Automatic polishing robot

Abstract

The invention relates to the technical field of building construction, and discloses an automatic grinding robot which comprises an electric control box, the electric control box is composed of a shell and a laser radar, a dust collection bin is fixedly arranged on the outer wall of the rear side of the electric control box, and a lifting mechanical arm is arranged on the left side of the electric control box; the outer wall of the rear side of the lifting mechanical arm is fixedly arranged on the outer wall of the front side of the dust collection bin, the multi-degree-of-freedom grinding head is detachably installed at the front end of the lifting mechanical arm, the upper surface of the chassis is fixedly connected to the lower surface of the electric control box, and the grinding laser blocks are distributed in a matrix mode and fixedly arranged on the outer wall of the multi-degree-of-freedom grinding head. The design is light in weight, can adapt to most light-load assisting mechanical arms on the market, can enable the building robot to be smaller in size, not only provides radial and pitching degree of freedom for a multi-degree-of-freedom polishing head, but also achieves the effect of being suitable for wall surfaces and ceilings with poor flatness according to the requirement of the market for the flatness of the wall surfaces.

Description

Technical Field

[0001] The invention relates to the technical field of building construction, and in particular to an automatic polishing robot. Background Art

[0002] An automated polishing robot is a robot system that uses a robotic arm, sensor, control system, and related software technology to perform polishing, polishing, and surface treatment. This type of robot is widely used in industrial production, especially in the automotive, aerospace, electronics, and home appliance industries, to improve production efficiency, improve product quality, and reduce the risks and errors of manual operations.

[0003] Generally, in the process of interior wall decoration of a building, it is necessary to use the fused putty to apply on the wall surface, and after applying, use a putty grinder to perform subtractive processing on the applied putty to ensure that the wall surface is smooth and bright, and to prepare a good foundation for painting on the wall.

[0004] Therefore, the quality of the putty grinding machine largely determines the quality of the wall grinding. At present, although the putty grinding device in the construction market can realize the putty grinding operation, due to the irrational grinding design, its grinding accuracy is not high and it cannot meet the automation operation requirements of precise grinding. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an automated grinding robot to solve the problem that the irrational grinding design results in low grinding accuracy and the inability to meet the automated operation requirements for precise grinding.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] An automated grinding robot comprises an electric control box, which consists of a shell and a laser radar. A dust collection bin is fixedly arranged on the rear outer wall of the electric control box. A lifting mechanical arm is arranged on the left side of the electric control box. The rear outer wall of the lifting mechanical arm is fixedly arranged on the front outer wall of the dust collection bin. A multi-degree-of-freedom grinding head is detachably mounted on the front end of the lifting mechanical arm. The lower surface of the lifting mechanical arm is fixedly connected to a chassis. The upper surface of the chassis is fixedly connected to the lower surface of the electric control box. The lower surface of the dust collection bin is fixedly connected to the upper surface of the electric control box. A driving control system is arranged inside the electric control box. A grinding laser block is arranged on the outer wall of the multi-degree-of-freedom grinding head. The grinding laser blocks are distributed in a matrix and fixedly arranged on the outer wall of the multi-degree-of-freedom grinding head.

[0008] Preferably, the chassis includes a rudder plate, a steering wheel is fixedly connected to the inner wall of the rudder plate, a battery compartment is fixedly connected to the upper surface of the steering wheel, a mobile laser module is fixedly provided on the inner wall of the rudder plate, and an edge sensor is fixedly connected to the upper inner wall of the rudder plate.

[0009] Preferably, the multi-degree-of-freedom grinding head includes a feed fixture, the inner wall of the feed fixture is fixedly connected to a feed shaft, the outer wall of the feed shaft is slidably provided with a feed spring, the bottom end of the feed shaft is fixedly connected to a linear bearing, the upper surface of the linear bearing is slidably connected to a feed movable end, the upper surface of the feed movable end is fixedly connected to the bottom end of the feed spring, the inner wall of the feed movable end is slidably connected to the outer wall of the feed shaft, and the top of the feed spring is fixedly connected to the lower surface of the feed fixture.

[0010] Preferably, a pitch fixation is provided below the linear bearing, the inner wall of the pitch fixation is rotatably connected to the pitch shaft, the outer wall of the pitch fixation is slidably connected to the pitch cantilever, and the outer wall of the pitch shaft is fixedly connected to the inner wall of the pitch cantilever.

[0011] Preferably, the outer wall of the pitch cantilever is fixedly connected with a pitch limiter, the inner wall of the pitch limiter is slidably connected with a pitch spring support, the outer wall of the pitch spring support is provided with a pitch spring body, and the bottom end of the pitch spring body is fixedly connected to the upper surface of the pitch limiter.

[0012] Preferably, the outer wall of the pitch cantilever is detachably mounted with a radial movable end, the inner wall of the radial movable end is rotatably connected with a radial fixed end, the upper surface of the radial fixed end is fixedly connected with a radial spring, the inner wall of the radial spring is slidably connected with a radial support, the outer wall of the radial support is slidably connected to the inner wall of the radial fixed end, and a detachably mounted grinding head is provided on the lower side of the radial fixed end.

[0013] Preferably, the lifting robot arm comprises a lifting plate clamp, a six-axis assisting arm is fixedly provided on the upper surface of the lifting plate clamp, and a connecting platform is fixedly connected to the rear outer wall of the lifting plate clamp.

[0014] Preferably, the outer wall of the connecting platform is slidably connected to a support frame, the outer wall of the support frame is provided with a motor, the output end of the motor is fixedly connected to a gear, the inner wall of the gear is fixedly connected to a screw rod, and the outer wall of the screw rod is threadedly connected to the inner wall of the connecting platform.

[0015] Preferably, the dust suction bin comprises a protective box, the lower surface of the protective box is fixedly connected to the upper surface of the rudder plate, a dust collector is arranged inside the protective box, a baffle is arranged on the inner wall of the protective box, the dust suction bin also comprises a slide plate, the outer wall of the slide plate is slidably connected to the inner wall of the protective box, the inner wall of the protective box is fixedly connected to a fixed block, the outer wall of the fixed block is fixedly connected to an adjusting plate, the fixed block is provided with two groups of opposite arrangements which are meshed with each other, the inner wall of the adjusting plate is slidably connected to a cross bar, the outer wall of the cross bar is fixedly connected to a return spring, the outer wall of the return spring is fixedly connected to the outer wall of the adjusting plate, the outer wall of the adjusting plate is rotatably connected to a connecting rod, and the outer wall of the connecting rod rotates A connecting plate is connected, and a toothed plate is provided on the outer wall of the connecting plate. The outer wall of the toothed plate is slidably connected to a mounting platform, and the lower surface of the mounting platform is fixedly connected to the upper surface of the slide plate, and the tooth end of the toothed plate is meshingly connected to a gear body, and the inner wall of the gear body is fixedly connected to a first driving rod, and the outer wall of the first driving rod is fixedly connected to a first bevel gear, and the tooth end of the first bevel gear is meshingly connected to a second bevel gear, and the inner wall of the second bevel gear is fixedly connected to a fan gear, and the fan gears are provided in two groups that are longitudinally arranged and meshed with each other, and the inner wall of the fan gear is fixedly connected to a second driving rod, and the outer wall of the second driving rod is fixedly connected to a fixing rod, and the inner wall of the fixing rod is fixedly connected to a clamping plate.

[0016] Preferably, the drive control system includes a mobile control module, a dust collection module, an electric box module, a lifting module and a multi-degree-of-freedom grinding module;

[0017] The mobile control module is used to realize flexible movement and polishing positioning of the robot;

[0018] The dust collection module is used to collect dust generated during the grinding process and optimize the working space environment;

[0019] The electrical box module is used to centrally control all electrical components of the robot, as well as the precise operation and power supply of the system;

[0020] The lifting module is used to adjust the grinding height and orientation to adapt to the effect of all-round grinding coverage;

[0021] The multi-degree-of-freedom polishing module is used for polishing the wall surface and provides real-time feedback to adjust the polishing status.

[0022] Working principle: When the robot is needed, the robot can move freely in the work site by relying on the built-in steering wheel of the rudder board and the power support provided by the battery compartment. At the same time, the mobile laser module scans the surrounding environment in real time to build map information for the robot. The edge sensor is like a sensitive feeler, accurately sensing obstacles and the distance from the work surface. No matter which direction, front, back, left, or right, when a potential collision risk or position deviation is detected, the signal is immediately fed back to the drive control system. After the system quickly processes the information, it accurately adjusts the steering and speed of the steering wheel to ensure that the robot always moves along the predetermined path and accurately reaches the grinding position.

[0023] The protective box tightly wraps the vacuum cleaner. When the grinding head starts working and dust is raised, the vacuum cleaner starts running according to the built-in dust removal device, quickly sucks in the dust-laden air, and causes the dust to fully settle in the dust collection area to avoid secondary dust. The purified air is discharged in an orderly manner. The airflow inside the dust collection bin is stable, and dust is continuously and efficiently captured. The complex circuit system integrated inside the electric control box reasonably distributes the external power supply to the battery compartment of the chassis, the motor of the lifting robot arm, various sensors and drive devices of the multi-degree-of-freedom grinding head, and other power-consuming units to ensure sufficient power supply. With the help of advanced microprocessors and control algorithms, it receives and analyzes the massive data from the laser radar, grinding laser block and various sensors in real time, and accurately adjusts the action instructions of each module according to the preset program to realize the automation and intelligent operation process of the robot.

[0024] The motor drives the gear to rotate, and the gear drives the lead screw to rotate. During use, the lead screw drives the connecting table, and the connecting table drives the six-axis assisting arm to adjust the height. During use, it can adapt to walls of various heights for grinding, and also has the effect of grinding the ceiling. The pitch cantilever is connected with the pitch limit and the pitch rotation axis. The pitch cantilever rotates under the limit of the pitch rotation axis, and is supported and limited by the pitch fixation and the pitch spring. Therefore, during use, it can adapt to various inclined walls, and will not cause the effect of excessive grinding of the wall due to the inability to rotate. The radial movable end and the radial fixed end are connected and limited by the shaft hole. During use, the radial support and the radial spring serve as the connection limit between the radial movable end and the radial fixed end, so that the radial fixed end shaft can rotate freely at the radial movable end of the radial movable end, but is limited by the radial support and the radial spring. During use, the grinding angle can be automatically adjusted according to the different protrusions of the wall, and will not cause the effect of excessive grinding of the wall after grinding due to the inability to adapt to the wall.

[0025] The present invention provides an automated polishing robot having the following beneficial effects:

[0026] 1. The present invention is light in weight through this design and can be adapted to most light-load assisting robotic arms on the market, which can make the construction robot smaller in size and low in cost. The simple linkage mechanism and spring design are designed to meet the market requirements for wall flatness. It not only has a multi-degree-of-freedom grinding head that provides radial and pitch angle freedom, but also has the effect of being suitable for walls and ceilings with poor flatness.

[0027] 2. The automatic operation of the present invention does not require the presence of staff. It comes with 11 laser modules and a laser radar. The CDA drawing is input in advance in the room where the operation is required. The fully automatic polishing robot will automatically plan the path to perform the operation. The degree of automation is high during use, which reduces manual intervention and can complete the work more quickly.

[0028] 3. Before the operation, the present invention first inputs the CDA drawing of the room to be polished into the robot system. Then, based on the built-in intelligent algorithm, the robot combines the 11 laser modules and 1 laser radar it carries with it to comprehensively scan and analyze the working space, and automatically plans the optimal polishing path. After starting, the robot can operate autonomously according to the preset path without manual on-site supervision. During use, it not only improves work efficiency, but also reduces labor costs.

[0029] 4. When the dust collection bin needs to be maintained or replaced, the present invention drives the fixed block to move toward the middle under the limitation of the cross bar and the return spring through the adjustment plate, and drives the connecting rod and the connecting plate to drive the toothed plate and the gear body through the adjustment plate. The first driving rod and the first bevel gear and the second bevel gear can drive the fan gear to move through the gear body, thereby driving the second driving rod and the fixed rod to drive the clamping plate to install and fix the dust collection bin. During use, the structure is simple and convenient for maintenance and replacement. The pure machinery can adapt to a variety of environments and maintain stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A three-dimensional diagram of the automatic polishing robot of the present invention;

[0031] Figure 2 It is a partial schematic diagram of the electric control box of the automatic polishing robot of the present invention;

[0032] Figure 3 This is a schematic diagram of the chassis explosion of the automatic polishing robot of the present invention;

[0033] Figure 4 A side view of a multi-degree-of-freedom grinding head of the automatic grinding robot of the present invention;

[0034] Figure 5 An exploded schematic diagram of a multi-degree-of-freedom grinding head of the automated grinding robot of the present invention;

[0035] Figure 6It is a partial schematic diagram of the feeding and fixing of the automatic polishing robot of the present invention;

[0036] Figure 7 It is a partial schematic diagram of the pitch cantilever of the automatic polishing robot of the present invention;

[0037] Figure 8 It is a partial schematic diagram of the radial fixed end of the automatic polishing robot of the present invention;

[0038] Fig. 9 It is a partial schematic diagram of the lifting plate clamp of the automatic polishing robot of the present invention;

[0039] Fig.10 A partial schematic diagram of the vacuum cleaner of the automatic polishing robot of the present invention;

[0040] Fig.11 It is a partial schematic diagram of the adjustment plate of the automatic polishing robot of the present invention;

[0041] Fig.12 It is a partial schematic diagram of the second driving rod of the automatic polishing robot of the present invention;

[0042] Fig.13 This is a diagram of the drive control system architecture of the automated polishing robot of the present invention.

[0043] Among them, 1. Electric control box; 101. Laser radar; 2. Chassis; 201. Steering plate; 202. Steering wheel; 203. Battery compartment; 204. Mobile laser module; 205. Edge sensor; 3. Lifting mechanical arm; 301. Lifting plate clamp; 302. Support frame; 303. Motor; 304. Screw rod; 305. Six-axis assist arm; 4. Multi-degree-of-freedom grinding head; 401. Feed fixation; 402. Feed shaft; 403. Feed spring; 404. Feed movable end; 405. Linear bearing; 406. Pitch fixation; 407. Pitch rotation axis; 408. Pitch spring support; 409. Pitch spring body; 4 10. Pitch limit; 411. Pitch cantilever; 412. Radial fixed end; 413. Radial movable end; 414. Radial spring; 415. Radial support; 5. Dust collection bin; 501. Dust collector; 502. Protective box; 503. Baffle; 6. Polishing laser block; 7. Slide plate; 8. Fixed block; 9. Adjustment plate; 10. Cross bar; 11. Return spring; 12. Connecting plate; 13. Tooth plate; 14. Connecting rod; 15. Mounting table; 16. Gear body; 17. First drive rod; 18. First bevel gear; 19. Second bevel gear; 20. Fan gear; 21. Second drive rod; 22. Fixed rod; 23. Clamp. DETAILED DESCRIPTION

[0044] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Please see attached Figure 1 -Attached Fig.11 An embodiment of the present invention provides an automated grinding robot, including an electric control box 1, which is composed of a shell and a laser radar 101. A dust collection bin 5 is fixedly arranged on the rear outer wall of the electric control box 1, and a lifting mechanical arm 3 is arranged on the left side of the electric control box 1. The rear outer wall of the lifting mechanical arm 3 is fixedly arranged on the front outer wall of the dust collection bin 5. A multi-degree-of-freedom grinding head 4 is detachably installed on the front end of the lifting mechanical arm 3. The lower surface of the lifting mechanical arm 4 is fixedly connected to a chassis 2, and the upper surface of the chassis 2 is fixedly connected to the lower surface of the electric control box 1. The lower surface of the dust collection bin 5 is fixedly connected to the upper surface of the electric control box 1. A driving control system is arranged inside the electric control box 1, and a grinding laser block 6 is arranged on the outer wall of the multi-degree-of-freedom grinding head 4. The grinding laser blocks 6 are distributed in a matrix and fixedly arranged on the outer wall of the multi-degree-of-freedom grinding head 4.

[0046] Specifically, the fully-automatic grinding robot comprises an electric control box 1, a chassis 2, a lifting robot arm 3, a multi-degree-of-freedom grinding head 4 and a dust collection bin 5. During use, the device is lightweight and compatible with most light-load assisting robot arms on the market, which can make the construction robot smaller in size and low in cost. The simple linkage mechanism and spring design, in response to the market's requirements for wall flatness, the multi-degree-of-freedom grinding head 4 provides radial and pitch angle degrees of freedom, which is suitable for walls and ceilings with poor flatness. Automatic operation does not require the presence of staff, and it comes with 11 laser modules and a laser radar 101. Input the CDA drawing in advance in the room where the operation is required, and the fully-automatic grinding robot will automatically plan the path for operation. During use, it can not only adapt to a variety of lifting robots on the market, but also can automatically grind the surface of the wall. The robot arm 3 is lowered for installation and use. It also has 11 laser modules and a laser radar 101. The work can be completed by inputting the CDA drawings in advance in the room where the work is required. During use, the degree of automation is high, and the grinding work can be completed without human intervention. It can not only avoid the waste of excessive labor costs, but also avoid damage to the lungs caused by workers working in dusty spaces for a long time. At the same time, the multi-degree-of-freedom grinding head 4 can adapt to walls and ceilings of various angles during use, and move through the chassis 2. During use, you only need to input the drawings to start working. During use, it not only saves costs, but also can move autonomously according to the work. The laser radar 101 adopts MID360.

[0047] Please see attached Figure 2 The chassis 2 includes a steering plate 201, a steering wheel 202 is fixedly connected to the inner wall of the steering plate 201, a battery compartment 203 is fixedly connected to the upper surface of the steering wheel 202, a mobile laser module 204 is fixedly arranged on the inner wall of the steering plate 201, and an edge sensor 205 is fixedly connected to the upper inner wall of the steering plate 201.

[0048] Specifically, the chassis 2 can work independently, with modular design, turn around on the spot, and the application of the edge sensor 205 can detect the distance to the obstacle and the distance to the working surface in real time, and detect the distance to the working surface from the front, back, left and right at the same time, so that the machine itself knows its position. In the process of use, not only the efficiency of movement is improved, but also the position can be adjusted autonomously or the next area can be polished according to the polishing work. No manual handling is required during use, which improves the convenience of the device during use. At the same time, high-intensity automation can further improve the consistency of the polishing process during use, and there will be no errors during manual operation. At the same time, the edge sensor 205 can detect the position from the wall, and the steering wheel 202 is used to move and adjust the position of the device. In the process of use, the battery compartment 203 can provide a mobile power supply, and there will be no pulling of wires during the polishing process, which improves the safety of the device during use. The electric control box 1 contains all the electrical components and laser radar 101 of the present design. The laser radar 101 is used to scan the working space in real time, and complete closed-loop control detection with the polishing laser block 6 to more accurately locate the current robot position and precisely control the working position.

[0049] Please see attached Figure 4 -Attached Figure 8The multi-degree-of-freedom grinding head 4 includes a feed fixing 401, the inner wall of the feed fixing 401 is fixedly connected with a feed shaft 402, the outer wall of the feed shaft 402 is slidably provided with a feed spring 403, the bottom end of the feed shaft 402 is fixedly connected with a linear bearing 405, the upper surface of the linear bearing 405 is slidably connected with a feed movable end 404, the upper surface of the feed movable end 404 is fixedly connected to the bottom end of the feed spring 403, the inner wall of the feed movable end 404 is slidably connected to the outer wall of the feed shaft 402, and the top of the feed spring 403 is fixedly connected to the lower surface of the feed fixing 401. A pitch fixing 406 is provided below the linear bearing 405, the inner wall of the pitch fixing 406 is rotatably connected with a pitch rotation axis 407, the outer wall of the pitch fixing 406 is slidably connected with a pitch cantilever 411, and the outer wall of the pitch rotation axis 407 is fixedly connected to the inner wall of the pitch cantilever 411. The outer wall of the pitch cantilever 411 is fixedly connected with the pitch limit 410, the inner wall of the pitch limit 410 is slidably connected with the pitch spring support 408, the outer wall of the pitch spring support 408 is provided with a pitch spring body 409, and the bottom end of the pitch spring body 409 is fixedly connected to the upper surface of the pitch limit 410. The outer wall of the pitch cantilever 411 is detachably mounted with a radial movable end 413, the inner wall of the radial movable end 413 is rotatably connected with a radial fixed end 412, the upper surface of the radial fixed end 412 is fixedly connected with a radial spring 414, the inner wall of the radial spring 414 is slidably connected with a radial support 415, the outer wall of the radial support 415 is slidably connected to the inner wall of the radial fixed end 412, and a detachably mounted grinding head is provided at the lower side of the radial fixed end 412.

[0050] Specifically, the multi-degree-of-freedom grinding head 4 includes a grinding laser block 6. This grinding laser block 6 detects the distance to the working surface in real time during the operation, and is fed back by the feed spring 403. The torque mode of the six-axis assisting arm 305 is closed-loop controlled. The multi-degree-of-freedom grinding head 4 needs to be based on a construction robot. This grinding head can be used for all equipment on the market that is suitable for wall putty grinding. It has the functions of grinding and dust collection. It is fixed to the feed fixture 401 through the feed shaft 402 and then relies on the feed spring 403 to retract based on appropriate pressure when the grinding head and the wall are in hand, so that it can adapt to the wall during use, and will not cause excessive grinding of the wall due to the protrusion of the wall. The pitch cantilever 411 is connected to the pitch limit 410 and the pitch rotation axis 407. 07 limit, and is limited by the pitch fixation 406 and the pitch spring support 408. The pitch cantilever 411 rotates at an angle of ±5° during use, so that it can adapt to a variety of inclined walls during use, and will not cause excessive grinding of the wall due to the inability to rotate. The radial movable end 413 and the radial fixed end 412 are connected and limited by the axial hole. During use, the radial support 415 and the radial spring 414 serve as the connection limit of the radial movable end 413 and the radial fixed end 412, so that the axis of the radial fixed end 412 can rotate freely at the radial movable end 413, but is limited by the radial support 415 and the radial spring 414. Therefore, the rotation angle is within ±5°, which can avoid excessive grinding and have the effect of multi-angle tilting.

[0051] Please see attached Fig. 9 The lifting mechanical arm 3 includes a lifting plate clamp 301, a six-axis assisting arm 305 is fixedly arranged on the upper surface of the lifting plate clamp 301, and a connecting platform is fixedly connected to the rear outer wall of the lifting plate clamp 301. The outer wall of the connecting platform is slidably connected to a support frame 302, and a motor 303 is arranged on the outer wall of the support frame 302. A gear is fixedly connected to the output end of the motor 303, and a screw rod 304 is fixedly connected to the inner wall of the gear. The outer wall of the screw rod 304 is threadedly connected to the inner wall of the connecting platform.

[0052] Specifically, the lifting plate clamp 301 can adapt to the effects of grinding at different heights during use. During use, the motor 303 drives the gear to rotate, and the gear drives the screw rod 304 to rotate. During use, the screw rod 304 drives the connecting table, and the connecting table drives the six-axis assisting arm 305 to adjust the height. During use, it can adapt to the grinding of walls of various heights, and it also has the effect of grinding the ceiling. During use, the walls and ceilings of the room can be polished in all directions. At the same time, the screw rod 304 is controlled by the private service motor 303, and the position loop control accuracy is as high as 0.02mm. The six-axis assisting arm 305 is more flexible and can perform operations without dead ends in the working space.

[0053] Please see attached Fig.10 -Attached Fig.12 The dust collection bin 5 includes a protective box 502, the lower surface of the protective box 502 is fixedly connected to the upper surface of the rudder plate 201, a dust collector 501 is arranged inside the protective box 502, and a baffle 503 is arranged on the inner wall of the protective box 502. The dust collection bin also includes a slide plate 7, the outer wall of the slide plate 7 is slidably connected to the inner wall of the protective box 502, the inner wall of the protective box 502 is fixedly connected to a fixed block 8, the outer wall of the fixed block 8 is fixedly connected to an adjustment plate 9, the fixed block 8 is provided with two sets of opposite settings and meshed with each other, the inner wall of the adjustment plate 9 is slidably connected to a cross bar 10, the outer wall of the cross bar 10 is fixedly connected to a return spring 11, the outer wall of the return spring 11 is fixedly connected to the outer wall of the adjustment plate 9, the outer wall of the adjustment plate 9 is rotatably connected to a connecting rod 14, and the outer wall of the connecting rod 14 is rotatably connected to A connecting plate 12, the outer wall of the connecting plate 12 is provided with a tooth plate 13, the outer wall of the tooth plate 13 is slidably connected to a mounting platform 15, the lower surface of the mounting platform 15 is fixedly connected to the upper surface of the slide plate 7, the tooth end of the tooth plate 13 is meshingly connected to a gear body 16, the inner wall of the gear body 16 is fixedly connected to a first driving rod 17, the outer wall of the first driving rod 17 is fixedly connected to a first bevel gear 18, the tooth end of the first bevel gear 18 is meshingly connected to a second bevel gear 19, the inner wall of the second bevel gear 19 is fixedly connected to a fan gear 20, the fan gear 20 is provided with two groups of longitudinally arranged and meshed with each other, the inner wall of the fan gear 20 is fixedly connected to a second driving rod 21, the outer wall of the second driving rod 21 is fixedly connected to a fixing rod 22, and the inner wall of the fixing rod 22 is fixedly connected to a clamping plate 23.

[0054] Specifically, during use, the protective box 502 plays a role in protecting the dust collection bin 5 as a whole. At the same time, the dust from grinding can be absorbed by the vacuum cleaner 501 during use, reducing the dust in the working space. During use, it is prevented that the dust enters the interior of the device due to excessive dust and pollutes the internal structure or circuit. At the same time, because the absorption is carried out during the grinding process, it will not pollute the ground. After completion, the room is clean and tidy, reducing the difficulty of cleaning.

[0055] When the dust collection bin 5 needs to be cleaned or replaced during use, the protective box 502 is opened and the slide plate 7 is pulled outward by pressing the adjustment plate 9, so that the slide plate 7 can slide outward under the limit of the protective box 502. During use, the adjustment plate 9 drives the fixing block 8 to move in the middle to achieve the effect of disengagement, and the unlocking effect can be achieved by disengaging the fixing block 8. At the same time, the adjustment plate 9 is folded toward the middle under the limit of the cross bar 10, which has the effect of quickly adjusting the installation position of the internal dust collection bin 5 during use, and during the movement, The adjusting plate 9 drives the connecting rod 14 and the connecting plate 12 to move upward, thereby driving the tooth plate 13 to drive the gear body 16 to rotate, thereby driving the first bevel gear 18 and the second bevel gear 19 to drive the fan gear 20 and the second drive rod 21 to move the fixing rod 22 to the rear side, thereby driving the clamping plate 23 to open during the driving process. When installing, it is only necessary to place the dust collection bin 5 in the middle of the clamping plate 23, and by loosening the adjusting plate 9, the tooth plate 13 is lowered, thereby driving the gear body 16 to rotate during use, thereby achieving the effect of quickly installing, disassembling and replacing the clamping plate 23.

[0056] Please see attached Fig.13 ,The drive control system includes a mobile control module, a dust suction module, an electric box module, a lifting module and a multi-degree-of-freedom grinding module;

[0057] The mobile control module is used to realize the flexible movement and grinding positioning of the robot;

[0058] The dust collection module is used to collect dust generated during the grinding process and optimize the working space environment;

[0059] The electrical box module is used to centrally control all electrical components of the robot, as well as ensure precise operation and power supply of the system;

[0060] The lifting module is used to adjust the grinding height and orientation to accommodate all-round grinding coverage;

[0061] The multi-degree-of-freedom polishing module is used for wall polishing and provides real-time feedback to adjust the polishing status.

[0062] Specifically, the mobile control module, as the foundation of the robot's movement, shoulders the important task of realizing flexible movement and precise grinding positioning. During use, it not only improves the robot's mobility and autonomy, effectively avoids collision accidents, ensures the continuity and efficiency of the grinding operation, reduces the tedious operation of manual intervention to adjust the position, and makes the grinding process smoother;

[0063] The dust collection module collects the generated dust in time during the grinding operation, creating a clean working space for the robot and preventing the dust from spreading and polluting the surrounding environment. During use, it improves the air quality at the work site, reduces the risk of dust erosion on the robot's internal precision electrical components, and extends the service life of the equipment. After the operation is completed, there is almost no dust left in the room, which greatly reduces the burden of subsequent cleaning.

[0064] The electrical box module centrally controls all electrical components to ensure the orderly and precise operation of the entire system. It also provides stable power supply to each module, ensuring the reliability and stability of the robot operation during use, improving the system response speed, and enabling each module to work together like an arm, providing solid technical support for complex grinding tasks.

[0065] The lifting module can flexibly adjust the grinding height and direction for walls and ceilings of different heights and directions, achieving a comprehensive grinding coverage effect without dead angles. It can easily cope with a variety of grinding scenes during use, whether it is a towering wall or a low corner, or every corner of the ceiling, it can achieve precise grinding, greatly expanding the robot's operating range and improving the grinding quality and efficiency.

[0066] The multi-degree-of-freedom polishing module acts directly on the wall, performs fine polishing operations, and dynamically adjusts the polishing status through a real-time feedback mechanism to achieve uniform and consistent polishing effects. During use, it can achieve high-quality polishing under complex wall conditions, effectively avoid polishing defects, improve wall flatness, and meet the high-standard architectural polishing process requirements.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated polishing robot, comprising an electric control box (1), characterized in that: The electric control box (1) is composed of a shell and a laser radar (101); a dust collection bin (5) is fixedly arranged on the rear outer wall of the electric control box (1); a lifting mechanical arm (3) is arranged on the left side of the electric control box (1); the rear outer wall of the lifting mechanical arm (3) is fixedly arranged on the front outer wall of the dust collection bin (5); a multi-degree-of-freedom grinding head (4) is detachably mounted on the front end of the lifting mechanical arm (3); the lower surface of the lifting mechanical arm (4) is fixedly connected to a chassis (2); the upper surface of the chassis (2) is fixedly connected to the lower surface of the electric control box (1); the lower surface of the dust collection bin (5) is fixedly connected to the upper surface of the electric control box (1); a driving control system is arranged inside the electric control box (1); a grinding laser block (6) is arranged on the outer wall of the multi-degree-of-freedom grinding head (4); and the grinding laser blocks (6) are fixedly arranged on the outer wall of the multi-degree-of-freedom grinding head (4) in a matrix-like distribution.

2. The automatic polishing robot according to claim 1, characterized in that: The chassis (2) comprises a steering plate (201), the inner wall of the steering plate (201) is fixedly connected to a steering wheel (202), the upper surface of the steering wheel (202) is fixedly connected to a battery compartment (203), the inner wall of the steering plate (201) is fixedly provided with a mobile laser module (204), and the upper inner wall of the steering plate (201) is fixedly connected to an edge sensor (205).

3. The automatic polishing robot according to claim 1, characterized in that: The multi-degree-of-freedom grinding head (4) comprises a feed fixture (401), the inner wall of the feed fixture (401) is fixedly connected to a feed shaft (402), the outer wall of the feed shaft (402) is slidably provided with a feed spring (403), the bottom end of the feed shaft (402) is fixedly connected to a linear bearing (405), the upper surface of the linear bearing (405) is slidably connected to a feed movable end (404), the upper surface of the feed movable end (404) is fixedly connected to the bottom end of the feed spring (403), the inner wall of the feed movable end (404) is slidably connected to the outer wall of the feed shaft (402), and the top end of the feed spring (403) is fixedly connected to the lower surface of the feed fixture (401).

4. The automatic polishing robot according to claim 3, characterized in that: A pitch fixation (406) is arranged below the linear bearing (405); the inner wall of the pitch fixation (406) is rotatably connected to a pitch rotation axis (407); the outer wall of the pitch fixation (406) is slidably connected to a pitch cantilever (411); and the outer wall of the pitch rotation axis (407) is fixedly connected to the inner wall of the pitch cantilever (411).

5. The automatic polishing robot according to claim 4, characterized in that: The outer wall of the pitch cantilever (411) is fixedly connected to a pitch limiter (410), the inner wall of the pitch limiter (410) is slidably connected to a pitch spring support (408), the outer wall of the pitch spring support (408) is provided with a pitch spring body (409), and the bottom end of the pitch spring body (409) is fixedly connected to the upper surface of the pitch limiter (410).

6. The automatic polishing robot according to claim 5, characterized in that: The outer wall of the pitch cantilever (411) is detachably mounted with a radial movable end (413); the inner wall of the radial movable end (413) is rotatably connected with a radial fixed end (412); the upper surface of the radial fixed end (412) is fixedly connected with a radial spring (414); the inner wall of the radial spring (414) is slidably connected with a radial support (415); the outer wall of the radial support (415) is slidably connected to the inner wall of the radial fixed end (412); and a detachably mounted grinding head is arranged on the lower side of the radial fixed end (412).

7. The automatic polishing robot according to claim 6, characterized in that: The lifting mechanical arm (3) comprises a lifting plate clamp (301), a six-axis assisting arm (305) is fixedly arranged on the upper surface of the lifting plate clamp (301), and a connecting platform is fixedly connected to the rear outer wall of the lifting plate clamp (301).

8. The automatic polishing robot according to claim 7, characterized in that: The outer wall of the connecting platform is slidably connected to a support frame (302), the outer wall of the support frame (302) is provided with a motor (303), the output end of the motor (303) is fixedly connected to a gear, the inner wall of the gear is fixedly connected to a screw rod (304), and the outer wall of the screw rod (304) is threadedly connected to the inner wall of the connecting platform.

9. The automatic polishing robot according to claim 1, characterized in that: The dust collection bin (5) comprises a protective box (502), the lower surface of which is fixedly connected to the upper surface of the rudder plate (201), a dust collector (501) is arranged inside the protective box (502), a baffle (503) is arranged on the inner wall of the protective box (502), and the dust collection bin further comprises a slide plate (7), the outer wall of which is slidably connected to the inner wall of the protective box (502), and the inner wall of the protective box (502) is fixedly connected to a fixed The fixing block (8) is fixedly connected to an adjusting plate (9) on its outer wall, the fixing block (8) is provided with two sets of mutually meshing oppositely arranged, the inner wall of the adjusting plate (9) is slidably connected to a cross bar (10), the outer wall of the cross bar (10) is fixedly connected to a return spring (11), the outer wall of the return spring (11) is fixedly connected to the outer wall of the adjusting plate (9), the outer wall of the adjusting plate (9) is rotatably connected to a connecting rod (14), the outer wall of the connecting rod (14) is rotatably connected to the outer wall of the adjusting plate (9), A connecting plate (12) is connected, the outer wall of the connecting plate (12) is provided with a tooth plate (13), the outer wall of the tooth plate (13) is slidably connected to a mounting platform (15), the lower surface of the mounting platform (15) is fixedly connected to the upper surface of the slide plate (7), the tooth end of the tooth plate (13) is meshingly connected to a gear body (16), the inner wall of the gear body (16) is fixedly connected to a first driving rod (17), and the outer wall of the first driving rod (17) is fixedly connected to a first bevel gear ( 18), the tooth end of the first bevel gear (18) is meshingly connected with the second bevel gear (19), the inner wall of the second bevel gear (19) is fixedly connected with a fan gear (20), the fan gear (20) is provided with two groups arranged longitudinally and meshing with each other, the inner wall of the fan gear (20) is fixedly connected with a second driving rod (21), the outer wall of the second driving rod (21) is fixedly connected with a fixing rod (22), and the inner wall of the fixing rod (22) is fixedly connected with a clamping plate (23).

10. The automatic polishing robot according to claim 1, characterized in that: The drive control system includes a mobile control module, a dust collection module, an electric box module, a lifting module and a multi-degree-of-freedom grinding module; The mobile control module is used to realize flexible movement and polishing positioning of the robot; The dust collection module is used to collect dust generated during the grinding process and optimize the working space environment; The electrical box module is used to centrally control all electrical components of the robot, as well as the precise operation and power supply of the system; The lifting module is used to adjust the grinding height and orientation to adapt to the effect of all-round grinding coverage; The multi-degree-of-freedom polishing module is used for polishing the wall surface and provides real-time feedback to adjust the polishing status.

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