Template grinding robot self-adaptive to working environment and with dust removal function

Abstract

The invention provides a template polishing robot with a self-adaptive operation environment and a dust removal function. The template polishing robot comprises a machine body, walking devices are arranged on the left side and the right side of the machine body, and a polishing device is arranged on the front side of the machine body; the walking mechanism comprises walking wheels and a driving mechanism for driving the walking wheels to rotate; the polishing device comprises a functional cover, a polishing mechanism is installed on the lower side of the functional cover, a downward blocking brim is arranged on the periphery of the functional cover, a concave cavity for gathering smoke dust is formed in the lower side of the functional cover, the functional cover is hinged to the machine body, and a tensioning device is arranged between the machine body and the functional cover. The template polishing robot self-adaptive to the working environment and with the dust removal function is compact in structure, capable of overcoming the resistance of the fluctuating surface of a template through the magnetic type walking wheels, capable of stably climbing and walking, capable of achieving high-position cambered surface wall climbing operation, capable of achieving climbing in a very small space and capable of rapidly completing the template polishing procedure, good in safety and high in practicability. The tensioning device can guarantee that the grinding head is always attached to the surface of the formwork, and the grinding effect is guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of civil engineering construction, and particularly relates to a template polishing robot with self-adaptive working environment and dust removal function. BACKGROUND

[0002] Traditional template polishing mainly uses manual polishing with an angle grinder as a tool, and has low working efficiency, large dust, and is harmful to human health. In addition, a working platform is often manually assisted to be erected, and workers perform climbing operation, so that the polishing effect is not good, and there is a certain safety hazard. At the same time, for narrow space and reverse arc surface steel template wall polishing, the operation is very inconvenient. SUMMARY

[0003] Therefore, the application aims to overcome the defects in the prior art, and provides a template polishing robot with self-adaptive working environment and dust removal function.

[0004] To achieve the above-mentioned purpose, the technical scheme of the application is as follows: A template polishing robot with self-adaptive working environment and dust removal function, comprising a body, walking devices are arranged on the left and right sides of the body, and a polishing device is arranged on the front side of the body; the walking mechanism comprises walking wheels and a driving mechanism for driving the walking wheels to rotate; the polishing device comprises a functional cover, a polishing mechanism is arranged on the lower side of the functional cover, a downward eave is arranged on the periphery of the functional cover, so that a concave cavity for gathering smoke dust is formed on the lower side of the functional cover, the functional cover is hinged to the body, and a tensioning device is arranged between the body and the functional cover.

[0005] Further, the walking wheels on each side of the body are individually driven by a driving mechanism.

[0006] Further, the driving mechanism comprises a driving motor.

[0007] Further, the driving motor is a servo motor.

[0008] Further, the walking wheels are magnetic attraction wheels.

[0009] Further, a gear box is arranged between the driving mechanism and the walking wheels, and a transmission gear in the gear box is used to transmit power of the driving mechanism to the walking wheels.

[0010] Further, a silica gel layer is coated on the outside of the walking wheels.

[0011] Further, the polishing device comprises a polishing head and a driver for driving the polishing head, the driver is arranged on the lower side of the functional cover, and the polishing head is arranged below the driver.

[0012] Further, the driver comprises a brushless DC motor.

[0013] Furthermore, the grinding head includes a cup-shaped copper wire brush or a stainless steel wire brush.

[0014] Compared with existing technologies, the present invention has the following advantages: This invention provides a template grinding robot with an adaptive working environment and dust removal function. It has a compact structure, uses magnetic walking wheels to overcome the resistance of the template surface, and can climb and walk stably without the need for manual assistance in setting up a working platform. It can perform high-altitude curved wall climbing operations and can also climb in extremely small spaces to quickly complete the template grinding process. It has good safety, and the tensioning device can ensure that the grinding head is always in contact with the template surface to ensure the grinding effect. Attached Figure Description

[0015] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 Top view created for this invention; Figure 2 A three-dimensional structural schematic diagram created for this invention; Figure 3 This is a schematic diagram of an embodiment of the present invention with an auxiliary support device installed. Figure 4 A schematic diagram of the front-end structure is provided for this invention; Figure 5 A side structural schematic diagram is provided for this invention; Figure 6 A schematic diagram of the rear end face structure is provided for this invention; Figure 7 A schematic diagram of a template grinding robot with dust removal function in an adaptive working environment, provided for the present invention, during longitudinal grinding along the arc surface of a template; Figure 8 This invention provides a schematic diagram of a template grinding robot with dust removal function that adapts to the working environment and grinds the template along the arc surface in a circumferential direction. Detailed Implementation

[0016] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0017] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0018] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] A template grinding robot with dust removal function that adapts to different working environments, such as Figures 1 to 8 As shown, the robot includes a body 1, walking mechanisms 2 on the left and right sides, and a grinding mechanism 3 on the front. The walking mechanism includes wheels 4 and a drive mechanism 5 for rotating the wheels. The grinding mechanism includes a functional cover 6, with the grinding mechanism mounted on the lower side of the cover. A downward-facing baffle 7 surrounds the cover, creating a concave cavity for collecting dust. The cover is hinged to the body, and a tensioning device 8 is provided between the body and the cover. A power module can be installed inside the body, and a power plug 11 is provided on the rear panel to provide power to the robot's electrical components. For example, probes can be installed on the functional cover or the body to allow the operator to observe the working conditions. A light 12 can be installed on the front of the body to illuminate the area near the work site. To prevent collisions, an anti-collision sensor 13 can be installed on the front of the functional cover. The probes, light, and anti-collision sensor are all electrically connected to the power supply. Alternatively, the power plug can be directly connected to AC power to provide power to the robot's electrical components.

[0021] Each of the machine's wheels is driven independently by a drive mechanism. Preferably, the drive mechanism includes a drive motor. For example, the drive motor is a servo motor. The independent drive of the wheels on both sides of the machine allows for flexible movement (e.g., straight-line movement, speed adjustment) and precise steering (e.g., turning in place, differential steering) through differentiated control of the single and dual-side drive motors. Compared to the traditional centralized drive + steering axle structure, it has advantages such as compact layout, small turning radius, high control precision, adaptability to complex surfaces and narrow spaces of template 16, and strong adaptability.

[0022] Preferably, the servo motor is controlled by a control unit. For example, the control unit includes an STM32F103C8T6 microcontroller, a PCA9685 servo drive board, and an NRF24L01 wireless communication module (for receiving remote control commands). Microprogrammable control of the servo motor offers fast response and high positioning accuracy. Rotation speed, direction, and angular displacement parameters can be flexibly set through programming. Commands are remotely sent to the microcontroller via the wireless communication module to control the servo motor speed, thereby manipulating the wheels to move the template grinding robot. When the two wheels move synchronously, the template grinding robot moves in a straight line. However, by remotely controlling the two servo motors through microprogramming to create a speed difference between the two wheels, the robot can turn towards the wheel with the slower rotation speed, offering convenient control and high flexibility.

[0023] In practical implementation, a gearbox can be installed between the drive mechanism and the traveling wheels. The drive mechanism's power is transmitted to the traveling wheels via transmission gears within the gearbox. Using the gearbox as the power transmission hub ensures a fixed transmission ratio between the motor output and the wheel movement. Furthermore, the traveling wheels are magnetically pleasing. These magnetic wheels allow the template grinding robot to climb and move along the curved surface of the template, overcoming longitudinal and circumferential gravity and the resistance of undulating surfaces, enabling high-altitude operations on curved surfaces. The outer surface of the traveling wheels is covered with a silicone layer to effectively prevent slippage.

[0024] In an optional embodiment, two auxiliary support devices are symmetrically installed on the rear side of the machine body. Each auxiliary support device includes an auxiliary frame 14, which is detachably mounted to the machine body. A stabilizing wheel 15 is installed at the lower end of each auxiliary frame. When the working environment is flat and the machine body's own wheels are sufficient for stability, the auxiliary frames can be removed to reduce the machine's load. When facing complex template surfaces or frequent turning scenarios, installing the auxiliary frames and the stabilizing wheels provides better balance. Figure 7 The diagram shows a robot grinding longitudinally along the curved surface of a template. Figure 8 The diagram shows a template grinding robot with dust removal function that adapts to the working environment and grinds along the arc surface of the template. Due to the use of magnetic rollers and auxiliary support devices, the grinding robot can move and grind stably on the surface of the arc mold.

[0025] The lower edge of the stabilizing wheel is flush with the lower edge of the traveling wheel, or slightly higher. The auxiliary frame is symmetrically installed at the rear of the aircraft, forming a mechanical balance fulcrum with the main structure to prevent tilting caused by unilateral force. When the lower edges of the stabilizing wheel and traveling wheel are flush, the stabilizing wheel and traveling wheel together form a multi-point support system, distributing the weight of the aircraft, increasing the ground contact area, and reducing the risk of sinking or tipping over due to excessive load on a single traveling wheel.

[0026] The lower edge of the stabilizing wheel is slightly higher than the lower edge of the running wheels, and the height difference between the stabilizing wheel and the running wheels is usually controlled within 15mm. This design retains the main support function of the running wheels while allowing the stabilizing wheel to quickly contact the ground and limit the tilt when the aircraft tilts slightly, preventing the tilt from widening. This design also ensures maneuverability and does not increase driving resistance due to the stabilizing wheel being constantly in contact with the ground. The rear stabilizing wheel can counteract the rearward sway caused by inertia and uneven road surfaces during movement. Especially during turning or starting and stopping, it can balance the aircraft's torque through symmetrical force distribution, improving overall handling stability.

[0027] The grinding device includes a grinding head 9 and a driver 10 for driving the grinding head. The driver is mounted on the underside of a functional cover, and the grinding head is located below the driver. For example, the driver includes a brushless DC motor. The grinding head includes a cup-shaped copper wire brush or a stainless steel wire brush; the grinding head is durable and easy to replace. The grinding device uses the functional cover as its support base, with the driver fixed to the underside of the functional cover, and the grinding head assembled at the output end of the driver and located below it. The functional cover not only serves as the mounting carrier for the driver but also forms a protective structure through its own baffles, preventing the spread of debris and dust during the grinding process.

[0028] The driver uses a brushless DC motor, which features low speed, high torque, adjustable speed, and smooth operation. On one hand, it provides continuous and controllable rotational power to the grinding head, meeting the grinding requirements of the template surface. On the other hand, its compact design allows for direct mounting to the underside of the functional cover without additional adapters, reducing energy loss during power transmission and ensuring that the rotational power from the motor output shaft is directly and efficiently transmitted to the grinding head. In a further improved design, to enhance grinding efficiency, two grinding heads can be arranged side-by-side on the underside of the functional cover. Specifically, a reducer can be installed at the output end of the driver, with two output shafts, each bearing a grinding head. In an optional embodiment, the tensioning device includes an electric telescopic cylinder disposed between the machine body and the functional cover. One end of the electric telescopic cylinder is hinged to the machine body, and the other end is connected to the side of the functional cover. When the machine body is placed horizontally, the hinge position of the electric telescopic cylinder to the machine body is higher than the connection position of the electric telescopic cylinder to the functional cover. In order to avoid the occurrence of a "dead point", the end of the electric telescopic cylinder connected to the functional cover can be hinged, or the end of the electric telescopic cylinder connected to the functional cover can be installed on a slider. The slider is installed on the side wall of the functional cover and slides with the functional cover. As the telescopic rod of the electric telescopic cylinder extends and retracts, the functional cover rotates around its hinge point (or preset rotation fulcrum) with the machine body as the axis, thereby adjusting the angle between the functional cover and the machine body. When the telescopic rod extends, its thrust pushes the functional cover downward, causing the grinding head on the lower side of the functional cover to move down appropriately to meet the grinding needs of the concave positions on the surface of the template being ground. When the telescopic rod retracts, its tension pulls the functional cover upward, causing the grinding head on the lower side of the functional cover to move up appropriately to meet the grinding needs of the convex positions on the surface of the template being ground. Therefore, the use of a tensioning device can meet the angle positioning requirements of the functional cover in different working scenarios and ensure the quality of the grinding operation.

[0029] In another optional embodiment, the aforementioned electric telescopic cylinder can be replaced by a spring cylinder. That is, the tensioning device includes a spring cylinder positioned between the machine body and the functional cover. The spring cylinder is installed in the same way as the electric telescopic cylinder described above, with one end hinged to the machine body and the other end connected to the side of the functional cover. When the machine body is placed horizontally, the hinge position between the electric telescopic cylinder and the machine body is higher than the connection position between the electric telescopic cylinder and the functional cover. As the template grinding robot moves across the uneven template surface, the clamping force exerted by the functional cover on the spring cylinder continuously changes. The spring cylinder adaptively extends and retracts according to the change in the angle between the functional cover and the machine body, providing real-time support to the functional cover without additional control.

[0030] Leveraging its elastic extension and retraction properties, the spring cylinder allows the functional cover to be pushed upwards when the robot encounters a raised template area. At this point, the spring cylinder is compressed, absorbing the impact through elastic deformation, preventing a rigid collision between the functional cover and the template surface, while maintaining a stable contact between the grinding head and the template. When the robot moves to a recessed area, the spring cylinder automatically extends, using its rebound force to push the functional cover downwards, ensuring the grinding head remains tightly in contact with the template surface and preventing any missed areas due to gaps. This elastic adaptive structure responds in real-time to changes in the template surface height without requiring additional electronic control adjustments. Compared to electric telescopic cylinders, the spring cylinder's mechanical adaptive response is faster, and its simpler structure and lower failure rate effectively reduce maintenance costs during continuous robot operation. Furthermore, the height difference design at the hinge position ensures that the spring cylinder's extension and retraction directions always form a reasonable force angle, guaranteeing flexible swinging of the functional cover while preventing jamming or damage to the spring cylinder due to excessive lateral force, further enhancing the robot's stability and reliability when operating on complex template surfaces.

[0031] This invention provides a template grinding robot with an adaptive working environment and dust removal function. It has a compact structure, is easy to install and disassemble, and is highly operable. It uses magnetic walking wheels to overcome the resistance of the longitudinal and annular undulating surfaces of the template and can climb and walk stably without the need for manual assistance in setting up a working platform. It can achieve high-altitude curved wall climbing operations and can also climb in extremely small spaces. It can quickly complete the template grinding process, reduce the intensity of manual labor, and has good safety. The tensioning device can ensure that the grinding head is always in contact with the template surface, ensuring the grinding quality.

[0032] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A template grinding robot with dust removal function that adapts to different working environments, characterized in that: The device includes a body, with walking mechanisms on the left and right sides and a grinding device on the front side of the body. The walking mechanism includes walking wheels and a drive mechanism for rotating the walking wheels. The grinding device includes a functional cover with a grinding mechanism installed on the lower side of the functional cover. The functional cover has a downward-facing baffle around its perimeter, which forms a concave cavity for collecting dust on the lower side of the functional cover. The functional cover is hinged to the body, and a tensioning device is provided between the body and the functional cover.

2. The template grinding robot with dust removal function that adapts to the working environment according to claim 1, characterized in that: Each of the walking wheels on each side of the machine body is driven by a separate drive mechanism.

3. A template grinding robot with dust removal function adapted to an adaptive working environment as described in claim 1 or 2, characterized in that: The drive mechanism includes a drive motor.

4. The template grinding robot with dust removal function that adapts to the working environment according to claim 3, characterized in that: The drive motor is a servo motor.

5. The template grinding robot with dust removal function that adapts to the working environment according to claim 1, characterized in that: The wheels are magnetically attached.

6. A template grinding robot with dust removal function adapted to an adaptive working environment as described in claim 1 or 5, characterized in that: A gearbox is provided between the drive mechanism and the walking wheel. The drive mechanism transmits power to the walking wheel through the transmission gears in the gearbox.

7. A template grinding robot with dust removal function adapted to an adaptive working environment according to claim 5, characterized in that: The outer side of the walking wheels is covered with a silicone layer.

8. A template grinding robot with dust removal function adapted to an adaptive working environment according to claim 1, characterized in that: The polishing device includes a polishing head and a driver for driving the polishing head. The driver is installed on the lower side of the functional cover, and the polishing head is located below the driver.

9. A template grinding robot with dust removal function adapted to an adaptive working environment according to claim 8, characterized in that: The driver includes a brushless DC motor.

10. A template grinding robot with dust removal function adapted to an adaptive working environment according to claim 8, characterized in that: The grinding head may include a cup-shaped copper wire brush or a stainless steel wire brush.

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