Intelligent wall surface polishing robot device

Abstract

The utility model discloses a kind of intelligent wall surface polishing robot devices, belong to building construction robot technical field.The device includes AGV automatic guided vehicle, dust collector is installed in the ventral of AGV automatic guided vehicle, the top of AGV automatic guided vehicle is installed with six-axis mechanical arm, the end of six-axis mechanical arm is installed with disc type polisher, and the polishing disc of disc type polisher is equipped with eyelet, and the tail end of eyelet is connected with dust exhaust pipe, and dust exhaust pipe is connected with corrugated hose.The utility model polishes according to intelligent planning route by AGV automatic guided vehicle, and the high-precision, high-flexibility polishing operation of the six-axis mechanical arm set is realized by the collaborative movement of six degrees of freedom, which not only improves work efficiency, but also improves construction quality, reduces potential safety hazard.

Description

Technical Field

[0001] This utility model belongs to the field of construction robot technology, specifically, it relates to an intelligent wall sanding robot device. Background Technology

[0002] During construction or renovation, the wall surface needs to be sanded to improve its flatness and smoothness, thus providing a good foundation for subsequent painting or tiling processes.

[0003] In the current construction industry, wall sanding still relies primarily on manual labor. This traditional method is not only labor-intensive and inefficient, but also often affected by the skill level of the workers, making it difficult to guarantee the appearance quality of the putty and the smoothness of the wall surface. Furthermore, the process generates significant dust pollution. Manual sanding often requires workers to maintain the same posture for extended periods, easily leading to physical fatigue and muscle injury. The severe dust pollution during the process poses a significant threat to workers' health.

[0004] To address this, we propose an intelligent wall sanding robot that can significantly improve sanding efficiency. This robot is equipped with professional sanding fixtures and a high-efficiency dust collection device, enabling it to sand walls evenly and efficiently while reducing dust pollution. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an intelligent wall sanding robot device, which not only improves work efficiency, but also enhances construction quality and reduces safety hazards.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an intelligent wall polishing robot device, including an AGV (Automated Guided Vehicle), a dust collector installed inside the AGV's belly, a six-axis robotic arm installed on the top of the AGV, a disc polisher installed at the end of the six-axis robotic arm, a polishing disc of the disc polisher having holes, and a dust exhaust pipe connected to the tail end of the holes, the dust exhaust pipe being connected to a corrugated hose and connected to the dust collector through the corrugated hose;

[0007] The AGV (Automated Guided Vehicle) is equipped with a control unit, a navigation unit, and a sensor unit. The navigation unit and the sensor unit are electrically connected to the control unit via wires, and are mainly used to achieve precise positioning and intelligent path planning.

[0008] More preferably, the AGV (Automated Guided Vehicle) includes a lower housing, a steering wheel driver, and a support rod. The steering wheel driver is mounted on the lower housing and has a Mecanum wheel. The support rod is mounted around the lower housing and has an upper housing mounted on it.

[0009] In a further preferred embodiment, the steering wheel drive is located around the lower housing and is electrically connected to the control unit via wires.

[0010] More preferably, the dust collector includes a collection box, a cover, and a centrifugal fan. The cover is installed on the collection box and a dust suction pipe is installed on the cover. The centrifugal fan is installed inside the cover and filters are installed at both the inlet and outlet ends of the centrifugal fan.

[0011] In a further preferred embodiment, the bottom of the casing is connected to the top of the collection box, the inlet end of the centrifugal fan is located inside the casing, and its outlet end is connected to the rear wall of the collection box.

[0012] In a further preferred embodiment, both the AGV (Automated Guided Vehicle) and the six-axis robotic arm are equipped with pipe clamps, which are clamped onto the suction pipe, and one end of the suction pipe is connected to a corrugated flexible hose.

[0013] More preferably, the six-axis robotic arm includes a rotating base, a shoulder, an elbow, a wrist, and an end effector. One end of the shoulder is connected to the rotating base, and the other end of the shoulder is connected to the elbow. One end of the elbow is connected to the wrist.

[0014] In a further preferred embodiment, an electromagnetic chuck is installed at one end of the wrist, and an end effector is attached and fixed thereon by the electromagnetic chuck.

[0015] Compared with the prior art, this utility model provides an intelligent wall sanding robot device, which has the following beneficial effects:

[0016] (1) The device uses an AGV (Automated Guided Vehicle) to grind according to an intelligently planned route. During the grinding process, the six-axis robotic arm achieves high-precision and high-flexibility grinding operations through the coordinated motion of six degrees of freedom. Its end effector is fixed by an electromagnetic chuck and can be customized according to different tasks such as gripping, welding or spraying. It can adapt to different tasks without changing the whole robot.

[0017] (2) The disc grinder in this device grinds the wall surface by rotating the polishing disc at high speed. The dust collector is used to collect the dust and debris generated during the grinding process. This design not only improves work efficiency, but also provides operators with a healthy and comfortable working environment. It can also avoid the problem of wall grinding quality differences caused by different construction workers' technical level and uneven force when grinding manually. It is of great significance to liberate workers' hands in the construction industry. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a side view of the present invention;

[0020] Figure 3 This is a front view of the present invention;

[0021] Figure 4 This is a structural diagram of the dust collector of this utility model;

[0022] Figure 5 This is a structural diagram of the six-axis robotic arm of this utility model.

[0023] In the diagram: 1. AGV (Automated Guided Vehicle); 11. Control Unit; 12. Navigation Unit; 13. Sensor Unit; 14. Lower Housing; 15. Steering Wheel Driver; 16. Support Rod; 17. Mecanum Wheel; 18. Upper Housing; 2. Dust Collector; 21. Collection Box; 22. Cover; 23. Centrifugal Fan; 24. Suction Pipe; 25. Filter; 3. Six-Axis Robotic Arm; 31. Rotating Base; 32. Shoulder; 33. Elbow; 34. Wrist; 35. End Effector; 36. Electromagnetic Chuck; 4. Disc Grinder; 41. Eyelet; 42. Dust Exhaust Pipe; 43. Corrugated Hose; 5. Pipe Clamp. Detailed Implementation

[0024] The technical solution of this utility model will be described more clearly and completely below with reference to the embodiments.

[0025] like Figures 1-3As shown, this utility model designs an intelligent wall sanding robot device. The device includes an AGV (Automated Guided Vehicle) 1, with a dust collector 2 installed inside the AGV 1. A six-axis robotic arm 3 is mounted on the top of the AGV 1. The AGV 1 sands according to an intelligently planned route. During sanding, the six-axis robotic arm 3 achieves high-precision and high-flexibility sanding operations through the coordinated motion of six degrees of freedom. Its end effector 35 is fixed by an electromagnetic chuck 36 and can be customized for different tasks such as gripping, welding, or spraying, adapting to different tasks without altering the overall robot design. The six-axis robotic arm 3 is equipped with a disc grinder 4 at its end. The polishing disc of the disc grinder 4 has holes 41, and the tail end of the holes 41 is connected to a dust exhaust pipe 42. The dust exhaust pipe 42 is connected to a corrugated hose 43, and the other end of the corrugated hose 43 is connected to a dust collector 2. The disc grinder 4 grinds the wall surface by rotating the polishing disc at high speed. The dust collector 2 is used to collect the dust and debris generated during the grinding process. This design not only improves work efficiency, but also provides a healthy and comfortable working environment for operators. It can also avoid the problem of different wall grinding quality caused by different construction workers' skill levels and uneven force during manual grinding.

[0026] In addition, the AGV automated guided vehicle 1 is equipped with a control unit 11, a navigation unit 12 and a sensor unit 13. The navigation unit 12 and the sensor unit 13 are electrically connected to the control unit 11 through wires, and are mainly used to achieve precise positioning and intelligent path planning.

[0027] Specifically, the AGV (Automated Guided Vehicle) 1 includes a lower housing 14, a steering wheel driver 15, and a support rod 16. The steering wheel driver 15 is mounted on the lower housing 14, and a Mecanum wheel 17 is mounted on the steering wheel driver 15. The support rod 16 is installed around the lower housing 14, and an upper housing 18 is mounted on the support rod 16. In this embodiment, the lower housing 14, the support rod 16, and the upper housing 18 constitute the chassis structure of the AGV 1, and the steering wheel driver 15 and the Mecanum wheel 17 constitute the drive system of the AGV 1. The control unit 11 is the brain of the AGV, responsible for controlling the movement and behavior of the vehicle. It typically consists of a main controller, a power system, a communication system, and a software system. The main controller processes and analyzes sensor data and generates control commands; the power system provides power; the communication system is used for data exchange and communication with other devices and systems; and the software system includes navigation algorithms, path planning algorithms, and behavior control algorithms. The navigation unit 12 is used to determine the vehicle's position and path. Common navigation technologies include laser navigation, magnetic navigation, visual navigation, and inertial navigation. Laser navigation scans the environment using laser sensors, while magnetic navigation uses magnetic markers for positioning on the ground. Visual navigation uses cameras and image processing algorithms to identify and track landmarks. Inertial navigation uses sensors such as gyroscopes and accelerometers to measure the vehicle's acceleration and angular changes. The sensor unit 13 is used to detect and perceive the environment and obstacles around the vehicle, including laser sensors, infrared sensors, ultrasonic sensors, and cameras. Laser sensors are used to measure the distance and position of the vehicle relative to surrounding objects; infrared sensors are used to detect the presence and distance of obstacles; ultrasonic sensors are used to measure the distance between the vehicle and obstacles; and cameras are used for image recognition and target tracking.

[0028] Specifically, the steering wheel driver 15 is located around the lower housing 14 and is electrically connected to the control unit 11 via wires. In this embodiment, the steering wheel driver 15 works primarily based on the motor driving the reduction gearbox to output high torque, which is then transmitted to the wheels through the transmission system, enabling the AGV to move. When a change in travel direction is required, the steering wheel will independently rotate to a specified angle according to the signal sent by the control system, thereby adjusting the overall travel direction of the AGV. This design gives the steering wheel AGV higher flexibility and a smaller turning radius, making it particularly suitable for complex working environments with limited space.

[0029] like Figure 4As shown, the dust collector 2 includes a collection box 21, a housing 22, and a centrifugal fan 23. The housing 22 is installed on the collection box 21, and a suction pipe 24 is installed on the housing 22. The centrifugal fan 23 is installed inside the housing 22, and filters 25 are installed at both the inlet and outlet ends of the centrifugal fan 23. When sanding the wall, the negative pressure suction generated by the centrifugal fan 23 draws in dust-laden gas through the holes 41. The filters 25 are used to remove dust from the gas, ensuring the cleanliness of the discharged gas. This design not only improves work efficiency but also provides a healthy and comfortable working environment for operators.

[0030] Specifically, the bottom of the casing 22 is connected to the top of the collection box 21, the inlet of the centrifugal fan 23 is located inside the casing 22, and its outlet is connected to the rear wall of the collection box 21. In this embodiment, when the dust collector 2 is working, the dust and air mixture that is sucked in is separated into gas and solid by the filter 25, and the dust naturally falls into the collection box 21 for collection.

[0031] Specifically, both the AGV (Automated Guided Vehicle) 1 and the six-axis robotic arm 3 are equipped with pipe clamps 5, which are clamped onto the suction pipe 24, one end of which is connected to the corrugated flexible hose 43. In this embodiment, the pipe clamp 5 is an industrial accessory used to fix pipes, and its core function is to ensure the stability and safety of the pipeline system through mechanical fixing.

[0032] like Figure 5As shown, the six-axis robotic arm 3 includes a rotating base 31, a shoulder 32, an elbow 33, a wrist 34, and an end effector 35. One end of the shoulder 32 is connected to the rotating base 31, and the other end of the shoulder 32 is connected to the elbow 33. One end of the elbow 33 is connected to the wrist 34. An electromagnetic chuck 36 is mounted on one end of the wrist 34, and the end effector 35 is attached and fixed by the electromagnetic chuck 36. In this embodiment, the six-axis robotic arm 3 is a precision robotic arm designed specifically for industrial automation, capable of movement in six degrees of freedom. These robots can move along the x, y, and z axes, and can also rotate around these axes (roll, pitch, and yaw), mimicking the dexterity of the human arm. This special range of motion enables the six-axis robotic arm 3 to perform complex tasks accurately and efficiently in various manufacturing processes. The rotating base 31 is the foundation of the robotic arm, providing stability and housing the control system. Also known as the pedestal, it is typically mounted on the ground and can rotate about a vertical axis. The shoulder 32, connected to the rotating base 31, is the first movable joint of the robotic arm, enabling it to lift and lower, providing vertical movement. The elbow joint (elbow 33) connects the upper arm and forearm, allowing the arm to extend and retract. This component is crucial for reaching different points within the robot's working range. The wrist 34 is a complex component, typically consisting of three joints, providing roll, pitch, and yaw movements that enable precise positioning of the end effector 35. The end effector 35, often referred to as the hand of the robotic arm, is a tool or device attached to the wrist and can be customized for different tasks such as grasping, welding, or spraying.

[0033] In summary, the intelligent wall sanding robot device provided by this utility model uses an AGV (Automated Guided Vehicle) 1 to sand according to an intelligently planned route. During the sanding process, the six-axis robotic arm 3 achieves high-precision and high-flexibility sanding operations through the coordinated movement of six degrees of freedom. Its end effector 35 is fixed by an electromagnetic chuck 36 and can be customized according to different tasks such as grasping, welding, or spraying, adapting to different tasks without changing the overall robot. The disc sander 4 sands the wall surface through the high-speed rotation of the polishing disc, and the equipped dust collector 2 is used to collect the dust and debris generated during the sanding process. Therefore, this utility model not only improves work efficiency but also enhances construction quality and reduces safety hazards. In addition, it reduces the risk of workers directly contacting the sanding operation, reduces reliance on manual labor, lowers long-term labor costs, and brings economic benefits to enterprises.

[0034] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention. Therefore, the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A smart wall sanding robot device, comprising an AGV (automatic guided vehicle) (1), characterized in that: The AGV (Automated Guided Vehicle) is equipped with a dust collector (2) inside its belly. A six-axis robotic arm (3) is installed on the top of the AGV (Automated Guided Vehicle) (1). A disc polisher (4) is installed at the end of the six-axis robotic arm (3). The polishing disc of the disc polisher (4) has holes (41), and the tail end of the holes (41) is connected to a dust exhaust pipe (42). The dust exhaust pipe (42) is connected to a corrugated hose (43), and is connected to the dust collector (2) through the corrugated hose (43). The AGV (Automated Guided Vehicle) is equipped with a control unit (11), a navigation unit (12), and a sensor unit (13). The navigation unit (12) and the sensor unit (13) are electrically connected to the control unit (11) via wires, and are mainly used to achieve precise positioning and intelligent path planning.

2. The intelligent wall sanding robot device according to claim 1, characterized in that: The AGV (Automated Guided Vehicle) (1) includes a lower housing (14), a steering wheel driver (15), and a support rod (16). The steering wheel driver (15) is mounted on the lower housing (14), and a Mecanum wheel (17) is mounted on the steering wheel driver (15). The support rod (16) is mounted around the lower housing (14), and an upper housing (18) is mounted on the support rod (16).

3. The intelligent wall sanding robot device according to claim 2, characterized in that: The steering wheel drive (15) is located around the lower housing (14) and is electrically connected to the control unit (11) via wires.

4. The intelligent wall sanding robot device according to claim 1, characterized in that: The dust collector (2) includes a collection box (21), a cover (22) and a centrifugal fan (23). The cover (22) is installed on the collection box (21) and a suction pipe (24) is installed on the cover (22). The centrifugal fan (23) is installed inside the cover (22) and filters (25) are installed at both the inlet and outlet ends of the centrifugal fan (23).

5. The intelligent wall sanding robot device according to claim 4, characterized in that: The bottom of the cover (22) is connected to the top of the collection box (21), the inlet end of the centrifugal fan (23) is located inside the cover (22), and its outlet end is connected to the rear wall of the collection box (21).

6. The intelligent wall sanding robot device according to claim 4, characterized in that: Both the AGV (automatic guided vehicle) (1) and the six-axis robotic arm (3) are equipped with pipe clamps (5), and the pipe clamps (5) are clamped on the suction pipe (24), one end of which is connected to the corrugated hose (43).

7. The intelligent wall sanding robot device according to claim 1, characterized in that: The six-axis robotic arm (3) includes a rotating base (31), a shoulder (32), an elbow (33), a wrist (34), and an end effector (35). One end of the shoulder (32) is connected to the rotating base (31), and the other end of the shoulder (32) is connected to the elbow (33). One end of the elbow (33) is connected to the wrist (34).

8. The intelligent wall sanding robot device according to claim 7, characterized in that: An electromagnetic chuck (36) is installed at one end of the wrist (34), and an end effector (35) is attached to it by the electromagnetic chuck (36).

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