Polishing robot for polishing surface with polishing device
By integrating the suction equipment and rotational drive system on the grinding robot, the problem that existing grinding robots cannot automatically smooth the non-horizontal surfaces is solved, and automatic grinding of walls and ceilings is realized, improving the flexibility and efficiency of the equipment.
Patent Information
- Application Number
- CN202380076492.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2022-09-06
- Filing Date
- 2023-09-05
- Publication Date
- 2025-07-01
AI Technical Summary
Existing grinding robots have difficulty in automatically smoothing non-horizontal surfaces such as walls and ceilings, and existing equipment is laborious to operate or requires manual intervention.
A grinding robot with suction equipment is designed to absorb the robot shell to the surface using negative pressure, combined with the rotational drive device and adsorption lifting element to realize the directional displacement and grinding of the robot on the non-horizontal surface.
It realizes automatic smoothing of walls and ceilings without manual intervention, reducing operational labor and improving the flexibility and efficiency of equipment.
Smart Images
Figure CN120239641A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a grinding robot for grinding a surface, wherein the grinding robot has a grinding device, by means of which a surface can be ground flat with a grinding device, and the grinding robot has a displacement device, by means of which the grinding device can be displaced onto the surface, wherein the grinding device and the displacement device are arranged at or in a grinding robot housing. Background Art
[0002] In order to smooth a surface, suitable grinding means, such as sanding paper or a file coated with abrasive grains, can be manually pressed against the surface and moved over it. Manual smoothing is particularly suitable for smaller surface areas, since it is laborious to press the sanding paper or the file against the surface and move it over it simultaneously. However, particularly uneven surfaces or objects with complex shapes can be smoothed well manually.
[0003] In order to grind larger surfaces, grinding tools known in practice can be used, such as belt sanders, oscillating sanders or angle grinders. In such grinding tools, a belt-shaped or sheet-shaped grinding device with preset abrasive grains is usually set in motion by means of a drive, such as an electric motor. In belt sanders, an object with a surface to be ground can be guided to a grinding belt, which is usually in continuous motion, and pressed against it. In oscillating sanders and angle grinders, the grinding device is usually pressed against the surface to be ground, and the plate-shaped or sheet-shaped grinding device is set in motion by means of an electric motor, so that the grinding process is carried out and the surface is ground while the grinding device is pressed against the surface. In this case, the user either has to press the object with a surface to be ground against the moving grinding device, or has to press the grinding device with the moving grinding device against the surface and move it onto the surface in order to grind the surface.
[0004] The following sanding devices are called long-necked sanders or long-pole sanding devices (Schleifgiraffe, sometimes also called sanding giraffes), in which the sanding device head is supported in an articulated manner on a long handle bar with a length of about 2 meters. A sanding device is supported movably on the sanding device head and can be moved by a drive device. The user holds the free end of the handle bar and can guide the sanding device head with the moving sanding device, which is supported in an articulated manner at the opposite end of the handle bar, onto the surface to be sanded by suitable manipulation and displacement of the handle bar. For example, larger wall surfaces can be sanded with a long-pole sanding device. However, it is laborious to manipulate and use a long-pole sanding device for a long time, because the sanding device head has a not insignificant dead weight and must be pressed against the wall surface to be sanded and continuously guided onto the wall surface during the sanding process. However, ceiling surfaces can also be sanded with this long-pole sanding device.
[0005] In addition, grinding robots are known, with which surfaces can be smoothed automatically and without continuous manipulation and monitoring by the user. Such grinding robots usually have a grinding device, with which the surface can be smoothed with a grinding device, and a displacement device, with which the grinding device can be displaced onto the surface. The displacement device usually has a plurality of drivable wheels, which are either steerable or can be driven in different ways relative to each other, so that, for example, the grinding robot can be caused to turn or rotate in situ by a rotational movement of two wheels at different speeds or in opposite directions. However, such grinding robots must be placed on a surface that is horizontal or at least approximately horizontally oriented and can only be moved onto the surface with the help of driven wheels. The pressing pressure of the grinding device on the surface can only be generated by the deadweight of the grinding robot. With such grinding robots, for example, larger floors and in particular wooden or stone floors can be smoothed automatically without user intervention. However, with such grinding robots, wall or ceiling surfaces cannot be smoothed automatically. Summary of the invention
[0006] The object of the present invention is therefore to design a sanding robot having the features mentioned at the outset in such a way that it can be used as widely as possible and, for example, can also be used to automatically sand down walls.
[0007] According to the invention, this object is achieved in that the grinding robot has a suction device, by means of which the housing of the grinding robot can be sucked onto the surface during the grinding process performed with the grinding device. With the suction device, the contact pressure by means of which the grinding robot and therefore also the grinding device are pressed onto the surface can be influenced and preset. In particular, with a suitably equipped suction device, the housing of the grinding robot can be sucked onto, for example, a vertically extending wall or ceiling surface even during the grinding process performed with the grinding device. Thus, with the grinding robot designed according to the invention, wall or ceiling surfaces can also be smoothed automatically and without manual intervention. The suction power of the suction device can be preset here so that the influence of the deadweight of the grinding robot on the contact pressure onto the surface is taken into account. In this way, the suction power can be relatively low when the grinding robot is placed on the ground or on a horizontal or slightly inclined surface. In contrast, a significantly higher suction power can be specified when the sanding robot housing is placed against a vertically extending wall or ceiling and the sanding robot's own weight generates a gravity force directed parallel to the wall or away from the ceiling, which must be compensated by the suction device.
[0008] For example, the grinding device can be designed as a belt grinding device and the grinding device belt pressed against the surface to be ground can be moved continuously in a predetermined grinding device circulation direction. The grinding device can also be designed as an oscillating grinding device and the grinding device plate can be moved back and forth continuously during the grinding process. The grinding device is preferably replaceable here so that when necessary, a grinding device with a reduced grinding effect due to a large number of grinding processes can be replaced by a new grinding device with a high grinding effect. It is also possible to use grinding devices with different grinding device grain sizes in order, for example, to first perform a rough grinding of the surface and then perform a fine grinding of the surface, by means of which the unevenness in the surface is reduced.
[0009] The displacement device can have a driven wheel or a plurality of driven wheels or rollers, with which the sanding robot housing can be moved onto the surface, which is picked up and pressed against the surface by means of a suction device.
[0010] According to a particularly advantageous design of the inventive concept, the displacement device has two or more suction elements (Saugelement) arranged at a distance from each other and facing the surface, which can be sucked onto the surface by means of a negative pressure that can be generated by means of a negative pressure device, and each suction lifting element (Saugheberelement) is supported on the grinding robot housing by means of a rotary drive device, so that the grinding robot housing can be set into rotational motion relative to the suction lifting element sucked onto the surface by means of the rotary drive device. By alternately sucking two or more suction lifting elements onto the surface with a sufficiently strong negative pressure and thereby fixing them to the surface, and by means of the rotary drive device twisting the grinding robot housing around the suction elements fixed to the surface, it is possible to cause a directional displacement of the grinding robot housing onto the surface. Any displacement is considered as a directional displacement, with which the grinding robot housing is not merely rotated around a predetermined rotation axis, but is displaced from one surface area to another and non-overlapping surface area. For example, if two suction lifting elements arranged at a distance from each other are alternately sucked, and the grinding robot housing is twisted around the suction lifting elements that have been sucked and thus fixed on the surface by an angle, such as a few degrees, 90 degrees or 180 degrees, it is possible to cause the grinding robot housing to be directional shifted onto the surface in a slightly or strongly wavy manner. Depending on the desired grinding duration or grinding effect, the grinding robot housing can also be twisted several times around the suction lifting element firmly sucked on the surface before another suction lifting element is fixed on the surface and the suction lifting element previously fixed on the surface is released from the surface again, so that the grinding device is circularly shifted around the suction lifting element firmly sucked on the surface with the grinding device for flattening the surface and guided onto the surface, so that the grinding robot housing can be directional shifted onto the surface.
[0011] For many applications, a grinding robot with two suction lifting elements arranged at a distance from one another is advantageous. By alternately fixing two suction lifting elements and twisting the grinding robot housing about the respectively fixed suction lifting element, a more or less wavy and directional displacement of the grinding robot housing onto the surface can already be achieved with two suction lifting elements. A lower number of suction lifting elements enables cost-effective production of the grinding robot and a lower dead weight of the grinding robot compared to grinding robots with three or more suction lifting elements, which has a favorable effect on the negative pressure that can be generated by the negative pressure generating device and also reduces the power consumption required for this during operation. By using three or more suction lifting elements, if possible not only a less wavy and more uniform displacement of the grinding robot housing onto the surface can be achieved and carried out, but also complex movement patterns of the grinding robot onto the surface.
[0012] It is conceivable that the negative pressure that can be generated by means of the negative pressure generating device can be preset individually for each suction lift element and can be individually varied during operation of the grinding robot. It is also possible to provide a separate negative pressure generating device for each suction lift element and to be associated only with this suction lift element, so that the negative pressure generated at a single suction lift element can be preset and varied completely independently of the negative pressure generated at another suction lift element.
[0013] Preferably, it is optionally provided that the grinding device has at least one grinding disc with a grinding sheet that can be fixed to the grinding disc, which can be set into rotational movement by means of a rotary drive device. By using a grinding disc with a grinding sheet that can be fixed to it, the grinding sheet can be easily set into rotational movement in order to smooth the surface by means of the rotating grinding sheet. The grinding sheet can have a circular circumferential edge. The grinding sheet can also have a wavy circumferential edge in order to avoid that during the rotational movement of the grinding sheet a circular circumferential edge of the surface area that is smoothed during the rotational movement of the grinding sheet is produced, which circular circumferential edge cannot be completely ground off during the displacement of the grinding robot housing onto the surface or can only be completely ground off with considerable effort. Expediently, the grinding sheet can be releasably fixed to the grinding disc and can be replaced when necessary.
[0014] The rotary motion can be generated particularly simply and cost-effectively by a suitable design of the drive device. For example, a rotating grinding disc can be arranged via a rotatably mounted shaft and mounted on the grinding robot housing, which allows a structurally simple and cost-effective implementation compared to a circulating grinding element belt or an eccentrically moving oscillating grinding element.
[0015] According to a design of the inventive concept which is considered to be particularly advantageous, it is provided that the suction lifting element or the suction lifting elements are designed as a grinding disc, wherein the grinding disc has a suction opening arranged at a distance from the edge of the grinding disc for sucking the grinding disc to the surface, and the grinding disc fixed to the grinding disc has an opening or openings spaced from the edge of the grinding disc, which are arranged at least partially overlapping with the suction opening or suction openings in the grinding disc. By using a suction lifting element as a grinding disc or as a component of a grinding device at the same time, a grinding robot can be produced particularly cost-effectively and with a low dead weight. It has been shown that in the case of a grinding disc provided with a suction opening or a plurality of suction openings in combination with a grinding disc which also has one or more openings arranged overlapping, a suction air flow can be generated through the suction openings formed in the grinding disc, by means of which the grinding disc can be sucked and fixed to the surface, and the grinding disc can thus serve and be used as a suction lifting element. The negative pressure generated between the sanding disc designed in this way and the surface can be easily generated using a suitably designed negative pressure generating device and also enables the sanding robot housing to be firmly sucked onto the wall or ceiling surface by the sanding disc sucked onto the surface. For example, the negative pressure required for this purpose can be generated by a rotating suction fan which generates an air flow portion which is guided from the surface through the suction opening in the sanding disc. When the sanding disc approaches the surface or is placed on the surface, a corresponding negative pressure is thus generated between the sanding disc and the surface, by which the sanding disc is sucked onto the surface and acts as a suction lifting element.
[0016] The use of a sanding disc with suction openings as a suction lift element has the further advantage that, by continuously sucking away air through the suction openings of the sanding disc, the sanding dust produced during the sanding process is also sucked away through the sanding disc and directed away from the surface and the sanding means. In this way, it can be achieved without additional structural measures that the sanding dust produced during the sanding process does not accumulate on the sanding means or sanding pads and become fixed there and thereby reduce the sanding effect of the sanding means or sanding pads.
[0017] The grinding robot expediently has two suction lifting elements, each of which is designed as a grinding disc. By alternately operating the two suction lifting elements, each suction lifting element is alternately used either as a suction lifting element and fixed to the surface, or as a grinding disc and rotationally displaced onto the surface, so as to smooth the surface area respectively captured by the rotating grinding disc using the grinding disc fixed to the grinding disc.
[0018] For each suction lifting element, a separate rotary drive can be provided, by means of which the housing of the grinding robot can be caused to perform a comparatively slow rotary movement about the suction lifting element fixed to the surface. In addition, for each grinding disc, a separate rotary drive can be provided and arranged in such a way that the grinding disc can be set into a rapid rotary movement by means of the relevant rotary drive, so that a grinding disc fixed to the grinding disc can be quickly rotated onto the surface in order to thereby grind the surface flat.
[0019] According to one embodiment of the inventive concept, it is optionally provided that the rotary drive device is designed so that at least one grinding disc designed as a suction lifting element can be selectively set to a first slow rotational movement by means of the rotary drive device for rotating the housing of the grinding robot around the suction lifting element sucked to the surface, or to a second fast rotational movement for rotating the grinding disc during the grinding process. Then, during the grinding process, the same rotary drive device can be used to selectively or as required cause the housing of the grinding robot to perform a slow rotational movement around the suction lifting element fixed to the surface, or to set the grinding disc to a fast rotational movement, and thus perform the grinding process. By using a single rotary drive device suitable and provided for both modes of movement, it is possible to dispense with the use of two separate rotary drives, which would require more space in the housing of the grinding robot and would increase the deadweight of the grinding robot.
[0020] It is preferably provided that the rotary drive device has a worm gear mechanism which is driven by an electric motor. Depending on the speed of the electric motor which is preset during the operating state of the rotary drive device, both a slow first rotary movement and a fast second rotary movement can be achieved. It is also conceivable to use a transmission mechanism with two different transmission ratios, so that the electric motor can be operated at the same speed for both operating states and the rotational movements of different speeds can be achieved by selecting and presetting the transmission ratio of the transmission mechanism.
[0021] If the suction lifting element is not designed as a grinding disc and the suction lifting element is arranged, for example, next to a grinding disc that cannot also serve as a suction lifting element, it can be conveniently and optionally provided that the rotary drive device can be selectively operatively connected to the suction lifting element or to the grinding disc, so that both the suction lifting element and the grinding disc can be operated by means of a single rotary drive device and can be set to a slow or fast rotational movement. For this purpose, for example, the electric motor of the rotary drive device can be pivotally supported on the grinding robot housing and can be operatively connected either to the suction lifting element or to the grinding disc, depending on the desired operating state. In both cases, the electric motor can be combined with a reduction gear or a speed-increasing gear, respectively, in order to realize a slow first rotational movement or a fast second rotational movement.
[0022] For each adsorption lifting element, a separate negative pressure generating device can be provided. In this way, the negative pressure generated at the adsorption lifting element can be preset independently of the use of other adsorption lifting elements and the negative pressure generated there. According to a design scheme of the inventive idea, it is arranged that the negative pressure generating device has a suction fan, which is connected to two or more adsorption lifting elements through a suction channel that acts as a branch, so that negative pressure can be generated at two or more adsorption lifting elements during the operation of the suction fan. For example, the suction fan can be arranged in a section of the suction channel that is common to all connected adsorption lifting elements. During operation, the suction fan generates an air flow portion, which is sucked into the suction channel in the area of the adsorption lifting element and transported away from the suction element by the suction fan. By using a single suction fan (the suction fan is connected to two or more adsorption lifting elements through a suction channel that acts as a branch, and negative pressure can be generated there respectively), savings in manufacturing costs and deadweight of the grinding robot can be achieved.
[0023] Advantageously, it is optionally provided that the suction device has a valve device, by means of which the negative pressure that can be generated at the suction lifting element by means of the negative pressure generating device can be controlled. The valve device is expediently designed in such a way that for each suction lifting element, the negative pressure that can be generated there can be preset individually and as independently as possible from the other suction lifting elements. This can be achieved, for example, by a shut-off valve arranged in the area of a branch of the branching suction channel, which either completely blocks one of the branching suction channel sections and thereby supplies the entire suction power generated by the negative pressure generating device to the suction lifting element connected via the suction channel section via the other suction channel section; or partially or completely releases both branching suction channel sections, thereby generating negative pressure simultaneously at the two suction lifting elements connected thereto.
[0024] It can also be provided that the negative pressure generating device is continuously connected to all suction lifting elements and that during operation of the negative pressure generating device a suction flow portion is continuously generated which is not controlled and changed by the valve device. When the suction lifting element does not rotate or rotates only in a slow first rotational movement, the negative pressure thus generated at the suction lifting element causes the suction lifting element to be sucked in and securely fixed to the surface. In contrast, if the suction lifting element configured as a grinding disc is set in a fast second rotational movement, the effect of the negative pressure is thereby reduced and a rotational movement of the grinding disc with a reduced contact pressure against the surface relative to the suction lifting element can be achieved and promoted.
[0025] The air flow part generated by the negative pressure generating device can be blown out through a suitable opening in the grinding robot housing and dispersed into the surrounding environment. However, according to experience, grinding dust is continuously generated during the grinding process, which is at least partially captured and taken away by the air flow part.
[0026] In order to prevent the grinding dust sucked in by the negative pressure generating device and carried away in the air flow generated by the negative pressure generating device from being discharged and spread uncontrolled into the surrounding environment, it can be expedient to guide the air flow generated by the negative pressure generating device through a filter device, by means of which the grinding dust can be filtered out of the air flow. The filter device can have a replaceable or regenerable filter element.
[0027] According to a design scheme of the inventive idea, it is provided that the negative pressure generating device is connected to the suction air filter device arranged outside the grinding robot housing via a suction hose. The suction hose can be a flexible or elastic plastic hose. Suitably, the suction hose has a length of several meters and has as low a dead weight as possible, so that the grinding robot housing can be shifted to a larger surface area without having to follow or shift the suction air filter device arranged outside during this period. It can be advantageous that a part of the negative pressure generating device or the entire negative pressure generating device can be arranged at or next to the suction air filter device arranged outside. In this way, the dead weight of the grinding robot housing moved onto the surface together with the components arranged therein is additionally reduced.
[0028] In order to minimize the negative impact or load on the environment of the surface to be ground during the grinding process, it can be optionally provided that a grinding dust seal is arranged along the circumferential edge around each grinding disc. With the aid of a suitably designed grinding dust seal, it is possible to prevent the grinding dust generated during the grinding process from being discharged uncontrolled into the environment. For example, the grinding dust seal can be a brush or an elastic sealing lip, which is arranged along the circumferential edge around each grinding disc. The spacing between the grinding dust seal and the circumferential edge of the grinding disc can be preset in such a way that the undesired discharge of grinding dust is minimized, but the rotational movement of the grinding disc is not hindered by the grinding dust seal.
[0029] If a grinding dust seal is used around each sanding disk in combination with an air extraction filter, then a sanding robot designed in this way can automatically carry out a sanding process in which no or at least only a small amount of sanding dust is emitted to the surroundings. In this way, even larger wall surfaces and possibly also ceiling surfaces can be sanded in a room without the room being significantly contaminated by this. This is particularly advantageous when carrying out a sanding process in an already occupied room.
[0030] The energy required for the operation of the grinding robot can be supplied, for example, by a wired connection of the grinding robot to an energy distribution network permanently installed in the building, or temporarily, for example, by connection to a movable current distributor or building current distributor. By wired energy supply, it is possible to dispense with energy supply equipment carried on or in the housing of the grinding robot, thereby additionally reducing the deadweight of the grinding robot and facilitating efficient operation of the grinding robot.
[0031] According to a design scheme of the inventive idea, an energy storage device is arranged at or in the housing of the grinding robot, and the energy storage device is connected to the grinding device, the suction device and / or the displacement device in an energy transmission manner. By means of the energy storage device arranged in the housing of the grinding robot, autonomous and wireless operation of the grinding robot can be achieved at least over a preset time period. In addition, by means of the energy storage device carried in the housing of the grinding robot, it is possible to compensate for unplanned interruptions in connection with an external energy supply device or interruptions in the energy supply itself, and thereby prevent the suction device from failing to operate as specified for a short period of time and the grinding robot housing from being unable to absorb to the surface to be ground with sufficient suction. Therefore, the carried energy storage device can be designed and arranged to be used only to compensate for unexpected interruptions in the external energy supply, or to enable fully autonomous operation of the grinding robot for a preset time period.
[0032] Suitably, the grinding robot has a contact pressure sensor device. With the contact pressure sensor device, the contact pressure of the grinding robot housing sucked onto the surface can be obtained during the operation of the grinding robot, or the suction effect of each suction lifting element can be obtained. If the contact pressure obtained with the contact pressure sensor device should be lower than a preset minimum contact pressure, a visual or audible warning can be generated. It is also conceivable that, when the contact pressure is lower than the preset minimum contact pressure obtained with the contact pressure sensor device, the grinding robot housing moves to a position that is as safe as possible and safe to operate, for example to the lower edge of the wall. If necessary, additional safety measures can be introduced to, for example, avoid the grinding robot housing accidentally falling from the wall or ceiling. It is also possible to carry an airbag in the grinding robot housing and trigger the airbag when it is lower than a critical contact pressure, so as to reduce or completely avoid damage to the grinding robot and the surrounding environment when the grinding robot inevitably falls.
[0033] Furthermore, it can optionally be provided that the grinding robot has a surface edge recognition device. In this way, it can be avoided that the grinding robot is displaced beyond a predetermined edge of the surface to be ground and that the suction device can no longer operate to safely suck the grinding robot housing to the surface. For example, the surface edge recognition device can have an optical detection device or a distance detection device operating with ultrasound. Depending on the design of the surface edge recognition device, not only edges or obstacles protruding from the surface to be ground, such as door frames in a wall, can be detected. Edges or holes in the surface can also be detected, which could be passed by the grinding robot and could lead to a reduction or complete loss of the suction effect of the grinding robot on the relevant surface and should therefore be avoided. BRIEF DESCRIPTION OF THE DRAWINGS
[0034] Next, exemplary embodiments of the inventive concept are explained in more detail, which are schematically shown in the accompanying drawings. In which:
[0035] Figure 1 A grinding robot is shown that automatically grinds down a wall in a space in a building,
[0036] Figure 2 shows a schematic cross-sectional view through a grinding robot,
[0037] Figure 3 Shows the direction Figure 2 A schematic top view of the grinding robot shown in FIG.
[0038] Figure 4 A perspective view showing the bottom surface of the grinding robot,
[0039] Figure 5 A perspective view showing the top surface of the grinding robot,
[0040] Figure 6 A schematic diagram showing various components of a grinding robot in exploded view, and
[0041] Figure 7 A schematic diagram showing the directional displacement of the grinding robot housing onto a surface. DETAILED DESCRIPTION
[0042] exist Figure 1 Schematically shows an interior space 1 in a building. In the section shown, the interior space 1 is bounded by a floor 2, by a first wall surface 3 and a second wall surface 4, and by a ceiling surface 5. In the first wall surface 3, a door opening 6 is arranged.
[0043] The grinding robot 7 with the grinding robot housing 8 is Figure 1 The suction device not shown in the figure is sucked at the first wall surface 3. The grinding robot housing 8 can be used in Figure 1 The displacement device not shown in the figure is automatically displaced to the first wall surface 3, and hereby uses the Figure 1 The grinding device not shown in the figure grinds the first wall surface 3 or the surface of the first wall. With the help of the surface edge recognition device, the grinding robot 7 can recognize the edge of the first wall surface 3 during the grinding process and avoid collisions with adjacent areas of the floor 2, the second wall surface 4 or the ceiling surface 5. In addition, the grinding robot 7 can also recognize the door opening 6 as another edge of the first wall surface 3 and vacate the door opening when shifting onto the first wall surface 3.
[0044] The sanding robot housing 8 is connected to a suction air filter device 10 placed on the floor 2 via an elastic plastic hose 9. The air flow sucked by the suction device between the first wall 3 and the sanding robot housing 8 is supplied to the suction air filter device 10 via the plastic hose 9. A filter device (not shown in more detail) with a replaceable filter element is arranged in the suction air filter device 10. The sanding dust generated during the sanding process is filtered out of the air flow part by the filter device before the air flow part is blown out into the surrounding environment or the interior 1 through the air outlet 11 of the suction air filter device 10.
[0045] exist Figures 2 to 6, a schematic sectional view and various illustrations of a grinding robot 7 are shown. In the grinding robot housing 8, which is only partially shown, two grinding discs 12 are rotatably arranged and supported on the grinding robot housing 8 via a rotatably supported shaft 13. A grinding sheet 14 is releasably fixed to each grinding disc 12. By the rotational movement of the grinding disc 12, the grinding sheet 14 is rotationally moved onto the surface 15, and the surface area covered by the grinding sheet 14 is thereby smoothed. Each grinding disc 12 is assigned a rotary drive device 16. Each rotary drive device 16 has an electric motor 17, which is in operative connection with the shaft 13 of the grinding disc 12 via a worm gear 18. With the electric motor 17, the grinding disc 12 can be selectively placed in a slow first rotational movement or in a fast second rotational movement relative to the grinding robot housing 8 in order to rotate the grinding disc 12 during the grinding process.
[0046] Each grinding disc 12 has a disc-shaped grinding disc housing 19. The grinding disc housing 19 has a plurality of suction openings 21 on the flat outer side 20 facing the grinding disc 14. Openings 23 are also formed on the opposite outer side 22, which open into a suction channel 24. A suction fan 25 is arranged in the suction channel 24, which can be set in rotation by means of a further electric motor 26 in order to suck in the air flow through the two grinding disc housings 19 and supply it to the suction air filter device 10 via the plastic hose 9 connected to the suction channel 24. The sanding disc 14 also has openings 27 which are arranged at least partially overlapping with the suction openings 21 in the sanding disc housing 19 so that air can be sucked into the sanding disc housing 19 through the openings 27 in the sanding disc 14 and through the suction openings 21 in order to then flow through the openings 23 into the suction channel 24 in order to be conveyed from there by means of the suction fan 25 into the plastic hose 9 and into the suction air filter device 10.
[0047] By sucking the air flow through the two sanding disc housings 19, a negative pressure is generated between the sanding disc housings 19 and the surface 15, which sucks the sanding disc 12 to the surface 15, so that the sanding disc 12 and thus the sanding robot housing 8 are pressed against the surface 15. When the sanding disc 12 and the associated rotary drive device 16 are set in a fast second rotational movement, the sanding disc 12 is pulled to the surface 15 by the negative pressure, and the sanding disc 14 is rotated onto the surface 15 with the pressing pressure preset by the negative pressure, and the surface is thereby smoothed.
[0048] If, on the other hand, the grinding disc 12 and the associated rotary drive 16 are not or only set into a very slow first rotational movement, the negative pressure generated on the grinding disc 12 is sufficient to firmly draw the grinding disc 12 to the surface 15 and fix it there. The grinding disc 12 then acts as a suction lifting element 28, which is immovably fixed and fixed to the surface 15. By actuating the rotary drive 16, the grinding disc 12 is then not moved relative to the surface 15 during the slow first rotational movement, but the grinding robot housing 8 is twisted relative to the grinding disc 12 fixedly attracted to the surface 15, and the grinding robot housing 8 is thereby displaced onto the surface 15. By alternately using two grinding wheels 12 as suction lifting elements 28 and fixing them on the surface 15, and before the other grinding wheel 12 is used as the suction lifting element 28, the grinding robot housing 8 is twisted around the grinding wheel 12 sucked and fixed on the surface 15 by an angle of, for example, 30 degrees, the grinding robot housing 8 can be caused to be shifted in a wave-like direction onto the surface 15.
[0049] exist Figure 7 Different aspects of the directional displacement of the grinding robot housing 8 onto the surface 15 are explained in Figure 7 In the operating state shown in FIG, the grinding wheel 12 located further down in the figure is used as a suction lifting element 28 and is sucked and fixed to the surface 15, while the other grinding wheel 12 is set into a rapid second rotational movement indicated by a plurality of arrows 29 by means of the associated rotary drive device 16, and the surface 15 is smoothed in the surface area covered by the grinding wheel 14 by means of the rapid rotational movement of the grinding wheel 12 and the grinding sheet 14 fixed thereto. During the grinding process with the rapidly rotating grinding wheel 12, the grinding robot housing 8 is slowly twisted about the suction lifting element 28 by means of the rotary drive device 16 associated with the grinding wheel 12 used as the suction lifting element 28 and fixed, which is indicated by the arrow 30. As a result, the grinding robot housing 8 is pivoted about the rotation axis of the grinding wheel 12 located below and is displaced onto the surface 15.
[0050] An earlier position 31 of the sanding robot housing 8 on the surface 15 is indicated by dashed lines. From this earlier position 31, the sanding robot housing 8 is displaced in two pivoting movements into the position 32 shown here, by alternatingly using first the sanding disc 12 located below and then the sanding disc 12 located above it as the suction lifting element 28. The first pivoting movement is indicated by arrow 33, and the second pivoting movement following it is indicated by arrow 34. By means of a plurality of such successive pivoting movements, the sanding robot housing 8 performs a wave-shaped directional displacement onto the surface 15, which is indicated by the wave-shaped arrow 35. By means of a plurality of successive directional displacements, the sanding robot housing 8 can be displaced onto the entire surface 15 and the surface 15 can be smoothed with the correspondingly rapidly rotating sanding discs 12.
Claims
1. A grinding robot (7) for grinding a surface (2, 3, 4, 5, 15), the grinding robot having a grinding device with which the surface (2, 3, 4, 5, 15) can be levelled with a grinding tool, and the grinding robot having a displacement device with which the grinding device can be displaced onto the surface (2, 3, 4, 5, 15), wherein, The grinding device and the displacement device are arranged at or in the grinding robot housing (8), characterized in that the grinding robot (7) has a suction device by means of which the grinding robot housing (8) can be sucked to the surface (2, 3, 4, 5, 15) during the execution of the grinding process using the grinding device.
2. The grinding robot (7) according to claim 1, wherein The displacement device has two or more suction and lifting elements (28) arranged at a distance from one another and facing the surface (2, 3, 4, 5, 15), which can be sucked to the surface (2, 3, 4, 5, 15) by means of a negative pressure generated by a negative pressure generating device, and each suction and lifting element (28) is supported at the grinding robot housing (8) by means of a rotational drive device (16), so that the grinding robot housing (8) can be set in a rotational movement relative to the suction and lifting elements (28) sucked to the surface (2, 3, 4, 5, 15) by means of the rotational drive device (16).
3. The grinding robot (7) according to claim 1 or claim 2, characterized in that, The grinding device has at least one grinding disc (12) with grinding segments (14) that can be fixed to the grinding disc (12), and the grinding disc can be set in a rotational movement by means of a rotational drive device (16).
4. The grinding robot (7) according to claim 3, wherein, One suction and lifting element (28) or a plurality of suction and lifting elements (28) are designed as a grinding disc (12), wherein the grinding disc (12) has suction openings (21) arranged at a distance from the grinding disc edge for sucking the grinding disc (12) to the surface (2, 3, 4, 5, 15), and the grinding segments (14) fixed to the grinding disc (12) have one opening (23) or a plurality of openings (23) at a distance from the grinding segment edge, and the opening(s) overlap(s) at least partially with one suction opening (21) or a plurality of suction openings (21) in the grinding disc (12).
5. The grinding robot (7) according to claim 4, characterized in that The rotational drive device (16) is designed such that at least one grinding disc (12) designed as a suction and lifting element (28) can be selectively set in a slow first rotational movement by means of the rotational drive device (16) for rotating the grinding robot housing (8) about the suction and lifting element (28) sucked to the surface (2, 3, 4, 5, 15); or in a fast second rotational movement for rotating the grinding disc (12) during the grinding process.
6. The grinding robot (7) according to any one of the preceding claims, characterized in that, The negative pressure generating device has a suction fan (25), which is connected to two or more suction and lifting elements (28) via a branching suction channel (24), so that a negative pressure can be generated at the two or more suction and lifting elements (28) during the operation of the suction fan (25).
7. The grinding robot (7) according to claim 6, characterized in that, The suction device has a valve device by means of which the negative pressure that can be generated by the negative pressure generating device at the suction and lifting element (28) can be controlled.
8. The grinding robot (7) according to claim 2, characterized in that, The negative pressure generating device is connected via a suction hose (9) to a suction air filter device (10) arranged outside the grinding robot housing (8).
9. The grinding robot (7) according to claim 3 or 4, characterized in that, A grinding dust seal is arranged along the circumferential edge around each grinding disk (12).
10. The grinding robot (7) according to any one of the preceding claims, characterized in that, An energy storage device is arranged at or in the grinding robot housing (8), and the energy storage device is connected to the grinding device, the suction device, and / or the shifting device in an energy transmission manner.
11. The grinding robot (7) according to any one of the preceding claims, characterized in that, The grinding robot (7) has a pressing pressure sensor device.
12. The grinding robot (7) according to any one of the preceding claims, characterized in that, The grinding robot (7) has a surface edge recognition device.