Cutting and polishing robot applied to special working space

Abstract

This invention discloses a cutting and grinding robot for use in special workspaces, relating to the field of grinding robots. It includes a mobile chassis, a lifting and adjusting mechanism, and a cutting and grinding execution mechanism. The lifting and adjusting mechanism includes a slide rail upright and a horizontal slide rail. Two slide rail uprights are fixed at intervals on the mobile chassis. The horizontal slide rail includes a tilting slide rail and a traveling slide rail. Both ends of the tilting slide rail are rotatably connected to the traveling slide rail. The cutting and grinding execution mechanism includes a traveling seat and a robot compartment. The traveling seat is slidably mounted on the tilting slide rail. The robot compartment includes a middle compartment, a grinding compartment, and a cutting compartment. A feed shaft slidably passes through the middle compartment, with both ends connected to the grinding compartment and the cutting compartment, respectively. A cutting saw blade and a grinding disc are rotatably mounted on the cutting compartment and the grinding compartment, respectively. Multiple dust suction ports are provided on both the grinding compartment and the cutting compartment, enabling automated wall grinding and cutting operations while reducing dust concentration during operation.

Description

Technical Field

[0001] This invention relates to the field of grinding robots, specifically a cutting and grinding robot applicable to special work spaces. Background Technology

[0002] In building construction, the top and side walls of ultra-high spaces (such as large stadiums, atriums of ultra-high-rise office buildings, industrial plants, etc., with a top height ≥ 8m), as well as the walls and top of limited spaces in basements (such as underground garage civil defense areas, underground equipment rooms, narrow passages, etc., with a net width ≤ 3m, a net height ≤ 2.5m, and poor ventilation), all need to be ground and cut to achieve construction goals such as base treatment, component repair, and opening. For high-altitude operations, traditional construction relies on scaffolding to build the working surface, which is not only time-consuming and costly, but also poses safety hazards. At the same time, since the walls are generally polished with full coverage, the polishing process is lengthy and generates a lot of dust and stone chips. In poor ventilation, the dust generated by polishing cannot be dispersed in time, and the concentration quickly exceeds the standard. If the operator inhales it, it is easy to cause respiratory diseases. The narrow space restricts limb movement and makes it easy to collide with high-speed cutting and polishing tools. In addition, when the equipment is handheld, the equipment vibrates greatly and the operation precision is low, which can easily cause the equipment to fall and cause injury or death to people on the ground.

[0003] To address these issues, the construction engineering field has attempted to introduce some intelligent equipment, but existing equipment still suffers from numerous compatibility deficiencies. Most industrial cutting and grinding robots are bulky and heavy, unable to enter narrow basement passageways, and lack sufficient mobility. While some small, portable devices can enter limited spaces, they lack effective lifting and adjustment mechanisms, preventing them from reaching high ceilings and other overhead work areas. Furthermore, they do not integrate cutting and grinding functions, requiring frequent equipment changes and resulting in low efficiency. Simultaneously, existing equipment generally has low dust collection efficiency, especially in the confined environment of basements, failing to effectively control dust dispersion. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a cutting and grinding robot applicable to special work spaces, thereby solving the deficiencies of the prior art.

[0005] The objective of this invention is achieved through the following technical solution: a cutting and grinding robot for use in special workspaces, comprising a mobile chassis, a lifting and adjusting mechanism mounted on the mobile chassis, and a cutting and grinding execution mechanism mounted on the lifting and adjusting mechanism. The lifting and adjusting mechanism includes slide rail uprights and horizontal slide rails. Two slide rail uprights are fixedly spaced on the mobile chassis. The horizontal slide rails include a tilting slide rail and a traveling slide rail. Both ends of the tilting slide rail are rotatably connected to traveling slide rails. The two traveling slide rails are slidably mounted on the two slide rail uprights respectively. The cutting and grinding actuator includes a traveling base and a robot compartment. The traveling base is slidably mounted on a tilting slide rail. The robot compartment includes an intermediate compartment, a grinding compartment, a cutting compartment, and a feed shaft. The intermediate compartment is mounted on the traveling base. The feed shaft slides through the intermediate compartment. The two ends of the feed shaft are respectively connected to the grinding compartment and the cutting compartment. A cutting saw blade and a grinding disc are rotatably mounted on the cutting compartment and the grinding compartment, respectively. Multiple dust suction ports are provided on the end face of the grinding compartment away from the intermediate compartment and the end face of the cutting compartment away from the intermediate compartment.

[0006] Furthermore, a grinding shaft is rotatably mounted on the grinding chamber, the grinding disc is connected to the grinding shaft, a grinding motor is installed inside the grinding chamber, and the output shaft of the grinding motor is driven and connected to the grinding shaft. A cutting shaft is rotatably mounted on the cutting chamber via bearings, the cutting shaft is connected to a cutting saw blade, a cutting motor is installed inside the cutting chamber, and the output shaft of the cutting motor is driven and connected to the cutting shaft.

[0007] Furthermore, a feed electric push rod is installed on the intermediate chamber, the feed electric push rod is parallel to the feed shaft, the telescopic shaft of the feed electric push rod is connected to the side wall of the feed shaft, a grinding distance sensor is installed on the end face of the intermediate chamber near the grinding chamber, and a cutting distance sensor is installed on the end face of the intermediate chamber near the cutting chamber.

[0008] Furthermore, the feed shaft includes a base shaft and a flexible slide shaft. One end of the base shaft is fixedly connected to the cutting chamber, and the other end has a groove along its own axial direction. A compensating spring is provided in the groove. One end of the flexible slide shaft is fixedly connected to the grinding chamber, and the other end is slidably adapted in the groove. The two ends of the compensating spring are respectively connected to the base shaft and the flexible slide shaft.

[0009] Furthermore, a locking shaft assembly is provided on the feed shaft, and the base shaft has locking cavities on both sides of the flexible slide shaft. The locking cavities are connected to the slide groove, and a locking shaft assembly is provided in each of the two locking cavities. The locking shaft assembly includes a friction block, a locking shaft cam, and a camshaft. The friction block is slidably disposed in the locking cavity, and the camshaft is rotatably connected to the base shaft. The locking shaft cam is fixedly mounted on the camshaft. The locking shaft cam pushes the friction block against the flexible slide shaft by deflection. The camshaft passes through the base shaft and is connected to a gear. The gears of the two locking shaft assemblies mesh with each other. A locking shaft electric push rod is provided on the outer wall of the base shaft. The cylinder of the locking shaft electric push rod is hinged to the base shaft. A drive plate is fixed on the side wall of one of the camshafts, and the telescopic shaft of the locking shaft electric push rod is hinged to the drive plate.

[0010] Furthermore, a traveling main shaft is rotatably mounted inside the traveling seat, a traveling gear is fitted on the traveling main shaft, a traveling motor is mounted on the traveling seat, the output shaft of the traveling motor is connected to the traveling main shaft, a traveling window is opened at the bottom of the traveling seat for the traveling gear to pass through, a rack and a T-shaped slide rail are fixed on the flip slide rail, the traveling gear meshes with the rack, and a T-shaped slide groove is opened at the bottom of the traveling seat to match the T-shaped slide rail.

[0011] Furthermore, both ends of the tilting slide rail are fixed with tilting shafts, which are rotatably connected to the traveling slide rail via bearings. A first motor and a second motor are installed inside the traveling slide rail. The output shaft of the first motor is connected to the tilting shaft. A horizontal shaft is rotatably installed inside the traveling slide rail. The output shaft of the second motor is connected to the horizontal shaft. A vertical gear is fixedly sleeved on the horizontal shaft. A vertical rack and a T-shaped track are fixed on the slide rail vertical rod. The vertical gear meshes with the vertical rack. A T-shaped groove that matches the T-shaped track is opened on the traveling slide rail.

[0012] Furthermore, the travel slide rail is equipped with an anti-fall shaft, which is parallel to the horizontal axis and has the freedom to move axially along the horizontal axis. A torsion spring is fixedly sleeved on the anti-fall shaft, and a pawl is sleeved on the torsion spring. The torsion foot of the torsion spring is inserted into a small hole on the inner wall of the pawl. An anti-fall ratchet is sleeved on the horizontal axis. The pawl and the anti-fall ratchet restrict the vertical downward movement freedom of the travel slide rail. An anti-fall electric push rod is installed inside the travel slide rail, and the telescopic shaft of the anti-fall electric push rod is connected to the anti-fall shaft.

[0013] Furthermore, an annular groove is formed around the grinding disc on the grinding chamber, and an annular seal is installed in the annular groove. The annular seal has the freedom to move along the axial direction of the grinding disc. The annular seal contacts the wall during the grinding operation to form a sealed grinding chamber between the grinding chamber and the wall.

[0014] Furthermore, a vacuum motor is installed inside the intermediate chamber, a dust collection box is provided on the outside of the intermediate chamber, a threaded hole is opened on the intermediate chamber to communicate with the inner cavity of the intermediate chamber, the dust collection box is threadedly connected to the threaded hole, the dust exhaust pipe of the vacuum motor is connected to the threaded hole, the vacuum port is connected to a vacuum hose, the vacuum hose is connected to the vacuum pipe of the vacuum motor, and the dust exhaust port of the vacuum motor is connected to the dust collection box through the vacuum exhaust hose.

[0015] The beneficial effects of this invention are: 1. The robot, with its mobile chassis and lifting adjustment mechanism, can perform ceiling and side wall operations in ultra-high spaces without the need for scaffolding, completely avoiding fatal risks such as operator falls from heights and scaffolding collapses. It integrates a cutting chamber and a grinding chamber, and can quickly switch between cutting and grinding operation modes through the axial movement of the feed axis and the deflection of the tilting slide rail, without the need to change additional equipment or tools. This solves the problems of traditional equipment having single functions and cumbersome switching, and also makes the robot structure more compact, enabling grinding and cutting operations in the limited space of a basement.

[0016] 2. The annular seal forms a sealed chamber when it contacts the wall during grinding operations. Dust and debris are confined within the sealed chamber. The dust generated during the operation is collected through the dust suction port, which fundamentally prevents operators from inhaling dust and causing respiratory diseases, and significantly reduces the safety risk level of the work area.

[0017] 3. The flexible feed structure, consisting of a flexible sliding shaft and a compensating spring, can automatically compensate for the unevenness of the working surface, allowing the grinding disc to contact the wall and move, enabling immediate grinding of the next area, thus improving grinding efficiency. Furthermore, grinding can be performed simultaneously during the movement, effectively avoiding missed grinding and ensuring uniform contact between the tool and the working surface during grinding and cutting, thereby improving the consistency of construction quality.

[0018] 4. The anti-fall component in the lifting and adjusting mechanism, through the mechanical cooperation of the pawl and the anti-fall ratchet, can immediately lock the traveling slide rail in the event of motor failure or power interruption, preventing the cutting and grinding actuator from falling from a height, and providing safety for ultra-high space operations. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a cutting and grinding robot applied to a special workspace according to the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of a cutting and grinding robot applied to a special workspace according to the present invention. Figure 2 ; Figure 3 This is a top-cross view of the robot compartment in a cutting and grinding robot applied to a special workspace according to the present invention; Figure 4 This is a schematic diagram of the feed axis structure in a cutting and grinding robot applied to a special working space according to the present invention; Figure 5 This is a schematic diagram of the internal structure of the walking seat in a cutting and grinding robot applied to a special working space according to the present invention; Figure 6 This is a schematic diagram of the internal structure of a horizontal slide rail in a cutting and grinding robot applied to a special working space according to the present invention; Figure 7 This is a schematic diagram of the internal structure of a telescopic adaptable rod in a cutting and grinding robot applied to a special working space according to the present invention; Figure 8 for Figure 1 Enlarged view of point A in the middle; Figure 9 for Figure 3 Enlarged view at point B in the middle; Figure 10 for Figure 2 Enlarged view at point C; Figure 11 for Figure 1 Enlarged view at point D; Figure 12 for Figure 6 Enlarged view at point E in the middle; In the diagram, 1-moving chassis, 2-slide rail upright, 3-horizontal slide rail, 4-tilting slide rail, 5-traveling slide rail, 6-traveling seat, 7-robot compartment, 8-intermediate compartment, 9-grinding compartment, 10-cutting compartment, 11-feed axis, 12-cutting saw blade, 13-grinding disc, 14-dust suction port, 15-grinding axis, 16-grinding motor, 17-cutting axis, 18-cutting motor, 19-feed electric push rod, 20-grinding distance sensor, 21-cutting distance sensor, 22-base axis, 23-flexible slide shaft, 24-slide groove, 25-compensation spring, 26-locking cavity, 27-friction block, 28-locking shaft cam, 29-camshaft, 30-gear, 31-locking shaft electric push rod, 32-drive plate, 33-traveling spindle, 34-traveling gear, 35-... - Walking motor, 36- Walking window, 37- Rack, 38- T-shaped slide rail, 39- T-shaped slide groove, 40- Flip shaft, 41- First motor, 42- Second motor, 43- Horizontal shaft, 44- Upright gear, 45- Upright rack, 46- T-shaped track, 47- T-shaped groove, 48- Anti-fall shaft, 49- Torsion spring, 50- Pawl, 51- Anti-fall ratchet, 52- Anti-fall electric push rod, 53- Annular groove, 54- Annular seal, 55- Vacuum motor, 56- Dust collection box, 57- Vacuum hose, 58- Fixed upright, 59- Rubber seal, 60- Sliding sealing block, 61- T-shaped sealing strip, 62- T-shaped groove a, 63- Annular drive disc, 64- Drive hydraulic rod, 65- Main rod, 66- Sliding rod, 67- Spring, 68- Sliding upright. Detailed Implementation

[0020] Example 1 like Figures 1 to 12As shown, a cutting and grinding robot for use in special workspaces includes a mobile chassis 1, a lifting and adjusting mechanism mounted on the mobile chassis, and a cutting and grinding execution mechanism mounted on the lifting and adjusting mechanism. The lifting and adjusting mechanism includes slide rail uprights 2 and horizontal slide rails 3. Two slide rail uprights 2 are fixedly spaced on the mobile chassis 1. The horizontal slide rail 3 includes a tilting slide rail 4 and a traveling slide rail 5. Both ends of the tilting slide rail 4 are rotatably connected to the traveling slide rails 5. The two traveling slide rails 5 are slidably mounted on the two slide rail uprights 2 respectively. The cutting and grinding execution mechanism includes a traveling seat 6 and a robot compartment 7. The traveling seat 6 is slidably mounted on the tilting slide rail 4. The robot compartment 7 includes a middle compartment 8, a grinding compartment 9, a cutting compartment 10, and a feed shaft 11. The middle compartment 8 is mounted on the traveling seat 6, and the feed shaft 11 slides through the middle compartment 8. The two ends of 11 are connected to the grinding chamber 9 and the cutting chamber 10 respectively. The cutting chamber 10 and the grinding chamber 9 are respectively rotatably equipped with a cutting saw blade 12 and a grinding disc 13. Multiple dust suction ports 14 are opened on the end face of the grinding chamber 9 away from the intermediate chamber 8 and the end face of the cutting chamber 10 away from the intermediate chamber 8. The bottom of the mobile chassis 1 is equipped with a wheel walking assembly. The wheel walking assembly drives the entire cutting and grinding robot to walk on the ground, so that the cutting and grinding execution mechanism can move to the designated position to perform cutting and grinding operations. In order to ensure the stability of the robot, when the mobile chassis 1 is moved into place, it can be fixed to the ground with anchor bolts to facilitate the displacement of the mobile chassis 1 caused by the operation vibration. When the mobile chassis 1 needs to be moved to adjust the working position, the anchor bolts are removed and the entire robot is moved by the wheel walking assembly.When performing side wall work, the traveling slide rail 5 in the horizontal slide rail 3 can move on the slide rail upright 2, thereby driving the cutting and grinding actuator to move along the height direction of the side wall. Through the movement of the traveling seat 6 on the tilting slide rail 4, the cutting and grinding actuator moves along the horizontal direction of the side wall, so that the grinding disc 13 can cover the side wall for grinding, and the cutting saw blade 12 can move to any position on the side wall for cutting. The specific operation process of the side wall is as follows: first, the cutting operation is performed, and then the entire side wall is ground. The tilting slide rail 4 drives the cutting and grinding actuator on the upper part to deflect, so that the cutting chamber 10 corresponds to the side wall to be worked on. Through the movement of the traveling slide rail 5 and the traveling seat 6, combined with the movement of the mobile chassis 1, the cutting chamber 10 can move along the side wall to be worked on. Cutting operations can be performed at any location on the side wall. There are two types of cutting operations. The first is cutting protruding parts on the side wall (excess concrete pouring, protruding rebar length, etc.). In this case, the tilting slide rail 4 drives the cutting saw blade 12 to deflect, making the cutting saw blade 12 parallel to the side wall. The feed shaft 11 drives the cutting saw blade 12 to contact the wall surface. At this time, the cutting saw blade 12 is located on one side of the protruding part. Then, the traveling seat 6 drives the cutting saw blade 12 to move closer to the protruding part, thereby cutting off the protruding part on the side wall. The second type is cutting a processing seam on the side wall. The tilting slide rail 4 drives the cutting saw blade 12 to deflect, making the cutting saw blade 12 perpendicular to the side wall. Through the movement and coordination of the cutting chamber 10 and the traveling seat 6, a horizontal processing seam is processed on the side wall. The cutting chamber 10, through its movement and coordination with the travel slide rail 5, creates a vertical cutting seam on the side wall. After cutting, the grinding chamber 9 deflects to the working state, allowing the grinding disc 13 to contact the wall surface for grinding. The grinding disc 13 completes the covering grinding along the horizontal and vertical directions of the wall surface. When grinding and cutting the top wall, the height of the slide rail upright 2 meets the processing height requirements of the top wall. The travel slide rail 5 drives the cutting and grinding actuator closer to the top wall, first putting the cutting chamber 10 into the working state to cut the top wall. The top wall also has two cutting modes: it can cut protruding parts of the top wall and can also cut horizontal and vertical cutting seams on the top wall. Then, the grinding disc 13 contacts the wall. The grinding operation on the top wall is completed. By moving the mobile chassis 1 and the walking seat 6 together, the cutting and grinding operation can be completed on the top wall, completely avoiding fatal risks such as operators falling from heights and scaffolding collapse. The integrated cutting chamber 10 and grinding chamber 9 can quickly switch between cutting and grinding operation modes by moving the axial direction of the feed axis 11 and deflecting the tilting slide rail 4 without the need to change additional equipment or tools. This solves the problems of traditional equipment having single function and cumbersome switching. The grinding chamber 9 and the cutting chamber 10 are installed on the feed axis 11 at the same time. Only one power source is needed to drive the feed axis 11 to move, which can realize the grinding feed action and the cutting feed action. This makes the robot structure more compact and can carry out grinding and cutting operations in the limited space of the basement.

[0021] Furthermore, a grinding shaft 15 is rotatably mounted on the grinding chamber 9, and the grinding disc 13 is connected to the grinding shaft 15. A grinding motor 16 is installed inside the grinding chamber 9, and the output shaft of the grinding motor 16 is connected to the grinding shaft 15. The grinding motor 16 drives the grinding disc 13 to rotate through the grinding shaft 15, thus realizing the grinding operation. A cutting shaft 17 is rotatably mounted on the cutting chamber 10 through bearings, and the cutting shaft 17 is connected to the cutting saw blade 12. A cutting motor 18 is installed inside the cutting chamber 10, and the output shaft of the cutting motor 18 is connected to the cutting shaft 17. The cutting motor 18 drives the cutting saw blade 12 to rotate through the cutting shaft 17, thus realizing the cutting operation. The grinding chamber 9 and the cutting chamber 10 are distributed at both ends of the intermediate chamber 8, making the force on the horizontal slide rail 3 more symmetrical, more uniform, and more stable.

[0022] Example 2 Based on Example 1, such as Figures 1 to 3 As shown, a vacuum motor 55 is installed inside the intermediate chamber 8, and a dust collection box 56 is provided on the outside of the intermediate chamber 8. A threaded hole is opened on the intermediate chamber 8 to connect to its inner cavity. The dust collection box 56 is threadedly connected to the threaded hole, and the dust exhaust pipe of the vacuum motor 55 is also connected to the threaded hole. A vacuum suction port 14 is connected to a vacuum suction hose 57, which is connected to the vacuum suction pipe of the vacuum motor 55. The dust exhaust port of the vacuum motor 55 is connected to the dust collection box 56 via the vacuum suction hose. The high-speed rotation of the vacuum motor 55 creates a negative pressure inside the dust collection box 56. Dust generated during grinding enters the dust collection box 56 through the vacuum suction port 14 on the grinding chamber 9, and dust generated during cutting enters the dust collection box 56 through the vacuum suction port 14 on the cutting chamber 10. This effectively prevents operators from inhaling dust and causing respiratory illnesses, significantly reducing the safety risk level of the work area. The dust collection box 56 is detachably connected to the intermediate chamber 8 by a thread, making it easy to remove and clean the dust inside. In practice, the dust collection box 56 can be installed on the mobile chassis 1, and the dust discharge hose extends out of the intermediate compartment 8 and connects to the dust collection box 56. By installing the dust collection box 56 on the mobile chassis 1, the capacity of the dust collection box 56 can be increased, thereby increasing the amount of dust collected, and it is not necessary to frequently remove the dust collection box 56 for dust discharge.

[0023] Example 3 Based on Example 2, such as Figures 1 to 7As shown, an annular groove 53 is formed around the grinding disc 13 on the grinding chamber 9. An annular seal 54 is installed in the annular groove 53. The annular seal 54 has the freedom to move along the axial direction of the grinding disc 13. The annular seal 54 contacts the wall during grinding operations to form a sealed grinding chamber between the grinding chamber 9 and the wall. Since the grinding operation requires covering the wall, dust will be continuously generated throughout the process. Only the dust suction port 14 is provided for dust suction. Some dust far from the dust suction port 14 is difficult to be sucked up, resulting in continuous grinding. This will cause the dust that is not inhaled to continue to float in the air, and even after long-term operation, it will still cause environmental pollution. Workers will still inhale a lot of dust. To address this, an annular seal 54 is installed. When grinding is performed, the annular seal 54 moves to contact the wall, forming a sealed chamber between the annular seal 54 and the wall. The grinding disc 13 then performs the grinding operation within the sealed chamber, preventing the dust generated during grinding from spreading in the air. Instead, it is drawn into the dust suction port 14 on the grinding chamber 9, resulting in a better dust suction effect.

[0024] Example 4 Because the wall surface to be sanded is uneven, when the annular seal 54 of the completed structure comes into contact with the wall surface, the annular seal 54 cannot adapt to the unevenness of the wall surface to complete the fit and seal. Gaps will form between the annular seal 54 and the wall surface in some areas. Therefore, based on Embodiment 3, as follows... Figures 1 to 11As shown, the annular seal 54 includes several rubber sealing bodies 59 and several sliding sealing blocks 60. One end of each rubber sealing body 59 is connected to a sliding sealing block 60, which is slidably fitted into an annular groove 53. A portion of each rubber sealing body 59 is elastically interference-fitted into the annular groove 53. A T-shaped sealing strip 61 is fixed to one side of each rubber sealing body 59, and a T-shaped groove a62 is provided on the other side. The T-shaped sealing strip 61 of each rubber sealing body 59 is interference-fitted into the T-shaped groove a62 of an adjacent rubber sealing body 59. Each sliding sealing block 60 is equipped with a telescopic adaptation rod. An annular drive disc 63 is installed inside the grinding chamber 9. The annular drive disc 63 is connected to the telescopic rod of the drive hydraulic rod 64. The cylinder of the drive hydraulic rod 64 is installed on the grinding chamber 9. The telescopic rod includes a main rod 65 and a sliding rod 66. One end of the main rod 65 is connected to the annular drive disc 63, and the other end slides through the sliding rod 66. A spring 67 is installed inside the main rod 65. The two ends of the spring 67 are connected to the main rod 65 and the sliding rod 66, respectively. A drive hole with a connecting annular groove 53 is opened on the grinding chamber 9 at the position corresponding to the sliding rod 66. The sliding rod 66 passes through the drive hole. Connecting the sliding sealing block 60, during grinding operations, the grinding disc 13 first contacts the wall surface. Then, the driving hydraulic rod 64 drives the annular drive disc 63 to move closer to the wall surface. The annular drive disc 63, through the telescopic adaptation rod, drives the rubber sealing body 59 to contact the wall surface. Because adjacent rubber sealing bodies 59 are connected by the cooperation of the T-shaped sealing strip 61 and the T-shaped groove a62, the adjacent rubber sealing bodies 59 can move relative to each other while maintaining strong sealing performance. When a rubber sealing body 59 contacts the wall surface, the annular drive disc 63 will continue to move. At this time, through... The compression deformation of the rubber seal 59 and the sliding of the spring 67 by the sliding rod 66 prevent interference, allowing the annular drive disc 63 to continue moving the rubber seals 59 that are not in contact with the wall until all the rubber seals 59 are in contact with the wall. The annular seal 54 is configured with multiple rubber seals 59, which move relative to each other, allowing them to adapt to the wall's contours and achieve a good seal. This creates a well-sealed grinding chamber, preventing grinding dust from overflowing. Specifically, the sliding sealing block 60 is made of a rigid material, providing rigidity to the rubber seals 59 and preventing axial expansion that could hinder their movement within the annular groove 53. Furthermore, the rubber seals 59 are made of thermoplastic polyurethane, which has good wear resistance and can move with the grinding disc 13 to contact the wall.

[0025] Furthermore, a countersunk hole is provided on the rubber seal body 59, and a threaded hole is provided on the end face of the sliding seal block 60 near the rubber seal body 59. The tail of the screw passes through the countersunk hole and the thread is adapted to the threaded hole, so that the rubber seal body 59 can be easily removed from the sliding seal block 60. When the rubber seal body 59 is severely worn, a new rubber seal body 59 can be replaced.

[0026] Example 5 Based on Example 4, such as Figures 1 to 3 As shown, a feed electric push rod 19 is installed on the intermediate chamber 8. The feed electric push rod 19 is parallel to the feed shaft 11. The telescopic shaft of the feed electric push rod 19 is connected to the side wall of the feed shaft 11. A grinding distance sensor 20 is installed on the end face of the intermediate chamber 8 near the grinding chamber 9, and a cutting distance sensor 21 is installed on the end face of the intermediate chamber 8 near the cutting chamber 10. When the grinding disc 13 contacts the wall, the feed electric push rod 19 extends, causing the feed shaft 11 to drive the grinding chamber 9 to move, so that the grinding disc 13 is fed towards the wall. The grinding thickness is detected by the grinding distance sensor 20, so that the grinding accuracy is higher. When cutting is performed, when cutting the processing seam, the feed electric push rod 19 retracts, causing the feed shaft 11 to drive the cutting chamber 10 to move towards the wall, and the cutting distance sensor 21 controls the cutting depth.

[0027] Example 6 Based on Example 5, such as Figures 1 to 9As shown, the feed shaft 11 includes a base shaft 22 and a flexible slide shaft 23. One end of the base shaft 22 is fixedly connected to the cutting chamber 10, and the other end has a groove 24 along its own axial direction. A compensating spring 25 is installed in the groove 24. One end of the flexible slide shaft 23 is fixedly connected to the grinding chamber 9, and the other end slides within the groove 24. The two ends of the compensating spring 25 are respectively connected to the base shaft 22 and the flexible slide shaft 23. A locking shaft assembly is provided on the feed shaft 11. The base shaft 22 has locking cavities 26 on both sides of the flexible slide shaft 23. The locking cavities 26 are connected to the groove 24. A locking shaft assembly is provided in both locking cavities 26. The locking shaft assembly includes a friction block 27, a locking cam 28, and a camshaft 29. The friction block 27 is slidably disposed in the locking cavity 26, and the camshaft 29 is rotatably connected to the base shaft 22. Shaft 22, locking cam 28 is fixedly mounted on camshaft 29. Locking cam 28 pushes friction block 27 against flexible sliding shaft 23 by deflection. Camshaft 29 extends from base shaft 22 and is connected to gear 30. The gears 30 of the two locking shaft assemblies mesh. Locking electric push rod 31 is provided on the outer wall of base shaft 22. The cylinder of locking electric push rod 31 is hinged to base shaft 22. Drive plate 32 is fixed to the side wall of one camshaft 29. The telescopic shaft of locking electric push rod 31 is hinged to drive plate 32. Initially, compensation spring 25 is in normal state, so locking electric push rod 31 drives camshaft 29 to rotate through drive plate 32. Camshaft 29 drives the other camshaft 29 to deflect through the meshing of two gears 30, thereby causing the two locking cams to rotate. The rotation directions of 28 are opposite. Locking cam 28 pushes friction block 27 to press against the side wall of flexible sliding shaft 23. Under the pressure of the two friction blocks 27, flexible sliding shaft 23 is fixed on base shaft 22. Then, the telescopic shaft of feed electric push rod 19 is connected to base shaft 22. Feed electric push rod 19 makes grinding disc 13 contact the wall surface. At this time, grinding distance sensor 20 records the position of grinding chamber 9. Then feed electric push rod 19 drives grinding disc 13 to feed for grinding. The feed distance of grinding disc 13 is equal to the required grinding thickness. Grinding distance sensor 20 records the position of grinding chamber 9 at this time, which is the final grinding value. When the area is finished grinding, grinding disc 13 is moved to grind the next area. This area needs to be ground in conjunction with the previous area. The area has a coverage zone to avoid blind spots in sanding. During the movement of the sanding disc 13, the locking shaft electric push rod 31 drives the cam shaft 29 to rotate in the opposite direction through the drive plate 32, causing the locking shaft cam 28 to deflect away from the friction block 27, unlocking the connection between the base shaft 22 and the flexible slide shaft 23, allowing the flexible slide shaft 23 to squeeze the compensation spring 25 to move, so that the sanding disc 13 can move to the next area in a way that contacts the wall surface, so that the sanding disc 13 will not interfere with the wall surface. Sanding operation is performed while moving, which speeds up the sanding efficiency. When the sanding disc 13 moves into place, the flexible slide shaft 23 is connected to the base shaft 22 again, and the feed electric push rod 19 drives the sanding chamber 9 to move to the final sanding value position. This process is repeated to complete the coverage sanding operation of the wall surface.

[0028] Example 7 Based on Example 6, such as Figures 1 to 7 As shown, a traveling spindle 33 is rotatably mounted inside the traveling base 6. A traveling gear 34 is mounted on the traveling spindle 33. A traveling motor 35 is mounted on the traveling base 6. The output shaft of the traveling motor 35 is connected to the traveling spindle 33. A traveling window 36 is opened at the bottom of the traveling base 6 for the traveling gear 34 to pass through. A rack 37 and a T-shaped slide rail 38 are fixed on the tilting slide rail 4. The traveling gear 34 meshes with the rack 37. A T-shaped groove 39 that matches the T-shaped slide rail 38 is opened at the bottom of the traveling base 6. The traveling motor 35 drives the traveling spindle 33 to rotate, and the traveling spindle 33 drives the traveling gear 34 to rotate. Through the meshing of the traveling gear 34 and the rack 37, and the limiting of the T-shaped slide rail 38 and the T-shaped groove 39, the traveling base 6 can move on the tilting slide rail 4, giving the cutting and grinding actuator a degree of freedom of horizontal movement.

[0029] Example 8 Based on Example 7, such as Figures 1 to 12 As shown, both ends of the tilting slide rail 4 are fixed with tilting shafts 40. The tilting shafts 40 are rotatably connected to the traveling slide rail 5 via bearings. A first motor 41 and a second motor 42 are installed inside the traveling slide rail 5. The output shaft of the first motor 41 is connected to the tilting shaft 40. A horizontal shaft 43 is rotatably installed inside the traveling slide rail 5. The output shaft of the second motor 42 is connected to the horizontal shaft 43. A vertical gear 44 is fixedly sleeved on the horizontal shaft 43. A vertical rack 45 and a T-shaped track 46 are fixed on the slide rail upright 2. The vertical gear 44 meshes with the vertical rack 45. A T-shaped groove 47 that matches the T-shaped track 46 is opened on the traveling slide rail 5. The first motor 41 drives the tilting slide rail through the tilting shaft 40. 4. The device deflects on the travel slide rail 5, thereby switching the working state between the grinding chamber 9 and the cutting chamber 10. The second motor 42 drives the horizontal shaft 43 to rotate, and the horizontal shaft 43 drives the vertical rod gear 44 to rotate. Through the meshing of the vertical rod gear 44 and the vertical rod rack 45, and the guiding cooperation of the T-shaped rail 46 and the T-shaped groove 47, the travel slide rail 5 drives the cutting and grinding actuator to move along the height direction of the slide rail vertical rod 2. When grinding the side wall, the movement of the travel seat 6, the movement of the travel slide rail 5, and the movement of the moving chassis 1 completes the grinding of the side wall. When grinding the top wall, the movement of the travel seat 6 and the movement of the moving chassis 1 completes the grinding of the top wall.

[0030] Example 9 Based on Example 8, such as Figures 1 to 12As shown, the travel slide rail 5 is equipped with an anti-fall shaft 48, which is parallel to the horizontal axis 43 and has the freedom to move axially along the horizontal axis 43. A torsion spring 49 is fixedly sleeved on the anti-fall shaft 48, and a pawl 50 is sleeved on the torsion spring 49. The torsion foot of the torsion spring 49 is inserted into a small hole on the inner wall of the pawl 50. An anti-fall ratchet 51 is sleeved on the horizontal axis 43. The pawl 50 cooperates with the anti-fall ratchet 51 to restrict the vertical downward movement freedom of the travel slide rail 5. An anti-fall electric push rod 52 is installed inside the travel slide rail 5. The telescopic shaft of the anti-fall electric push rod 52 is connected to the anti-fall shaft 48. When the travel slide rail 5 moves upward on the slide rail upright 2 and stops moving, the pawl 5... The anti-fall ratchet 51 engages, preventing the horizontal shaft 43 from rotating in the opposite direction and causing the travel slide rail 5 to fall downwards. This can immediately lock the travel slide rail 5 in case of motor failure or power interruption, preventing the cutting and grinding actuator from falling from a height and providing safety for ultra-high-altitude operations. When the travel slide rail 5 needs to move downwards, the anti-fall electric push rod 52 drives the anti-fall shaft 48 to move axially along the horizontal shaft 43, causing the pawl 50 to disengage from the anti-fall ratchet 51, thereby unlocking the freedom of the travel slide rail 5 to move downwards. After the travel slide rail 5 moves into position, the anti-fall electric push rod 52 drives the anti-fall shaft 48 to reset, causing the pawl 50 to re-engage the anti-fall ratchet 51, thus providing anti-fall protection.

[0031] Example 10 Based on Example 9, such as Figure 1 and Figure 2 As shown, the slide rail upright 2 is configured as a telescopic structure, that is, the slide rail upright 2 includes a fixed upright 58 and a sliding upright 68. The fixed upright 58 is fixed on the movable chassis 1, and a slide rail is vertically fixed on the fixed upright 58. A slide rail slider is slidably adapted on the slide rail. The sliding upright 68 is fixedly connected to the slide rail slider. The traveling slide rail 5 is slidably installed on the sliding upright 68. The sliding upright 68 can be driven by an electric push rod or a hydraulic rod. That is, the cylinder of the slide rail electric push rod is installed on the movable chassis 1, and the telescopic shaft of the slide rail electric push rod is connected to the sliding upright 68, so that the slide rail upright 2 can be telescopically adjusted in height, giving the cutting and grinding actuator a higher working range, which can adapt to the grinding and cutting of the ceiling wall. When stored, the robot is lower in height and can adapt to operation in small spaces such as basements.

Claims

1. A cutting and grinding robot for use in special workspaces, characterized in that, The device includes a mobile chassis, a lifting and adjusting mechanism mounted on the mobile chassis, and a cutting and grinding execution mechanism mounted on the lifting and adjusting mechanism. The lifting and adjusting mechanism includes a slide rail upright and a horizontal slide rail. Two slide rail uprights are fixedly spaced on the mobile chassis. The horizontal slide rail includes a tilting slide rail and a traveling slide rail. Both ends of the tilting slide rail are rotatably connected to the traveling slide rail. The two traveling slide rails are slidably mounted on the two slide rail uprights. The cutting and grinding execution mechanism includes a traveling base and a robot compartment. The traveling base is slidably mounted on the tilting slide rail. The robot compartment includes a middle compartment, a grinding compartment, a cutting compartment, and a feed shaft. The middle compartment is mounted on the traveling base. The feed shaft slidably passes through the middle compartment. Both ends of the feed shaft are connected to the grinding compartment and the cutting compartment, respectively. Cutting saw blades and grinding discs are rotatably mounted on the cutting compartment and the grinding compartment, respectively. Multiple dust suction ports are opened on the end face of the grinding compartment away from the middle compartment and the end face of the cutting compartment away from the middle compartment.

2. The cutting and grinding robot for use in special workspaces according to claim 1, characterized in that, A grinding shaft is rotatably mounted on the grinding chamber, and the grinding disc is connected to the grinding shaft. A grinding motor is installed inside the grinding chamber, and the output shaft of the grinding motor is driven and connected to the grinding shaft. A cutting shaft is rotatably mounted on the cutting chamber via bearings, and the cutting shaft is connected to a cutting saw blade. A cutting motor is installed inside the cutting chamber, and the output shaft of the cutting motor is driven and connected to the cutting shaft.

3. The cutting and grinding robot for use in special workspaces according to claim 1, characterized in that, An electric feed push rod is installed on the intermediate chamber. The electric feed push rod is parallel to the feed shaft. The telescopic shaft of the electric feed push rod is connected to the side wall of the feed shaft. A grinding distance sensor is installed on the end face of the intermediate chamber near the grinding chamber. A cutting distance sensor is installed on the end face of the intermediate chamber near the cutting chamber.

4. A cutting and grinding robot for use in special workspaces according to claim 1, characterized in that, The feed shaft includes a base shaft and a flexible slide shaft. One end of the base shaft is fixedly connected to the cutting chamber, and the other end has a groove along its own axial direction. A compensation spring is installed in the groove. One end of the flexible slide shaft is fixedly connected to the grinding chamber, and the other end slides within the groove. The two ends of the compensation spring are respectively connected to the base shaft and the flexible slide shaft.

5. A cutting and grinding robot for use in special workspaces according to claim 4, characterized in that, The feed shaft is equipped with a locking shaft assembly. The base shaft has locking cavities on both sides of the flexible slide shaft. The locking cavities are connected to the slide groove. Each of the two locking cavities is equipped with a locking shaft assembly. The locking shaft assembly includes a friction block, a locking shaft cam, and a camshaft. The friction block is slidably disposed in the locking cavity. The camshaft is rotatably connected to the base shaft. The locking shaft cam is fixedly mounted on the camshaft. The locking shaft cam pushes the friction block against the flexible slide shaft by deflection. The camshaft extends from the base shaft and is connected to a gear. The gears of the two locking shaft assemblies mesh with each other. The outer wall of the base shaft is equipped with a locking shaft electric push rod. The cylinder of the locking shaft electric push rod is hinged to the base shaft. A drive plate is fixed to the side wall of one of the camshafts. The telescopic shaft of the locking shaft electric push rod is hinged to the drive plate.

6. A cutting and grinding robot for use in special workspaces according to claim 1, characterized in that, The traveling base is rotatably mounted with a traveling main shaft, on which a traveling gear is fitted. A traveling motor is mounted on the traveling base, and the output shaft of the traveling motor is connected to the traveling main shaft. A traveling window is provided at the bottom of the traveling base for the traveling gear to pass through. A rack and a T-shaped slide rail are fixed on the tilting slide rail. The traveling gear meshes with the rack. A T-shaped groove is provided at the bottom of the traveling base to match the T-shaped slide rail.

7. A cutting and grinding robot for use in special workspaces according to claim 1, characterized in that, Both ends of the tilting slide rail are fixed with tilting shafts. The tilting shafts are rotatably connected to the traveling slide rail via bearings. A first motor and a second motor are installed inside the traveling slide rail. The output shaft of the first motor is driven and connected to the tilting shaft. A horizontal shaft is rotatably installed inside the traveling slide rail. The output shaft of the second motor is driven and connected to the horizontal shaft. A vertical rod gear is fixedly sleeved on the horizontal shaft. A vertical rod rack and a T-shaped track are fixed on the slide rail vertical rod. The vertical rod gear meshes with the vertical rod rack. A T-shaped groove that matches the T-shaped track is opened on the traveling slide rail.

8. A cutting and grinding robot for use in special workspaces according to claim 7, characterized in that, The travel slide rail is equipped with an anti-fall shaft, which is parallel to the horizontal axis and has the freedom to move axially along the horizontal axis. A torsion spring is fixedly sleeved on the anti-fall shaft, and a pawl is sleeved on the torsion spring. The torsion foot of the torsion spring is inserted into a small hole on the inner wall of the pawl. An anti-fall ratchet is sleeved on the horizontal axis. The pawl and the anti-fall ratchet restrict the vertical downward movement freedom of the travel slide rail. An anti-fall electric push rod is installed inside the travel slide rail, and the telescopic shaft of the anti-fall electric push rod is connected to the anti-fall shaft.

9. A cutting and grinding robot for use in special workspaces according to claim 1, characterized in that, The grinding chamber has an annular groove around the grinding disc, and an annular seal is installed in the annular groove. The annular seal has the freedom to move along the axial direction of the grinding disc. The annular seal contacts the wall during grinding operations to form a sealed grinding chamber between the grinding chamber and the wall.

10. A cutting and grinding robot for use in special workspaces according to claim 1, characterized in that, A vacuum motor is installed inside the intermediate chamber, and a dust collection box is provided on the outside of the intermediate chamber. A threaded hole is opened on the intermediate chamber to communicate with the inner cavity of the intermediate chamber. The dust collection box is threadedly connected to the threaded hole, and the dust exhaust pipe of the vacuum motor is connected to the threaded hole. A vacuum suction hose is connected to the vacuum suction port, and the vacuum suction hose is connected to the vacuum suction pipe of the vacuum motor. The dust exhaust port of the vacuum motor is connected to the dust collection box through the dust exhaust hose.

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