Grinding robot capable of synchronously moving forwards, cycloidal and paying off

Abstract

The utility model relates to the technical field of robots, and provides a grinding robot capable of synchronously advancing, cycloidal and paying off, which comprises a moving trolley, a grinding disc mechanism and a paying off mechanism, the millstone mechanism is arranged at the front end of the moving trolley, and the pay-off mechanism is arranged at the rear end of the moving trolley. The pay-off mechanism comprises a pay-off wheel, a driving assembly, a linkage assembly and a cycloid assembly, the pay-off wheel is rotationally arranged at the rear end of the moving trolley, one end of the pay-off wheel is connected with the output end of the driving assembly, the other end of the pay-off wheel is connected with the input end of the linkage assembly, and the output end of the linkage assembly is connected with the driving end of the cycloid assembly; the linkage assembly drives the moving end of the cycloid assembly to do reciprocating motion, and the moving end of the cycloid assembly can limit and guide a cable; the problems that when an existing grinding robot conducts linear winding, cables are overlapped, so that friction is generated between the stacked cables and the grinding robot, and when the cables are straightened during unwinding, the grinding robot topples over, and the cables collide with wall columns and rub against the wall columns are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a grinding robot with forward synchronous cycloid wire laying and paying-off. Background Art

[0002] Floor grinders are mainly used for grinding the ground. They can effectively polish terrazzo, concrete surface layers, epoxy mortar layers, and old epoxy floors, etc. They are automated equipment for grinding or polishing concrete floors.

[0003] An automatic grinding robot is a robot that automatically completes floor grinding. It can walk along a planned path to grind the floor, which can effectively reduce labor costs. However, since the unmanned floor grinder needs to be connected to wires, signal lines, etc., as the grinding robot moves forward, the cable is paid off and wound up. But directly paying off and winding up the cable in a straight line will cause the cable to be in a straight line. When winding up, the cable will stack on the reel. When the stacking thickness is too high, it will cause the cable to rub against the inner wall of the grinding robot, and even cause problems such as cable jamming, resulting in damage to the cable and other objects. When paying off, the cable is in a straight line. When the grinding robot turns or is pulled by the cable in other situations, the cable will be tightened, resulting in the cable not being long enough to pull the grinding robot and prevent it from moving, leading to the risk of the grinding robot tipping over. It will also cause the risk of friction and collision between the straightened cable and other objects on the wall column or the ground, posing a safety hazard. Summary of the Utility Model

[0004] Aiming at the above defects, the purpose of the utility model is to provide a grinding robot with forward synchronous cycloid wire laying and paying-off, which solves the problems of excessive stacking of the cable wound up by the existing grinding robot and the cable being too straightened during paying-off, resulting in the tipping over of the grinding robot, the collision and friction between the cable and objects such as wall columns, and the damage of the cable.

[0005] To achieve the above object, the utility model adopts the following technical solutions:

[0006] A grinding robot with forward synchronous cycloid wire laying and paying-off includes a mobile vehicle, a grinding disc mechanism, and a wire paying-off mechanism;

[0007] The grinding disc mechanism is arranged at the front end of the mobile vehicle, and the wire paying-off mechanism is arranged at the rear end of the mobile vehicle;

[0008] The wire pay-off mechanism includes a wire pay-off wheel, a driving component, a linkage component and a wire deflecting component. The wire pay-off wheel is rotatably arranged at the rear end of the mobile vehicle. One end of the wire pay-off wheel is connected to the output end of the driving component, and the other end of the wire pay-off wheel is connected to the input end of the linkage component. The output end of the linkage component is connected to the driving end of the wire deflecting component. The linkage component drives the mobile end of the wire deflecting component to make a reciprocating motion, and the mobile end of the wire deflecting component can limit and guide the cable.

[0009] Preferably, the wire deflecting component includes a reciprocating lead screw and a swinging component; the swinging component is sleeved on the outer periphery of the reciprocating lead screw, and the swinging component is in threaded fit connection with the reciprocating lead screw;

[0010] One end of the reciprocating lead screw is connected to the output end of the linkage component. The linkage component drives the reciprocating lead screw to rotate, driving the swinging component to make a reciprocating motion along the axis direction of the reciprocating lead screw.

[0011] Preferably, the swinging component includes a swinging slider, a guiding rod and a limiting component;

[0012] The swinging slider is sleeved on the outer periphery of the reciprocating lead screw and is in threaded fit connection with the reciprocating lead screw;

[0013] The guiding rod is parallel to the reciprocating lead screw and is arranged on one side of the reciprocating lead screw;

[0014] The limiting component is slidably arranged on the guiding rod, and one end of the limiting component is fixedly connected to the swinging slider;

[0015] The limiting component is used to limit and guide the cable.

[0016] Preferably, two guiding rods are provided. The two guiding rods are parallel and located in the same vertical plane;

[0017] The limiting component includes a fixing frame, an upper pulley and a lower pulley. The upper end of the fixing frame is slidably connected to the guiding rod located above, and the lower end of the fixing frame is slidably connected to the guiding rod located below.

[0018] A cable through hole for the cable to pass through is provided at the center of the fixing frame. The upper pulley is rotatably arranged above the fixing frame, and the lower pulley is rotatably arranged below the fixing frame.

[0019] Preferably, the limiting component further includes a left pulley and a right pulley. The left pulley is rotatably arranged on the left side of the fixing frame, and the right pulley is rotatably arranged on the right side of the fixing frame.

[0020] Preferably, the driving assembly includes a driving motor, a wire pay-off driving wheel, a wire pay-off driven wheel, and a wire pay-off transmission belt. The output end of the driving motor is connected to the wire pay-off driving wheel. The wire pay-off driven wheel is fixedly arranged at one end of the wire pay-off wheel, and the wire pay-off driven wheel and the wire pay-off wheel are arranged on the same axis.

[0021] The wire pay-off driving wheel and the wire pay-off driven wheel are meshed and drivingly connected through the wire pay-off transmission belt.

[0022] Preferably, the driving assembly further includes a wire pay-off tensioning wheel. The wire pay-off tensioning wheel is slidably arranged on the moving vehicle and is located between the wire pay-off driving wheel and the wire pay-off driven wheel.

[0023] The wire pay-off transmission belt is sequentially wound around the wire pay-off driving wheel, the wire pay-off tensioning wheel, and the wire pay-off driven wheel, and the wire pay-off transmission belt is meshed and connected to the wire pay-off driving wheel, the wire pay-off tensioning wheel, and the wire pay-off driven wheel respectively.

[0024] Preferably, the linkage assembly includes a linkage driving wheel, a linkage driven wheel, and a linkage transmission belt.

[0025] The linkage driving wheel is fixedly arranged at one end of the wire pay-off wheel, and the linkage driving wheel and the wire pay-off wheel are arranged on the same axis.

[0026] The linkage driven wheel is connected to the driving end of the cycloidal component.

[0027] The linkage driving wheel and the linkage driven wheel are meshed and drivingly connected through the linkage transmission belt.

[0028] Preferably, the linkage assembly further includes a linkage tensioning wheel. The linkage tensioning wheel is slidably arranged on the moving vehicle and is located between the linkage driving wheel and the linkage driven wheel.

[0029] The linkage transmission belt is sequentially wound around the linkage driving wheel, the linkage tensioning wheel, and the linkage driven wheel, and the linkage transmission belt is meshed and connected to the linkage driving wheel, the linkage tensioning wheel, and the linkage driven wheel respectively.

[0030] Preferably, a wire pay-off opening is arranged at the rear end of the moving vehicle, and rotating rollers are respectively rotatably arranged on the left side, right side, and lower side of the wire pay-off opening.

[0031] One of the above technical solutions has the following advantages or beneficial effects:

[0032] A grinding robot with forward synchronous cycloidal pay-off, in which a pay-off wheel 1 pays off the wire while a cycloidal assembly 4 drives a cable to swing in the left and right directions to pay off the wire, so that the paid-off cable is arranged in an S-shape on the ground. In this case, even if the cable is pulled, the cable has a margin and will not be tightened all at once, effectively avoiding the risk of the grinding robot toppling due to the tightening of the cable and the risk of friction and collision with wall columns or people or objects on the ground when the cable is straightened, thereby improving the safety factor of the grinding robot and ensuring the safety of the grinding robot during operation, while also effectively avoiding the wear of the cable and extending the life of the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a three-dimensional schematic diagram of an embodiment of the utility model;

[0034] Figure 2 It is a schematic diagram of the internal structure of an embodiment of the utility model;

[0035] Figure 3 It is a side schematic diagram of an embodiment of the utility model;

[0036] Figure 4 It is a partial structural sectional view of a side of an embodiment of the utility model;

[0037] Figure 5 It is a schematic diagram of a cycloid assembly in one embodiment of the utility model.

[0038] Among them: pay-off mechanism 100, moving vehicle 200, rotating roller 201, grinding disc mechanism 300, pay-off wheel 1, driving assembly 2, driving motor 21, pay-off driving wheel 22, pay-off driven wheel 23, pay-off transmission belt 24, pay-off tensioning wheel 25, linkage assembly 3, linkage driving wheel 31, linkage driven wheel 32, linkage transmission belt 33, linkage tensioning wheel 34, cycloid assembly 4, reciprocating screw rod 41, swing assembly 42, swing slider 421, guide rod 422, limit assembly 423, cable through hole 4230, fixing frame 4231, upper pulley 4232, lower pulley 4233, left pulley 4234, right pulley 4235. DETAILED DESCRIPTION

[0039] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0040] In the description of the present utility model, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. In addition, the features defined with "first", "second" may explicitly or implicitly include one or more of such features, which are used to distinguish and describe features, without order or importance.

[0041] In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0042] In the description of the present utility model, it should be noted that, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0043] The following Figures 1 to 5 describes a grinding robot for forward synchronous cycloid wire laying according to an embodiment of the present utility model, which includes a mobile vehicle 200, a grinding wheel mechanism 300, and a wire laying mechanism 100;

[0044] The grinding wheel mechanism 300 is disposed at the front end of the mobile vehicle 200, and the wire laying mechanism 100 is disposed at the rear end of the mobile vehicle 200;

[0045] The wire laying mechanism 100 includes a wire laying wheel 1, a driving assembly 2, a linkage assembly 3, and a cycloid assembly 4. The wire laying wheel 1 is rotatably disposed at the rear end of the mobile vehicle 200. One end of the wire laying wheel 1 is connected to the output end of the driving assembly 2, and the other end of the wire laying wheel 1 is connected to the input end of the linkage assembly 3. The output end of the linkage assembly 3 is connected to the driving end of the cycloid assembly 4. The linkage assembly 3 drives the moving end of the cycloid assembly 4 to perform a reciprocating motion, and the moving end of the cycloid assembly 4 can limit and guide the cable.

[0046] An automatic grinding robot is a robot that can automatically complete floor grinding. It can walk along a planned path to grind the floor, which can effectively reduce labor costs. However, since the unmanned floor grinding robot needs to connect wires, signal lines, etc., as the grinding robot moves, the cable is unreeled and reeled. But directly unreeling the cable in a straight line will cause the cable to be in a straight line. When reeling, the cable will stack on the reel. When the stacking thickness is too high, it will cause the cable to rub against the inner wall of the grinding robot, and even cause problems such as cable jamming, resulting in damage to the cable and other objects. When unreeling, the cable is in a straight line. When the grinding robot turns or there are other situations where the cable is pulled, the cable will be tightened, and the cable will not be long enough to pull the grinding robot and prevent it from moving, resulting in the risk of the grinding robot tipping over. It will also cause the risk of friction and collision between the straightened cable and other objects on the wall column or the ground, posing a safety hazard.

[0047] Specifically, the working process of this grinding robot is as follows: During the forward movement of the mobile vehicle 200, the driving component 2 of the wire unreeling mechanism 100 drives the wire reel 1 to rotate. A cable for driving and controlling the grinding robot is wound around the wire reel 1. When the wire reel 1 rotates, the cable can be unreeled. While the wire reel 1 rotates, the swing component 4 is driven to move through the linkage component 3, so that the mobile end of the swing component 4 makes a reciprocating movement in the left-right direction. The cable is limited on the mobile end of the swing component 4. Thus, while the wire reel 1 unreels the cable, the swing component 4 drives the cable to swing in the left-right direction for unreeling, so that the unreeled cable is arranged in an S shape on the ground. In this case, even when the cable is pulled, the cable has a surplus and will not be tightened suddenly, effectively avoiding the risk of the cable being tightened and pulling the grinding robot to tip over and the risk of friction and collision between the straightened cable and people or objects on the wall column or the ground. In addition, the motor of the driving component 2 is set with a control program. When reeling, when the cable is stuck and cannot be retracted, the motor will detect the resistance and stop running. When the cable is pulled manually, even if the motor is not running or the rotation speed is not fast enough, the cable can still be pulled out from the wire reel 1, improving the safety factor of the grinding robot, ensuring the safety of the grinding robot during operation, and effectively avoiding the wear of the cable and prolonging the service life of the cable.

[0048] In this embodiment, the swing component 4 includes a reciprocating lead screw 41 and a swing component 42; the swing component 42 is sleeved on the outer periphery of the reciprocating lead screw 41, and the swing component 42 is in threaded fit connection with the reciprocating lead screw 41;

[0049] One end of the reciprocating lead screw 41 is connected to the output end of the linkage component 3. The linkage component 3 drives the reciprocating lead screw 41 to rotate, driving the swing component 42 to make a reciprocating movement along the axis direction of the reciprocating lead screw 41.

[0050] Specifically, in this embodiment, one end of the reciprocating lead screw 41 is drivingly connected to the linkage assembly 3, and the other end is arranged on the moving vehicle 200 through a bearing. The linkage assembly 3 drives the reciprocating lead screw 41 to rotate, so that the swinging assembly 42 reciprocates on the reciprocating lead screw 41. The cable is limited on the swinging assembly 42, and the swinging assembly 42 drives the cable to pay out in a way of swinging along the left-right direction, so that the paid-out cable is arranged in an S shape on the ground.

[0051] In this embodiment, the swinging assembly 42 includes a swinging slider 421, a guide rod 422 and a limiting assembly 423;

[0052] The swinging slider 421 is sleeved on the outer periphery of the reciprocating lead screw 41 and is in threaded fit connection with the reciprocating lead screw 41;

[0053] The guide rod 422 is parallel to the reciprocating lead screw 41 and is arranged on one side of the reciprocating lead screw 41;

[0054] The limiting assembly 423 is slidably arranged on the guide rod 422, and one end of the limiting assembly 423 is fixedly connected to the swinging slider 421;

[0055] The limiting assembly 423 is used for limiting and guiding the cable.

[0056] Specifically, in this embodiment, during the rotation of the reciprocating lead screw 41, the swinging slider 421 will move reciprocally along the axial direction of the reciprocating lead screw 41. One end of the limiting assembly 423 is slidably connected to the guide rod 422, and the other end of the limiting assembly 423 is connected to the swinging slider 421. Therefore, the reciprocating movement of the swinging slider 421 will drive the limiting assembly 423 to move reciprocally on the guide rod 422. The guide rod 422 guides the limiting assembly 423 to prevent the limiting assembly 423 from flipping and offsetting. The limiting assembly 423 limits and guides the cable, so as to drive the cable to pay out in a way of swinging along the left-right direction, so that the paid-out cable is arranged in an S shape on the ground.

[0057] In this embodiment, two guide rods 422 are provided, and the two guide rods 422 are parallel and located in the same vertical plane;

[0058] The limiting assembly 423 includes a fixing frame 4231, an upper pulley 4232 and a lower pulley 4233. The upper end of the fixing frame 4231 is slidably connected to the guide rod 422 located above, and the lower end of the fixing frame 4231 is slidably connected to the guide rod 422 located below.

[0059] A cable through hole 4230 for cables to pass through is disposed at the center of the fixing frame 4231 . The upper pulley 4232 is rotatably disposed above the fixing frame 4231 , and the lower pulley 4233 is rotatably disposed below the fixing frame 4231 .

[0060] Specifically, in this embodiment, two guide rods 422 ensure that the fixed frame 4231 is located in a vertical plane, and the cable passes through the cable through hole 4230. The cable is limited and guided by the fixed frame 4231, the upper pulley 4232 and the lower pulley 4233, ensuring that when the limiting component 423 makes a left and right reciprocating sliding motion on the guide rod 422, it can drive the cable to make a left and right cycloidal motion. The upper pulley 4232 and the lower pulley 4233 can reduce the friction between the cable and the fixed frame 4231, thereby effectively protecting the cable.

[0061] In this embodiment, the limiting assembly 423 further includes a left pulley 4234 and a right pulley 4235 . The left pulley 4234 is rotatably disposed on the left side of the fixing frame 4231 , and the right pulley 4235 is rotatably disposed on the right side of the fixing frame 4231 .

[0062] Specifically, in this embodiment, a left pulley 4234 and a right pulley 4235 are further provided between the upper pulley 4232 and the lower pulley 4233, so that the cable passes through the upper pulley 4232, the lower pulley 4233, the left pulley 4234 and the right pulley 4235, and there are sliding pulleys around the cable, which further avoids friction between the cable and the fixing frame 4231, thereby effectively protecting the cable.

[0063] In this embodiment, the driving assembly 2 includes a driving motor 21, a pay-off driving wheel 22, a pay-off driven wheel 23 and a pay-off transmission belt 24, the output end of the driving motor 21 is connected to the pay-off driving wheel 22, the pay-off driven wheel 23 is fixedly arranged at one end of the pay-off wheel 1, and the pay-off driven wheel 23 and the pay-off wheel 1 are arranged on the same axis;

[0064] The pay-off driving wheel 22 and the pay-off driven wheel 23 are connected in meshing transmission via the pay-off transmission belt 24 .

[0065] Specifically, in the present embodiment, the driving motor 21 is started, driving the pay-off driving wheel 22 to rotate, and the pay-off driven wheel 23 is rotated under the transmission of the pay-off transmission belt 24, thereby driving the pay-off wheel 1 to rotate, and the transmission structure is stable, so that the pay-off wheel 1 moves more stably when reeling in and unreeling the line, and the structure is more reliable.

[0066] In this embodiment, the driving assembly 2 further includes a pay-off tensioning wheel 25, which is slidably disposed on the mobile vehicle 200 and is located between the pay-off driving wheel 22 and the pay-off driven wheel 23;

[0067] The wire pay-off drive belt 24 is sequentially wound around the wire pay-off drive wheel 22, the wire pay-off tensioning wheel 25 and the wire pay-off driven wheel 23, and the wire pay-off drive belt 24 is meshed and connected with the wire pay-off drive wheel 22, the wire pay-off tensioning wheel 25 and the wire pay-off driven wheel 23 respectively.

[0068] Specifically, in this embodiment, by setting the wire pay-off tensioning wheel 25 to tension the wire pay-off drive belt 24, it can effectively ensure the meshing connection between the wire pay-off drive belt 24 and the wire pay-off drive wheel 22 and the wire pay-off driven wheel 23, avoid the situation of disengagement, ensure the stability of transmission, make the movement of the wire pay-off wheel 1 more stable during wire pay-off and rewinding, and the structure more reliable.

[0069] In this embodiment, the linkage assembly 3 includes a linkage driving wheel 31, a linkage driven wheel 32 and a linkage drive belt 33;

[0070] The linkage driving wheel 31 is fixedly arranged at one end of the wire pay-off wheel 1, and the linkage driving wheel 31 and the wire pay-off wheel 1 are arranged on the same axis;

[0071] The linkage driven wheel 32 is connected to the driving end of the cycloidal component 4;

[0072] The linkage driving wheel 31 and the linkage driven wheel 32 are meshed and drivingly connected through the wire pay-off drive belt 24.

[0073] Specifically, in this embodiment, when the wire pay-off wheel 1 rotates, it will drive the linkage driving wheel 31 to rotate. Under the drive of the linkage drive belt 33, the linkage driven wheel 32 rotates, thereby driving the driving end of the cycloidal component 4 to rotate, so that the swinging end of the cycloidal component 4 moves. The transmission structure is stable, making the movement of the swinging end of the cycloidal component 4 more stable and the structure more reliable.

[0074] In this embodiment, the linkage assembly 3 further includes a linkage tensioning wheel 34. The linkage tensioning wheel 34 is slidably arranged on the mobile vehicle 200 and is located between the linkage driving wheel 31 and the linkage driven wheel 32;

[0075] The linkage drive belt 33 is sequentially wound around the linkage driving wheel 31, the linkage tensioning wheel 34 and the linkage driven wheel 32, and the linkage drive belt 33 is meshed and connected with the linkage driving wheel 31, the linkage tensioning wheel 34 and the linkage driven wheel 32 respectively.

[0076] Specifically, in this embodiment, by setting the linkage tensioning wheel 34 to tension the linkage drive belt 33, it can effectively ensure the meshing connection between the linkage drive belt 33 and the linkage driving wheel 31 and the linkage driven wheel 32, avoid the situation of disengagement, ensure the stability of transmission, make the movement of the wire pay-off wheel 1 more stable during linkage tensioning, and the structure more reliable.

[0077] In this embodiment, a wire releasing opening is provided at the rear end of the mobile vehicle 200, and rotating rollers 201 are rotatably provided on the left side, right side and lower side of the wire releasing opening respectively.

[0078] Specifically, in this embodiment, when the cable is released by the wire releasing mechanism 100, the swinging of the cable will cause friction with the periphery of the wire releasing opening of the mobile vehicle 200, which is likely to cause problems such as damage to the cable and damage to the mobile vehicle 200. Therefore, the rotating rollers 201 are provided to avoid direct friction between the cable and the mobile vehicle 200, effectively protecting the cable and the mobile vehicle 200, improving the product quality and extending its service life.

[0079] Other components and operations of a grinding robot with forward synchronous pendulum wire releasing according to an embodiment of the present invention are known to those of ordinary skill in the art, and will not be described in detail here.

[0080] In the description of this specification, the descriptions referring to the terms "embodiment", "example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

[0081] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A grinding robot with forward synchronous cycloid wire laying, characterized in that: It includes a mobile vehicle, a grinding disc mechanism and a wire-releasing mechanism; The grinding disc mechanism is arranged at the front end of the mobile vehicle, and the wire-releasing mechanism is arranged at the rear end of the mobile vehicle; The pay-off mechanism includes a pay-off wheel, a driving assembly, a linkage assembly and a cycloid assembly. The pay-off wheel is rotatably arranged at the rear end of the mobile vehicle. One end of the pay-off wheel is connected to the output end of the driving assembly, and the other end of the pay-off wheel is connected to the input end of the linkage assembly. The output end of the linkage assembly is connected to the driving end of the cycloid assembly. The linkage assembly drives the moving end of the cycloid assembly to perform reciprocating motion, and the moving end of the cycloid assembly can limit and guide the cable.

2. The grinding robot for forward synchronous cycloid wire laying according to claim 1, characterized in that: The cycloid assembly includes a reciprocating screw and a swing assembly; the swing assembly is sleeved on the outer circumference of the reciprocating screw, and the swing assembly is threadedly connected to the reciprocating screw; One end of the reciprocating screw is connected to the output end of the linkage assembly, and the linkage assembly drives the reciprocating screw to rotate, thereby driving the swing assembly to reciprocate along the axis direction of the reciprocating screw.

3. The grinding robot with forward synchronous cycloid wire feeding according to claim 2, characterized in that: The swing assembly includes a swing slider, a guide rod and a limit assembly; The swing slider is sleeved on the outer periphery of the reciprocating screw rod and is threadably connected with the reciprocating screw rod; The guide rod is parallel to the reciprocating screw rod and is arranged on one side of the reciprocating screw rod; The limiting assembly is slidably arranged on the guide rod, and one end of the limiting assembly is fixedly connected to the swinging slider; The limiting assembly is used to limit and guide the cable.

4. The grinding robot with forward synchronous cycloid wire laying according to claim 3, characterized in that: Two guide rods are provided, and the two guide rods are parallel and located on the same vertical plane; The limit assembly includes a fixed frame, an upper pulley and a lower pulley, the upper end of the fixed frame is slidably connected to the guide rod located above, and the lower end of the fixed frame is slidably connected to the guide rod located below. A cable through hole for cables to pass through is arranged at the center of the fixing frame, the upper pulley is rotatably arranged above the fixing frame, and the lower pulley is rotatably arranged below the fixing frame.

5. The grinding robot with forward synchronous cycloid wire laying according to claim 4, characterized in that: The limiting assembly also includes a left pulley and a right pulley, wherein the left pulley is rotatably arranged on the left side of the fixing frame, and the right pulley is rotatably arranged on the right side of the fixing frame.

6. The grinding robot with forward synchronous cycloid wire feeding according to claim 1, characterized in that: The driving assembly comprises a driving motor, a wire-paying driving wheel, a wire-paying driven wheel and a wire-paying transmission belt, wherein the output end of the driving motor is connected to the wire-paying driving wheel, the wire-paying driven wheel is fixedly arranged at one end of the wire-paying wheel, and the wire-paying driven wheel and the wire-paying wheel are arranged on the same axis; The wire-releasing driving wheel and the wire-releasing driven wheel are connected by meshing transmission through the wire-releasing transmission belt.

7. The grinding robot for forward synchronous cycloid wire feeding according to claim 6, wherein: The driving assembly also includes a wire-releasing tensioning wheel, which is slidably disposed on the mobile vehicle and is located between the wire-releasing driving wheel and the wire-releasing driven wheel; The wire-releasing transmission belt is sequentially wound around the wire-releasing driving wheel, the wire-releasing tensioning wheel and the wire-releasing driven wheel, and the wire-releasing transmission belt is meshedly connected with the wire-releasing driving wheel, the wire-releasing tensioning wheel and the wire-releasing driven wheel respectively.

8. A grinding robot for forward synchronous cycloid wire feeding according to claim 1, characterized in that: The linkage assembly comprises a linkage driving wheel, a linkage driven wheel and a linkage transmission belt; The linked driving wheel is fixedly arranged at one end of the wire pay-off wheel, and the linked driving wheel and the wire pay-off wheel are arranged on the same axis; The linked driven wheel is connected to the driving end of the cycloidal component; The linked driving wheel and the linked driven wheel are meshed and drivingly connected through the wire pay-off transmission belt.

9. A grinding robot with forward synchronous cycloid wire feeding according to claim 8, characterized in that: The linked component further includes a linked tensioning wheel, which is slidably arranged on the mobile vehicle and is located between the linked driving wheel and the linked driven wheel; The linked transmission belt is sequentially wound around the linked driving wheel, the linked tensioning wheel and the linked driven wheel, and the linked transmission belt is meshed and connected to the linked driving wheel, the linked tensioning wheel and the linked driven wheel respectively.

10. A grinding robot with forward synchronous cycloid wire feeding according to claim 1, characterized in that: A wire pay-off opening is arranged at the rear end of the mobile vehicle, and rotating rollers are respectively rotatably arranged on the left side, the right side and the lower side of the wire pay-off opening.

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