Wall surface polishing device

Abstract

The utility model discloses a wall face polishing device which comprises a polishing disc, a constant force unit and a power unit, the constant force unit and the power unit are both connected with the polishing disc, a 3D camera is connected to the constant force unit, and a mounting frame is arranged between the constant force unit and the 3D camera. The power unit comprises a grinding motor and a grinding transmission assembly arranged on an output shaft of the grinding motor and connected with the grinding disc. The power unit is arranged to provide grinding power for the grinding disc, then the constant force unit is used for simulating the arm of a person to apply constant force to the wall face for grinding, and therefore the adaptability of the grinding disc to the wall face is improved, the grinding force can be adjusted, the adjusting precision is high, meanwhile, the constant force unit can reduce and isolate vibration, and the grinding efficiency is improved. And finally, in combination with a 3D camera, unmanned and intelligent wall surface grinding can be achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of building robots, in particular to a wall grinding device. Background Art

[0002] The existing building wall grinding devices are currently mainly for manual and semi-automatic applications, and there are few truly unmanned grinding devices. The utility model patent with patent number CN112123060 discloses a constant pressure control method and device for a wall grinding robot. The patent designs a force-controlled grinding device using an electric push rod and spring floating. The force is adjusted by controlling the compression of the spring through the electric push rod, thereby changing the grinding force, and the adjustment accuracy may be poor. Therefore, with the application of grinding technology in the field of construction, it is necessary to design a more intelligent wall grinding device. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a wall grinding device in view of the deficiencies in the above-mentioned prior art. A power unit is set to provide grinding power for the grinding disc, and then a constant force unit is used to simulate a human arm to apply a constant force to the wall for grinding, thereby increasing the adaptability of the grinding disc to the wall, and the grinding force can be adjusted with high adjustment accuracy. At the same time, the constant force unit can also reduce and isolate vibration, reduce the influence of the terminal device on the robotic arm, and finally, combined with a 3D camera, unmanned and intelligent wall grinding can be realized.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is: a wall grinding device, characterized in that it includes a grinding disc, and a constant force unit and a power unit both connected to the grinding disc, a 3D camera is connected to the constant force unit, and a mounting frame is arranged between the constant force unit and the 3D camera; the power unit includes a grinding motor, and a grinding transmission assembly arranged on the output shaft of the grinding motor and connected to the grinding disc.

[0005] The above-mentioned wall grinding device is characterized in that: a dust collecting cover is arranged on the grinding disc, and a dust collecting interface is connected to the dust collecting cover.

[0006] The above-mentioned wall grinding device is characterized in that: the grinding transmission assembly includes a driving pulley coaxially arranged on the output shaft of the grinding motor, and a driven pulley coaxially arranged on the output shaft of the grinding disc and matched with the driving pulley, and the driving pulley and the driven pulley are connected by a belt; the output shaft of the grinding motor and the output shaft of the grinding disc are parallel, and the driving pulley, the driven pulley and the belt are all arranged in a transmission box.

[0007] The above-mentioned wall grinding device is characterized in that the constant force unit and the grinding motor are arranged on the same side of the transmission box, and the grinding disc is arranged on the other side of the transmission box.

[0008] The above-mentioned wall grinding device is characterized in that: the end of the grinding motor output shaft extends into the transmission case, and the driving pulley is connected to the end of the grinding motor output shaft extending into the transmission case; the end of the grinding disc output shaft passes through the transmission case and extends to the outside of the transmission case, and the driven pulley is connected to the shaft section of the grinding disc output shaft arranged in the transmission case, and the end of the grinding disc output shaft extending to the outside of the transmission case is connected to the force-controlled floating end of the constant force unit.

[0009] The above-mentioned wall polishing device is characterized in that: a tensioning wheel is arranged on the belt, the tensioning wheel is arranged outside the transmission box, the tensioning wheel is connected to a tensioning adjustment rod, and the tensioning adjustment rod extends from the end away from the tensioning wheel to the outside of the transmission box.

[0010] The above-mentioned wall polishing device is characterized in that: the mounting frame includes a fixing part arranged on the sixth axis of the robot, a connecting part arranged at the top of the fixing part, and a mounting seat arranged on the connecting part away from the end of the fixing part, the 3D camera is installed in the mounting seat, and the fixing part is connected to the sixth axis of the robot through a flange.

[0011] The beneficial effect of the utility model is that a power unit is set to provide grinding power for the grinding disc, and then a constant force unit is used to simulate a human arm to apply a constant force to the wall for grinding, thereby increasing the adaptability of the grinding disc to the wall, and the grinding force can be adjusted with high adjustment accuracy. At the same time, the constant force unit can also reduce and isolate vibration, reduce the impact of the terminal device on the robotic arm, and finally combined with a 3D camera, unmanned and intelligent wall grinding can be realized.

[0012] The technical solution of the utility model is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the utility model.

[0014] Figure 2 It is a schematic diagram of the connection relationship between the constant force unit, the power unit and the 3D camera of the utility model.

[0015] Description of reference numerals:

[0016] DETAILED DESCRIPTION

[0017] like Figure 1 and Figure 2 As shown, the utility model includes a grinding disc 1, and a constant force unit 5 and a power unit both connected to the grinding disc 1, the constant force unit 5 is connected to a 3D camera 2, and a mounting frame 3 is arranged between the constant force unit 5 and the 3D camera 2; the power unit includes a grinding motor 6, and a grinding transmission assembly arranged on the grinding motor output shaft 12 and connected to the grinding disc 1.

[0018] In actual use, a power unit is set to provide grinding power for the grinding disc 1, and then the constant force unit 5 is used to simulate a human arm to apply a constant force to the wall for grinding, thereby increasing the adaptability of the grinding disc 1 to the wall, and the grinding force can be adjusted with high adjustment accuracy. At the same time, the constant force unit 5 can also reduce and isolate vibration, and reduce the impact of the terminal device on the robotic arm. Finally, combined with the 3D camera 2, unmanned and intelligent wall grinding can be realized.

[0019] It should be noted that the grinding disc 1 is compatible with both putty and concrete grinding discs. The constant force unit 5 is composed of a cylinder, a guide rail, a solenoid valve, and a precision displacement sensor, and its function is to provide a constant pressure for the grinding disc 1; the force applied by the constant force unit 5 to the grinding disc output shaft 8 is adjustable, and the position information of the end grinding disc 1 can be fed back to the control system in real time, thereby forming a closed-loop control and improving the quality of grinding.

[0020] like Figure 1 As shown, a corrugated protective cover is provided on the outer side of the force-controlled floating end of the constant force unit 5 .

[0021] In particular, in order to prevent the 3D camera 2 from being affected by dust, a flip cover mechanism is added to the outside of the 3D camera 2, so that the lens can be covered at any time when the 3D camera 2 is not working to prevent dust from entering.

[0022] like Figure 1 As shown, in this embodiment, a dust collecting cover 4 is provided on the grinding disc 1 , and a dust collecting interface 15 is connected to the dust collecting cover 4 .

[0023] In actual use, the dust collection interface 15 mainly functions to connect the dust collection pipe.

[0024] like Figure 2 As shown, in this embodiment, the grinding transmission assembly includes a driving pulley 7 coaxially arranged on the grinding motor output shaft 12, and a driven pulley 9 coaxially arranged on the grinding disc output shaft 8 and cooperating with the driving pulley 7, and the driving pulley 7 and the driven pulley 9 are connected by a belt 10; the grinding motor output shaft 12 and the grinding disc output shaft 8 are parallel, and the driving pulley 7, the driven pulley 9 and the belt 10 are all arranged in a transmission box 11.

[0025] In actual use, a driving pulley 7 and a driven pulley 9 are arranged inside the transmission box 11, and the pulley diameter can be adjusted within a certain range, so that the output speed ratio and output force of the grinding transmission assembly to the grinding disc 1 can be adjusted to ensure the final grinding effect.

[0026] like Figure 1 and Figure 2 As shown, in this embodiment, the constant force unit 5 and the grinding motor 6 are arranged on the same side of the transmission housing 11 , and the grinding disc 1 is arranged on the other side of the transmission housing 11 .

[0027] like Figure 2 As shown, in this embodiment, the end of the grinding motor output shaft 12 extends into the transmission case 11, and the driving pulley 7 is connected to the end of the grinding motor output shaft 12 extending into the transmission case 11; the end of the grinding disc output shaft 8 passes through the transmission case 11 and extends to the outside of the transmission case 11, and the driven pulley 9 is connected to the shaft section of the grinding disc output shaft 8 arranged in the transmission case 11, and the end of the grinding disc output shaft 8 extending to the outside of the transmission case 11 is connected to the force-controlled floating end of the constant force unit 5.

[0028] like Figure 2 As shown, in this embodiment, a tensioning wheel 13 is provided on the belt 10, and the tensioning wheel 13 is arranged in the transmission box 11. A tensioning adjustment rod 14 is connected to the tensioning wheel 13, and the tensioning adjustment rod 14 extends from the end away from the tensioning wheel 13 to the outside of the transmission box 11.

[0029] like Figure 1 and Figure 2 As shown, in this embodiment, the mounting frame 3 includes a fixing member 18 arranged on the sixth axis of the robot, a connecting member 16 arranged at the top of the fixing member 18, and a mounting seat 17 arranged at the end of the connecting member 16 away from the fixing member 18, the 3D camera 2 is installed in the mounting seat 17, and the fixing member 18 is connected to the sixth axis of the robot through a flange.

[0030] In actual use, the sixth axis of the robot refers to a rotation axis of the robot, which is usually installed at the bottom of the robot arm or on the robot chassis to support and control the direction and angle of the robot's end effector.

[0031] The above is only a preferred embodiment of the present invention and does not constitute any limitation to the present invention. Any simple modification, change and equivalent structural change made to the above embodiments according to the technical essence of the present invention shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A wall polishing device, characterized in that: The invention comprises a grinding disc (1), a constant force unit (5) and a power unit both connected to the grinding disc (1), the constant force unit (5) being connected to a 3D camera (2), and a mounting frame (3) being arranged between the constant force unit (5) and the 3D camera (2); the power unit comprises a grinding motor (6), and a grinding transmission assembly arranged on an output shaft (12) of the grinding motor and connected to the grinding disc (1).

2. A wall grinding device according to claim 1, characterized in that: The grinding disc (1) is provided with a dust collecting cover (4), and the dust collecting cover (4) is connected to a dust collecting interface (15).

3. A wall grinding device according to claim 1, characterized in that: The grinding transmission assembly comprises a driving pulley (7) coaxially arranged on the grinding motor output shaft (12), and a driven pulley (9) coaxially arranged on the grinding disc output shaft (8) and cooperating with the driving pulley (7), the driving pulley (7) and the driven pulley (9) being connected via a belt (10); the grinding motor output shaft (12) and the grinding disc output shaft (8) are parallel, and the driving pulley (7), the driven pulley (9) and the belt (10) are all arranged in a transmission housing (11).

4. A wall grinding device according to claim 3, characterized in that: The constant force unit (5) and the grinding motor (6) are arranged on the same side of the transmission housing (11), and the grinding disc (1) is arranged on the other side of the transmission housing (11).

5. A wall grinding device according to claim 3, characterized in that: The end of the grinding motor output shaft (12) extends into the transmission housing (11), and the driving pulley (7) is connected to the end of the grinding motor output shaft (12) extending into the transmission housing (11); the end of the grinding disc output shaft (8) passes through the transmission housing (11) and extends to the outside of the transmission housing (11), and the driven pulley (9) is connected to the shaft section of the grinding disc output shaft (8) arranged in the transmission housing (11); the end of the grinding disc output shaft (8) extending to the outside of the transmission housing (11) is connected to the force-controlled floating end of the constant force unit (5).

6. A wall grinding device according to claim 3, characterized in that: The belt (10) is provided with a tensioning wheel (13), the tensioning wheel (13) is arranged in the transmission housing (11), the tensioning wheel (13) is connected to a tensioning adjustment rod (14), and the end of the tensioning adjustment rod (14) away from the tensioning wheel (13) extends to the outside of the transmission housing (11).

7. A wall grinding device according to claim 1, characterized in that: The mounting frame (3) comprises a fixing member (18) arranged on the sixth axis of the robot, a connecting member (16) arranged at the top of the fixing member (18), and a mounting seat (17) arranged at the end of the connecting member (16) away from the fixing member (18), the 3D camera (2) is mounted in the mounting seat (17), and the fixing member (18) is connected to the sixth axis of the robot via a flange.

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