Omnidirectional moving and lifting mechanism for providing adhesive force for template polishing robot

Abstract

The utility model discloses an omni-directional moving lifting mechanism for providing adhesive force for a template polishing robot, which comprises a lifting support, a lifting component, a lifting mechanism and a lifting mechanism, the omni-directional wheel support is arranged on the upper portion of the lifting support, one end of the omni-directional wheel support is connected with one end of the lifting support through a pin shaft, the other end of the omni-directional wheel support is hinged to the other end of the lifting support through a spring assembly, and a torsional spring is installed on the pin shaft; the omni-directional wheel assembly is arranged on the omni-directional wheel support; the omni-directional wheel assembly comprises a core shaft tube, a plurality of universal wheels and a plurality of universal wheels, the omni-directional wheel bodies are mounted on the mandrel tube in a matched manner; and the rotating shaft is installed in the core shaft pipe through bearing matching, and the two ends of the rotating shaft are rotatably installed on the omnidirectional wheel supports.

Description

TECHNICAL FIELD

[0001] The utility model relates to tunnel construction equipment technical field, especially relate to the omni -directional movement lifting mechanism for providing the adhesion for template polishing robot. BACKGROUND

[0002] Highway tunnel is the important traffic facility connecting the cities in mountainous area, is one of the main components of modern highway, plays the irreplaceable role in shortening the running distance, improving the transportation capacity, reducing the accident etc. In the tunnel construction process, in order to prevent soil, stone weathering and collapse, prevent groundwater inflow tunnel, usually need to build the lining of reinforced concrete structure along the tunnel around, and the concrete lining construction process needs to adopt the lining formwork support after uniform pouring concrete, after the concrete solidification, the lining formwork is again tightened, namely demoulding. However, the concrete residue in the demoulding process is easy to bond in the formwork joint, if not timely polishing and cleaning, the lining formwork is easy to cause more concrete bonding in the formwork surface in the next cycle construction, makes the tunnel surface that has been poured appears honeycomb pockmarked and drop, even leads to structural steel bar exposure, seriously affects the strength and durability of concrete structure.

[0003] At present, the concrete residue on the surface of the secondary lining formwork of highway tunnel is mainly cleaned by the construction workers using handheld angle grinder, but the construction site situation is complex, and a large amount of dust will be generated in the concrete residue cleaning process, and the operation space of the construction site can only accommodate the side entry of the operator, the space is extremely small, the on-site working environment is poor, and the physical and mental health of the operator is seriously threatened. When the sticking condition is serious, the formwork trolley needs to be withdrawn from the tunnel or disassembled, reassembled after cleaning, which is large in workload, high in danger, low in efficiency, and seriously affects the construction progress.

[0004] Based on the above, the applicant develops a formwork polishing robot, which enters the narrow space between the secondary lining formwork and the poured concrete wall surface, and thoroughly cleans the surface of the formwork. After the polishing of the formwork is completed, a spraying robot enters the narrow space between the formwork and the concrete wall surface to spray release agent on the surface of the formwork. However, the secondary lining formwork is a circular arc surface, and the working space of the formwork polishing robot is a vertical or inclined surface. If there is not enough pressure, the robot will not have enough friction to move vertically on the surface of the formwork, and thus the polishing effect cannot be guaranteed. If the pressure is too large, the load of the robot will be too large, and the robot may even be directly crushed.

[0005] In order to solve the above technical problems, the utility model patent with the patent number 202322332256X proposes a self-adaptive constant pressure jacking mechanism for a highway tunnel secondary lining formwork polishing robot. However, when the supporting wheel top abuts against the poured concrete wall surface in the highway tunnel and moves, it is often found that the turning part will be blocked, causing the entire mechanism to deviate from the travel route. The utility model discloses a content

[0006] In view of above-mentioned technical problem, the utility model provides a mobile lifting mechanism for providing the template polishing robot with the adhesion.

[0007] In order to realize above-mentioned purpose, the utility model discloses a technical scheme as follows:

[0008] The mobile lifting mechanism for providing the template polishing robot with the adhesion, include:

[0009] Lifting support, bottom sets up lifting assembly;

[0010] Omnidirectional wheel support, set up in lifting support upper portion, and its one end with lifting support's one end pin shaft connects, and the other end is through spring assembly and is hinged with lifting support's other end, wherein, pin shaft installs torsion spring;

[0011] Omnidirectional wheel assembly, set up in omnidirectional wheel support;

[0012] Wherein, the omnidirectional wheel assembly, include:

[0013] Core shaft pipe;

[0014] Several omnidirectional wheel bodies, cooperate and install on core shaft pipe;

[0015] Rotating shaft, through bearing cooperation installs in core shaft pipe, and rotating shaft both ends rotatable installation in omnidirectional wheel support.

[0016] The omnidirectional wheel body is three, one omnidirectional wheel body assembly is in core shaft pipe one end, and another two are sequentially assembled in the other end of core shaft pipe, and another two omnidirectional wheel bodies are provided with the spacer ring between.

[0017] The spring assembly, include:

[0018] Optical axis, and spring is assembled on it;

[0019] Upper hinge seat, with omnidirectional wheel support corresponding end hinged, and install in optical axis head end;

[0020] Lower hinge seat, with lifting support corresponding end hinged, and through linear bearing and optical axis tail end cooperation connection;

[0021] Wherein, linear bearing both ends are connected with lower hinge seat through first baffle ring and second baffle ring respectively.

[0022] The lifting assembly, include:

[0023] Several upper connecting rods, and top is hinged in lifting support both ends respectively;

[0024] A bearing seat mounting frame and a nut mounting seat are arranged at the lower part of the lifting support and are respectively hinged to the bottom of the upper connecting rods arranged at the two ends of the lifting support;

[0025] A base is arranged at the lower part of the bearing seat mounting frame and the nut mounting seat and is hinged to the bearing seat mounting frame and the nut mounting seat through a plurality of lower connecting rods at the two ends thereof;

[0026] A horizontally arranged ball screw assembly is cooperatively mounted at one end on the nut mounting seat and at the other end on the bearing seat mounting frame;

[0027] A speed reduction motor is fixedly mounted on the bearing seat mounting frame through a motor mounting plate, and the main shaft of the motor is cooperatively mounted on the ball screw assembly through a shaft coupling.

[0028] The ball screw assembly comprises:

[0029] A ball screw body;

[0030] A square nut and a bearing seat are arranged at the first end of the ball screw body;

[0031] A ball nut is cooperatively mounted on the ball screw body;

[0032] The bearing seat is mounted in the bearing seat mounting frame, the ball nut is mounted in the nut mounting seat, and the first end of the ball screw body is connected with the shaft coupling.

[0033] The utility model also includes a proximity switch assembly arranged on the lifting support and connected with the forward and reverse start-stop control part of the speed reduction motor, so that the omni-directional wheel assembly can be in constant pressure contact with the concrete wall surface.

[0034] The proximity switch assembly comprises:

[0035] Two vertically arranged strip-shaped holes are arranged on the two side walls of the lifting support;

[0036] A transversely arranged pin shaft is arranged at the bottom of the omni-directional wheel support and is inserted into the two strip-shaped holes at the two ends thereof;

[0037] An upper proximity switch and a lower proximity switch are arranged on the same side wall of the lifting support one above the other and are respectively located on the two sides of the strip-shaped holes;

[0038] The upper proximity switch is connected with the forward start-stop control part of the speed reduction motor, and the lower proximity switch is connected with the reverse start-stop control part of the speed reduction motor.

[0039] The utility model discloses an advantageous effect is: the utility model discloses utilize the characteristic of the omni -wheel body's multidirectional mobility, the original support wheel is replaced for omni -wheel body, makes equipment when turning, will not produce the wall surface with the wall surface, influence whole mechanism route, simultaneously, utilize spring assembly and torsional spring make omni -wheel body can be compact with the concrete wall surface that has poured each other contact. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is the overall structure exploded view of the utility model;

[0041] Figure 2 It is the overall structure schematic view of the utility model;

[0042] Figure 3 It is the structure exploded view of the omni -wheel assembly of the utility model;

[0043] Figure 4 It is the structure schematic view of the ball screw assembly of the utility model;

[0044] Figure 5 It is the structure exploded view of the spring assembly of the utility model. BRIEF DESCRIPTION OF DRAWINGS:

[0046] 1, omni-directional wheel assembly; 1-1, omni-directional wheel; 1-2, mandrel tube; 1-3, bearing; 1-4, rotating shaft; 1-5, spacer ring; 2, omni-directional wheel support; 3, lifting support; 4, torsion spring; 5, upper connecting rod; 6, ball screw assembly: 6-1, square nut; 6-2, bearing seat; 6-3, ball screw body; 6-4, ball nut; 7, bearing seat mounting frame; 8, coupling; 9, motor mounting plate; 10, speed reducer motor; 11, lower connecting rod; 12, spring assembly; 12-1, upper hinge seat; 12-2, optical axis; 12-3, spring; 12-4, first retainer; 12-5, lower hinge seat; 12-6, linear bearing; 12-7, second retainer; 13, nut mounting seat; 14, base; 15, proximity switch assembly. DETAILED DESCRIPTION

[0047] To make the purpose, technical scheme and advantages of the utility model more clear and obvious, the utility model is further explained in detail below in combination with specific implementation manners and with reference to the drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the utility model. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the utility model.

[0048] As shown in Figures 1 to 3 , the omni-directional mobile lifting mechanism for providing adhesion for the template polishing robot comprises: a lifting support 3, a lifting assembly is arranged at the bottom; an omni-directional wheel support 2 is arranged at the upper part of the lifting support 3, and one end of the omni-directional wheel support 2 is connected with one end of the lifting support 3 through a pin shaft, and the other end of the omni-directional wheel support 2 is hinged with the other end of the lifting support 3 through a spring assembly 12, wherein a torsion spring 4 is mounted on the pin shaft; an omni-directional wheel assembly 1 is arranged on the omni-directional wheel support 2; wherein the omni-directional wheel assembly 1 comprises: a mandrel tube 1-2; a plurality of omni-directional wheel bodies 1-1 are cooperatively mounted on the mandrel tube 1-2; a rotating shaft 1-4 is cooperatively mounted in the mandrel tube 1-2 through a bearing 1-3, and both ends of the rotating shaft 1-4 are rotatably mounted on the omni-directional wheel support 2.

[0049] As shown in Figure 3 , the omni-directional wheel body 1-1 is three, one omni-directional wheel body 1-1 is assembled at one end of the mandrel tube 1-2, and the other two are assembled at the other end of the mandrel tube 1-2 in sequence, and a spacer ring 1-5 is arranged between the other two omni-directional wheel bodies 1-1.

[0050] As shown in Figure 5As shown in the spring assembly 12, including: the optical axis 12-2, which is equipped with spring 12-3; upper hinge base 12-1, with the corresponding end of the omni-directional wheel support 2 hinge and installed in the optical axis 12-2 head; lower hinge base 12-5, with the corresponding end of the lifting support 3 hinge and through the linear bearing 12-6 with the optical axis 12-2 tail end connected; wherein, linear bearing 12-6 both ends are connected through the first retainer 12-4 and the second retainer 12-7 and the lower hinge base 12-5.

[0051] As shown in the figure, Figure 1 and Figure 2 As shown in the figure, the lifting assembly, comprising: a plurality of upper links 5, the top of which is respectively hinged at both ends of the lifting support 3; bearing seat mounting bracket 7 and nut mounting seat 13, which are arranged at the lower part of the lifting support 3 and are respectively hinged with the bottom of the upper link 5 arranged at both ends of the lifting support 3; base 14, arranged at the lower part of the bearing seat mounting bracket 7 and the nut mounting seat 13, both ends are respectively hinged with the bearing seat mounting bracket 7 and the nut mounting seat 13 through a plurality of lower links 11; horizontally arranged ball screw assembly 6, one end of which is fitted on the nut mounting seat 13, the other end is fitted on the bearing seat mounting bracket 7; the speed reducer motor 10 is fixedly installed on the bearing seat mounting bracket 7 through the motor mounting plate 9, and the main shaft is fitted with the ball screw assembly 6 through the shaft coupling 8.

[0052] As shown in the figure, Figure 1 and Figure 2 As shown in the figure, the utility model also includes proximity switch assembly 15, which is arranged on the lifting support 3 and connected with the forward and reverse rotation start-stop control part of the speed reducer motor 10, so that the omni-directional wheel assembly 1 can be in contact with the concrete wall surface with constant pressure. Proximity switch assembly 15, comprising: two vertically arranged strip holes 154, arranged on the two side walls of the lifting support 3 respectively; horizontally arranged pin shaft 153, arranged at the bottom of the omni-directional wheel support 2, and the pin shaft 153 is inserted into the two strip holes 154 respectively; upper proximity switch 151 and lower proximity switch 152, arranged on the same side wall of the lifting support 3 one above the other, and located on both sides of the strip hole 154 respectively; wherein, the upper proximity switch 151 is connected with the forward rotation start-stop control part of the speed reducer motor 10; the lower proximity switch 152 is connected with the reverse rotation start-stop control part of the speed reducer motor 10.

[0053] As shown in the figure, Figure 4 As shown in the figure, the ball screw assembly 6, comprising: ball screw body 6-3; square nut 6-1 and bearing seat 6-2, arranged at the head of the ball screw body 6-3; ball nut 6-4, fitted on the ball screw body 6-3; wherein, the bearing seat 6-2 is installed in the bearing seat mounting bracket 7, the ball nut 6-4 is installed in the nut mounting seat 13, and the head of the ball screw body 6-3 is connected with the shaft coupling 8.

[0054] The utility model discloses a when using, when the equipment reaches the work area, the deceleration motor 10 works, rotates through the shaft coupling 8 drive ball screw body 6 - 3, and ball nut 6 - 4 starts in ball screw body 6 - 3 and moves linearly, and ball nut 6 - 4 drive nut mounting seat 13 and move linearly, because the connecting rod mechanism that lift support 3, upper link 5, bearing seat mounting frame 7, lower link 11, nut mounting seat 13 and base 14 constitute, lift support 3 will start ascending, and will all -directional wheel subassembly 1 push to the casted concrete wall, after all -directional wheel subassembly 1 and concrete wall mutual contact, because all -directional wheel support 2 is under the pressure action of all -directional wheel subassembly 1, and the pin shaft 153 of its bottom will along with the rotation of all -directional wheel support 2, and along strip hole 154 continues to move down, at this time, upper proximity switch 151 will real -time detection pin shaft 153's position state, when pin shaft 153 moves down and leaves the detection area of upper proximity switch 151, upper proximity switch 151 will signal transmission to the positive rotation start -stop control portion of deceleration motor 10, at this time, deceleration motor 10 stops positive rotation, when the equipment is in the advancing process in the work area, the concrete wall will all -directional wheel subassembly 1 press down, at this time, all -directional wheel support 2 is under the pressure action of all -directional wheel subassembly 1, and the pin shaft 153 of its bottom will along with the rotation of all -directional wheel support 2, and along strip hole 154 continues to move down, when lower proximity switch 152 detects that pin shaft 153 moves down, will signal transmission to the reverse rotation start -stop control portion of deceleration motor 10, at this time, deceleration motor 10 starts reverse rotation, and lift subassembly drops, and pin shaft 153 will along with strip hole 154 ascending, until when lower proximity switch 152 does not detect pin shaft 153, deceleration motor 10 stops reverse rotation, contrary when advancing, when the distance between formwork and concrete is larger, all -directional wheel support 2 rotates upwards, and pin shaft 153 moves upwards along strip hole 154, when upper proximity switch 151 detects pin shaft 153, deceleration motor 10 positive rotation, until when upper proximity switch 151 does not monitor pin shaft 153, deceleration motor 10 stops, realize the automatic control of deceleration motor 10, reach the effect of constant pressure, wherein, the torsional spring 4 and spring assembly 12 installed on all -directional wheel support 2 jointly act, make all -directional wheel body 1 - 1 and the casted concrete wall completely top tightly, when the equipment is advancing, when meeting the turning place, because the structural features of all -directional wheel body 1 - 1, namely multidirectional mobility, will not produce the force of holding back with the wall, influence the advancing route of whole mechanism.

[0055] The above only is the preferred embodiment of the utility model, and does not use to limit the utility model, and any modification, equivalent replacement, improvement etc. that is made within the spirit and principle of the utility model should include in the protection scope of the utility model.

Claims

1. An omni-directional mobile lift mechanism for providing adhesion for a template polishing robot, characterized by, The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between.

2. The omni-directional mobile lift mechanism for providing adhesion for a template polishing robot of claim 1, wherein, The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between.

3. The omni-directional mobile lift mechanism for providing adhesion for a template polishing robot of claim 1, wherein, The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between.

4. The omni-directional mobile lift mechanism for providing adhesion for a template polishing robot of claim 1, wherein: The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between.

5. The omni-directional mobile lift mechanism for providing adhesion for a template polishing robot of claim 4, wherein: The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, and the other two omnidirectional wheel bodies are provided with spacer ring between. The utility model relates to a kind of omnidirectional wheel assembly and omnidirectional wheel, and the omnidirectional wheel assembly includes: the omnidirectional wheel body of three, one omnidirectional wheel body is assembled in the one end of mandrel tube, and the other two are sequentially assembled in the other end of mandrel tube, ​ 6. The omni-directional mobile lift mechanism for providing adhesion for a template polishing robot of claim 4, wherein: The proximity switch assembly (15) is arranged on the lifting support (3) and connected with the forward and reverse rotation start-stop control part of the speed reducer motor (10), so that the omni-directional wheel assembly (1) can be in contact with the concrete wall surface with constant pressure.

7. The omni-directional mobile lift mechanism for providing adhesion for a template polishing robot of claim 6, wherein: The proximity switch assembly (15) comprises: Two vertically arranged strip-shaped holes (154) arranged on the two side walls of the lifting support (3) respectively; A transversely arranged pin shaft (153) arranged at the bottom of the omni-directional wheel support (2), and the two ends of the pin shaft (153) are respectively inserted into the two strip-shaped holes (154); An upper proximity switch (151) and a lower proximity switch (152) arranged one above the other on the same side wall of the lifting support (3) and located on the two sides of the strip-shaped hole (154) respectively; The upper proximity switch (151) is connected with the forward rotation start-stop control part of the speed reducer motor (10); and the lower proximity switch (152) is connected with the reverse rotation start-stop control part of the speed reducer motor (10).

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