Concrete polishing machine with movable telescopic mechanical arm

Abstract

The invention provides a concrete polishing machine with a movable telescopic mechanical arm, and belongs to the technical field of concrete polishing machines, the concrete polishing machine comprises a moving mechanism, an operation room is arranged on the moving mechanism, a mechanical stretching arm is arranged at the bottom of the operation room, and a driving mechanism is mounted at the end of the mechanical stretching arm; and a polishing mechanism is arranged at the bottom of the driving mechanism. The concrete polishing machine solves the problems that when an existing concrete polishing machine is used, only manual pushing operation can be carried out, when an inclined slope is polished, only traditional manual polishing can be carried out or multiple persons pull the polishing machine from top to bottom under the action of gravity through a pull rope to polish the surface of concrete, time and labor are wasted, the operation difficulty is large, and the working efficiency is high. And meanwhile, the polishing precision cannot be changed in the operation process, and practicability is not high.

Description

Technical Field

[0001] The present invention belongs to the technical field of concrete grinders, and particularly relates to a concrete grinder with a mobile telescopic robotic arm. Background Art

[0002] The surface treatment of concrete is a key link in construction, directly affecting the flatness, wear resistance and aesthetics of the floor. In order to improve the flatness and smoothness of the surface of outdoor floors, roads, ground floors, floors, roofs and slope cast-in-place concrete, some construction units now use concrete grinders for mechanical grinding, so as to improve the flatness and smoothness of the surface of cast-in-place concrete. The grinding technology of concrete grinders is generally to use the concrete grinder to press and grind twice before the initial setting after the concrete is poured, and then perform two passes of fine grinding.

[0003] When the existing concrete grinders are in use, they can only be pushed manually. When grinding an inclined slope, only traditional manual grinding can be carried out, or multiple people can pull the grinder from top to bottom under the action of gravity to grind the concrete surface, which is time-consuming and laborious, with a large operation difficulty. At the same time, the grinding accuracy cannot be changed during the operation, and the practicability is not high. Summary of the Invention

[0004] The present invention provides a concrete grinder with a mobile telescopic robotic arm, aiming to solve the problems that when the existing concrete grinders are in use, they can only be pushed manually. When grinding an inclined slope, only traditional manual grinding can be carried out, or multiple people can pull the grinder from top to bottom under the action of gravity to grind the concrete surface, which is time-consuming and laborious, with a large operation difficulty. At the same time, the grinding accuracy cannot be changed during the operation, and the practicability is not high.

[0005] An embodiment of the present invention provides a concrete grinder with a mobile telescopic robotic arm, including a moving mechanism, an operation room is arranged on the moving mechanism, a mechanical extension arm is arranged at the bottom of the operation room, a driving mechanism is installed at the end of the mechanical extension arm, and a grinding mechanism is arranged at the bottom of the driving mechanism.

[0006] Further, the moving mechanism includes a crawler base, and a round table is rotatably connected to the crawler base.

[0007] By adopting the above technical solution, the crawler base can adapt to complex terrains such as muddy and sloping terrains, ensuring the stable movement of the equipment on the wet surface during the initial setting stage of concrete; the round table can rotate 360°, enabling the mechanical extension arm to have an omnidirectional operation ability, and the operator does not need to frequently adjust the position of the equipment.

[0008] Further, the operation room is fixed on the round table, and a control console is arranged in the operation room.

[0009] By adopting the above technical solution, the operation room is rigidly connected to the frustum, ensuring that the operator's perspective is synchronized with the movement of the robotic arm during rotation, improving the control safety. The console integrates joysticks for controlling movement, steering, and telescopic arms, as well as buttons or knobs for controlling the rotation speed of the grinding mechanism. A display screen is also provided on the console, which can display the grinding disc pressure and rotation speed parameters.

[0010] Further, the driving mechanism includes a fixed box movably installed at the end of the mechanical extension arm. The fixed box includes an upper fixed box and a lower fixed box. An installation groove is provided on the upper side of the upper fixed box, and a first motor is fixed in the installation groove. A rotation groove is provided on the lower side of the upper fixed box, and the rotation groove communicates with the installation groove. The output end of the first motor faces the rotation groove, and a stator is fixed to the output end. Bearings are provided on both sides of the stator and the driving shaft of the first motor.

[0011] By adopting the above technical solution, the first motor can drive the stator to rotate in the rotation groove, and the bearings can greatly reduce the friction during rotation.

[0012] Further, the lower fixed box includes an installation box and a rotating block rotatably installed inside the installation box. A bearing is provided between the rotating block and the installation box. A rotor is fixed inside the rotating block, and the rotor is arranged opposite to the stator, and the rotor and the stator are magnetically coupled.

[0013] By adopting the above technical solution, both the rotor and the stator are composed of neodymium iron boron permanent magnets. The rotating block and the installation box are also connected by bearings. At the same time, the non-contact transmission design of the stator and the rotor completely eliminates the wear problem of traditional mechanical transmission and is suitable for the wet and slippery surface at the initial setting stage of concrete.

[0014] Further, several limit rods are provided on the upper surface of the installation box, and several limit holes are provided on the lower surface of the upper fixed box. The limit rods are arranged opposite to the limit holes, and the bottom of the limit rods is connected to the bottom of the inner wall surface of the limit holes by butterfly springs.

[0015] By adopting the above technical solution, the limit rods can slide in the limit holes. During the process of the limit rods sliding into the limit holes, the limit rods will compress the butterfly springs. At this time, the distance between the stator and the rotor will become smaller, and thus the torque will increase, and then the shear force on the concrete will increase, and the rough grinding effect will be better. When the compression of the butterfly springs is relaxed, the distance between the stator and the rotor will become larger, and thus the torque will decrease, and then the shear force on the concrete will decrease, and the fine grinding effect will be better.

[0016] Furthermore, the grinding mechanism includes a fixing plate fixed to the bottom of the rotating block. A number of second motors are installed inside the rotating block, and the output end of the second motor extends to the other side of the fixing plate and is fixed with a grinding disc.

[0017] By adopting the above technical solution, under the action of the stator and the rotor, the rotating block can rotate synchronously with the rotor. Furthermore, the second motors inside the rotating block can also rotate. During the rotation process, the second motors can drive the grinding discs to rotate, enabling multiple grinding discs to rotate self - sufficiently and revolve around the rotating block as the center. At the same time, the rotation speed of a single grinding disc can also be adjusted through the console.

[0018] Furthermore, a protective sleeve is provided between the upper fixing box and the installation box.

[0019] By adopting the above technical solution, the protective sleeve is made of fluororubber. The protective sleeve can protect the stator and the rotor, preventing water vapor and mud from invading the magnetic coupling area, thus affecting the magnetism of the stator and the rotor. At the same time, the protective sleeve adopts a corrugated structure, allowing axial telescopic deformation, adapting to the dynamic adjustment of the magnetic coupling distance, and preventing seal failure caused by mechanical interference.

[0020] Furthermore, silicon steel sheets are wrapped around the stator and the rotor, and the permanent magnets on the stator and the rotor adopt a Halbach array arrangement.

[0021] By adopting the above technical solution, the silicon steel sheets form a low - magnetic - resistance closed magnetic circuit, reducing magnetic leakage loss and being able to effectively transmit torque. The Halbach array concentrates the magnetic field energy in the direction of the rotor.

[0022] The beneficial effects of the present invention are as follows:

[0023] 1. Through the settings of the moving mechanism, the operation room and the mechanical extension arm, the crawler base, the 360° turntable and the mechanical extension arm can support operations on slopes, large - area floors, roads, ground and at heights, greatly reducing the manpower requirements and saving time and effort.

[0024] 2. Through the settings of the driving mechanism and the grinding mechanism, the first motor can drive the stator and the rotor to rotate, and drive the rotating block to rotate through non - contact transmission. Furthermore, the grinding disc can, under the drive of the second motor, rotate self - sufficiently and revolve around the rotor as the center.

[0025] 3. Through the settings of the limiting rod, the limiting hole and the disc - shaped spring, when the robotic arm is pressed down or lifted, the disc - shaped spring will be compressed and released under the action of the limiting rod, thereby changing the distance between the stator and the rotor, and further changing the torque, achieving different grinding effects on the concrete surface by the grinding disc.

[0026] Other features and advantages of the present invention will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present invention. The objectives and other advantages of the present invention may be realized and attained by the structure particularly pointed out in the specification and the drawings. Brief Description of the Drawings

[0027] The drawings are provided to further understand the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the drawings:

[0028] Figure 1 is a schematic side view structure diagram of an embodiment of the present invention;

[0029] Figure 2 is a schematic front view structure diagram of the driving mechanism of an embodiment of the present invention;

[0030] Figure 3 is a schematic cross-sectional structure diagram of the upper fixed box on the driving mechanism of an embodiment of the present invention;

[0031] Figure 4 is a schematic top view structure diagram of the stator of an embodiment of the present invention;

[0032] Figure 5 is a schematic cross-sectional structure diagram of the lower fixed box on the driving mechanism of an embodiment of the present invention;

[0033] Figure 6 is a schematic top view structure diagram of the rotor of an embodiment of the present invention;

[0034] Figure 7 is a schematic top view structure diagram of the grinding disc of an embodiment of the present invention;

[0035] Reference numerals: 1, moving mechanism; 2, operation chamber; 3, mechanical extension arm; 4, driving mechanism; 41, fixed box; 42, upper fixed box; 421, limiting hole; 422, disc spring; 43, lower fixed box; 431, mounting box; 4311, limiting rod; 432, rotating block; 44, mounting groove; 45, first motor; 46, rotating groove; 47, stator; 48, rotor; 49, protective sleeve; 5, grinding mechanism; 51, fixing plate; 52, second motor; 53, grinding disc. Detailed Description of the Invention

[0036] In order to make the objectives, technical solutions, and advantages of the technical solutions of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of specific embodiments of the present invention. The same reference numerals in the drawings represent the same components. It should be noted that the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0037] Referring to Figures 1-7 , an embodiment of the present invention provides a concrete polishing machine with a mobile telescopic robotic arm, including a moving mechanism 1. The moving mechanism 1 includes a crawler base, on which a frustum is rotatably connected. The crawler base can adapt to complex terrains such as muddy and sloping terrains to ensure the stable movement of the equipment on the slippery surface during the initial setting stage of concrete. The frustum can rotate 360°, enabling the mechanical extension arm 3 to have an omnidirectional operation ability, and the operator does not need to frequently adjust the position of the equipment.

[0038] Referring to Figures 1-7 , an operation room 2 is provided on the moving mechanism 1. A mechanical extension arm 3 is provided at the bottom of the operation room 2. The operation room 2 is fixed on the frustum. A control console is provided in the operation room 2. The operation room 2 is rigidly connected to the frustum to ensure that the operator's perspective is synchronized with the movement of the mechanical extension arm 3 during rotation, improving the control safety. The control console integrally controls the joysticks for moving, steering, and the mechanical extension arm 3, as well as buttons or knobs for controlling the rotation speed of the grinding mechanism. A display screen is also provided on the control console. The display screen can display the pressure and rotation speed parameters of the grinding disc 53, and can also display the specific distance between the stator 47 and the rotor 48 and the torque generated. Furthermore, the distance between the stator 47 and the rotor 48 and the rotation speed generated by the grinding disc 53 at this torque can be obtained. The above-mentioned moving mechanism 1, operation room 2, and mechanical extension arm 3 are all prior arts and will not be elaborated here.

[0039] Referring to Figures 1-7 , a driving mechanism 4 is installed at the end of the mechanical extension arm 3. The driving mechanism 4 includes a fixed box 41 movably installed at the end of the mechanical extension arm 3 through a universal structure. The fixed box 41 can be deflected at a certain angle under the control of the operation room 2. The fixed box 41 includes an upper fixed box 42 and a lower fixed box 43. An installation groove 44 is provided on the upper side of the upper fixed box 42, and a first motor 45 is fixed in the installation groove 44. A rotation groove 46 is provided on the lower side of the upper fixed box 42, and the rotation groove 46 communicates with the installation groove 44. The output end of the first motor 45 faces the rotation groove 46, and a stator 47 is fixed at the output end. Bearings are provided on both sides of the stator 47 and the driving shaft of the first motor 45. The first motor 45 can drive the stator 47 to rotate in the rotation groove 46, and the bearings can greatly reduce the friction during rotation.

[0040] Reference Figures 1-7 , the lower fixed box 43 includes an installation box 431 and a rotating block 432 that rotates inside the installation box 431. There is a bearing between the rotating block 432 and the installation box 431. A rotor 48 is fixed inside the rotating block 432. Therefore, the rotor 48 and the stator 47 are arranged opposite to each other. The rotor 48 and the stator 47 are magnetically coupled. Both the rotor 48 and the stator 47 are composed of neodymium iron boron permanent magnets. Silicon steel sheets are wrapped around the stator 47 and the rotor 48. The permanent magnets on the stator 47 and the rotor 48 adopt a Halbach array arrangement. The silicon steel sheets form a low magnetic resistance closed magnetic circuit, reducing magnetic leakage loss and being able to effectively transmit torque. The Halbach array concentrates and directs the magnetic field energy towards the direction of the rotor 48. The rotating block 432 and the installation box 431 are also connected by a bearing. At the same time, the non-contact transmission design of the stator 47 and the rotor 48 completely eliminates the wear problem of traditional mechanical transmission and is applicable to the wet and slippery surface in the initial setting stage of concrete.

[0041] Reference Figures 1-7 , several limit rods 4311 are provided on the upper surface of the installation box 431, and several limit holes 421 are provided on the lower surface of the upper fixed box 42. The limit rods 4311 and the limit holes 421 are arranged opposite to each other. The bottom of the limit rod 4311 is connected to the bottom of the inner wall surface of the limit hole 421 by a butterfly spring 422. The limit rod 4311 can slide in the limit hole 421, and both the limit rod 4311 and the limit hole 421 are provided with bumps, so that the limit rod 4311 cannot break away from the outside of the limit hole 421. During the process of the limit rod 4311 sliding towards the inside of the limit hole 421, the limit rod 4311 will compress the butterfly spring 422. At this time, the distance between the stator 47 and the rotor 48 will become smaller, and thus the torque will increase, and then the shear force on the concrete will increase, and the rough grinding effect is better. When the compression of the butterfly spring 422 is relaxed, at this time the distance between the stator 47 and the rotor 48 will become larger, and thus the torque will decrease, and then the shear force on the concrete will decrease, and the fine grinding effect is better. At the same time, the maximum distance between the stator 47 and the rotor 48 will not make the magnetic field strength between the two too low, preventing the rotor 48 from not being able to rotate synchronously with the stator 47.

[0042] Reference Figures 1-7, a grinding mechanism 5 is provided at the bottom of the driving mechanism 4. The grinding mechanism 5 includes a fixing plate 51 fixed to the bottom of the rotating block 432. A number of second motors 52 are installed inside the rotating block 432. The output end of the second motor 52 extends to the other side of the fixing plate 51 and is fixed with a grinding disc 53. Under the action of the stator 47 and the rotor 48, the rotating block 432 can rotate synchronously with the rotor 48. Furthermore, the second motor 52 inside the rotating block 432 can also rotate. During this rotation process, the second motor 52 can drive the grinding disc 53 to rotate, enabling the multiple grinding discs 53 to rotate around their own axes while revolving around the rotating block 432 as the center. At the same time, the rotational speed of a single grinding disc 53 can also be adjusted through the console.

[0043] Refer to Figures 1-7 , a protective sleeve 49 is provided between the upper fixing box 42 and the mounting box 431. The protective sleeve 49 is made of fluororubber. The protective sleeve 49 can protect the stator 47 and the rotor 48, preventing water vapor and mud from invading the magnetic coupling area, thus affecting the magnetism of the stator 47 and the rotor 48. At the same time, the protective sleeve 49 adopts a corrugated structure, allowing axial telescopic deformation, adapting to the dynamic adjustment of the magnetic coupling distance, and preventing seal failure caused by mechanical interference.

[0044] The specific implementation method is as follows: During use, the grinder is moved to the location to be ground through the operation room 2 and the moving mechanism 1. The mechanical extension arm 3 is controlled to extend the grinding mechanism 5 so that the grinding disc 53 is located on the upper surface of the concrete to be ground. At this time, the mechanical extension arm 3 is controlled to press down so that the grinding disc 53 is in contact with the concrete surface. The first motor 45 is used to drive the stator 47 to rotate, generating a directional magnetic field through the Halbach array. The rotor 48 rotates synchronously under the action of the magnetic field, non-contact transferring torque to the rotating block 432. Furthermore, the rotating block 432 drives the grinding mechanism 5 to revolve. At the same time, the second motor 52 is used to drive the grinding disc 53 to rotate around its own axis, enabling the grinding disc 53 to rotate around its own axis while revolving. At the same time, multiple grinding discs 53 are driven by different second motors 52, enabling the operation room 2 to separately adjust the rotational speed of the grinding disc 53. When the rotational speed of the grinding disc 53 is fixed, the mechanical extension arm 3 is pressed down vertically, thereby compressing the disc spring 422, causing the upper fixing box 42 to approach the lower fixing box 43, thereby shortening the distance between the stator 47 and the rotor 48, increasing the torque, increasing the rotational speed of the rotating block 432, and increasing the shearing force of the grinding disc 53 on the concrete, improving the rough grinding effect on the concrete. When the pressure on the disc spring 422 is released, the distance between the stator 47 and the rotor 48 increases, thereby reducing the torque, reducing the rotational speed of the rotating block 432, and reducing the shearing force of the grinding disc 53 on the concrete, improving the fine grinding effect on the concrete.

[0045] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A concrete polishing machine with a mobile telescopic mechanical arm, comprising a moving mechanism (1), characterized in that: An operating room (2) is provided on the moving mechanism (1), a mechanical extension arm (3) is provided at the bottom of the operating room (2), a driving mechanism (4) is installed at the end of the mechanical extension arm (3), and a grinding mechanism (5) is provided at the bottom of the driving mechanism (4).

2. A concrete polishing machine with a mobile telescopic mechanical arm according to claim 1, characterized in that: The moving mechanism (1) comprises a crawler-type base, on which a round table is rotatably connected.

3. A concrete polishing machine with a mobile telescopic mechanical arm according to claim 1, characterized in that: The operating room (2) is fixed on a round table, and a control console is arranged in the operating room (2).

4. A concrete polishing machine with a mobile telescopic mechanical arm according to claim 1, characterized in that: The driving mechanism (4) comprises a fixed box (41) movably mounted at the end of the mechanical extension arm (3), the fixed box (41) comprising an upper fixed box (42) and a lower fixed box (43), the upper side of the upper fixed box (42) is provided with a mounting groove (44), a first motor (45) is fixed in the mounting groove (44), the lower side of the upper fixed box (42) is provided with a rotating groove (46), the rotating groove (46) is connected to the mounting groove (44), the output end of the first motor (45) is arranged toward the rotating groove (46), and a stator (47) is fixed at the output end, and bearings are provided on both sides of the stator (47) and the driving shaft of the first motor (45).

5. A concrete polishing machine with a mobile telescopic mechanical arm according to claim 4, characterized in that: The lower fixed box (43) includes a mounting box (431) and a rotating block (432) rotating inside the mounting box (431), a bearing is provided between the rotating block (432) and the mounting box (431), a rotor (48) is fixed inside the rotating block (432), so that the rotor (48) and the stator (47) are arranged opposite to each other, and the rotor (48) and the stator (47) are magnetically coupled.

6. A concrete polishing machine with a mobile telescopic mechanical arm according to claim 5, characterized in that: The upper surface of the installation box (431) is provided with a plurality of limiting rods (4311), and the lower surface of the upper fixing box (42) is provided with a plurality of limiting holes (421). The limiting rods (4311) are arranged opposite to the limiting holes (421), and the bottom of the limiting rods (4311) is connected to the bottom of the inner wall of the limiting hole (421) via a butterfly spring (422).

7. The concrete polishing machine with a mobile telescopic mechanical arm according to claim 5, characterized in that: The grinding mechanism (5) comprises a fixed plate (51) fixed to the bottom of the rotating block (432), a plurality of second motors (52) are installed inside the rotating block (432), and the output end of the second motor (52) extends to the other side of the fixed plate (51) and is fixed with a grinding disc (53).

8. The concrete polishing machine with a mobile telescopic mechanical arm according to claim 6, characterized in that: A protective sleeve (49) is provided between the upper fixing box (42) and the installation box (431).

9. The concrete polishing machine with a mobile telescopic mechanical arm according to claim 5, characterized in that: The stator (47) and the rotor (48) are wrapped with silicon steel sheets, and the permanent magnets on the stator (47) and the rotor (48) are arranged in a Halbach array.

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