Grinding mechanism and wall-climbing robot
By combining a simply supported beam structure with a sliding seat drive, the problem of uneven force on the grinding parts of the wall-climbing robot was solved, resulting in a more uniform grinding effect and higher work efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-15
- Publication Date
- 2026-03-24
AI Technical Summary
The existing wall-climbing robot's grinding parts are uneven during the grinding process due to the cantilever shaft structure, which easily causes them to lift and affect the grinding effect.
The grinding assembly adopts a simply supported beam structure. It is connected to the mounting plate at both ends of the mounting shaft to ensure that both ends of the grinding part are supported. Combined with the design of the sliding seat and the drive component, it achieves uniform force and stable rotation.
It effectively avoids the deformation and warping problems caused by cantilever beam structures, ensures the flatness of the polished surface, and improves the polishing effect and work efficiency.
Smart Images
Figure CN224027159U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field especially, and it relates to a polishing mechanism and wall climbing robot. BACKGROUND
[0002] The surface of equipment such as ship, offshore platform, wind turbine is corroded and falls off due to long-term exposure to rain, sea water and other factors, and is easy to rust and affect service life, and even cause safety accidents. Therefore, the surface of such equipment needs to be maintained regularly. In the prior art, the work is usually carried out by a spiderman or a winch, for example, a worker stands on a basket and holds an angle grinder, a roller brush and other tools to polish and paint the damaged surface of the wind tower. However, on the one hand, high-altitude operation is inevitably dangerous, especially wind turbines and offshore platforms are often located in windy places, so the risk coefficient of high-altitude operation is relatively high. On the other hand, the basket is easy to be blown by the wind and hit the surface of the equipment, which is easy to cause unnecessary damage to the equipment.
[0003] Therefore, the prior art uses a robot with wall climbing function to maintain the surface of the equipment. However, since the polishing part of the wall climbing robot is usually sleeved on the cantilever shaft, the free end of the cantilever shaft is easy to be raised compared to the fixed end under stress during polishing, resulting in that the surface polished by the polishing part has a certain inclination angle, and the polishing thickness of the wall climbing robot is uneven, and the polishing effect is poor. SUMMARY
[0004] The utility model aims at at least solving one of the technical problems existing in the prior art. To this end, the utility model provides a polishing mechanism, which effectively avoids the deformation and raising problem caused by the cantilever beam structure, so that the stress is more uniform during polishing.
[0005] The utility model further provides a wall climbing robot with the above polishing mechanism.
[0006] According to the polishing mechanism of the first aspect embodiment of the utility model, comprising:
[0007] The first sliding rail extends along the first direction.
[0008] The polishing assembly is slidably connected to the first sliding rail and moves along the first direction under the drive.
[0009] The polishing assembly comprises a mounting bracket, a polishing part and a mounting shaft, the mounting bracket has two mounting plates arranged side by side, the two ends of the mounting shaft are rotatably connected to the two mounting plates respectively, and the polishing part is sleeved on the mounting shaft and located between the two mounting plates.
[0010] The polishing mechanism according to the utility model embodiment has at least the following beneficial effects:
[0011] Since both ends of the mounting shaft are connected with the mounting plate, a simply supported beam structure is formed, compared with the prior art in which the mounting shaft is a cantilever beam structure, both ends of the polishing piece of the polishing mechanism of the embodiment are supported, the deformation and warping problem caused by the cantilever beam structure is effectively avoided, the stress during polishing is more uniform, the polishing surface flatness is ensured, and the polishing effect is significantly improved.
[0012] According to some embodiments of the utility model, the polishing assembly further includes a first sliding seat, a first driving piece and a transmission piece, the first sliding seat is slidingly connected to the first sliding rail, the first driving piece is connected with the polishing piece through the transmission piece and can drive the polishing piece to rotate;
[0013] The first driving piece and the polishing piece are connected with the first sliding seat, and the first driving piece and the polishing piece are respectively located on both sides of the first sliding rail.
[0014] According to some embodiments of the utility model, the mounting shaft includes a first shaft segment connected with the polishing piece and two second shaft segments connected with the mounting plate, both ends of the first shaft segment are respectively connected with the two second shaft segments;
[0015] The end of the first shaft segment is provided with a first plug-in part, the end of the second shaft segment is provided with a second plug-in part matched with the first plug-in part, and the first plug-in part and the second plug-in part are matched to enable the first shaft segment and the second shaft segment to rotate synchronously.
[0016] According to some embodiments of the utility model, the polishing assembly further includes a fastener, the fastener is sleeved at the connection between the first shaft segment and the second shaft segment to limit the relative displacement of the first plug-in part and the second plug-in part in the radial direction.
[0017] According to some embodiments of the utility model, the first plug-in part includes a first protrusion and a first groove, the first protrusion has a first arc surface and a first plane located on the outer periphery thereof, the first arc surface is connected with the outer peripheral surface of the first shaft segment, and the first plane and the end surface of the first shaft segment define the first groove; the second plug-in part includes a second protrusion and a second groove, the second protrusion has a second arc surface and a second plane located on the outer periphery thereof, the second arc surface is connected with the outer peripheral surface of the second shaft segment, and the second plane and the end surface of the second shaft segment define the second groove;
[0018] The first protrusion is inserted into the second groove, and the second protrusion is inserted into the first groove.
[0019] According to some embodiments of the present application, the first protrusions located at different ends of the first shaft segment are configured as follows: the first planes of the two first protrusions are parallel, and the bending directions of the two first arc surfaces are opposite.
[0020] According to some embodiments of the present application, the polishing assembly further comprises a first sliding seat, and the polishing mechanism further comprises a second driving member, a second sliding seat and a first buffer member, the first sliding seat and the second sliding seat are slidingly connected to the first sliding rail, and the first buffer member is arranged on the second sliding seat.
[0021] The second driving member is fixedly connected to the first sliding rail, and under the driving of the second driving member, the second sliding seat moves along the first direction and drives the first sliding seat to move through the first buffer member.
[0022] According to the wall-climbing robot of the second aspect of the present application, the polishing mechanism mentioned in the above embodiments is included.
[0023] According to some embodiments of the present application, the wall-climbing robot comprises a robot main body and a plurality of functional modules, one of the functional modules is the polishing mechanism, and each of the functional modules is selectively installed on the robot main body.
[0024] According to some embodiments of the present application, the robot main body further comprises a second sliding rail extending in a second direction and a third sliding seat slidingly connected to the second sliding rail, and the functional module is detachably connected to the third sliding seat.
[0025] The robot main body further comprises a plurality of power connection ports, and each power connection port is used for plugging a cable of a different functional module.
[0026] Additional aspects and advantages of the present application will be given in part in the following description, will become apparent from the following description, or will be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS
[0027] The present application will be further described below in combination with the drawings and embodiments, in which:
[0028] Figure 1 FIG. 1 is a structural schematic view of a polishing mechanism according to an embodiment of the present application;
[0029] Figure 2 FIG. 2 is a structural schematic view of the polishing mechanism according to an embodiment of the present application (after removing the outer shell);
[0030] Figure 3 FIG. 3 is a connection schematic view of a polishing member and a mounting bracket according to an embodiment of the present application;
[0031] Figure 4 Fig. 1 is an exploded schematic view of the polishing member, the mounting shaft and the fastener according to an embodiment of the present application; Figure 3 Fig. 1 is an exploded schematic view of the polishing member, the mounting shaft and the fastener according to an embodiment of the present application;
[0032] Figure 5 Fig. 1 is an exploded schematic view of the polishing member, the mounting shaft and the fastener according to an embodiment of the present application;
[0033] Figure 6 Fig. 1 is an exploded schematic view of the polishing member, the mounting shaft and the fastener according to an embodiment of the present application.
[0034] Reference signs:
[0035] Fig. 1 is an exploded schematic view of the polishing member, the mounting shaft and the fastener according to an embodiment of the present application.
[0036] Fig. 1 is an exploded schematic view of the polishing member, the mounting shaft and the fastener according to an embodiment of the present application.
[0037] Fig. 1 is an exploded schematic view of the polishing member, the mounting shaft and the fastener according to an embodiment of the present application.
[0038] Fig. 1 is an exploded schematic view of the polishing member, the mounting shaft and the fastener according to an embodiment of the present application.
[0039] Fig. 1 is an exploded schematic view of the polishing member, the mounting shaft and the fastener according to an embodiment of the present application. DETAILED DESCRIPTION
[0040] The embodiments of the present application will be described in detail below with reference to the drawings, wherein the same or similar components are denoted by the same or similar reference numerals, and the embodiments described below are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.
[0041] In the description of the present application, it should be understood that, in relation to the orientation description, for example, the orientation or position relationship indicated by up, down, front, back, left, right and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.
[0042] In the description of the utility model, if the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than and the like are understood as not including the number, above, below, within and the like are understood as including the number. If it is described to the first, the second is only used for distinguishing the purpose of technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.
[0043] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installation, connection should be understood in a broad sense, and the person skilled in the art can reasonably determine the specific meaning of the above words in the utility model according to the specific content of the technical scheme.
[0044] In the description of the utility model, the description of reference terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.
[0045] The surface of the equipment such as ship, offshore platform, wind turbine, due to long-term exposure to rain, seawater and other factors, the surface paint layer will be corroded and peeled off, easy to rust and affect the service life, and even cause safety accidents. Therefore, it is necessary to regularly maintain the surface of such equipment. In the prior art, the work is usually carried out by a spiderman or a winch, for example, a worker stands on a basket and holds an angle grinder, a roller brush and other tools to polish and paint the damaged surface of the wind tower. However, on the one hand, high-altitude operation is inevitably dangerous, especially wind turbines and offshore platforms are often set in places with strong wind, so the risk coefficient of high-altitude operation is high. On the other hand, the basket is easy to be blown by the wind and hit the surface of the equipment, which is easy to cause unnecessary damage to the equipment.
[0046] Therefore, the prior art uses a robot with wall climbing function to maintain the surface of the equipment. However, since the polishing part of the wall climbing robot is often sleeved on a cantilever shaft, the free end of the cantilever shaft is easy to be raised compared with the fixed end under stress during polishing, resulting in that the surface polished by the polishing part has a certain inclination angle, the polishing thickness of the wall climbing robot is uneven, and the polishing effect is poor.
[0047] To solve the above problems, as Figures 1 to 3As shown, the first aspect of the present application proposes a polishing mechanism 10, which comprises a first sliding rail 100 and a polishing assembly 200. The first sliding rail 100 extends along a first direction, and the polishing assembly 200 is slidingly connected to the first sliding rail 100 and can be driven to move along the first direction. The first direction is perpendicular to the surface to be polished, so that the polishing assembly 200 can be close to or away from the surface to be polished. The polishing assembly 200 comprises a mounting bracket 210, a polishing piece 220, and a mounting shaft 230. As shown Figure 3 As shown, the mounting bracket 210 has two mounting plates 211 arranged side by side and spaced apart, and mounting holes are respectively formed in the two mounting plates 211. The two ends of the mounting shaft 230 are respectively arranged in the two mounting holes and are rotatably connected with the two mounting plates 211. For example, a bearing can be fixedly arranged in the mounting hole, the hole wall of the mounting hole is fixedly connected with the outer ring of the bearing, the mounting shaft 230 is arranged in the bearing and is fixedly connected with the inner ring of the bearing, so that the mounting shaft 230 can rotate relative to the mounting plate 211.
[0048] The polishing piece 220 is generally a grinding wheel, and can also be a rolling brush or other polishing tool. The polishing piece 220 is sleeved on the mounting shaft 230 and located between the two mounting plates 211. The polishing piece 220 is fixedly connected with the mounting shaft 230, so as to rotate synchronously with the mounting shaft 230. Since the two ends of the mounting shaft 230 are connected with the mounting plates 211, a simply supported beam structure is formed. Compared with the cantilever beam structure of the mounting shaft 230 in the prior art, the two ends of the polishing piece 220 of the polishing mechanism 10 of the present application are supported, which effectively avoids the deformation and warping problem caused by the cantilever beam structure, makes the stress more uniform during polishing, ensures the flatness of the polished surface, and significantly improves the polishing effect.
[0049] As shown Figure 2 The polishing assembly 200 of the present application further comprises a first sliding seat 240, a first driving piece 250, and a transmission piece 260. The first driving piece 250 is connected with the polishing piece 220 through the transmission piece 260 and can drive the polishing piece 220 to rotate. The first driving piece 250 can be an electric motor, and the transmission piece 260 is a belt transmission mechanism to ensure efficient power transmission. The first sliding seat 240 is slidingly connected to the first sliding rail 100 and can be driven to move along the first direction. The polishing piece 220 and the first driving piece 250 are both fixedly connected with the first sliding seat 240, so as to move synchronously with the first sliding seat 240 to realize movement along the first direction. As shown Figure 2 The first driving piece 250 and the polishing piece 220 are respectively located on the two sides of the first sliding rail 100, so as to balance the stress load of the first sliding seat 240 and avoid the situation that the first sliding seat 240 is stuck due to excessive stress on one side.
[0050] As shown Figures 3 to 5As shown, the mounting shaft 230 of the present application comprises a first shaft segment 231 and two second shaft segments 232, one end of the first shaft segment 231 is connected with one of the second shaft segments 232, and the other end is connected with the other second shaft segment 232. It should be noted that the end of the first shaft segment 231 is provided with a first plug-in part 2311, and the end of the second shaft segment 232 is provided with a second plug-in part 2321 matched with the first plug-in part 2311, so that the first plug-in part 2311 and the second plug-in part 2321 can be matched to make the first shaft segment 231 and the second shaft segment 232 rotate synchronously. Through this plug-in design, the polishing piece 220 can be quickly disassembled and replaced from the polishing mechanism 10, and the maintenance efficiency is improved.
[0051] Further, the polishing assembly 200 further comprises a fastener 270, the first plug-in part 2311 and the second plug-in part 2321 are plug-in matched to connect the first shaft segment 231 and the second shaft segment 232, the fastener 270 is sleeved on the connection of the first shaft segment 231 and the second shaft segment 232, that is, the fastener 270 is sleeved on the first plug-in part 2311 and the second plug-in part 2321, the plug-in matching of the first plug-in part 2311 and the second plug-in part 2321 can limit the relative rotation freedom degree thereof, the sleeving of the fastener 270 can limit the relative displacement freedom degree of the first plug-in part 2311 and the second plug-in part 2321 in the radial direction, and since the second shaft segment 232 is rotationally connected with the mounting plate 211 and the movement of the second shaft segment 232 is limited, when the two ends of the first shaft segment 231 are plug-in matched with the second shaft segments 232, the movement freedom degree of the first shaft segment 231 is also limited.
[0052] As shown, Figure 5 The fastener 270 is composed of two half-circular sleeve structures, and the two sleeves can be connected as a whole structure by bolts, so as to firmly lock the first shaft segment 231 and the second shaft segment 232, and ensure the stability of the connection. When the polishing piece 220 needs to be replaced, the bolts are only loosened, and the sleeves are disassembled, so that the first shaft segment 231 and the second shaft segment 232 can be easily separated, the replacement operation is quickly completed, and the work efficiency and the convenience of equipment maintenance are greatly improved.
[0053] Further, the first plug-in part 2311 comprises a first protrusion 2312 and a first recess 2315, the first protrusion 2312 has a first arc surface 2313 and a first plane 2314 located at the outer periphery of the first protrusion 2312, the first arc surface 2313 is connected with the outer peripheral surface of the first shaft segment 231 and smoothly transitions, and the first plane 2314 and the end surface of the first shaft segment 231 define the first recess 2315. It can be understood that the first recess 2315 can be formed by cutting off a semi-cylinder at the end of the first shaft segment 231, and the remaining semi-cylinder forms the first protrusion 2312. Alternatively, the first shaft segment 231 can also be directly cast into shape, and the end thereof has the first protrusion 2312 and the first recess 2315. Alternatively, the end surface of the first shaft segment 231 can also be welded with the first protrusion 2312 to form the first plug-in part 2311.
[0054] Similarly, the second plug-in part 2321 also comprises a second protrusion 2322 and a second recess 2325, the second protrusion 2322 has a second arc surface 2323 and a second plane 2324 located at the outer periphery of the second protrusion 2322, the second arc surface 2323 is connected with the outer peripheral surface of the second shaft segment 232, and the second plane 2324 and the end surface of the second shaft segment 232 define the second recess 2325. Among them, the first protrusion 2312 is inserted into the second recess 2325, and the second protrusion 2322 is inserted into the first recess 2315.
[0055] It can be understood that the structure of such a plug-in part is relatively simple, and the processing difficulty is relatively low. Moreover, the plug-in process of the plug-in part does not require complex tool assistance, and can be completed only by simple alignment, reducing installation errors and improving the stability and service life of the overall structure. When the polishing piece 220 needs to be replaced, the entire mounting shaft 230 does not need to be removed from the mounting bracket 210, and only the fastener 270 needs to be loosened, so that the first shaft segment 231 and the second shaft segment 232 can be quickly disassembled to remove the polishing piece 220 together with the first shaft segment 231, thereby replacing the polishing piece 220.
[0056] Further, as viewed in the axial direction of the mounting shaft 230, the first protrusions 2312 located at different ends of the first shaft segment 231 are configured such that the first planes 2314 of the two first protrusions 2312 are parallel, and the bending directions of the two first arc surfaces 2313 are opposite. Therefore, when the two ends of the first shaft segment 231 are respectively plugged with the second shaft segments 232 on both sides, at least one end of the second shaft segment 232 can support it. For example, as shown in FIG. 6, the first plane 2314 of the first protrusion 2312 at the left end of the first shaft segment 231 is parallel to the first plane 2314 of the first protrusion 2312 at the right end of the first shaft segment 231, and the bending directions of the two first arc surfaces 2313 are opposite. Therefore, when the left end of the first shaft segment 231 is plugged with the left second shaft segment 232, the right end of the first shaft segment 231 is plugged with the right second shaft segment 232, and the left second shaft segment 232 and the right second shaft segment 232 are connected with each other, at least one end of the second shaft segment 232 can support it. Figure 5As shown, the first protrusion 2312 of the left end of the first shaft segment 231 is supported by the second protrusion 2322 of the left second shaft segment 232, so that the fastener 270 is sleeved at the connection between the right end of the first shaft segment 231 and the second shaft segment 232 to achieve the preliminary fixation of the first shaft segment 231, and then another fastener 270 is sleeved at the connection between the left end of the first shaft segment 231 and the second shaft segment 232. Moreover, when the polishing member 220 is driven to rotate at a high speed, the two ends of the first shaft segment 231 can give sufficient support, ensuring stable rotation and avoiding vibration caused by centrifugal force.
[0057] The polishing mechanism 10 further comprises a second driving member 300, a second sliding seat 310, and a first buffer 320, as shown in Figure 2 As shown, the first sliding seat 240 and the second sliding seat 310 are slidingly connected to the first sliding rail 100, and the first sliding seat 240 and the second sliding seat 310 are arranged at intervals on the first sliding rail 100. The polishing assembly 200 is arranged on the first sliding seat 240, the first buffer 320 comprises a main body and an extension shaft, the main body is arranged on the second sliding seat 310, and the free end of the extension shaft is connected to the first sliding seat 240. The second driving member 300 is fixedly arranged on the first sliding rail 100, and the output shaft thereof is connected to the second sliding seat 310.
[0058] Therefore, when the second driving member 300 drives the second sliding seat 310 to move in the first direction, the first buffer 320 can drive the first sliding seat 240 to move, so that the polishing member 220 thereon is close to or away from the plane to be polished. It should be noted that the first buffer 320 can be a gas spring or other damping buffer, etc. The first buffer 320 can absorb the impact force generated during polishing, reduce the wear of the sliding rail, and prolong the service life of the equipment. The second driving member 300 can accurately control the polishing force by adjusting the displacement of the sliding seat, and ensure uniform polishing effect.
[0059] The second aspect embodiment of the present application proposes a wall climbing robot, which comprises the polishing mechanism 10 mentioned in any of the above embodiments. As shown in Figure 6 The wall climbing robot comprises a robot main body 40 and a plurality of functional modules (not shown in the figure), and the robot main body 40 is provided with a magnetic bottom disc and can be adsorbed on a vertical or inclined metal surface such as a wind turbine or a ship, so as to perform cleaning, polishing or spraying work on the metal surface. One of the plurality of functional modules is the polishing mechanism 10, and the other functional modules can also be a cleaning module and a spraying module, etc. The cleaning module can be configured as a high-pressure water jet cleaning mechanism, and the spraying module can be configured as a mechanism for applying anti-rust or anti-corrosion paint.
[0060] It is to be noted that the above functional modules are not simultaneously installed on the robot body 40, but are selectively installed on the robot body 40 according to requirements. For example, in the case of performing a polishing operation first and then a spraying operation, the wall-climbing robot first installs the polishing mechanism 10, and then removes the polishing mechanism 10 and installs the spraying mechanism, each functional module being detachably connected with the robot body 40. In the prior art, some robots are simultaneously provided with a polishing mechanism 10 and a spraying mechanism, and dust generated in the polishing process of the polishing mechanism 10 adheres to the spraying mechanism, which easily causes the spraying pipe to be blocked and the spraying mechanism to fail. Alternatively, paint sprayed in the spraying process of the spraying mechanism adheres to the polishing mechanism 10, which easily causes the polishing mechanism 10 to fail, thereby resulting in a high failure rate of the entire robot. In the embodiment of the present application, the wall-climbing robot is designed in a modular manner, and different functional modules can be replaced to meet different requirements, improve work efficiency and quality, and avoid mutual interference between different functional modules.
[0061] In some embodiments, the robot body 40 further comprises a second sliding rail 410 extending in a second direction, and a third sliding seat 430 slidably connected to the second sliding rail 410, each functional module being detachably connected with the third sliding seat 430, so as to realize replaceability of the functional modules. It can be understood that the third sliding seat 430 and the functional modules can be provided with quick-release structures matched with each other, so as to facilitate quick replacement of the functional modules. For example, the quick-release structure can be a composite structure of plug-in and magnetic attraction, or a spring buckle and locking mechanism. The quick-release structure ensures convenience of replacement and stability of connection.
[0062] In addition to the quick release of the mechanical structure, since each functional module has a cable for power supply or communication, the cable needs to be disassembled and assembled when the functional module is disassembled and assembled. In the embodiment of the present application, the robot body 40 is provided with a plurality of power connection ports (not shown in the figure), the number of the power connection ports being not less than the number of the functional modules, so that each functional module can be plugged into different power connection ports to realize electrical connection. For example, the wall-climbing robot has a spraying mechanism and a polishing mechanism 10, and therefore the robot body 40 is provided with two power connection ports, which can be integrated electrical aviation plugs capable of realizing quick plugging of the cable.
[0063] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.
Claims
1. A grinding mechanism, characterized in that, include: A first slide rail extends along a first direction; A grinding assembly, which is slidably connected to the first slide rail and is driven to move along the first direction; The grinding assembly includes a mounting bracket, a grinding component, and a mounting shaft. The mounting bracket has two mounting plates arranged side by side. The two ends of the mounting shaft are rotatably connected to the two mounting plates respectively. The grinding component is sleeved on the mounting shaft and located between the two mounting plates.
2. The polishing mechanism according to claim 1, characterized in that, The polishing assembly further includes a first sliding seat, a first driving member, and a transmission member. The first sliding seat is slidably connected to the first slide rail. The first driving member is connected to the polishing component through the transmission member and can drive the polishing component to rotate. The first driving component and the grinding component are both connected to the first sliding seat, and the first driving component and the grinding component are respectively located on both sides of the first slide rail.
3. The polishing mechanism according to claim 1, characterized in that, The mounting shaft includes a first shaft segment connected to the grinding component and two second shaft segments connected to the mounting plate, with the two ends of the first shaft segment respectively connected to the two second shaft segments; The first shaft segment has a first insertion part at its end, and the second shaft segment has a second insertion part at its end that cooperates with the first insertion part. The first insertion part and the second insertion part cooperate to enable the first shaft segment and the second shaft segment to rotate synchronously.
4. The polishing mechanism according to claim 3, characterized in that, The grinding assembly also includes a fastener, which is fitted onto the connection between the first shaft segment and the second shaft segment to limit the relative radial displacement of the first insertion portion and the second insertion portion.
5. The polishing mechanism according to claim 3, characterized in that, The first insertion portion includes a first protrusion and a first groove. The first protrusion has a first arc surface and a first plane located on its outer periphery. The first arc surface is connected to the outer peripheral surface of the first shaft segment, and the first plane and the end face of the first shaft segment define a first groove. The second insertion portion includes a second protrusion and a second groove. The second protrusion has a second arc surface and a second plane located on its outer periphery. The second arc surface is connected to the outer peripheral surface of the second shaft segment, and the second plane and the end face of the second shaft segment define a second groove. The first protrusion is inserted into the second groove, and the second protrusion is inserted into the first groove.
6. The polishing mechanism according to claim 5, characterized in that, The first protrusions located at different ends of the first shaft segment are configured such that the first planes of the two first protrusions are parallel, and the bending directions of the two first arc surfaces are opposite.
7. The polishing mechanism according to claim 1, characterized in that, The polishing assembly further includes a first sliding seat, and the polishing mechanism further includes a second driving member, a second sliding seat, and a first buffer member. The first sliding seat and the second sliding seat are slidably connected to the first slide rail, and the first buffer member is disposed on the second sliding seat. The second driving member is fixedly connected to the first slide rail. Driven by the second driving member, the second sliding seat moves along the first direction and is driven to move by the first buffer member.
8. A wall-climbing robot, characterized in that, Includes the polishing mechanism as described in any one of claims 1 to 7.
9. The wall-climbing robot according to claim 8, characterized in that, The wall-climbing robot includes a robot body and multiple functional modules, one of which is the polishing mechanism. Each of the functional modules is selectively installed on the robot body.
10. The wall-climbing robot according to claim 9, characterized in that, The robot body also includes a second slide rail extending along a second direction and a third slide seat slidably connected to the second slide rail, and the functional module is detachably connected to the third slide seat; The robot body also includes multiple power ports, each of which is used to connect cables to different functional modules.