Crystal face maintenance robot, control method and system thereof and computer readable medium

Abstract

The application provides a crystal surface maintenance robot and a control method, system and computer readable medium thereof. The crystal surface maintenance robot comprises a movable body and a brush disc assembly connected with the body. The brush disc assembly comprises a first motor for controlling rotation of the brush disc assembly and a second motor for controlling direct contact of the brush disc assembly with the crystal surface. The crystal surface maintenance robot can reach a designated crystal surface maintenance area through movement of the body. The crystal surface maintenance robot can perform fully automated crystal surface maintenance work, automatically adjust the pressure between the brush disc assembly and the crystal surface and the rotation speed of the brush disc assembly, and control the polishing temperature of the crystal surface within a reasonable range, thereby ensuring the polishing effect and polishing effect of the crystal surface, reducing the labor cost of crystal surface maintenance, and improving the efficiency of crystal surface maintenance.

Description

TECHNICAL FIELD

[0001] The present application mainly relates to the technical field of robots, in particular to a crystal face maintenance robot and a control method, system and computer readable medium thereof. BACKGROUND

[0002] Common stone materials include marble and ceramic tiles, etc., and the stone materials need to be maintained to protect the stone materials and avoid color spots and pathological changes. Crystal face maintenance includes cleaning and crystallization coating treatment on the surface of the stone material. The basic principle of crystallization coating is to spray a special maintenance agent on the crystal face of the stone material, rub the crystal face with a brush disc, and generate a crystallization reaction between the agent and the crystal face through the heat generated during rubbing, thereby generating a new dense crystalline layer on the crystal face of the stone material.

[0003] The crystal face maintenance work in the past needs to be completed by manual work. In the process of crystal face maintenance, the maintenance personnel manually operate a single-wiping machine or a semi-automatic device such as a high-speed polishing machine, manually adjusts the rotation speed of the brush disc, the polishing and grinding pressure value of the brush disc, the temperature value of the ground crystal face, and timely sprays the maintenance agent according to the maintenance experience for different types of crystal faces. Due to the difference in manual maintenance experience, the steel wool components on the brush disc may be greatly worn, the amount of maintenance agent is not easy to control, and the crystal face polishing and grinding effect is not ideal, etc. This crystal face maintenance method completely relying on manual work has the problem of low crystal face maintenance efficiency. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a crystal face maintenance robot and a control method, system and computer readable medium thereof, which can improve the efficiency of crystal face maintenance.

[0005] The technical solution adopted by the present application to solve the above technical problem is a crystal face maintenance robot, comprising: a movable body and a brush disc assembly, the brush disc assembly is connected with the body, the brush disc assembly comprises a first motor and a second motor, the first motor is used for controlling the rotation of the brush disc assembly, and the second motor is used for controlling the direct contact of the brush disc assembly with the crystal face.

[0006] In an embodiment of the present application, the first motor comprises a first movement shaft, the brush disc assembly further comprises a crystal face maintenance part and a brush disc connecting piece, the connecting end of the first movement shaft is fastened with the brush disc connecting piece, the brush disc connecting piece is connected with the crystal face maintenance part, and when the first motor controls the rotation of the first movement shaft, the crystal face maintenance part rotates in the same direction as the first movement shaft.

[0007] In an embodiment of the present application, the brush disc assembly further comprises a support frame and a brush disc shell, the support frame is used for supporting the first motor and the second motor, the brush disc shell is connected with the support frame, and the brush disc shell is used for protecting the brush disc assembly.

[0008] In an embodiment of the present application, the second motor comprises a second moving shaft fixedly connected with the support frame, the second moving shaft can be extended out of or retracted into the second motor, when the second moving shaft is extended out of the second motor, the second moving shaft drives the brush disc assembly to be close to the crystal surface; when the second moving shaft is retracted into the second motor, the second moving shaft drives the brush disc assembly to be away from the crystal surface.

[0009] In an embodiment of the present application, the crystal surface maintenance robot further comprises a lifting adjusting assembly, the brush disc assembly is connected with the body through the lifting adjusting assembly, the lifting adjusting assembly is used for controlling the brush disc assembly to directly contact with the crystal surface, the lifting adjusting assembly comprises a fixed frame, the brush disc assembly further comprises a first moving bearing, a first guide rod and an adapter frame, the first moving bearing is sleeved on the first guide rod, the first moving bearing can slide along the first guide rod, the first moving bearing is fixedly connected with the adapter frame, and the adapter frame is fixedly connected with the fixed frame.

[0010] In an embodiment of the present application, a plurality of first moving bearings and a plurality of first guide rods are arranged on the brush disc assembly, the first moving bearings correspond to the first guide rods one by one, and the plurality of first moving bearings and the plurality of first guide rods are symmetrically arranged around the first motor.

[0011] In an embodiment of the present application, the lifting adjusting assembly further comprises a rotating part, a lead screw, a nut and a lifting part, the rotating part is connected with the lead screw, the rotating part is used for controlling the lead screw to rotate, the surface of the lead screw comprises external threads, the inside of the nut comprises internal threads, the nut is sleeved on the lead screw, the nut is fixedly connected with the lifting part, and the lifting part is fixedly connected with the fixed frame.

[0012] In an embodiment of the present application, the lifting adjusting assembly further comprises a second moving bearing, a second guide rod and a fixing piece, the second moving bearing is sleeved on the second guide rod, the second moving bearing can slide along the second guide rod, the second moving bearing is fixedly connected with the lifting part, and the second guide rod is fixedly connected with the fixing piece, and the fixing piece is connected with the body.

[0013] In an embodiment of the present application, the crystal surface maintenance robot further comprises a medicament device, the medicament device is connected with the brush disc assembly, the medicament device comprises a medicament outlet, and the medicament device sprays the maintenance medicament to the crystal surface through the medicament outlet.

[0014] In an embodiment of the present application, a bumping part is arranged on the body and / or the brush disc assembly, the bumping part comprises one or any combination of a collision sensor, a distance sensor and a buffer pad.

[0015] In an embodiment of the present application, one or any combination of a temperature sensor, a gloss sensor and a pressure sensor is arranged on the body and / or the brush disc assembly, the temperature sensor is used to detect a temperature parameter of the brush disc assembly, the gloss sensor is used to detect a gloss degree parameter of the crystal surface, and the pressure sensor is used to detect a pressure parameter between the brush disc assembly and the crystal surface.

[0016] In an embodiment of the present application, a handrail is arranged on the body, and the handrail is used for a user to hold to control the body to walk and turn.

[0017] To solve the above technical problems, the present application further provides a control method of the crystal surface maintenance robot, using the crystal surface maintenance robot as above, comprising: step S1, controlling the brush disc assembly to directly contact the crystal surface; step S2, controlling the agent device to spray the maintenance agent to the crystal surface; step S3, controlling the brush disc assembly to rotate, controlling the pressing degree between the brush disc assembly and the crystal surface according to the pressure parameter between the brush disc assembly and the crystal surface, and controlling the rotating speed of the brush disc assembly according to the temperature parameter of the brush disc assembly; and step S4, judging whether the gloss degree parameter of the crystal surface is greater than or equal to a preset threshold value, if not, repeating steps S2-S4, and if yes, ending the crystal surface maintenance task.

[0018] To solve the above technical problems, the present application further provides a control system of the crystal surface maintenance robot, comprising: a memory for storing instructions executable by a processor; and the processor for executing the instructions to implement the control method as above.

[0019] To solve the above technical problems, the present application further provides a computer readable medium storing computer program codes, which, when executed by a processor, implement the control method as above.

[0020] The technical solution of the present application can perform full-automatic crystal surface maintenance work through the crystal surface maintenance robot. The crystal surface maintenance robot of the present application comprises a movable body and a brush disc assembly, the brush disc assembly is connected with the body, and the brush disc assembly can reach a specified crystal surface maintenance area through the movement of the body; the brush disc assembly comprises a first motor and a second motor, the brush disc assembly is controlled to rotate through the first motor, and the brush disc assembly is controlled to directly contact the crystal surface through the second motor. The crystal surface maintenance robot of the present application can automatically adjust the pressure value between the brush disc assembly and the crystal surface and the rotating speed of the brush disc assembly according to different crystal surface maintenance tasks, can control the temperature of the polished crystal surface within a reasonable range, and ensures the polishing effect and polishing effect of the crystal surface, reduces the labor cost of the crystal surface maintenance, and improves the efficiency of the crystal surface maintenance. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to make the above purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the drawings, in which:

[0022] Figure 1 is a schematic diagram of the overall structure of a crystal face maintenance robot according to an embodiment of the present application;

[0023] Figure 2 is a front view of a crystal face maintenance robot according to an embodiment of the present application;

[0024] Figure 3 is a top view of a crystal face maintenance robot according to an embodiment of the present application;

[0025] Figure 4 is a bottom view of a crystal face maintenance robot according to an embodiment of the present application;

[0026] Figure 5 is a schematic diagram of the structure of a brush disc assembly of a crystal face maintenance robot according to an embodiment of the present application when the brush disc assembly is raised;

[0027] Figure 6 is a schematic diagram of the structure of a brush disc assembly of a crystal face maintenance robot according to an embodiment of the present application when the brush disc assembly is lowered;

[0028] Figure 7 is a schematic diagram of the overall structure of a brush disc assembly according to an embodiment of the present application;

[0029] Figure 8 is a schematic diagram of the cross-sectional structure along the line AA' shown in Figure 7 ;

[0030] Figure 9 is a front view of a brush disc assembly according to an embodiment of the present application;

[0031] Figure 10 is a top view of a brush disc assembly according to an embodiment of the present application;

[0032] Figure 11 is a schematic diagram of the overall structure of a lifting adjustment assembly according to an embodiment of the present application;

[0033] Figure 12 is another schematic diagram of the overall structure of a lifting adjustment assembly according to an embodiment of the present application;

[0034] Figure 13 is an exemplary flowchart of a control method for a crystal face maintenance robot according to an embodiment of the present application;

[0035] Figure 14 is a system block diagram of a control system for a crystal face maintenance robot according to an embodiment of the present application.

[0036] Explanation of reference numerals in the detailed description:

[0037] 100. A crystal face maintenance robot; 1001. A body; 10011. A robot base; 1002. A crystal face; 101. A brush disc assembly; 1011. A first motor; 10111. A first movement shaft; 10112. A connecting end; 1012. A second motor; 10121. A second movement shaft; 1013. A support frame; 10131. A brush disc housing; 1014. A brush disc connecting piece; 1015. An adapter frame; 1016. A first movement bearing; 1017. A first guide rod; 1018. A crystal face maintenance part; 102. A lifting adjustment assembly; 1021. A rotating part; 10211. A rotating protruding part; 1022. A fixing frame; 1023. A second movement bearing; 1024. A second guide rod; 1025. A lead screw; 1026. A lifting part; 1027. A fixing piece; 103. A medicament device; 1031. A medicament outlet; 104. A moving wheel; 105. A first anti-collision part; 106. A second anti-collision part; 107. A power supply device; 108. A handrail part; 1091. A temperature sensor; 1092. A gloss sensor. DETAILED DESCRIPTION

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those skilled in the art, the present application can also be applied to other similar scenarios without creative labor on the basis of these drawings. Unless the context clearly indicates otherwise or otherwise stated, the same reference numbers in the drawings represent the same structures or operations.

[0039] As shown in the present application and claims, unless the context clearly indicates otherwise or otherwise stated, the words "one", "a", "an", and / or "the" do not specifically refer to the singular, but also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements.

[0040] Unless otherwise specifically stated, the relative arrangement of the components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship. The technology, methods and devices known to those skilled in the relevant art can not be discussed in detail, but under appropriate circumstances, the said technology, methods and devices should be regarded as part of the authorized description.

[0041] In the description of the application, it should be understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship are generally based on the orientation or position relationship shown in the drawings, and only for the convenience of describing the application and simplifying the description, without the opposite indication, these orientation words do not indicate and imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the scope of protection of the application; the orientation words "inner, outer" refer to the inner and outer of the contour of each component itself.

[0042] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial position relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0043] In addition, it should be noted that the use of the words "first", "second" and the like to qualify elements is merely for the convenience of distinguishing the corresponding elements, and the above words have no special meaning unless otherwise stated, therefore it cannot be understood as a limitation on the scope of protection of the application. In addition, although the terms used in the present application are selected from the commonly known and used terms, some terms mentioned in the specification of the present application may be selected by the applicant according to his or her judgment, and the detailed meaning of each term is described in the relevant part of the description. In addition, the present application is required to be understood not only by the actual terms used, but also by the meaning implied by each term.

[0044] Flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in sequence. On the contrary, various steps can be processed in reverse order or simultaneously. Meanwhile, or other operations are added to these processes, or one or more steps of operation are removed from these processes.

[0045] This application proposes a crystal surface maintenance robot that can be applied to places such as office buildings, hotels and shopping malls. The crystal surface maintenance robot can perform fully automated crystal surface maintenance on hard crystal surfaces such as marble, granite and artificial stone.

[0046] Figure 1 This is a schematic diagram of the overall structure of a crystal surface maintenance robot according to an embodiment of this application. Figure 2 This is a front view of a crystal surface maintenance robot according to an embodiment of this application. Figure 3 This is a top view of a crystal surface maintenance robot according to an embodiment of this application. Figure 5 This is a schematic diagram of the brush assembly of a crystal surface maintenance robot according to an embodiment of this application when it is raised. Figure 6 This is a schematic diagram of the brush assembly of a crystal surface curing robot according to an embodiment of this application when it falls. (Reference) Figures 1 to 3 as well as Figure 5 and Figure 6 As shown, the crystal surface maintenance robot 100 of this embodiment includes: a movable body 1001 and a brush assembly 101. The brush assembly 101 is connected to the body 1001. The brush assembly 101 includes a first motor 1011 and a second motor 1012. The first motor 1011 is used to control the rotation of the brush assembly 101, and the second motor 1012 is used to control the brush assembly 101 to directly contact the crystal surface 1002.

[0047] refer to Figure 1 As shown, exemplarily, the main body 1001 of the crystal surface maintenance robot 100 is also equipped with a control box (not shown) and a moving wheel 104. The control box is electrically connected to the moving wheel 104, the first motor 1011, and the second motor 1012. The control box includes multiple control circuit boards. By controlling the moving wheel 104 to walk and turn, the control box can control the crystal surface maintenance robot 100 to reach the designated crystal surface maintenance area according to a preset navigation route. The main body 1001 may also be equipped with a suspension device (not shown) that cooperates with the moving wheel 104. The suspension device is used to buffer the vibration generated by the crystal surface maintenance robot 100 during movement. For example, the suspension device can transmit the force and torque acting between the moving wheel 104 and the robot base 10011, which can buffer and attenuate the impact and vibration of the uneven road surface to the robot base 10011 during the movement of the crystal surface maintenance robot 100, thereby ensuring that the crystal surface maintenance robot 100 can move more smoothly when crossing ditches or bumps.

[0048] Continue to refer to Figure 1 As shown, exemplarily, the main body 1001 of the crystal surface maintenance robot 100 is also equipped with a power supply device 107. By providing an independent power supply device 107, the maintenance area of ​​the crystal surface maintenance robot 100 can be expanded, and the main body 1001 can move a greater distance when the power is sufficient. (Reference) Figure 3 As shown, when the first motor 1011 controls the brush disc assembly 101 to rotate, the brush disc assembly 101 can rotate circumferentially, for example, the brush disc assembly 101 rotates along the X direction as shown in the middle or rotates along the Y direction. In actual applications, the first motor 1011 can have the characteristics of maximum power mass ratio, maximum torque inertia ratio, high starting torque, low inertia, adjustable speed, higher reliability, and stronger short-time overload capacity. Figure 3

[0049] The technical solution of the present application can perform full-automatic crystal surface maintenance work through the crystal surface maintenance robot 100. The crystal surface maintenance robot 100 of the present application includes a movable body 1001 and a brush disc assembly 101, the brush disc assembly 101 is connected with the body 1001, and the brush disc assembly 101 can be controlled to reach the designated crystal surface maintenance area through the movement of the body 1001; the brush disc assembly 101 includes a first motor 1011 and a second motor 1012, the brush disc assembly 101 is controlled to rotate through the first motor 1011, and the brush disc assembly 101 is controlled to directly contact with the crystal surface 1002 through the second motor 1012. The crystal surface maintenance robot 100 of the present application can automatically adjust the pressure value between the brush disc assembly 101 and the crystal surface 1002 and the rotating speed of the brush disc assembly 101 according to different crystal surface maintenance tasks, can control the polishing temperature of the crystal surface 1002 within a reasonable range, and ensures the polishing effect and polishing effect of the crystal surface 1002, reduces the labor cost of crystal surface maintenance, and improves the efficiency of crystal surface maintenance.

[0050] Figure 7 is a schematic view of the overall structure of the brush disc assembly in an embodiment of the present application, Figure 8 is a schematic view of the cross-sectional structure along the AA' line shown in the middle, Figure 7 Figure 7 and Figure 8 As shown in some embodiments, the first motor 1011 includes a first motion shaft 10111, the brush disc assembly 101 further includes a crystal surface maintenance part 1018 and a brush disc connecting piece 1014, the connecting end 10112 of the first motion shaft 10111 is fastened to the brush disc connecting piece 1014, the brush disc connecting piece 1014 is connected with the crystal surface maintenance part 1018, and when the first motor 1011 controls the first motion shaft 10111 to rotate, the crystal surface maintenance part 1018 rotates in the same direction with the first motion shaft 10111.

[0051] ​​Exemplarily, the first movement shaft 10111 of the present application comprises a rotatable rotating shaft, the brush disc connecting piece 1014 comprises a rotating flange, the crystal face maintenance part 1018 comprises a hundred-grit pad and steel wool and the like which can be used to polish the crystal face 1002, and the crystal face maintenance part 1018 is detachably connected with the brush disc connecting piece 1014, so as to facilitate replacement of different polishing consumables. The present application fastens the connecting end 10112 of the first movement shaft 10111 with the brush disc connecting piece 1014, and connects the brush disc connecting piece 1014 with the crystal face maintenance part 1018, so that the stability of the rotation of the crystal face maintenance part 1018 can be ensured in the process of the rotation of the first movement shaft 10111, and the crystal face maintenance part 1018 can be prevented from being detached from the brush disc assembly 101.

[0052] Referring to Figure 1 and Figure 7 Exemplarily, the first motor 1011 and the second motor 1012 are fixedly connected with the support frame 1013, and the brush disc shell 10131 is generally skirt-shaped and can cover the crystal face maintenance part 1018. The present application sets the support frame 1013, so that the first motor 1011, the second motor 1012 and the entire brush disc assembly 101 can be kept in a stable state in the case of high-speed rotation of the crystal face maintenance part 1018. The brush disc shell 10131 is set, so that water or maintenance agents on the crystal face 1002 can be prevented from splashing everywhere, and dust on the crystal face 1002 can be prevented from being raised, thereby improving the effect of crystal face maintenance.

[0053] Referring to Figure 5 and Figure 6 Exemplarily, the second motor 1012 comprises a second movement shaft 10121, the second movement shaft 10121 is fixedly connected with the support frame 1013, the second movement shaft 10121 can be extended out of or retracted into the second motor 1012, the second movement shaft 10121 drives the brush disc assembly 101 to approach the crystal face 1002 when the second movement shaft 10121 is extended out of the second motor 1012, and the second movement shaft 10121 drives the brush disc assembly 101 to move away from the crystal face 1002 when the second movement shaft 10121 is retracted into the second motor 1012. Exemplarily, in actual application, the second motor 1012 can comprise one or any combination of a piston, an electric push rod and a pneumatic cylinder, and the type and number of the second motor 1012 are not limited by the present application.

[0054] Figure 11 is a schematic diagram of the overall structure of the lifting adjusting assembly in an embodiment of the present application, Figure 12 is another schematic diagram of the overall structure of the lifting adjusting assembly in an embodiment of the present application, Figure 11 and Figure 12 The difference lies in the viewing angle of the lifting adjusting assembly 102. Referring to Figure 1 , Figure 7 , Figure 11 and Figure 12 , in some embodiments, the crystal face maintenance robot 100 further comprises a lifting adjusting assembly 102, the brush disc assembly 101 is connected with the body 1001 through the lifting adjusting assembly 102, the lifting adjusting assembly 102 is used to control the brush disc assembly 101 to directly contact with the crystal face 1002, the lifting adjusting assembly 102 comprises a fixing frame 1022, the brush disc assembly 101 further comprises a first moving bearing 1016, a first guide rod 1017 and an adapter frame 1015, the first moving bearing 1016 is sleeved on the first guide rod 1017, the first moving bearing 1016 can slide along the first guide rod 1017, the first moving bearing 1016 is fixedly connected with the adapter frame 1015 through screws, the adapter frame 1015 is fixedly connected with the fixing frame 1022, and the first guide rod 1017 is fixedly connected with the support frame 1013. Exemplarily, the first moving bearing 1016 can be a linear bearing.

[0055] Exemplarily, the second motor 1012 and the lifting adjusting assembly 102 can both be used to control the brush disc assembly 101 to directly contact with the crystal face 1002, wherein the second motor 1012 can control the brush disc assembly 101 to rise and fall with a large amplitude, and the lifting adjusting assembly 102 can control the brush disc assembly 101 to rise and fall with a small amplitude. In the actual working process of the crystal face maintenance robot 100, the contact degree of the brush disc assembly 101 with the crystal face 1002 can be more accurately adjusted through the cooperation of the second motor 1012 and the lifting adjusting assembly 102, so as to apply different polishing pressure values to the crystal face 1002 through the brush disc assembly 101. This setting can improve the effect of crystal face maintenance.

[0056] Referring to Figures 5 to 7 , exemplarily, the process that the second motor 1012 controls the brush disc assembly 101 to directly contact with the crystal face 1002 is introduced first. Figure 5 the state of the brush disc assembly 101 rising and moving away from the crystal face 1002 is shown in Figure 6Fig. 1 shows the state of the brush disc assembly 101 falling and directly contacting the wafer surface 1002, when the second moving shaft 10121 extends from the inside of the second motor 1012, the second moving shaft 10121 pushes the support frame 1013 and the first guide rod 1017 to move towards the wafer surface 1002, when the second moving shaft 10121 extends from the inside of the second motor 1012 to a sufficient length, the second motor 1012 can control the brush disc assembly 101 to fall and directly contact the wafer surface 1002.

[0057] Figure 9 Fig. 1 is a front view of the brush disc assembly in an embodiment of the present application, Figure 10 Fig. 2 is a top view of the brush disc assembly in an embodiment of the present application. Referring to Figure 9 Fig. 3 and Figure 10 In some embodiments, the brush disc assembly 101 is provided with a plurality of first moving bearings 1016 and a plurality of first guide rods 1017, the first moving bearings 1016 correspond to the first guide rods 1017 one by one, and the plurality of first moving bearings 1016 and the plurality of first guide rods 1017 are symmetrically arranged around the first motor 1011. For example, Figure 9 Fig. 3 and Figure 10 Fig. 1 shows two first moving bearings 1016 (for example, the first moving bearing 10161 and the first moving bearing 10162) and two first guide rods 1017 (for example, the first guide rod 10171 and the first guide rod 10172), wherein the first moving bearing 10161 is sleeved on the first guide rod 10171, and the first moving bearing 10162 is sleeved on the first guide rod 10172. The first moving bearing 10161 and the first moving bearing 10162 are symmetrically arranged around the first motor 1011. In actual application, when the brush disc assembly 101 is provided with a plurality of first moving bearings 1016, the plurality of first moving bearings 1016 can be uniformly and symmetrically arranged around the first motor 1011. Such arrangement can ensure the stability of the brush disc assembly 101, and the brush disc assembly 101 can still maintain a balanced state during the process of rising and falling, thereby avoiding damage to the brush disc assembly 101.

[0058] Referring to Figure 11 Fig. 3 and Figure 12As shown in the figure, in some embodiments, the lifting adjusting assembly 102 further comprises a rotating part 1021, a screw rod 1025, a nut (not shown in the figure), and a lifting part 1026. The rotating part 1021 is connected with the screw rod 1025, and the rotating part 1021 is used to control the rotation of the screw rod 1025. The surface of the screw rod 1025 comprises external threads, the inside of the nut comprises internal threads, the nut is sleeved on the screw rod 1025, the nut is fixedly connected with the lifting part 1026, and the lifting part 1026 is fixedly connected with the fixing frame 1022. As an example, the rotating part 1021 comprises a rotating protrusion 10211 protruding outward. In actual application, the rotating protrusion 10211 can be held by a worker to manually control the rotation of the entire rotating part 1021. The rotating part 1021 can also be set to rotate automatically, and the application does not limit the control mode of the rotating part 1021. The screw rod 1025 can rotate clockwise or counterclockwise. When the rotating part 1021 controls the rotation of the screw rod 1025, the nut sleeved on the screw rod 1025 can move up and down relative to the screw rod 1025.

[0059] Referring to Figure 1 , Figure 5 , Figure 11 and Figure 12 As shown in the figure, the process in which the lifting adjusting assembly 102 controls the brush disc assembly 101 to directly contact the crystal surface 1002 is introduced. Assuming that the screw rod 1025 rotates counterclockwise, the nut can move downward relative to the screw rod 1025. When the rotating part 1021 controls the screw rod 1025 to rotate counterclockwise, the nut can drive the lifting part 1026 to move downward, so that the lifting part 1026 can drive the entire brush disc assembly 101 to move in the direction of approaching the crystal surface 1002. When the screw rod 1025 rotates to a certain extent, the brush disc assembly 101 can reach the state of directly contacting the crystal surface 1002. The lifting adjusting assembly 102 of the application can control the lifting and lowering of the brush disc assembly 101 in a small amplitude manner. By setting the lifting adjusting assembly 102, the pressure value between the brush disc assembly 101 and the crystal surface 1002 can be fine-tuned. In the process of maintaining the crystal surface, the lifting state of the brush disc assembly 101 can be flexibly adjusted, and the effect of maintaining the crystal surface is improved.

[0060] Referring to Figure 11As shown, in some embodiments, the lifting adjusting assembly 102 further comprises a second movable bearing 1023, a second guide rod 1024, and a fixing piece 1027, the second movable bearing 1023 is sleeved on the second guide rod 1024, the second movable bearing 1023 can slide along the second guide rod 1024, the second movable bearing 1023 is fixedly connected with the lifting part 1026, the second guide rod 1024 is fixedly connected with the fixing piece 1027, and the fixing piece 1027 is connected with the body 1001. For example, the second movable bearing 1023 can be a linear bearing. By arranging the second movable bearing 1023 and the second guide rod 1024, the stability of the lifting part 1026 can be maintained, and the lifting part 1026 can always keep balance during the process of lifting or falling, so as to avoid damaging the brush disc assembly 101.

[0061] Reference Figure 1 As shown, in some embodiments, the crystal face maintenance robot 100 further comprises a medicament device 103, the medicament device 103 is connected with the brush disc assembly 101, the medicament device 103 comprises a medicament outlet 1031, and the medicament device 103 sprays maintenance medicament to the crystal face 1002 through the medicament outlet 1031. For example, the maintenance medicament can be a cleaning agent, a marble maintenance cream, a slurry, or the like. In the prior art, the maintenance medicament is mainly sprayed to the crystal face 1002 by manual operation, and it is easy to cause the spraying amount of the maintenance medicament to be too much or too little, resulting in poor maintenance effect and low maintenance efficiency of the crystal face. By arranging the medicament device 103, the spraying amount of the maintenance medicament can be accurately quantified. During the process of maintaining the crystal face, after the maintenance medicament is sprayed to the crystal face 1002 through the medicament outlet 1031, the body 1001 can move the brush disc assembly 101 by a distance of the radius of the brush disc assembly 101 in the direction of spraying the maintenance medicament, so that the maintenance medicament is basically at the center of the brush disc assembly 101. By this arrangement, the brush disc assembly 101 can be rotated to uniformly apply the maintenance medicament to the crystal face 1002, and the effect of maintaining the crystal face can be improved.

[0062] Reference Figure 6 and Figure 7 As shown, in some embodiments, the body 1001 and / or the brush disc assembly 101 is provided with an anti-collision part, which comprises one or any combination of a collision sensor, a distance sensor, and a buffer pad. For example, a first anti-collision part 105 can be arranged at the edge position of the robot base frame 10011 of the body 1001, and a second anti-collision part 106 can be arranged at the edge position of the brush disc housing 10131 of the brush disc assembly 101. When the crystal face maintenance robot 100 collides during movement, the anti-collision part can buffer the received force to the greatest extent, so as to avoid damaging the body 1001 and the brush disc assembly 101, and can also send a warning signal to the control box before or after the collision occurs, so that the crystal face maintenance robot 100 can make an obstacle avoidance treatment.

[0063] Figure 4 This is a bottom view of a crystal surface maintenance robot according to an embodiment of this application, with reference to... Figure 4 As shown, in some embodiments, the body 1001 and / or brush assembly 101 are provided with one or any combination of a temperature sensor 1091, a gloss sensor 1092 and a pressure sensor (not shown). The temperature sensor 1091 is used to detect the temperature parameter of the brush assembly 101, the gloss sensor 1092 is used to detect the gloss level parameter of the crystal surface 1002, and the pressure sensor is used to detect the pressure parameter between the brush assembly 101 and the crystal surface 1002.

[0064] For example, temperature sensor 1091 includes an infrared temperature sensor. Temperature sensor 1091 can detect the temperature parameters when brush assembly 101 polishes crystal surface 1002. The control box can adjust the rotation speed of brush assembly 101 and the pressure between brush assembly 101 and crystal surface 1002 according to the temperature parameters, so that the temperature during polishing of crystal surface 1002 is controlled within a preset range, such as greater than or equal to 40 degrees Celsius and less than or equal to 60 degrees Celsius. When the temperature parameter exceeds the safe temperature, an alarm can be issued or the crystal surface maintenance robot 100 can be controlled to stop working. This setting can improve the effect and efficiency of crystal surface maintenance and extend the service life of crystal surface maintenance robot 100. Gloss sensor 1092 includes a gloss meter. Gloss sensor 1092 can be set at the bottom of body 1001 facing crystal surface 1002. The control box can autonomously decide whether to continue crystal surface maintenance work according to the gloss level parameters fed back by gloss sensor 1092.

[0065] refer to Figure 1 and Figure 2 As shown, in some embodiments, a handrail 108 is provided on the main body 1001, which is used by a user to hold and control the movement and steering of the main body 1001. Exemplarily, the handrail 108 includes buttons for controlling the movement of the crystal surface maintenance robot 100. In practical applications, the crystal surface maintenance robot 100 can be set to a semi-automatic working mode, that is, the movement of the crystal surface maintenance robot 100 is controlled by manually holding the handrail 108. The crystal surface maintenance robot 100 of this application can be set to a fully automatic working mode or a semi-automatic working mode; this application does not limit the working mode of the crystal surface maintenance robot 100.

[0066] Figure 13 This is an exemplary flowchart of a control method for a crystal surface curing robot according to an embodiment of this application. (Reference) Figure 1 and Figure 13 As shown, this application also includes a control method for a crystal surface maintenance robot, using the crystal surface maintenance robot 100 as described above, including:

[0067] Step S1: control the brush disc assembly 101 to be in direct contact with the crystal surface 1002.

[0068] Step S2: control the agent device 103 to spray the curing agent to the crystal surface 1002.

[0069] Step S3: control the brush disc assembly 101 to rotate, control the pressing degree between the brush disc assembly 101 and the crystal surface 1002 according to the pressure parameter between the brush disc assembly 101 and the crystal surface 1002, and control the rotating speed of the brush disc assembly 101 according to the temperature parameter of the brush disc assembly 101.

[0070] Step S4: judge whether the glossiness parameter of the crystal surface 1002 is greater than or equal to the preset threshold value, if not, repeat steps S2-S4, and if yes, end the crystal surface curing task.

[0071] For example, in step S3, the crystal surface curing robot 100 performs the crystal surface curing task according to the preset polishing pressure and the brush disc rotating speed, the temperature sensor 1091 feeds back the real-time temperature parameter to the control box, and the control box can adjust the working state of the brush disc assembly 101 according to the temperature parameter, so as to control the temperature during polishing the crystal surface 1002 within the preset range, for example, greater than or equal to 40 degrees Celsius and less than or equal to 60 degrees Celsius; if the temperature parameter is greater than or equal to the preset safety threshold value, the control box controls the brush disc assembly 101 to stop polishing the crystal surface 1002 and issues an alarm. In step S4, the glossiness parameter of the crystal surface 1002 is judged in real time, so that the crystal surface curing robot 100 can further autonomously decide whether to continue the crystal surface curing task.

[0072] The crystal surface curing robot 100 of the present application can autonomously plan the path of the crystal surface curing and autonomously perform the crystal surface curing task according to the control method described above. The crystal surface curing robot 100 can automatically adjust the pressure value between the brush disc assembly 101 and the crystal surface 1002 and the rotating speed of the brush disc assembly 101 according to different crystal surface curing tasks, can control the temperature during polishing the crystal surface 1002 within a reasonable range, ensures the polishing effect and polishing effect of the crystal surface 1002, reduces the labor cost of the crystal surface curing, can perform large-area crystal surface curing, and improves the efficiency of the crystal surface curing.

[0073] The present application also includes a control system of a crystal surface curing robot, comprising a memory and a processor. The memory is used to store instructions executable by the processor; the processor is used to execute the instructions to realize the control method of the crystal surface curing robot described above.

[0074] Figure 14 is the system block diagram of the control system of the crystal surface curing robot of an embodiment of the present application. Referring to Figure 14As shown, the control system 1400 of the facet curing robot can include an internal communication bus 1401, a processor 1402, a read only memory (ROM) 1403, a random access memory (RAM) 1404, and a communication port 1405. The internal communication bus 1401 can enable data communication among the components of the control system 1400 of the facet curing robot. The processor 1402 can make decisions and issue commands. In some embodiments, the processor 1402 can be composed of one or more processors. The communication port 1405 can enable data communication between the control system 1400 of the facet curing robot and the outside. In some embodiments, the control system 1400 of the facet curing robot can send and receive information and data from a network through the communication port 1405. The control system 1400 of the facet curing robot can also include different forms of program storage units and data storage units, such as a hard disk 1406, a read only memory (ROM) 1403, and a random access memory (RAM) 1404, which can store various data files used by the computer processing and / or communication, and possible program instructions executed by the processor 1402. The processor executes these instructions to implement the main part of the method. The results of the processor processing are transmitted to the user equipment through the communication port, and displayed on the user interface.

[0075] The control method of the facet curing robot described above can be implemented as a computer program, stored in the hard disk 1406, and loaded into the processor 1402 for execution, to implement the control method of the facet curing robot of the present application.

[0076] The present application also includes a computer readable medium storing computer program code, which, when executed by a processor, implements the control method of the facet curing robot described above.

[0077] When the control method of the facet curing robot is implemented as a computer program, it can also be stored in a computer readable storage medium as an article of manufacture. For example, the computer readable storage medium can include, but is not limited to, a magnetic storage device (e.g., hard disk, floppy disk, magnetic strips), an optical disk (e.g., compact disk (CD), digital versatile disk (DVD)), a smart card, and a flash memory device (e.g., electrically erasable programmable read only memory (EPROM), card, stick, key drive). In addition, the various storage media described herein can represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" can include, but is not limited to, wireless channels and various other media (and / or storage media) that can store, contain, and / or carry code and / or instructions and / or data.

[0078] It should be understood that the above-described embodiments are only illustrative. The embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processing units can be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, and / or other electronic units designed to perform the functions described herein and / or combinations thereof.

[0079] Some aspects of the application can be performed entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.), or in a combination of hardware and software. The above hardware or software can be referred to as a "block," "module," "engine," "unit," "component," or "system." The processor can be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, or combinations thereof. Furthermore, aspects of the application can be manifested as a computer product in a computer readable medium including computer program code. For example, the computer readable medium can include, but is not limited to, magnetic storage devices (e.g., hard disk; floppy disk; magnetic strips), optical disks (e.g., compact disk (CD); digital versatile disk (DVD)), smart cards, and flash storage devices (e.g., card; stick; key drive).

[0080] The computer readable medium can include a propagated data signal with computer program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any combination thereof. Computer readable medium can be any medium that can be read by a computer, including, but not limited to, storage devices, memory devices, and communication devices. The computer program code can be transmitted as a carrier wave, for example, on a wireless signal, over an electrical cable, over the Internet, or over a combination of these and / or other mediums.

[0081] Having described basic concepts, it is obvious that the above-described application discloses only examples and does not limit the application. Although not explicitly described, those skilled in the art can make various modifications, improvements, and corrections to the application. Such modifications, improvements, and corrections are suggested in the application, so such modifications, improvements, and corrections still belong to the spirit and scope of the exemplary embodiments of the application.

[0082] Also, certain terminology has been used in the description for the sake of clarity. For example, the terms "one embodiment," "an embodiment," and / or "some embodiments" mean or refer to some but not necessarily all examples of the present application. Thus, use of such terms does not foreclose additional examples that are within the scope of the present application. Furthermore, the term "a / k / a" prior to a word or phrase denotes the multiple names for the same thing.

[0083] In some embodiments, numbers describing quantities of components, attributes, etc. are used. It should be understood that such numbers used in the description of the embodiments are in some examples modified by the modifier "about," "approximately," or "generally." Unless otherwise specified, "about," "approximately," or "generally" indicates that a value is within ±20% of the stated number. Accordingly, the numerical parameters in the description and claims are approximations that can vary depending upon the requirements of a given implementation. In some embodiments, numerical parameters are approximations that can vary depending on the requirements of a given implementation. In some embodiments, numerical parameters should be considered in the context of the number of significant digits used for the quantity. In some embodiments, numerical parameters are approximations that can vary depending on the requirements of a given implementation. Although the numerical ranges and parameters setting forth the broad scope of the embodiments of the application are approximations, the numerical values set forth in the specific examples are reported as precisely as practicable.

Claims

1. A crystal surface maintenance robot, characterized in that, The utility model relates to a kind of crystal face maintenance device, including: Movable body, brush disc assembly and lifting adjustment assembly, the brush disc assembly is connected with the body by the lifting adjustment assembly, the brush disc assembly includes first motor and second motor, the first motor is used to control the brush disc assembly rotation, the second motor and the lifting adjustment assembly are used to control the brush disc assembly with the crystal face direct contact;The lifting adjustment assembly includes fixed frame, and the brush disc assembly further includes first moving bearing, first guide rod and adapter frame, the first moving bearing is sleeved on the first guide rod, the first moving bearing can slide along the first guide rod, the first moving bearing is fixedly connected with the adapter frame, and the adapter frame is fixedly connected with the fixed frame; The brush disc assembly further includes support frame and brush disc shell, and the support frame is used to support the first motor; The second motor includes second movement shaft, and the second movement shaft is fixedly connected with the support frame; A plurality of first moving bearings and a plurality of first guide rods are provided on the brush disc assembly, the first moving bearings correspond to the first guide rods one by one, and the plurality of first moving bearings and the plurality of first guide rods are symmetrically arranged around the first motor; The lifting adjustment assembly further includes rotating part, lead screw, nut and lifting part, the rotating part is connected with the lead screw, the rotating part is used to control the rotation of the lead screw, the surface of the lead screw includes external thread, the inside of the nut includes internal thread, the nut is sleeved on the lead screw, the nut is fixedly connected with the lifting part, and the lifting part is fixedly connected with the fixed frame; The lifting adjustment assembly further includes second moving bearing, second guide rod and fixing piece, the second moving bearing is sleeved on the second guide rod, the second moving bearing can slide along the second guide rod, the second moving bearing is fixedly connected with the lifting part, the second guide rod is fixedly connected with the fixing piece, and the fixing piece is connected with the body; Further comprising a medicament device, the medicament device is connected with the brush disc assembly, and the medicament device includes a medicament outlet.

2. The crystal face maintaining robot according to claim 1, wherein The first motor includes first movement shaft, the brush disc assembly further includes crystal face maintenance part and brush disc connecting piece, the connecting end of the first movement shaft is tightly connected with the brush disc connecting piece, the brush disc connecting piece is connected with the crystal face maintenance part, when the first motor controls the rotation of the first movement shaft, the crystal face maintenance part rotates in the same direction with the first movement shaft.

3. The crystal face maintaining robot according to claim 1, wherein The brush disc shell is connected with the support frame, and the brush disc shell is used to protect the brush disc assembly.

4. The crystal face maintaining robot according to claim 1, wherein The second movement shaft can be extended from the second motor or retracted into the second motor, when the second movement shaft is extended from the second motor, the second movement shaft drives the brush disc assembly to approach the crystal face, and when the second movement shaft is retracted into the second motor, the second movement shaft drives the brush disc assembly to move away from the crystal face.

5. The crystal face maintaining robot according to claim 1, wherein The body and / or the brush disc assembly is provided with an anti-collision part, which comprises one or any combination of a collision sensor, a distance sensor and a buffer pad.

6. The crystal face maintaining robot according to claim 1, wherein The body and / or the brush disc assembly is provided with one or any combination of a temperature sensor, a gloss sensor and a pressure sensor, the temperature sensor is used to detect the temperature parameter of the brush disc assembly, the gloss sensor is used to detect the gloss degree parameter of the crystal surface, and the pressure sensor is used to detect the pressure parameter between the brush disc assembly and the crystal surface.

7. The crystal face maintaining robot according to claim 1, wherein The body is provided with a handrail part for the user to hold to control the body to walk and turn.

8. A control method of a wafer surface maintenance robot using the wafer surface maintenance robot according to any one of claims 1 to 7, characterized by, Comprising: Step S1: controlling the brush disc assembly to be in direct contact with the crystal surface; Step S2: controlling the agent device to spray the curing agent to the crystal surface; Step S3: controlling the brush disc assembly to rotate, controlling the pressing degree between the brush disc assembly and the crystal surface according to the pressure parameter between the brush disc assembly and the crystal surface, and controlling the rotating speed of the brush disc assembly according to the temperature parameter of the brush disc assembly; and Step S4: judging whether the gloss degree parameter of the crystal surface is greater than or equal to a preset threshold value, if not, repeating the steps S2-S4, and if yes, ending the crystal surface curing task.

9. A control system for a crystal face curing robot, characterized by Comprising: A memory for storing instructions executable by the processor; The processor is used to execute the instructions to realize the control method of claim 8. 10.A computer readable medium storing computer program code, wherein the computer program code, when executed by a processor, realizes the control method of claim 8. The computer program code, when executed by a processor, realizes the control method of claim 8.

Images