for rotatably mounting the lower end of the lead screw 41 thereon, and a first motor 40 for driving the lead screw 41 to rotate.

[0058] The lower mounting portion includes a first portal-shaped mounting bracket 441 fixed in the elongated channel 213. The top of the first portal-shaped mounting bracket 441 has a first through hole 442. A first ball bearing 443 is disposed in the first through hole 442. The lower end of the lead screw 41 passes through the first ball bearing 443 and protrudes from the lower end of the first ball bearing 443 to be exposed in the first portal-shaped mounting bracket 441. A first gear 461 is disposed on the outer periphery of the section of the lead screw 41 exposed in the portal-shaped bracket 441. A second gear 462 is rotatably disposed on the mounting base 11 at a position outside the elongated channel 213. A toothed belt 463 is wound around the first gear 461 and the second gear 462. The first motor 40 is axially connected to the second gear 462 to drive its rotation.

[0059] The upper mounting part includes a second portal-shaped mounting bracket 431 disposed on the housing 2. The second portal-shaped mounting bracket 431 is perpendicular to the elongated channel 213 on the horizontal projection plane. Two opposite outer walls of the base 21 are recessed with concave guide grooves 214 in opposite directions. The depth of the concave guide grooves 214 is adapted to the thickness of the vertical support 4311 of the second portal-shaped mounting bracket 431. The horizontal top support 4312 of the second portal-shaped mounting bracket 431 is horizontally located in the upper cavity 22 and close to the top cavity wall of the upper cavity 22. The horizontal top support 4312 is provided with a second through hole 432 aligned with the first through hole 442. A second ball bearing 433 is disposed in the second through hole 432. The upper end of the lead screw 41 is rotatably disposed in the second ball bearing 433.

[0060] Both the first through hole 442 and the second through hole 432 are stepped holes. The first ball bearing 443 and the second ball bearing 433 are respectively disposed in the two stepped holes. The upper and lower ends of the lead screw 41 are respectively provided with a stepped section. The large diameter ends of the two stepped sections are respectively sleeved with the bearings in the corresponding stepped holes.

[0061] A second displacement sensor 5 connected to a PLC controller is provided on the mounting base 11. A sensing block 24 is provided on the housing 2 at the position corresponding to the second displacement sensor 5. The PLC controller is also connected to the first motor 40 and the second motor 33.

[0062] A chassis 61 is connected to the rotating gear 31. A robotic arm body 63 is mounted on the chassis 61. Two support plates 62 are symmetrically arranged on the chassis 61. A fixing block 620 is provided on each support plate 62. A sliding groove 621 is provided on the fixing block 620. A protrusion 631 is provided on the robotic arm body 63 at the position corresponding to the sliding groove 621. The protrusion 631 extends into the sliding groove 621 and slides.

[0063] A first stop 632 is provided on one side of the protrusion 631 on the robotic arm body 63, and a second stop 633 is provided on the other side of the protrusion 631. The first stop 632 includes two horizontal sections and a vertical section 6321 between the two horizontal sections. The second stop 633 includes a base block and an extension section 6331 that is provided on the base block and extends horizontally. A first sensor 641 is provided on the support plate 62 at the position corresponding to the vertical section 6321, and a second sensor 642 is provided at the position corresponding to the extension section 6331. Both the first sensor 641 and the second sensor 642 are connected to the PLC controller.

[0064] A power motor 611 connected to a PLC controller is provided on the chassis 61. The output end of the power motor 611 is provided with a drive gear 612. A tooth groove 630 is provided on the robotic arm body 63 at the position corresponding to the drive gear 612. The drive gear 612 is meshed with the tooth groove 630.

[0065] The robotic arm body 63 has a cavity structure, in which at least one partition 635 is uniformly provided. Positioning holes 634 for welding and fixing are provided on the robotic arm body 63 at positions corresponding to the partition 635.

[0066] like Figure 1 and Figure 3As shown, a grinding head device is provided at one end of the robotic arm body 63. The grinding head device includes a three-dimensional force sensor 7, a polyurethane frame 71, a grinding motor 72, and a grinding wheel 721 arranged sequentially from top to bottom. The polyurethane frame 71 includes an upper frame block 711 and a lower frame block 712 connected to a fixed base respectively. Each of the two frames is provided with at least one storage frame 713. The two storage frames 713 at corresponding positions on the two frames together form a hollow placement frame. Each placement frame contains a polyurethane column 714. Each polyurethane column 714 is provided with a first process through hole 715 and a second process through hole 716. The axes of the two process through holes are perpendicular to each other in the projection direction of the horizontal plane.

[0067] An electric cylinder 74 and a first displacement sensor 75 are arranged side by side on the mounting base 73. A connecting plate 751 is sleeved between the electric cylinder 74 and the first displacement sensor 75. A connecting block 741 is provided at the output end of the electric cylinder 74. A gimbal motor 742 is fixed at one end of the connecting block 741, and the other end is connected to the detection head of the first displacement sensor 75. A laser receiver 76 is provided at the output end of the gimbal motor 742.

[0068] The three-dimensional force sensor 7, the grinding motor 72, the gimbal motor 742, and the first displacement sensor 75 are all connected to the PLC controller.

[0069] The traveling mechanism uses tracked wheels (not marked) arranged symmetrically on the left and right.

[0070] like Figure 15 As shown, the specific operation steps of the present invention are as follows:

[0071] S101. Place the horizontal laser emitter in the construction area and adjust the light source to a suitable height;

[0072] S102. Move the floor grinding robot to the construction location;

[0073] S103. Make the laser receiver 76 search for the horizontal laser source and receive the horizontal laser in real time to determine the initial position;

[0074] S104. The robotic arm body 63 can synchronously drive the three-dimensional force sensor 7 to move downward under the drive of a rotary lifting device. When the grinding wheel 721 touches the ground and the three-dimensional force sensor 7 has a value in the z direction displayed on the PLC controller, the rotary lifting device stops moving and reads the corresponding value on the first displacement sensor 75 on the PLC controller.

[0075] S105. Start the grinding motor 72. According to the preset grinding depth, the grinding wheel 721 is controlled by the rotary lifting device to move down synchronously for grinding.

[0076] S106. After the deep grinding is completed, the rotating lifting device synchronously drives the robotic arm body 63 and the grinding wheel 721 to rotate synchronously in the horizontal direction to grind the corresponding ground position.

[0077] S107. After the corresponding ground area is polished, the rotating lifting device will synchronously move the robotic arm body 63 and the polishing wheel 721 to the initial position.

[0078] S108. Control the grinding wheel 721 to move forward and grind the next un-grinded area.

[0079] Specifically, such as Figure 3 , Figure 4 and Figure 5 As shown, during use, the rotating gear 31 is connected to the chassis 61. The second motor 33 drives the transmission gear 32 to rotate, and the transmission gear 32 meshes with the rotating gear 31 to rotate synchronously, so as to control the horizontal steering adjustment of the robotic arm body 63 on the chassis 61.

[0080] At the same time, such as Figures 6 to 8 As shown, when the working height of the robotic arm needs to be adjusted, the first motor 40 is started, and the second gear 462 drives the toothed belt 463 to rotate the first gear 461. Simultaneously, the lead screw 41 connected to the first gear 461 rotates, and the lead screw nut 42 screwed to the lead screw 41 moves upward along the direction of the thread rotation. Since the lead screw nut 42 is fixedly connected to the base 21, it simultaneously drives the base 21 and the housing 2 to rise together. The rising housing 2 drives the robotic arm to rise. Similarly, when the first motor 40 is started to rotate in the opposite direction, the lead screw nut 42 moves downward on the lead screw 41, and the base 21 and the housing 2 move downward synchronously, realizing the downward movement of the robotic arm.

[0081] During the lifting and lowering process of the housing 2, the base 21 moves with the guide rod 23 to ensure the verticality of the movement of the housing 2. The vertical support 4311 adapted in the concave guide groove 214 ensures that the housing 2 does not rotate with the rotation of the lead screw 41, thus avoiding rotational interference.

[0082] During the above-mentioned use, a second displacement sensor 5 is also provided. After the displacement spacing is set on the second displacement sensor 5, when the sensing block 24 moves to the displacement limit position adjacent to the second displacement sensor 5, the second displacement sensor 5 will send a signal to the PLC controller, and the PLC controller will send an instruction to the first motor 40 to open and close the first motor 40 in time to control the lifting state of the housing 2. In order to prevent the stop block 45 from failing to limit the movement distance, the stop block 45 is screwed on the guide rod 23 to limit the upward movement distance of the base 21, so as to prevent the housing 2 from falling off.

[0083] The bearings fitted at the upper and lower ends of the lead screw 41 are to ensure the smooth rotation of the lead screw 41, so as to achieve quick adjustment and accurate positioning.

[0084] Next, as Figure 1 , Figure 2 , Figure 3 as well as Figure 14 As shown, during the grinding process, a horizontal laser emitter is first placed around the perimeter of the work area. Figure 14 (As shown by the dotted line on the left), the light source is adjusted to a suitable height, and then the laser receiver 76 receives the signal. The laser receiver moves with the lifting and lowering of the robotic arm body 63 to find the horizontal laser source and ensure that the laser receiver 76 receives the horizontal laser in real time. Then, the lifting device moves the robotic arm body 63 down, and simultaneously moves the grinding wheel 721 down. When the lower end of the grinding wheel is in complete contact with the ground, it will adaptively tilt according to the flatness of the ground, that is, it will drive the grinding motor 72 to tilt as a whole. Since the polyurethane frame 71 includes components that are respectively connected to the fixed base... The upper shelf block 711 and the lower shelf block 712 each have at least one storage frame 713. Two storage frames 713 at corresponding positions on the two shelves form a placement frame. Each placement frame contains a polyurethane column 714. When the lower shelf block 712 shifts, it causes the lower end of the polyurethane column 714 to shift synchronously, resulting in an adaptive deformation of the polyurethane column 714. To make the deformation of the polyurethane column 714 more sensitive, a first process through hole 715 and a second process through hole 716 (e.g., ...) are provided on the polyurethane column 714. Figure 2 As shown in the figure, the resistance to deformation is reduced, and the resulting deformation is transmitted to the three-dimensional force sensor 7 to form the initial value.

[0085] like Figures 1 to 12 As shown, according to the construction requirements, the grinding depth is set, the grinding motor 72 is turned on, and the ground is ground. When the grinding reaches the depth, the PLC controller starts the second motor 33, which drives the robotic arm body 63 and the grinding wheel 721 to rotate synchronously in the horizontal direction and continue grinding the corresponding position of the ground in the circumferential direction. After grinding one revolution, the first motor 40 is started, and the vertical drive mechanism drives the robotic arm body 63 and the grinding wheel 721 to rise synchronously. In this process, the PLC controller controls the start and stop of the power motor 611 so that the position of the drive gear 612 meshes with the transmission gear groove 630 and moves, that is, drives the robotic arm body 63 to move. The robotic arm body 63 is movably connected to the support plate 62, thus achieving the purpose of the robotic arm body 63 moving on the support plate 62.

[0086] like Figure 15 As shown, step S108 includes the following sub-steps:

[0087] S1081. Determine whether the robotic arm body 63 has moved forward to the forward limit position;

[0088] S1082. If the robotic arm body 63 moves forward to the limit position, control the ground grinding robot to move forward a first distance so that the grinding wheel moves to the next ungrinded area, and proceed to step S1084.

[0089] S1083. If the robotic arm body 63 has not moved to the forward limit position, the control mechanism drives the robotic arm body 63 to extend forward a second distance so that the grinding wheel moves to the next un-grinded area, and proceeds to step S1084.

[0090] S1084. Repeat steps S105 to S107 to sand the currently unsanded area of ​​the ground.

[0091] Specifically, from Figure 9 and Figure 11 As shown, the robotic arm body 63 moves horizontally, extending from the support plate 62 along the slide groove 621, thereby extending the operating distance of the robotic arm body 63 in the horizontal direction and increasing its range of use. Combined with the settings of the PLC controller, the start and stop cycles of the power motor 611 can be preset according to the speed of the power motor 611 and the length of extension or retraction, so as to achieve the purpose of automatic extension and movement, thereby improving the stability and safety of operation.

[0092] At the same time, such as Figure 9 and Figure 10 As shown, a first sensor 641 and a second sensor 642 are also provided on the support plate 62. The specific operating principle is as follows: when the robotic arm body 63 extends outward, the vertical section 6321 on the first stop 632 moves to the position of the first sensor 641. The first sensor 641 senses that the vertical section 6321 has moved into place and sends a signal to the PLC controller. The PLC controller then sends a shutdown command to the power motor 611, causing the robotic arm body 63 to stop moving. Similarly, when the robotic arm body 63 moves back, the extension section 6331 on the second stop 633 moves to the position of the second sensor 642. The second sensor 642 senses that the extension section 6331 has moved into place and sends a signal to the PLC controller. The PLC controller then sends a shutdown command to the power motor 611, causing the robotic arm body 63 to stop moving.

[0093] When the sensor fails, the first stop 632 can abut against the corresponding end of the fixed block 620 in the extension direction and the second stop 633 can abut against the corresponding end in the retraction direction, so that the robotic arm body 63 will not slip off the support plate 62.

[0094] It should be noted that each time the grinding reaches the desired depth, the PLC controller activates the second motor 33, which drives the robotic arm body 63 and the grinding wheel 721 to rotate synchronously in the horizontal direction, continuing to grind the corresponding position of the ground in the circumferential direction. After grinding one revolution, the first motor 40 is activated, and the vertical drive mechanism drives the robotic arm body 63 and the grinding wheel 721 to rise synchronously. Then, the power motor 611 is activated, and the moving unit drives the robotic arm body 63 to extend a certain distance, which is the same as the diameter of the grinding wheel 721. Based on the initial value, the grinding wheel 721 grinds directly to the depth value position, and then moves horizontally and rotates to grind one revolution. This operation is repeated. When the moving unit drives the robotic arm body 63 to move forward to the limit position, the grinding wheel 72 is raised, and the robotic arm body 63 is moved back. The PLC controller issues a command to activate the track wheels to drive the mounting base 11 to move. The moving distance is the same as the limit length of the horizontal movement of the robotic arm body 63. After moving to the position, the aforementioned actions are repeated to continue grinding the ground until the grinding work is completed.

[0095] During this process, when the ground grinding robot moves as a whole, the laser receiver 76 will deviate from its initial position relative to the laser emitter. At this time, the first displacement sensor 75 sends the offset value back to the PLC controller, and the PLC controller sends a start command to the first motor 40, which drives the robotic arm body 63 to rise or fall accordingly to return to the initial position. In order to avoid interference with the grinding wheel 721 during the movement and affect the return to the position, the grinding motor 72 is kept on throughout the entire process.

[0096] In addition, such as Figure 12 As shown, in order to reduce its own weight, the robotic arm body 63 adopts a cavity structure. However, in order to ensure the load-bearing strength required for use, multiple partitions 635 are set in the cavity structure. In order to facilitate the fixing and processing, positioning holes 634 are provided on the robotic arm body 63 at the positions corresponding to the partitions 635 for welding processing. In this way, the fixed partitions 635 act as reinforcing ribs in the cavity structure, ensuring the strength of the robotic arm body 63.

[0097] Meanwhile, since the fixed base is connected to the polyurethane frame 71, and the polyurethane frame 71 moves up and down synchronously with the robotic arm body 63, when the robotic arm body 63 drives the grinding wheel 721 to move down for grinding, the polyurethane frame 71, along with the mounting base 73, the electric cylinder 74, and the first displacement sensor 75, moves down synchronously with the grinding wheel 721. In order to ensure the initial position of the laser horizontal signal, the PLC controller issues a command to control the output end of the electric cylinder 74 to extend adaptively, that is, to ensure that the height of the laser receiver 76 remains unchanged, so that the first displacement sensor 75 and the PLC controller can respond to each other, assist the output end of the electric cylinder 74 to return to the initial position, and ensure that the grinding wheel 721 returns to the starting position synchronously.

[0098] Furthermore, the speed during the grinding process is fed back to the PLC controller via the magnitude of the resultant force in the X and Y directions of the horizontal plane by the three-dimensional force sensor 7. The PLC controller then issues commands to the grinding motor 72 for control; that is, when the resistance is high, the grinding wheel 721 rotates slowly, and when the resistance is low, the grinding wheel 721 rotates quickly. For ease of use, the PLC controller is connected to the ground grinding robot (e.g., Figure 14 (As shown by the dotted line on the right), this avoids interference between the wiring between field devices.

Claims

1. A grinding head device for floor grinding, connected to the robotic arm body (63) of a floor grinding robot, characterized in that: The grinding head device includes a three-dimensional force sensor (7), a polyurethane frame (71), a grinding motor (72), and a grinding wheel (721) arranged sequentially from top to bottom. The polyurethane frame (71) includes an upper frame block (711) and a lower frame block (712) connected to a fixed base. Each frame block has at least one storage frame (713). The two storage frames (713) at corresponding positions on the two frames form a hollow placement frame. Each placement frame contains a polyurethane column (714). Each polyurethane column (714) has a first process through hole (715). The grinding head device also includes a second process through hole (716), the axes of the two process through holes are perpendicular to each other in the projection direction of the horizontal plane; the grinding head device also includes a mounting base (73) set on the polyurethane frame (71), an electric cylinder (74) and a first displacement sensor (75) are arranged side by side on the mounting base (73), a connecting block (741) is provided at the output end of the electric cylinder (74), a gimbal motor (742) is fixed at one end of the connecting block (741), and the other end is connected to the detection head of the first displacement sensor (75), and a laser receiver (76) is provided at the output end of the gimbal motor (742).

2. The grinding head device for floor grinding as described in claim 1, characterized in that: A connecting plate (751) is sleeved between the electric cylinder (74) and the first displacement sensor (75).

3. The grinding head device for floor grinding as described in claim 1, characterized in that: The three-dimensional force sensor (7), grinding motor (72), gimbal motor (742) and first displacement sensor (75) are all connected to the PLC controller.

4. The floor grinding method using the grinding head device for floor grinding as described in claim 1, characterized in that, Includes the following steps: S101. Place the horizontal laser emitter in the construction area and adjust the light source to a suitable height; S102. Move the floor grinding robot to the construction location; S103, Make the laser receiver (76) search for the horizontal laser source and receive the horizontal laser in real time to determine the initial position; S104. The robotic arm body (63) can synchronously drive the three-dimensional force sensor (7) to move down under the drive of a rotary lifting device. When the grinding wheel (721) touches the ground and the z-axis value of the three-dimensional force sensor (7) is displayed on the PLC controller, the rotary lifting device stops moving and reads the corresponding value on the first displacement sensor (75) on the PLC controller. S105. Start the grinding motor (72). According to the preset grinding depth, the grinding wheel (721) is controlled by the rotary lifting device to move down synchronously for grinding. S106. After the deep grinding is completed, the rotating lifting device synchronously drives the robotic arm body (63) and the grinding wheel (721) to rotate synchronously in the horizontal direction to grind the corresponding ground position. S107. After the corresponding ground area is polished, the rotating lifting device will synchronously drive the robotic arm body (63) and the polishing wheel (721) to move up to the initial position. S108. Control the grinding wheel (721) to move forward and grind the next un-grinded area.

5. The floor grinding method as described in claim 4, characterized in that, The robotic arm body (63) is capable of moving back and forth along its length direction under the drive of a moving mechanism. Step S108 includes the following sub-steps: S1081. Determine whether the robotic arm body (63) has moved forward to the forward limit position; S1082. If the robotic arm body (63) moves forward to the limit position, control the ground grinding robot to move forward a first distance so that the grinding wheel moves to the next ungrinded area, and proceed to step S1084. S1083. If the robotic arm body (63) does not move to the forward limit position, the control mechanism drives the robotic arm body (63) to extend forward a second distance so that the grinding wheel moves to the next un-grinded area, and proceeds to step S1084. S1084. Repeat steps S105 to S107 to sand the currently unsanded area of ​​the ground.

6. The method of using the grinding head device for floor grinding as described in claim 4, characterized in that: In step S104, when the lower frame block (712) is attached to the ground and shifts, it causes the lower end of the polyurethane column (714) to shift synchronously and causes the polyurethane frame (71) to undergo adaptive deformation. In order to make the deformation of the polyurethane column (714) more sensitive, a first process through hole (715) and a second process through hole (716) are provided on the polyurethane column (714) to reduce the resistance of deformation. The resulting deformation is transmitted to the three-dimensional force sensor (7) and the initial value is displayed on the PLC controller.

7. The method of using the grinding head device for floor grinding as described in claim 5, characterized in that: In step 1083), the second distance by which the moving mechanism drives the robotic arm body (63) to extend is equal to the diameter of the grinding wheel (721).

8. The method of using the grinding head device for floor grinding as described in claim 5, characterized in that: In step 1082), the first distance the ground grinding robot moves is equal to the total travel length of the moving mechanism.

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