Ice sculpture trimming actuator, ice sculpture auxiliary trimming device and its auxiliary trimming method

Abstract

Ice sculpture trimming actuator, ice sculpture auxiliary trimming device and its auxiliary trimming method, which relate to the technical field of ice sculpture preparation. The present invention solves the problems of high labor cost, low work efficiency and high requirements for the trimming skills and experience of ice sculpture workers in the existing manual trimming method for the surface of ice sculptures. The lower gearbox and the upper gearbox of the present invention are connected by a box body lifting mechanism. The box body lifting mechanism realizes the separation or meshing between the upper and lower groups of gear transmission mechanisms by driving the upper gearbox to rise or fall. When the upper and lower groups of gear transmission mechanisms are in the meshing state, the grinding drive assembly drives a plurality of spline shafts to rotate through the upper and lower groups of gear transmission mechanisms in sequence, and then drives the grinding disc connected to the front end of the spline shaft to rotate, so as to realize the trimming of the part to be ground on the ice sculpture. The present invention is used to realize the trimming of the surface of the ice sculpture. Under the action of the conforming support mechanism, the spline shaft automatically expands and contracts with the change of the shape of the part to be ground on the ice sculpture.

Description

Technical Field

[0001] The present invention relates to the technical field of ice sculpture preparation, and particularly relates to an ice sculpture trimming actuator, an ice sculpture auxiliary trimming device and an auxiliary trimming method thereof. Background Art

[0002] Ice sculpture is an art form mainly carved with ice. With the development of the ice and snow industry, ice sculpture making techniques have gradually formed a comprehensive skill integrating multiple disciplines such as technology, art, and science and technology. In the northeast region of China, due to the long and cold winter, it brings unique advantages for the production and storage of outdoor ice sculptures. Moreover, the ice and snow industry can drive the development of local ice and snow culture, ice and snow tourism and the economy. After the production of outdoor ice sculptures, as time goes by, the soot or haze in the air will fall on the surface of the ice sculptures, thus affecting the ornamental value of the ice sculptures. Especially during the heating period in winter in the northeast, the boiler will also generate soot during coal combustion, exacerbating the impact on the air. Therefore, it is necessary to regularly trim the surface of outdoor ice sculptures to ensure that the surface of the ice sculptures remains clean and improve the ornamental value of the ice sculptures.

[0003] Currently, most of the existing methods for trimming the surface of ice sculptures adopt manual trimming methods. Ice sculpture workers hold ice shovels to shovel off the stains on the surface of the ice sculptures, and then use a spray gun to aim the nozzle at the shoveled part of the ice sculpture to spray water to form a new ice surface. This method has problems such as high labor cost, low work efficiency, and high requirements for the trimming skills and experience of ice sculpture workers. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems of high labor cost, low work efficiency, and high requirements for the trimming skills and experience of ice sculpture workers existing in the existing manual trimming method for the surface of ice sculptures, and further provide an ice sculpture trimming actuator, an ice sculpture auxiliary trimming device and an auxiliary trimming method thereof.

[0005] The technical solution of the present invention is as follows:

[0006] An ice sculpture trimming actuator, the ice sculpture trimming actuator 1 includes an upper gearbox 11, a lower gearbox 12, a box body lifting mechanism 13, a grinding drive assembly 14, a plurality of grinding discs 15, a plurality of contour following support mechanisms 16 and a plurality of spline shafts 17. The upper gearbox 11 is arranged directly above the lower gearbox 12, and the lower gearbox 12 is connected to the upper gearbox 11 through the box body lifting mechanism 13. Gear transmission mechanisms are provided inside both the upper gearbox 11 and the lower gearbox 12. The box body lifting mechanism 13 drives the upper gearbox 11 to rise or fall to achieve the separation or engagement between the upper and lower groups of gear transmission mechanisms. The plurality of spline shafts 17 are arranged on the lower gearbox 12 in sequence from left to right. The spline shaft 17 horizontally penetrates through the front and rear box plates of the lower gearbox 12 and extends to both sides of the front and rear of the gearbox 12. The front part of the spline shaft 17 is a spline section 171, and the rear part of the spline shaft 17 is a smooth shaft section 172. Among them, the spline section 171 is connected to the gear in the gear transmission mechanism inside the lower gearbox 12 through mutually matching splines and spline grooves. A grinding disc 15 is detachably installed at the front end of the spline section 171, and a contour following support mechanism 16 is installed at the rear end of the smooth shaft section 172. The grinding drive assembly 14 is installed on the upper part of the upper gearbox 11. When the upper and lower groups of gear transmission mechanisms are in the engaged state, the grinding drive assembly 14 drives the plurality of spline shafts 17 to rotate self - respectively through the upper and lower groups of gear transmission mechanisms, and then drives the grinding discs 15 connected to the front ends of the spline shafts 17 to rotate, so as to achieve the trimming of the ice sculpture part to be ground. And the spline shaft 17 automatically expands and contracts under the action of the contour following support mechanism 16 with the change of the shape of the ice sculpture part to be ground.

[0007] Further, the upper gearbox 11 includes an upper box body 111, a plurality of driving gear shafts 112 and a plurality of transmission gear shafts 113. The upper box body 111 is a hollow cuboid structure with an open bottom. The plurality of driving gear shafts 112 are arranged in the upper box body 111 from left to right in sequence. Axial holes Ⅰ1111 matching the rotating shaft parts of the driving gear shafts 112 are respectively formed in the front and rear box plates of the upper box body 111. The two ends of the rotating shaft parts of the driving gear shafts 112 are respectively rotatably inserted into the corresponding axial holes Ⅰ1111 on the upper box body 111. A transmission gear shaft 113 meshing with each driving gear shaft 112 is arranged directly below each driving gear shaft 112. Axial holes Ⅱ1112 matching the rotating shaft parts of the transmission gear shafts 113 are respectively formed in the front and rear box plates of the upper box body 111. The two ends of the rotating shaft parts of the transmission gear shafts 113 are respectively rotatably inserted into the corresponding axial holes Ⅱ1112 on the upper box body 111. The lower gearbox 12 includes a lower box body 121 and a plurality of driven gears 122. The lower box body 121 is a hollow cuboid structure with an open top. The plurality of driven gears 122 are arranged in the lower box body 121 from left to right in sequence. The plurality of driven gears 122 respectively correspond to the plurality of driven gears 122 one by one. A spline groove 1221 is formed in the center of each driven gear 122. The plurality of spline shafts 17 are respectively slidably inserted into the spline grooves 1221 of the plurality of driven gears 122. Axial holes Ⅲ1211 matching the spline shafts 17 are respectively formed in the front and rear box plates of the lower box body 121. The two ends of the spline shafts 17 are respectively rotatably inserted into the corresponding axial holes Ⅲ1211 on the lower box body 121.

[0008] Further, the ice sculpture trimming actuator 1 further includes a plurality of limiting sleeves 18. Limiting sleeves 18 are provided between the gear portions of the driving gear shaft 112, the gear portions of the transmission gear shaft 113, the driven gear 122 and the upper gearbox 11 and / or the lower box body 121. The limiting sleeves 18 are sleeved outside the rotating shaft portions of the driving gear shaft 112, the rotating shaft portions of the transmission gear shaft 113 and the spline shaft 17. Each limiting sleeve 18 includes a sleeve body 181, a plurality of steel balls 182, a plurality of steel ball mounting seats 183 and a plurality of steel ball limiting covers 184. The plurality of steel ball mounting seats 183 are evenly fixed on one end face of the sleeve body 181 in the circumferential direction. A circular flange is provided at one end of each steel ball mounting seat 183. The circular flange is fixedly connected to the sleeve body 181 by a plurality of screws. A hemispherical groove is formed at the center of the other end of the steel ball mounting seat 183, and the steel ball 182 is embedded in the hemispherical groove. The steel ball limiting cover 184 is a cylindrical structure with openings at both ends. The diameter of the steel ball is smaller than the inner diameter of the opening at one end of the steel ball limiting cover 184, and the inner diameter of the opening at the other end of the steel ball limiting cover 184 is smaller than the diameter of the steel ball. The steel ball limiting cover 184 is buckled on the steel ball, and the steel ball limiting cover 184 is detachably connected to the steel ball mounting seat 183 by a plurality of screws. The height of the steel ball limiting cover 184 is 2-3 mm smaller than the radius of the steel ball. The part of the steel ball protruding from the steel ball limiting cover 184 contacts the inner walls of the upper box body 111 and / or the lower box body 121.

[0009] Further, the box body lifting mechanism 13 includes two double-acting cylinders 131 and four guiding components 132. Two cylinder body assembly grooves are respectively formed in the middle of the upper end faces of the two side plates of the upper box body 111. The two double-acting cylinders 131 are respectively installed in the two cylinder body assembly grooves of the upper box body 111. Two cylinder top block assembly grooves are respectively formed in the middle of the lower end faces of the two side plates of the lower box body 121. The two cylinder top block assembly grooves respectively correspond to the two cylinder body assembly grooves one by one. The top blocks of the two double-acting cylinders 131 are respectively installed in the lower box body 121. The four guiding components 132 are respectively arranged in pairs on the left and right sides of the upper gearbox 11 and the lower gearbox 12. Each guiding component 132 includes a guide sleeve 1321, a guide rod 1322 and a guide rod seat 1323. The guide rod seat 1323 is installed on the outer side wall of the box plate of the lower box body 121. A guide rod 1322 is vertically provided above the guide rod seat 1323. The lower end of the guide rod 1322 is fixedly connected to the upper end face of the guide rod seat 1323. A guide sleeve 1321 corresponding to the guide rod 1322 is installed on the outer side wall of the box plate of the upper box body 111. The upper end of the guide rod 1322 is slidably inserted into the inner hole of the guide sleeve 1321.

[0010] Further, the grinding drive assembly 14 includes a plurality of grinding drive motors 141 and a plurality of belt drive mechanisms 142. The plurality of grinding drive motors 141 are sequentially installed on the upper end surface of the upper box body 111 from left to right. The plurality of grinding drive motors 141 correspond to the plurality of driving gear shafts 112 one by one. The grinding drive motor 141 is connected to the corresponding driving gear shaft 112 through a belt drive mechanism 142. Each belt drive mechanism 142 includes a driving pulley, a transmission belt, a driven pulley, and a belt drive box 1421. The driving pulley is installed on the rotating shaft of the grinding drive motor 141. The driven pulley is installed at the rear end of the driving gear shaft 112. The driving pulley is connected to the driven pulley through the transmission belt. The driving pulley, the transmission belt, and the driven pulley are integrally covered with a belt drive box 1421. The belt drive box 1421 is fixedly connected to the rear side plate of the upper box body 111 through a plurality of bolts.

[0011] Further, each profiling support mechanism 16 includes a support spring 161, a support sleeve 162, a sleeve end cover 163, and a support bearing 164. A support sleeve 162 is sleeved on the rear part of each spline shaft 17. The front end of the support sleeve 162 is fixedly connected to the rear side plate of the lower box body 121. A sleeve end cover 163 is installed at the rear end of the support sleeve 162. A stepped hole is formed in the center of the sleeve end cover 163. The stepped hole is sequentially a support bearing assembly hole and a spline shaft assembly hole from outside to inside. The support bearing 164 is coaxially installed in the support bearing assembly hole. The smooth shaft section 172 of the spline shaft 17 sequentially passes through the support bearing 164 and the spline shaft assembly hole on the sleeve end cover 163 from front to back and extends to the outside of the support sleeve 162. A support spring 161 is sleeved on the smooth shaft section 172 of the spline shaft 17. The front end of the support spring 161 contacts the shoulder formed between the smooth shaft section 172 and the spline section 171 of the spline shaft 17. The rear end of the support spring 161 contacts the inner ring end face of the support bearing 164.

[0012] An ice sculpture auxiliary trimming device, the ice sculpture auxiliary trimming device includes the ice sculpture trimming actuator 1 as described in claim 6. The ice sculpture auxiliary trimming device further includes an annular track 2, a traveling mechanism 3, a base 4, a rectangular vertical frame 5, a lifting assembly 6, a support frame body 7, and a transverse movement assembly 8. The annular track 2 is a spliced annular track. The traveling mechanism 3 is installed on the annular track 2. The traveling mechanism 3 is a self-driving traveling mechanism. The base 4 is installed on the upper part of the traveling mechanism 3. The rectangular vertical frame 5 is vertically installed on the upper part of the base 4. A vertically arranged lifting assembly 6 is provided on the front side of the rectangular vertical frame 5. The lifting assembly 6 adopts a linear module. A support frame body 7 is fixedly installed on the slider of the lifting assembly 6. A transverse movement assembly 8 is installed on the top plate of the support frame body 7. The transverse movement assembly 8 adopts a cylinder. The ice sculpture trimming actuator 1 is installed on the transverse movement assembly 8.

[0013] Further, the traveling mechanism 3 includes a traveling drive motor 31, an upper seat plate 32, two lower seat plates 33, and four traveling wheels 34. The upper seat plate 32 is horizontally arranged directly above the annular track 2. Four traveling wheels 4 are arranged in pairs at the bottom of the upper seat plate 32. The traveling wheels 4 are rotatably installed on the upper seat plate 32. An annular groove is formed in the middle of the side surface of each traveling wheel 4 along the circumferential direction. The inner and outer edges of the annular track 2 respectively match the annular grooves of the two traveling wheels 4 on both sides. The four traveling wheels 4 include one driving traveling wheel and three driven traveling wheels. The rotating shaft of the driving traveling wheel extends upward to the outside of the upper seat plate 32. The traveling drive motor 31 is installed on the side of the base 4. The rotating shaft of the traveling drive motor 31 is fixedly connected to the upper end of the rotating shaft of the driving traveling wheel through a coupling.

[0014] Further, the transverse movement assembly 8 includes a guide plate 81, a box body mounting seat 82, a transverse movement cylinder 83, a cylinder mounting seat 84, and two transverse movement guide rails 85. The two transverse movement guide rails 85 are arranged side by side on the top plate of the support frame 7. A chute is formed in the inner side surface of the transverse movement guide rail 85 along the length direction. The left and right ends of the guide plate 81 are respectively slidably inserted into the chutes of the two transverse movement guide rails 85 on both sides. A box body mounting seat 82 is installed on the front side of the upper end surface of the guide plate 81. A lower gear box 12 is installed on the upper part of the box body mounting seat 82. A transverse movement cylinder 83 is horizontally arranged at the rear side of the box body mounting seat 82 along the length direction of the lower gear box 12. The end of the piston rod of the transverse movement cylinder 83 is connected to the middle of the rear end surface of the box body mounting seat 82 through a connecting member. The cylinder body of the transverse movement cylinder 83 is installed on the cylinder mounting seat 84. The two ends of the cylinder mounting seat 84 are lapped on the upper end surfaces of the two transverse movement guide rails 85.

[0015] An ice sculpture auxiliary trimming method is realized based on an ice sculpture auxiliary trimming device, and the method is achieved through the following steps.

[0016] Step 1: Installation process of the trimming device:

[0017] Before operation, first install the annular track 2 around the ice sculpture to be polished and trimmed, and then assemble the traveling mechanism 3, the base 4, the rectangular vertical frame 5, the lifting assembly 6, the support frame 7, the transverse movement assembly 8, and the ice sculpture trimming actuator 1 in sequence.

[0018] Step 2: Transverse movement process of the grinding disc 15:

[0019] Start the transverse movement cylinder 83, so that the piston rod of the transverse movement cylinder 83 drives the ice sculpture trimming actuator 1 installed on the transverse movement assembly 8 to approach or move away from the part of the ice sculpture to be polished and trimmed through telescopic movement, and determine the appropriate distance between the grinding disc 15 and the ice sculpture to be polished.

[0020] Step 3: Rotation process of the grinding disc 15:

[0021] First, start two double-axis cylinders 131 to achieve the synchronous contraction of the piston rods under the control of the existing controller, so that the gear part of the transmission gear shaft 113 meshes with the driven gear 122;

[0022] Then, start the grinding drive motor 141, drive the spline shaft 17 through the transmission mechanism, and then drive the grinding disc 15 connected to the front end of the spline shaft 17 to rotate, so as to realize the grinding and trimming of the parts to be ground on the ice sculpture;

[0023] Meanwhile, the spline shaft 17 automatically expands and contracts under the action of the conformal support mechanism 16 with the change of the shape of the parts to be ground on the ice sculpture, so as to realize the precise grinding and trimming of the surface of the ice sculpture;

[0024] Step Four: The lifting process of the grinding disc 15:

[0025] The lifting component 6 adopts a linear module. Start the drive motor of the linear module to drive the grinding disc 15 to achieve the lifting action, and then realize the grinding and trimming operation of the surface of the ice sculpture from top to bottom or from bottom to top;

[0026] Step Five: The circumferential movement process of the grinding disc 15:

[0027] When the grinding and trimming of one area on the surface of the ice sculpture is completed, the grinding disc 15 is adjusted to the initial position. Start the driving drive motor 31, and the driving drive motor 31 drives the driving walking wheels to rotate. The driving walking wheels and the outer edge of the annular track 2 drive the driving mechanism 3 and other components installed on the driving mechanism 3 to travel along the annular track 2 under the action of static friction, so that the grinding disc 15 moves to the next working area for grinding and trimming.

[0028] The present invention has the following effects compared with the prior art:

[0029] 1. The ice sculpture trimming actuator of the present invention is used to realize the grinding and trimming of the surface of the ice sculpture. The spline shaft 17 of the actuator automatically expands and contracts under the action of the conformal support mechanism 16 with the change of the shape of the parts to be ground on the ice sculpture. Since the surface of the ice sculpture is not necessarily a regular shape, the spline shafts 17 connected to the multiple grinding discs 15 on the lower gearbox 12 compress the multiple support springs 161 to different degrees under the push of the parts to be ground on the ice sculpture. Therefore, the grinding disc 15 can adapt to the shapes of different parts to be ground on the ice sculpture, and thus realize the precise grinding and trimming of the surface of the ice sculpture. Multiple grinding discs 15 are arranged on a set of equipment at the same time, effectively improving the grinding efficiency.

[0030] 2. In the ice sculpture trimming actuator 1 of the present invention, the gears between two adjacent left and right columns of gear sets are arranged vertically staggered, and the maximum horizontal distance between two adjacent grinding discs 15 in the length direction of the lower box body 121 is not greater than twice the diameter of the grinding disc 15. This ensures that the working area formed by multiple grinding discs 15 is a continuous working area, there is no gap between the grinding discs 15, and there is no interference phenomenon either.

[0031] 3. The grinding disc 15 of the present invention includes a grinding disc body and a screw rod coaxially arranged and integrally formed at the center of the rear end of the grinding disc body. A grinding disc connection threaded hole is opened at the center of the front end face of the spline section 171 of the spline shaft 17. The grinding disc 15 is threadedly connected to the spline section 171 through the screw rod. A plurality of grinding cutter heads 151 are provided on the front end face of the grinding disc body. The cross-section of the grinding cutter head 151 is an inverted triangle. The cutting edges of the plurality of grinding cutter heads 151 are all arranged in parallel, and two adjacent columns of grinding cutter heads 151 are arranged in a staggered manner, so that the working area of the grinding disc 15 can form a continuous plane, ensuring the grinding quality. Compared with the transmission one-piece blade, the grinding disc 15 of the present invention adopts a multi-segment array arrangement form. On the basis of ensuring the grinding effect, it can effectively disperse the stress between the cutting edge and the ice surface, and avoid damaging the ice sculpture due to uneven stress during the grinding process.

[0032] 4. The ice sculpture auxiliary trimming device of the present invention is used to realize the grinding and trimming of the surface of the ice sculpture. The trimming device has multiple degrees of freedom to realize the all-round grinding and trimming operation of the ice sculpture. The driving motor 31 drives the driving wheels to rotate. The driving wheels and the outer edge of the annular track 2 drive the traveling mechanism 3 and other components installed on the traveling mechanism 3 to travel along the annular track 2 under the action of static friction. The piston rod of the transverse movement cylinder 83 drives the ice sculpture trimming actuator 1 installed on the transverse movement assembly 8 to approach or move away from the part of the ice sculpture to be ground and trimmed through telescopic movement. The annular track 2 is a spliced annular track. Before the operation, the annular track 2 is first installed around the ice sculpture to be ground and trimmed. The transverse distance between the grinding disc 15 and the part of the ice sculpture to be ground is adjusted through the transverse movement assembly 8. The lifting assembly 6 drives the grinding disc 15 to perform a lifting action, and the traveling mechanism 3 drives the grinding disc 15 to perform a circumferential movement. Description of the Drawings

[0033] Figure 1 is the side view of the ice sculpture trimming actuator of the present invention; Figure 2 is the front view of the ice sculpture trimming actuator of the present invention after removing the grinding drive assembly 14; Figure 3 is Figure 2 the cross-sectional view at A-A (the spring is in a contracted state); Figure 4 is the cross-sectional view of the ice sculpture trimming actuator of the present invention after removing the grinding drive assembly 14 (the spring is in an extended state); Figure 5The front view of the ice sculpture trimming actuator of the present invention after removing the grinding drive assembly 14 and the front side plates of the upper and lower gearboxes; Figure 6 The front view of the ice sculpture trimming actuator of the present invention after removing the grinding drive assembly 14 and the front side plates of the upper and lower gearboxes; Figure 7 The side view of the grinding disc 15, spline shaft 17 and support spring 161 of the present invention after assembly (the spring is in the extended state); Figure 8 The side view of the grinding disc 15, spline shaft 17 and support spring 161 of the present invention after assembly (the spring is in the contracted state); Figure 9 The sectional view of the disc-shaped nozzle 10 and spline shaft 17 of the present invention after assembly; Figure 10 The side view of the grinding disc 15 of the present invention; Figure 11 The front view of the grinding disc 15 of the present invention;

[0034] Figure 12 The side view of the disc-shaped nozzle 10 of the present invention; Figure 13 The front view of the disc-shaped nozzle 10 of the present invention; Figure 14 The front view of the limit sleeve 18 of the present invention; Figure 15 The side view of the limit sleeve 18 of the present invention; Figure 16 The side view of the ice sculpture auxiliary trimming device of the present invention; Figure 17 The connection schematic diagram between the upper gearbox 11, lower gearbox 12 and the transverse movement assembly 8 of the present invention; Figure 18 The top view of the adapter pipeline 93 of the present invention; Figure 19 The longitudinal sectional view of the annular track 2 of the present invention. Detailed implementation manners

[0035] Detailed implementation manner one: Combined with Figures 1 to 15Description of this embodiment, an ice sculpture trimming actuator of this embodiment. The ice sculpture trimming actuator 1 includes an upper gearbox 11, a lower gearbox 12, a box body lifting mechanism 13, a grinding drive assembly 14, a plurality of grinding discs 15, a plurality of contour following support mechanisms 16 and a plurality of spline shafts 17. The upper gearbox 11 is arranged directly above the lower gearbox 12, and the lower gearbox 12 is connected to the upper gearbox 11 through the box body lifting mechanism 13. Gear transmission mechanisms are provided inside both the upper gearbox 11 and the lower gearbox 12. The box body lifting mechanism 13 drives the upper gearbox 11 to rise or fall to achieve the separation or meshing between the upper and lower groups of gear transmission mechanisms. A plurality of spline shafts 17 are arranged on the lower gearbox 12 in sequence from left to right. The spline shafts 17 horizontally penetrate through the front and rear box plates of the lower gearbox 12 and extend to both sides of the gearbox 12. The front part of the spline shaft 17 is a spline section 171, and the rear part of the spline shaft 17 is a smooth shaft section 172. Among them, the spline section 171 is connected to the gear in the gear transmission mechanism inside the lower gearbox 12 through mutually matching splines and spline grooves. A grinding disc 15 is detachably installed at the front end of the spline section 171, and a contour following support mechanism 16 is installed at the rear end of the smooth shaft section 172. The grinding drive assembly 14 is installed on the upper part of the upper gearbox 11. When the upper and lower groups of gear transmission mechanisms are in the meshing state, the grinding drive assembly 14 drives a plurality of spline shafts 17 to rotate on their own through the upper and lower groups of gear transmission mechanisms in sequence, and then drives the grinding discs 15 connected to the front ends of the spline shafts 17 to rotate, realizing the trimming of the ice sculpture part to be ground. And the spline shafts 17 automatically expand and contract under the action of the contour following support mechanism 16 with the change of the shape of the ice sculpture part to be ground.

[0036] Specific Embodiment 2: In combination with Figures 1 to 15To describe this embodiment, the upper gearbox 11 of this embodiment includes an upper box body 111, a plurality of driving gear shafts 112 and a plurality of transmission gear shafts 113. The upper box body 111 is a hollow cuboid structure with an open bottom. The plurality of driving gear shafts 112 are arranged inside the upper box body 111 in sequence from left to right. Axial holes Ⅰ1111 matching the rotating shaft parts of the driving gear shafts 112 are respectively formed on the front and rear box plates of the upper box body 111. The two ends of the rotating shaft parts of the driving gear shafts 112 are respectively rotatably inserted into the corresponding axial holes Ⅰ1111 on the upper box body 111; a transmission gear shaft 113 meshing with each driving gear shaft 112 is arranged directly below each driving gear shaft 112. Axial holes Ⅱ1112 matching the rotating shaft parts of the transmission gear shafts 113 are respectively formed on the front and rear box plates of the upper box body 111. The two ends of the rotating shaft parts of the transmission gear shafts 113 are respectively rotatably inserted into the corresponding axial holes Ⅱ1112 on the upper box body 111; the lower gearbox 12 includes a lower box body 121 and a plurality of driven gears 122. The lower box body 121 is a hollow cuboid structure with an open top. The plurality of driven gears 122 are arranged inside the lower box body 121 in sequence from left to right. The plurality of driven gears 122 respectively correspond to the plurality of driven gears 122 one by one. A spline groove 1221 is formed in the center of each driven gear 122. A plurality of spline shafts 17 are respectively slidably inserted into the spline grooves 1221 of the plurality of driven gears 122. Axial holes Ⅲ1211 matching the spline shafts 17 are respectively formed on the front and rear box plates of the lower box body 121. The two ends of the spline shafts 17 are respectively rotatably inserted into the corresponding axial holes Ⅲ1211 on the lower box body 121.

[0037] With such a setting, the grinding drive assembly 14 drives the plurality of driving gear shafts 112 to rotate, and then drives the transmission gear shafts 113 meshing with them to rotate synchronously. When the box body lifting mechanism 13 drives the upper gearbox 11 to descend to a specified position, at this time, the plurality of transmission gear shafts 113 respectively mesh with the plurality of driven gears 122, and then drive the grinding discs 15 connected to the front ends of the spline shafts 17 to rotate, so as to realize the trimming of the parts of the ice sculpture to be ground. The other components and connection relationships are the same as those in the first specific embodiment.

[0038] The ice sculpture trimming actuator 1 further includes a plurality of sleeve I 19-1, a plurality of sleeve II 19-2 and a plurality of sleeve III 19-3. The sleeve I 19-1 is inserted into the shaft hole I 1111 of the upper box body 111. The end flange part of the sleeve I 19-1 is fixedly connected with the upper box body 111 through a plurality of screws. A clearance fit is adopted between the inner hole of the sleeve I 19-1 and the rotating shaft part of the driving gear shaft 112. The sleeve II 19-2 is inserted into the shaft hole II 1112 of the upper box body 111. The end flange part of the sleeve II 19-2 is fixedly connected with the upper box body 111 through a plurality of screws. A clearance fit is adopted between the inner hole of the sleeve II 19-2 and the rotating shaft part of the transmission gear shaft 113. The sleeve III 19-3 is inserted into the shaft hole III 1211 of the lower box body 121. The end flange part of the sleeve III 19-3 is fixedly connected with the lower box body 121 through a plurality of screws. A clearance fit is adopted between the sleeve III 19-3 and the spline shaft 17.

[0039] Specific Embodiment 3: Combining Figures 1 to 15 To illustrate this embodiment, the ice sculpture trimming actuator 1 of this embodiment further includes a plurality of limiting sleeves 18. Limiting sleeves 18 are provided between the gear parts of the driving gear shaft 112, the gear parts of the transmission gear shaft 113 and the driven gear 122 and the upper gear box 11 and / or the lower box body 121. The limiting sleeves 18 are sleeved outside the rotating shaft parts of the driving gear shaft 112, the rotating shaft parts of the transmission gear shaft 113 and the spline shaft 17. Each limiting sleeve 18 includes a sleeve body 181, a plurality of steel balls 182, a plurality of steel ball mounting seats 183 and a plurality of steel ball limiting covers 184. The plurality of steel ball mounting seats 183 are uniformly fixed on one side end face of the sleeve body 181 along the circumferential direction. One end of each steel ball mounting seat 183 is provided with a circular flange. The circular flange is fixedly connected with the sleeve body 181 through a plurality of screws. A hemispherical groove is formed in the center of the other end of the steel ball mounting seat 183, and the hemispherical groove is internally embedded with a steel ball 182. The steel ball limiting cover 184 is a cylindrical structure with openings at both ends. The diameter of the steel ball is smaller than the inner diameter of one end opening of the steel ball limiting cover 184, and the inner diameter of the other end opening of the steel ball limiting cover 184 is smaller than the diameter of the steel ball. The steel ball limiting cover 184 is buckled on the steel ball. The steel ball limiting cover 184 is detachably connected with the steel ball mounting seat 183 through a plurality of screws. The height of the steel ball limiting cover 184 is 2-3 mm smaller than the radius of the steel ball. The part of the steel ball protruding from the steel ball limiting cover 184 contacts the inner wall of the upper box body 111 and / or the lower box body 121.

[0040] With such a setting, when the driving gear shaft 112, the transmission gear shaft 113 and the driven gear 122 rotate, the limiting sleeve 18 can axially limit the above-mentioned gears. Compared with the traditional cylindrical sleeve, the limiting sleeve 18 of the present invention adopts a steel ball cooperation method. The limiting sleeve 18 and the inner wall of the box body are cooperated through steel balls, and the point contact method can effectively reduce the friction force between the contact surfaces. The other components and connection relationships are the same as those in the first or second specific embodiment.

[0041] Specific Embodiment Four: In combination with Figures 1 to 15 To illustrate this embodiment, the box body lifting mechanism 13 of this embodiment includes two double-shaft cylinders 131 and four guiding components 132. Two cylinder block assembly grooves are respectively opened in the middle of the upper end surfaces of the two side plates of the upper box body 111. The two double-shaft cylinders 131 are respectively installed in the two cylinder block assembly grooves of the upper box body 111. Two cylinder top block assembly grooves are respectively opened in the middle of the lower end surfaces of the two side plates of the lower box body 121. The two cylinder top block assembly grooves correspond to the two cylinder block assembly grooves one by one. The top blocks of the two double-shaft cylinders 131 are respectively installed in the lower box body 121; the four guiding components 132 are respectively arranged in pairs on the left and right sides of the upper gear box 11 and the lower gear box 12. Each guiding component 132 includes a guide sleeve 1321, a guide rod 1322 and a guide rod seat 1323. The guide rod seat 1323 is installed on the outer side wall of the box plate of the lower box body 121. A guide rod 1322 is vertically arranged above the guide rod seat 1323. The lower end of the guide rod 1322 is fixedly connected to the upper end surface of the guide rod seat 1323. A guide sleeve 1321 corresponding to the guide rod 1322 is installed on the outer side wall of the box plate of the upper box body 111. The upper end of the guide rod 1322 can be slidably inserted into the inner hole of the guide sleeve 1321.

[0042] With such a setting, the two double-shaft cylinders 131 realize the synchronous telescopic movement of the piston rods under the control of the existing controller. When the piston rods of the two double-shaft cylinders 131 perform the extending action, the piston rods drive the upper box body 111 to rise, and the guide sleeves 1321 on the side of the upper box body 111 move along the guide rods 1322 fixed on the side of the lower box body 121, thereby realizing the separation between the gear part of the transmission gear shaft 113 and the driven gear 122; when the piston rods of the two double-shaft cylinders 131 perform the contracting action, the piston rods drive the upper box body 111 to descend, and the guide sleeves 1321 on the side of the upper box body 111 move along the guide rods 1322 fixed on the side of the lower box body 121, thereby realizing the meshing between the gear part of the transmission gear shaft 113 and the driven gear 122. By setting the guiding component 132, it can ensure the precise meshing between the gear part of the transmission gear shaft 113 and the driven gear 122. The other components and connection relationships are the same as those in the first, second or third specific embodiment.

[0043] Specific Embodiment Five: In combination with Figures 1 to 15To describe this embodiment, the grinding drive assembly 14 of this embodiment includes a plurality of grinding drive motors 141 and a plurality of belt drive mechanisms 142. The plurality of grinding drive motors 141 are sequentially installed on the upper end surface of the upper box body 111 from left to right. The plurality of grinding drive motors 141 correspond to the plurality of driving gear shafts 112 one by one. The grinding drive motor 141 and the corresponding driving gear shaft 112 are connected by a belt drive mechanism 142. Each belt drive mechanism 142 includes a driving pulley, a transmission belt, a driven pulley and a belt drive box 1421. The driving pulley is installed on the rotating shaft of the grinding drive motor 141. The driven pulley is installed at the rear end of the driving gear shaft 112. The driving pulley is connected to the driven pulley through the transmission belt. The driving pulley, the transmission belt and the driven pulley are integrally covered with a belt drive box 1421. The belt drive box 1421 is fixedly connected to the rear side panel of the upper box body 111 through a plurality of bolts.

[0044] With such an arrangement, the plurality of grinding drive motors 141 respectively drive the plurality of driving pulleys to rotate, and then drive the plurality of driven pulleys to rotate through the plurality of transmission belts, thereby driving the plurality of driving gear shafts 112 to rotate. The other components and connection relationships are the same as those in the first, second, third or fourth specific embodiments.

[0045] Specific embodiment six: In combination with Figures 1 to 15 To describe this embodiment, each conforming support mechanism 16 of this embodiment includes a support spring 161, a support sleeve 162, a sleeve end cover 163 and a support bearing 164. A support sleeve 162 is sleeved on the rear part of each spline shaft 17. The front end of the support sleeve 162 is fixedly connected to the rear side panel of the lower box body 121. A sleeve end cover 163 is installed at the rear end of the support sleeve 162. A stepped hole is formed in the center of the sleeve end cover 163. The stepped hole is sequentially a support bearing assembly hole and a spline shaft assembly hole from outside to inside. The support bearing 164 is coaxially installed in the support bearing assembly hole. The smooth shaft section 172 of the spline shaft 17 sequentially passes through the support bearing 164 and the spline shaft assembly hole on the sleeve end cover 163 and extends to the outside of the support sleeve 162. A support spring 161 is sleeved on the smooth shaft section 172 of the spline shaft 17. The front end of the support spring 161 contacts the shoulder formed between the smooth shaft section 172 and the spline section 171 of the spline shaft 17. The rear end of the support spring 161 contacts the inner ring end face of the support bearing 164.

[0046] With such a setting, the spline shaft 17 automatically expands and contracts under the action of the conforming support mechanism 16 with the change of the shape of the part of the ice sculpture to be polished. Since the surface of the ice sculpture is not necessarily a regular shape, the spline shafts 17 connected to the multiple grinding discs 15 on the lower gearbox 12 compress the multiple support springs 161 to different degrees under the push of the part of the ice sculpture to be polished. Therefore, the grinding discs 15 can adapt to the shapes of different parts of the ice sculpture to be polished, and thus achieve precise grinding and trimming of the surface of the ice sculpture. Multiple grinding discs 15 are arranged on a set of equipment at the same time, effectively improving the grinding efficiency. The other components and connection relationships are the same as those in the first, second, third, fourth or fifth specific embodiments.

[0047] Specific Embodiment Seven: Combining Figures 1 to 19 To illustrate this embodiment, an ice sculpture auxiliary trimming device in this embodiment includes the ice sculpture trimming execution mechanism 1 described in Claim 6. The ice sculpture auxiliary trimming device further includes an annular track 2, a traveling mechanism 3, a base 4, a cuboid vertical frame 5, a lifting assembly 6, a support frame body 7 and a lateral movement assembly 8. The annular track 2 is a spliced annular track. The traveling mechanism 3 is installed on the annular track 2. The traveling mechanism 3 is a self-driven traveling mechanism. The base 4 is installed on the upper part of the traveling mechanism 3. The cuboid vertical frame 5 is vertically installed on the upper part of the base 4. A vertically arranged lifting assembly 6 is provided on the front side of the cuboid vertical frame 5. The lifting assembly 6 adopts a linear module. A support frame body 7 is fixedly installed on the slider of the lifting assembly 6. A lateral movement assembly 8 is installed on the top plate of the support frame body 7. The lateral movement assembly 8 adopts a cylinder. The ice sculpture trimming execution mechanism 1 is installed on the lateral movement assembly 8.

[0048] With such a setting, the annular track 2 is a spliced annular track. Before the operation, the annular track 2 is first installed around the ice sculpture to be polished and trimmed. The lateral distance between the grinding disc 15 and the part of the ice sculpture to be polished is adjusted through the lateral movement assembly 8. The lifting movement of the grinding disc 15 is realized by driving the grinding disc 15 through the lifting assembly 6. The movement of the grinding disc 15 in the circumferential direction is realized by driving the grinding disc 15 through the traveling mechanism 3, and thus the all-round grinding and trimming operation of the ice sculpture is realized. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth or sixth specific embodiments.

[0049] Specific Embodiment Eight: Combining Figures 1 to 19To describe this embodiment, the traveling mechanism 3 of this embodiment includes a traveling drive motor 31, an upper seat plate 32, two lower seat plates 33, and four traveling wheels 34. The upper seat plate 32 is horizontally arranged directly above the annular track 2. Four traveling wheels 4 are arranged in pairs at the bottom of the upper seat plate 32. The traveling wheels 4 are rotatably installed on the upper seat plate 32. An annular groove is formed in the middle of the side surface of the traveling wheel 4 along the circumferential direction. The inner and outer edges of the annular track 2 respectively match the annular grooves of the two side traveling wheels 4. The four traveling wheels 4 include one driving traveling wheel and three driven traveling wheels. The rotating shaft of the driving traveling wheel extends upward to the outside of the upper seat plate 32. The traveling drive motor 31 is installed on the side of the base 4. The rotating shaft of the traveling drive motor 31 is fixedly connected to the upper end of the rotating shaft of the driving traveling wheel through a coupling.

[0050] With such an arrangement, the traveling drive motor 31 drives the driving traveling wheel to rotate. The outer edge of the driving traveling wheel and the annular track 2 drive the traveling mechanism 3 and other components installed on the traveling mechanism 3 to travel along the annular track 2 under the action of static friction. The other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, or seventh specific embodiments.

[0051] Specific embodiment nine: Combining Figures 1 to 19 To describe this embodiment, the transverse movement assembly 8 of this embodiment includes a guide plate 81, a box mounting seat 82, a transverse movement cylinder 83, a cylinder mounting seat 84, and two transverse movement guide rails 85. The two transverse movement guide rails 85 are arranged side by side on the top plate of the support frame 7. A chute is formed in the inner side surface of the transverse movement guide rail 85 along the length direction. The left and right ends of the guide plate 81 are respectively slidably inserted into the chutes of the two side transverse movement guide rails 85. A box mounting seat 82 is installed on the front side of the upper end surface of the guide plate 81. A lower gear box 12 is installed on the upper part of the box mounting seat 82. A transverse movement cylinder 83 is horizontally arranged at the rear side of the box mounting seat 82 along the length direction of the lower gear box 12. The end of the piston rod of the transverse movement cylinder 83 is connected to the middle of the rear end surface of the box mounting seat 82 through a connecting piece. The cylinder body of the transverse movement cylinder 83 is installed on the cylinder mounting seat 84. The two ends of the cylinder mounting seat 84 are lapped on the upper end surfaces of the two transverse movement guide rails 85.

[0052] With such an arrangement, the piston rod of the transverse movement cylinder 83 drives the ice sculpture trimming actuator 1 installed on the transverse movement assembly 8 to approach or move away from the ice sculpture part to be polished and trimmed through telescopic movement. The other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, or eighth specific embodiments.

[0053] The ice sculpture auxiliary trimming device further includes a water supply assembly 9, which includes a water supply pump 91, a water storage tank 92, a transfer pipeline 93, a heat preservation material, a water supply pipeline I, and a water supply pipeline II. The water supply pump 91 is installed on the bottom plate of the support frame 7. One end of the water supply pipeline I is connected to the water outlet of the water supply pump 91 through a connector, and the other end of the water supply pipeline I is connected to the water inlet pipe of the transfer pipeline 93. Multiple water outlet pipes of the transfer pipeline 93 are respectively connected to the rear ends of multiple spline shafts 17 in the ice sculpture trimming actuator 1. One end of the water supply pipeline II is connected to the water inlet of the water supply pump 91 through a connector, and the other end of the water supply pipeline II is connected to the water outlet pipe of the water storage tank 92 through a connector. The outside of the water storage tank 92 is wrapped with a layer of heat preservation material to prevent the liquid in the water storage tank 92 from freezing. Both the water supply pipeline I and the water supply pipeline II are made of flexible hoses, and the lengths of the hoses can meet the requirements of the components for rising, falling, advancing, and retreating.

[0054] The ice sculpture trimming actuator 1 further includes multiple disk-shaped nozzles 10. The disk-shaped nozzles 10 are detachably installed at the front end of the spline section 171. The disk-shaped nozzles 10 are disk-shaped nozzles. Inside the disk-shaped nozzle, there is a T-shaped main water passage 101 and several water passage branches 102 connected to the T-shaped main water passage 101. A nozzle 103 is installed at the end of each water passage branch 102. Inside the spline shaft 17, there is a water passage cavity 173 that runs through the front and rear ends of the spline shaft. The water passage cavity 173 is connected to the T-shaped main water passage 101. The liquid in the water storage tank 92 is injected into the water passage cavity 173 inside the multiple spline shafts 17 through the water supply pump 91, and is sprayed onto the polished and trimmed ice sculpture through several nozzles 103 on the disk-shaped nozzles 10, forming a new ice layer on the surface of the ice sculpture. The disk-shaped nozzles 10 and the grinding disk 15 can share the spline shaft 17, and the two are connected by a threaded connection, which can not only meet the connection strength but also ensure the sealing effect between the components.

[0055] Specific Embodiment Ten: Combining Figures 1 to 19 To illustrate this embodiment, an ice sculpture auxiliary trimming method in this embodiment is based on the ice sculpture auxiliary trimming device, and the method is implemented through the following steps:

[0056] Step 1: Installation process of the trimming device:

[0057] Before operation, first install the annular track 2 around the ice sculpture to be polished and trimmed, and then assemble the traveling mechanism 3, the base 4, the cuboid vertical frame 5, the lifting assembly 6, the support frame 7, the transverse movement assembly 8, and the ice sculpture trimming actuator 1 in sequence;

[0058] Step 2: Transverse movement process of the grinding disk 15:

[0059] Start the cross - transfer cylinder 83 so that the piston rod of the cross - transfer cylinder 83 drives the ice carving trimming actuator 1 installed on the cross - transfer assembly 8 to approach or move away from the ice carving part to be polished and trimmed through telescopic movement, and determine the appropriate distance between the grinding disc 15 and the ice carving to be polished.

[0060] Step Three: The rotation process of the grinding disc 15:

[0061] First, start two double - axis cylinders 131, and under the control of the existing controller, synchronously contract the piston rods to make the gear part of the transmission gear shaft 113 mesh with the driven gear 122.

[0062] Then, start the grinding drive motor 141, drive the spline shaft 17 to rotate through the transmission mechanism, and then drive the grinding disc 15 connected to the front end of the spline shaft 17 to rotate, realizing the grinding and trimming of the ice carving part to be polished.

[0063] Meanwhile, under the action of the conforming support mechanism 16, the spline shaft 17 automatically expands and contracts with the change of the shape of the ice carving part to be polished, realizing the precise grinding and trimming of the ice carving surface.

[0064] Step Four: The lifting process of the grinding disc 15:

[0065] The lifting assembly 6 adopts a linear module. Start the drive motor of the linear module to drive the grinding disc 15 to perform a lifting action, and then realize the grinding and trimming operation on the ice carving surface from top to bottom or from bottom to top.

[0066] Step Five: The circumferential movement process of the grinding disc 15:

[0067] When the grinding and trimming of one area on the ice carving surface is completed, the grinding disc 15 is adjusted to the initial position. Start the traveling drive motor 31, and the traveling drive motor 31 drives the driving walking wheels to rotate. The driving walking wheels and the outer edge of the annular track 2 drive the traveling mechanism 3 and other components installed on the traveling mechanism 3 to travel along the annular track 2 under the action of static friction, so that the grinding disc 15 moves to the next working area for grinding and trimming.

[0068] Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth, or ninth of the specific embodiments.

[0069] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ice sculpture trimming actuator, characterized in that: The ice sculpture trimming actuator (1) comprises an upper gear box (11), a lower gear box (12), a box lifting mechanism (13), a grinding drive assembly (14), a plurality of grinding discs (15), a plurality of conformal support mechanisms (16) and a plurality of spline shafts (17); the upper gear box (11) is arranged directly above the lower gear box (12); the lower gear box (12) and the upper gear box (11) are connected via the box lifting mechanism (13); gear transmission mechanisms are provided inside the upper gear box (11) and the lower gear box (12); the box lifting mechanism (13) drives the upper gear box (11) to rise or fall to realize the connection between the upper and lower gear transmission mechanisms. The plurality of spline shafts (17) are sequentially arranged on the lower gear box (12) from left to right, the spline shaft (17) horizontally penetrates the front and rear box plates of the lower gear box (12) and extends to the front and rear sides of the gear box (12), the front part of the spline shaft (17) is a spline section (171), and the rear part of the spline shaft (17) is a smooth shaft section (172), wherein the spline section (171) is connected to the gear in the gear transmission mechanism inside the lower gear box (12) through the splines and spline grooves that cooperate with each other, the front end of the spline section (171) is detachably mounted with a grinding disc (15), and the rear end of the smooth shaft section (172) is mounted with a conformal support mechanism (16), and the grinding disc (15) is detachably mounted on the front end of the spline section (171). The driving assembly (14) is mounted on the upper part of the upper gear box (11). When the upper and lower gear transmission mechanisms are in a meshing state, the grinding driving assembly (14) drives the plurality of spline shafts (17) to rotate through the upper and lower gear transmission mechanisms in turn, thereby driving the grinding discs (15) connected to the front ends of the spline shafts (17) to rotate, thereby trimming the part of the ice sculpture to be polished. The spline shafts (17) automatically extend and retract as the shape of the part of the ice sculpture to be polished changes under the action of the conforming support mechanism (16). The gears between the two adjacent rows of gear sets in the ice sculpture trimming actuator (1) are arranged in an alternating manner. The two adjacent grinding discs (15) are arranged along the lower gear box (11). The maximum horizontal distance in the length direction of the lower box body (121) of the grinding wheel (12) is not greater than twice the diameter of the grinding wheel (15); the grinding wheel (15) comprises a grinding wheel body and a screw rod coaxially arranged with the rear end center of the grinding wheel body and integrally formed; a grinding wheel connecting threaded hole is provided at the front end center of the spline section (171) of the spline shaft (17); the grinding wheel (15) is threadedly connected to the spline section (171) through the screw rod; a plurality of grinding heads (151) are provided on the front end surface of the grinding wheel body; the cross section of the grinding head (151) is an inverted triangle; the blades of the plurality of grinding heads (151) are arranged in parallel, and two adjacent rows of grinding heads (151) are arranged in a staggered manner.

2. The ice sculpture trimming actuator according to claim 1, characterized in that: The upper gear box (11) comprises an upper box body (111), a plurality of driving gear shafts (112) and a plurality of transmission gear shafts (113). The upper box body (111) is a hollow rectangular parallelepiped structure with an opening at the bottom. The plurality of driving gear shafts (112) are sequentially arranged inside the upper box body (111) from left to right. The front and rear box plates of the upper box body (111) are respectively provided with shaft holes I (1111) matching the rotating shaft parts of the driving gear shafts (112). The two ends of the rotating shaft parts of the driving gear shafts (112) are respectively rotatably inserted into the corresponding shaft holes I (1111) on the upper box body (111). A transmission gear shaft (113) meshing with the driving gear shaft (112) is arranged directly below each driving gear shaft (112). The front and rear box plates of the upper box body (111) are respectively provided with shaft holes II (1112) matching the rotating shaft parts of the transmission gear shafts (113). The rotating shaft parts of the transmission gear shafts (113) are respectively provided with shaft holes II (1112) matching the rotating shaft parts of the transmission gear shafts (113). The two ends are rotatably inserted into corresponding shaft holes II (1112) on the upper housing (111); the lower gear housing (12) comprises a lower housing (121) and a plurality of driven gears (122); the lower housing (121) is a hollow rectangular parallelepiped structure with an opening at the top; the plurality of driven gears (122) are sequentially arranged inside the lower housing (121) from left to right; the plurality of driven gears (122) correspond to the plurality of driven gears (122) one by one. A spline groove (1221) is provided at the center of each driven gear (122), and a plurality of spline shafts (17) can be slidably inserted in the spline grooves (1221) of the plurality of driven gears (122). A shaft hole III (1211) matching the spline shaft (17) is provided on the front and rear box plates of the lower box body (121), and both ends of the spline shaft (17) can be rotatably inserted in the corresponding shaft hole III (1211) on the lower box body (121).

3. The ice sculpture trimming actuator according to claim 2, characterized in that: The ice sculpture trimming actuator (1) further comprises a plurality of limiting sleeves (18), wherein the limiting sleeves (18) are provided between the gear portion of the driving gear shaft (112), the gear portion of the transmission gear shaft (113), the driven gear (122) and the upper gear box (11) and / or the lower box body (121), and the limiting sleeves (18) are sleeved on the rotating shaft portion of the driving gear shaft (112), the rotating shaft portion of the transmission gear shaft (113) and the outside of the spline shaft (17); each limiting sleeve (18) comprises a sleeve body (181), a plurality of steel balls (182), a plurality of steel ball mounting seats (183) and a plurality of steel ball limiting covers (184); the plurality of steel ball mounting seats (183) are evenly fixed on a side end surface of the sleeve body (181) along a circumferential direction, and each steel ball mounting seat (183) A circular flange is provided at one end, and the circular flange is fixedly connected to the sleeve body (181) by a plurality of screws. A hemispherical groove is provided at the center of the other end of the steel ball mounting seat (183), and a steel ball (182) is embedded in the hemispherical groove. The steel ball limiting cover (184) is a cylindrical structure with two ends open. The diameter of the steel ball is smaller than the inner diameter of the opening at one end of the steel ball limiting cover (184), and the inner diameter of the opening at the other end of the steel ball limiting cover (184) is smaller than the diameter of the steel ball. The steel ball limiting cover (184) is buckled on the steel ball. The steel ball limiting cover (184) is detachably connected to the steel ball mounting seat (183) by a plurality of screws. The height of the steel ball limiting cover (184) is 2-3 mm smaller than the radius of the steel ball. The part of the steel ball extending out of the steel ball limiting cover (184) contacts the inner wall of the upper box body (111) and / or the lower box body (121).

4. The ice sculpture trimming actuator according to claim 3, characterized in that: The box lifting mechanism (13) comprises two double-axis cylinders (131) and four guide assemblies (132). Two cylinder body assembly grooves are respectively provided in the middle of the upper end surfaces of the box plates on both sides of the upper box (111). The two double-axis cylinders (131) are respectively installed in the two cylinder body assembly grooves of the upper box (111). Two cylinder top block assembly grooves are respectively provided in the middle of the lower end surfaces of the box plates on both sides of the lower box (121). The two cylinder top block assembly grooves correspond to the two cylinder body assembly grooves one by one. The top blocks of the two double-axis cylinders (131) are respectively installed in the lower box (121). The four guide assemblies (132) are respectively arranged in pairs opposite to each other. On the left and right sides of the upper gear box (11) and the lower gear box (12), each guide assembly (132) comprises a guide sleeve (1321), a guide rod (1322) and a guide rod seat (1323); the guide rod seat (1323) is mounted on the outer wall of the box plate of the lower box body (121); a guide rod (1322) is vertically arranged above the guide rod seat (1323); the lower end of the guide rod (1322) is fixedly connected to the upper end surface of the guide rod seat (1323); a guide sleeve (1321) corresponding to the guide rod (1322) is mounted on the outer wall of the box plate of the upper box body (111); the upper end of the guide rod (1322) can be slidably inserted into the inner hole of the guide sleeve (1321).

5. The ice sculpture trimming actuator according to claim 4, characterized in that: The grinding drive assembly (14) comprises a plurality of grinding drive motors (141) and a plurality of belt transmission mechanisms (142). The plurality of grinding drive motors (141) are sequentially mounted on the upper end surface of the upper box body (111) from left to right. The plurality of grinding drive motors (141) correspond to the plurality of driving gear shafts (112) one by one. The grinding drive motors (141) and the corresponding driving gear shafts (112) are connected via the belt transmission mechanism (142). Each belt transmission mechanism (142) comprises a driving pulley, a transmission belt, a driven pulley and a belt transmission box (1421). The driving pulley is mounted on the rotating shaft of the grinding drive motor (141). The driven pulley is mounted at the rear end of the driving gear shaft (112). The driving pulley is connected to the driven pulley via the transmission belt. The driving pulley, the transmission belt and the driven pulley are integrally covered with a belt transmission box (1421). The belt transmission box (1421) is fixedly connected to the rear side box plate of the upper box body (111) via a plurality of bolts.

6. The ice sculpture trimming actuator according to claim 5, characterized in that: Each conformal support mechanism (16) comprises a support spring (161), a support sleeve (162), a sleeve end cover (163) and a support bearing (164). A support sleeve (162) is sleeved on the rear of each spline shaft (17). The front end of the support sleeve (162) is fixedly connected to the rear box plate of the lower box body (121). The rear end of the support sleeve (162) is installed with a sleeve end cover (163). A stepped hole is opened in the center of the sleeve end cover (163). The stepped hole is a support bearing assembly hole and a spline shaft assembly hole from the outside to the inside. The support bearing (164) ) is coaxially mounted in the supporting bearing assembly hole, the optical axis section (172) of the spline shaft (17) passes through the supporting bearing (164) and the spline shaft assembly holes on the sleeve end cover (163) from front to back in sequence and extends to the outside of the supporting sleeve (162), and a supporting spring (161) is sleeved on the optical axis section (172) of the spline shaft (17), the front end of the supporting spring (161) contacts the shaft shoulder formed between the optical axis section (172) of the spline shaft (17) and the spline section (171), and the rear end of the supporting spring (161) contacts the inner ring end face of the supporting bearing (164).

7. An ice sculpture auxiliary trimming device, characterized in that: The ice sculpture auxiliary trimming device comprises the ice sculpture trimming actuator (1) according to claim 6, and further comprises an annular track (2), a traveling mechanism (3), a base (4), a rectangular vertical frame (5), a lifting assembly (6), a support frame (7) and a transverse movement assembly (8), wherein the annular track (2) is a spliced ​​annular track, the traveling mechanism (3) is mounted on the annular track (2), the traveling mechanism (3) is a self-propelled traveling mechanism, the base (4) is mounted on the upper part of the traveling mechanism (3), the rectangular vertical frame (5) is vertically mounted on the upper part of the base (4), and a vertically arranged lifting assembly (6) is provided on the front side of the rectangular vertical frame (5). ), the lifting assembly (6) adopts a linear module, a support frame (7) is fixedly mounted on a slider of the lifting assembly (6), a lateral movement assembly (8) is mounted on the top plate of the support frame (7), the lateral movement assembly (8) adopts a cylinder, an ice sculpture trimming actuator (1) is mounted on the lateral movement assembly (8), the ice sculpture auxiliary trimming device further comprises a water supply assembly (9), the water supply assembly (9) comprises a water supply pump (91), a water storage tank (92), a transfer pipe (93), a heat-insulating material, a water supply pipe I, and a water supply pipe II, the water supply pump (91) is mounted on the bottom plate of the support frame (7), one end of the water supply pipe I is connected to the water outlet of the water supply pump (91) through a connecting piece, and the water supply The other end of the water pipe I is connected to the water inlet pipe of the transfer pipe (93); the multiple water outlet pipes of the transfer pipe (93) are respectively connected to the rear ends of the multiple spline shafts (17) in the ice sculpture trimming actuator (1); one end of the water supply pipe II is connected to the water inlet of the water supply pump (91) via a connector; the other end of the water supply pipe II is connected to the water outlet pipe of the water storage tank (92) via a connector; the outside of the water storage tank (92) is wrapped with a layer of thermal insulation material; the ice sculpture trimming actuator (1) further comprises a plurality of disc-shaped nozzles (10); the disc-shaped nozzles (10) are detachably mounted on the front end of the spline section (171); the disc-shaped nozzles (10) are disc-shaped nozzles; a T-shaped nozzle is provided inside the disc-shaped nozzles. A T-shaped water main passage (101) and a plurality of water branch passages (102) connected to the T-shaped water main passage (101), each water branch passage (102) being provided with a nozzle (103) at the end thereof, a water inner cavity (173) penetrating the front and rear ends of the spline shaft being provided inside the spline shaft (17), the water inner cavity (173) being connected to the T-shaped water main passage (101), liquid in a water storage tank (92) being injected into the water inner cavity (173) inside the plurality of spline shafts (17) through a water supply pump (91), and being sprayed toward the polished and trimmed ice sculpture through the plurality of nozzles (103) on the disc-shaped spray head (10), thereby forming a new layer of ice on the surface of the ice sculpture.

8. The ice sculpture auxiliary trimming device according to claim 7, characterized in that: The travel mechanism (3) comprises a travel drive motor (31), an upper seat plate (32), two lower seat plates (33) and four running wheels (34). The upper seat plate (32) is horizontally arranged directly above the annular track (2). Four running wheels (34) arranged opposite to each other are provided at the bottom of the upper seat plate (32). The running wheels (34) are rotatably mounted on the upper seat plate (32). A circular wheel groove is provided in the middle of the side surface of the running wheel (34) along the circumferential direction. The inner and outer edges of the annular track (2) respectively match the circular wheel grooves of the running wheels (34) on both sides. The four running wheels (34) comprise a driving running wheel and three driven running wheels. The rotating shaft of the driving running wheel extends upward to the outside of the upper seat plate (32). The travel drive motor (31) is mounted on the side of the base (4). The rotating shaft of the travel drive motor (31) is fixedly connected to the upper end of the rotating shaft of the driving running wheel through a coupling.

9. The ice sculpture auxiliary trimming device according to claim 8, characterized in that: The transverse moving assembly (8) comprises a guide plate (81), a box mounting seat (82), a transverse moving cylinder (83), a cylinder mounting seat (84) and two transverse moving guide rails (85). The two transverse moving guide rails (85) are arranged side by side on the top plate of the support frame (7). The inner side surface of the transverse moving guide rail (85) is provided with a slide groove along the length direction. The left and right ends of the guide plate (81) can be slidably inserted into the slide grooves of the transverse moving guide rails (85) on both sides. The box mounting seat (84) is installed on the front side of the upper end of the guide plate (81). 2), a lower gear box (12) is installed on the upper part of the box body mounting seat (82), and a transverse cylinder (83) is arranged horizontally along the length direction of the lower gear box (12) on the rear side of the box body mounting seat (82), and the piston rod end of the transverse cylinder (83) is connected to the middle part of the rear end surface of the box body mounting seat (82) through a connecting piece, and the cylinder body of the transverse cylinder (83) is installed on the cylinder mounting seat (84), and the two ends of the cylinder mounting seat (84) are overlapped on the upper end surfaces of the two transverse guide rails (85).

10. An ice sculpture auxiliary trimming method, characterized in that: The ice sculpture auxiliary trimming method is implemented based on the ice sculpture auxiliary trimming device according to claim 9, and the method is implemented by the following steps: Step 1: Installation process of the dressing device: Before the operation, the annular track (2) is first installed around the ice sculpture to be polished and trimmed, and the travel mechanism (3), the base (4), the rectangular vertical frame (5), the lifting assembly (6), the support frame (7), the transverse movement assembly (8) and the ice sculpture trimming actuator (1) are assembled in sequence; Step 2: lateral movement of the grinding disc (15): The transverse movement cylinder (83) is started, so that the piston rod of the transverse movement cylinder (83) drives the ice sculpture trimming actuator (1) installed on the transverse movement assembly (8) to move closer to or farther away from the part of the ice sculpture to be polished and trimmed through a telescopic action, thereby determining a suitable distance between the polishing disc (15) and the ice sculpture to be polished; Step 3: Rotation process of the grinding disc (15): First, the two double-axis cylinders (131) are started, and the piston rods are synchronously retracted under the control of an existing controller, so that the gear portion of the transmission gear shaft (113) is meshed with the driven gear (122); Then, the grinding drive motor (141) is started to drive the spline shaft (17) to rotate through the transmission mechanism, thereby driving the grinding disc (15) connected to the front end of the spline shaft (17) to rotate, thereby achieving grinding and trimming of the part to be polished of the ice sculpture; At the same time, the spline shaft (17) automatically expands and contracts as the shape of the part of the ice sculpture to be polished changes under the action of the conformal support mechanism (16), thereby achieving precise polishing and trimming of the surface of the ice sculpture; Step 4: Raising and lowering process of the grinding disc (15): The lifting component (6) uses a linear module, and the driving motor of the linear module is started to drive the grinding disc (15) to achieve a lifting action, thereby achieving a grinding and trimming operation from top to bottom or from bottom to top on the surface of the ice sculpture; Step 5: Circumferential movement of the grinding disc (15): After the grinding and trimming of an area on the surface of the ice sculpture is completed, the grinding disc (15) is adjusted to the initial position, and the travel drive motor (31) is started. The travel drive motor (31) drives the active travel wheel to rotate. Under the action of static friction between the active travel wheel and the outer edge of the annular track (2), the travel mechanism (3) and other components installed on the travel mechanism (3) are driven to travel along the annular track (2), so that the grinding disc (15) moves to the next working area for grinding and trimming.

Images