An indoor decoration auxiliary device based on a mechanical arm

Abstract

The utility model provides an indoor decoration auxiliary device based on mechanical arm, including mobile chassis and the mechanical arm of installation in mobile chassis top, the execution end of mechanical arm is installed with polishing mechanism through floating component, floating component includes coaxial setting fixed disc, pressure sensor and connecting disc, connecting disc is slidably installed on fixed disc through the guide column that is set in circle array, every guide column all is equipped with pressure spring, pressure sensor fixed mounting is in fixed disc with every pressure spring abuts, through setting the floating component that is composed of fixed disc, pressure sensor, connecting disc, guide column and pressure spring in mechanical arm execution end, can utilize pressure sensor real -time monitoring the pressure between polishing disc and wall, guarantee the wall polishing is kept in certain pressure range, the elasticity buffer of combining pressure spring simultaneously, makes polishing mechanism can adapt to wall flatness change, avoids the polishing unevenness that leads to because rigid contact.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an interior decoration auxiliary device based on a robotic arm. Background Technology

[0002] In the wall smoothing and sanding process during interior decoration, wall putty sanding often generates a large amount of dust. When operating manually, workers are directly exposed to a high concentration of dust. Long-term inhalation of this type of putty dust can easily cause respiratory diseases such as pneumoconiosis, seriously endangering their health. At the same time, manual sanding is labor-intensive, inefficient, and the smoothness of the sanding is greatly affected by the operator's experience.

[0003] To address these issues, existing technologies have developed automated tools that use robotic arms to replace manual labor for wall sanding. These tools aim to reduce labor intensity, minimize dust hazards, and improve the standardization of sanding operations. However, these automated tools still have technical limitations in ensuring sanding smoothness: to monitor the distance between the sanding disc and the wall in real time to maintain sanding accuracy, sensors such as vision cameras or laser rangefinders are typically used. However, during actual sanding, the large amount of putty dust generated easily adheres to the camera lens or the laser rangefinder's detection surface, contaminating the sensors and causing positioning failure. This results in inaccurate acquisition of the relative position information between the sanding disc and the wall, ultimately affecting the sanding smoothness and failing to meet the requirements of high-quality decoration.

[0004] Therefore, in order to address the problem of dust pollution causing distance monitoring equipment failure and affecting grinding accuracy in existing robotic arm grinding devices, a new technical solution is urgently needed to optimize the automated operation of wall putty grinding. Utility Model Content

[0005] The purpose of this invention is to provide an auxiliary device for interior decoration based on a robotic arm, which ensures the quality of wall grinding by monitoring grinding pressure.

[0006] This utility model provides an interior decoration auxiliary device based on a robotic arm, including a mobile chassis and a robotic arm mounted on the top of the mobile chassis. The end effector of the robotic arm is equipped with a grinding mechanism via a floating assembly. The floating assembly includes a fixed disk, a pressure sensor, and a connecting disk arranged coaxially. The connecting disk is slidably mounted on the fixed disk via guide columns arranged in a circumferential array. Each guide column is fitted with a pressure spring. The pressure sensor is fixedly mounted on the fixed disk and abuts against each pressure spring. The grinding mechanism includes a grinding disk and a second motor for driving the grinding disk to rotate. The grinding disk is fixedly mounted on the output shaft of the second motor, and the second motor is fixedly mounted on the connecting disk.

[0007] Furthermore, a scissor lift mechanism is fixedly installed on the top of the mobile chassis, and a first motor for driving the scissor lift mechanism to lift is fixedly installed on the top of the mobile chassis; the robotic arm is installed on the top of the scissor lift mechanism.

[0008] Furthermore, the scissor lift mechanism includes a base plate, a top plate, and a scissor folding frame connected and installed between the two. The output shaft of the first motor is equipped with a lead screw. The bottom end of the top plate and the top end of the base plate are each slidably mounted with a sliding block via a guide rod. One side of the scissor folding frame is respectively hinged to the upper and lower sliding blocks. The sliding block located at the top of the base plate is driven by the lead screw.

[0009] Furthermore, the sidewall of the polishing mechanism is integrated with a dust suction hood, which is connected to a vacuum cleaner via a hose.

[0010] Furthermore, a mounting bracket is fixedly installed on the top of the mobile chassis, and the vacuum cleaner is fixedly installed on the top of the mounting bracket.

[0011] Furthermore, the movable chassis is provided with adjustable feet on its side, each adjustable foot comprising a threaded rod and a load-bearing plate. An adjustment plate is fixedly installed on the side of the movable chassis, the threaded rod passes through the adjustment plate and is threadedly connected to it, and the load-bearing plate is fixedly connected to the threaded rod.

[0012] Furthermore, Mecanum wheels are provided at all four corners of the mobile chassis.

[0013] Furthermore, the pressure sensor is a piezoresistive pressure sensor.

[0014] Furthermore, the second motor is fixedly mounted on the connecting plate by tension bolts.

[0015] Furthermore, it also includes a controller, and the robotic arm, the first motor, the second motor, the pressure sensor, and the mobile chassis are all electrically connected to the controller.

[0016] The technical solution of this utility model is to set a floating component consisting of a fixed plate, a pressure sensor, a connecting plate, a guide column, and a pressure spring at the end of the robotic arm. The pressure sensor can monitor the pressure between the grinding plate and the wall in real time, ensuring that the pressure is maintained within a certain range when grinding the wall. At the same time, combined with the elastic buffer of the pressure spring, the grinding mechanism can adapt to changes in the flatness of the wall, avoiding uneven grinding caused by rigid contact. It does not require visual or laser ranging equipment that is susceptible to dust pollution, reducing the interference of dust on monitoring, ensuring grinding accuracy, and the mechanized operation reduces the intensity of manual labor. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

[0019] Figure 2 for Figure 1 Enlarged view of the structure at point A in the middle.

[0020] Figure 3 This is a schematic diagram of the floating component and the grinding mechanism in this utility model.

[0021] Explanation of reference numerals in the attached drawings: 1-Mobile chassis, 2-Scissor lift mechanism, 201-Top plate, 202-Base plate, 203-Scissor folding frame, 204-Sliding block, 3-First motor, 4-Mechanical arm, 5-Floating component, 501-Fixed plate, 502-Pressure sensor, 503-Spring, 504-Connecting plate, 6-Dust hood, 7-Mounting bracket, 8-Vacuum cleaner, 9-Second motor, 10-Grinding disc, 11-Hose. Detailed Implementation

[0022] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0023] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0025] Example 1 like Figures 1-3 As shown, this utility model provides an interior decoration auxiliary device based on a robotic arm, including a mobile chassis 1 and a controller. A robotic arm 4 is installed on the top of the mobile chassis 1. In this embodiment, the robotic arm 4 is a six-axis robotic arm. The execution end of the robotic arm 4 is equipped with a grinding mechanism through a floating component 5. The floating component 5 includes a fixed disk 501, a pressure sensor 502, and a connecting disk 504 arranged coaxially. The connecting disk 504 is slidably mounted on the fixed disk 501 through guide columns arranged in a circumferential array. Each guide column is fitted with a pressure spring 503. The pressure sensor 502 is fixedly mounted on the fixed disk 501 and abuts against each pressure spring 503. By sensing the pressure fed back by the spring 503, the grinding force can be controlled. In this embodiment, the pressure sensor 502 is a piezoresistive pressure sensor 502.

[0026] To achieve the lifting and lowering of the robotic arm 4 and enable grinding of walls at different heights, thus expanding the grinding range, a scissor-lift mechanism 2 is fixedly installed at the top of the mobile chassis 1. The robotic arm 4 is fixedly installed at the top of the scissor-lift mechanism 2 by bolts. A first motor 205 for driving the lifting and lowering of the scissor-lift mechanism 2 is fixedly installed at the top of the mobile chassis 1. The scissor-lift mechanism 2 includes a base plate 202, a top plate 201, and a scissor-folding frame 203 connected between the two. A lead screw is installed on the output shaft of the first motor 205. Sliding blocks 204 are slidably installed at the bottom of the top plate 201 and the top of the base plate 202 via guide rods. One side of the scissor-folding frame 203 is hinged to the upper and lower sliding blocks 204 respectively. The sliding block 204 located at the top of the base plate 202 is driven by the lead screw. By controlling the forward and reverse rotation of the first motor 205, the lead screw is driven to rotate, which in turn drives the sliding block 204 to move, thereby achieving the lifting and lowering of the robotic arm 4.

[0027] The grinding mechanism includes a grinding disc 10 and a second motor 9 for driving the grinding disc 10 to rotate. The second motor 9 is fixedly mounted on the connecting plate 504 by a tension bolt. The grinding disc 10 is fixedly mounted on the output shaft of the second motor 9. The side of the grinding disc 10 away from the second motor 9 can be fixed with sandpaper by Velcro or adhesive.

[0028] The side wall of the grinding mechanism is integrated with a dust suction hood 6. The dust suction hood 6 is fixedly installed on the connecting plate 504 by bolts. The dust suction hood 6 has a connection hole. The dust suction hood 6 is connected to the vacuum cleaner 8 through the connection hole via a hose 11. When the grinding disc 10 is grinding, the dust suction hood 6 covers the grinding disc 10 to prevent dust from splashing and gathers the dust generated during grinding, which is then discharged through the connection hole. The top of the movable chassis 1 is fixedly installed with a mounting bracket 7. The vacuum cleaner 8 can be fixedly installed on the top of the mounting bracket 7 by bolts.

[0029] The mobile chassis 1 is equipped with Mecanum wheels at all four corners, which allows the mobile base to achieve a small turning radius when rotating, making it suitable for rotating in areas with limited space.

[0030] To ensure stability during the grinding process, adjustable feet are provided on the side of the mobile chassis 1. The adjustable feet include a threaded rod and a load-bearing plate. An adjustment plate is fixedly installed on the side of the mobile chassis 1. The threaded rod passes through the adjustment plate and is threadedly connected to it. The load-bearing plate is fixedly connected to the threaded rod. A knob is installed at the top of the threaded rod. By turning the knob, the load-bearing plate can be raised or lowered so that the load-bearing plate contacts the bottom surface.

[0031] In this technical solution, the robotic arm 4, the first motor 205, the second motor 9, the pressure sensor 502, and the mobile chassis 1 are all electrically connected to the controller and coordinated by the controller. The device can be equipped with a laser radar to scan the three-dimensional working space, and then the controller can realize the coordinated control of the entire device.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An interior decoration auxiliary device based on a robotic arm, characterized in that, The device includes a mobile chassis and a robotic arm mounted on top of the mobile chassis. The end effector of the robotic arm is equipped with a grinding mechanism via a floating assembly. The floating assembly includes a fixed disk, a pressure sensor, and a connecting disk arranged coaxially. The connecting disk is slidably mounted on the fixed disk via guide posts arranged in a circumferential array. Each guide post is fitted with a pressure spring. The pressure sensor is fixedly mounted on the fixed disk and abuts against each pressure spring. The grinding mechanism includes a grinding disc and a second motor for driving the grinding disc to rotate. The grinding disc is fixedly mounted on the output shaft of the second motor, and the second motor is fixedly mounted on the connecting disk.

2. The indoor decoration auxiliary device based on a robotic arm according to claim 1, characterized in that, A scissor lift mechanism is fixedly installed on the top of the mobile chassis, and a first motor for driving the scissor lift mechanism to lift is fixedly installed on the top of the mobile chassis; the robotic arm is installed on the top of the scissor lift mechanism.

3. The indoor decoration auxiliary device based on a robotic arm according to claim 2, characterized in that, The scissor lift mechanism includes a base plate, a top plate, and a scissor folding frame connected and installed between the two. The output shaft of the first motor is equipped with a lead screw. The bottom end of the top plate and the top end of the base plate are each slidably mounted with a sliding block via a guide rod. One side of the scissor folding frame is respectively hinged to the upper and lower sliding blocks. The sliding block located at the top of the base plate is driven by the lead screw.

4. The indoor decoration auxiliary device based on a robotic arm according to claim 1, characterized in that, The side wall of the polishing mechanism is integrated with a dust suction hood, which is connected to a vacuum cleaner via a hose.

5. The indoor decoration auxiliary device based on a robotic arm according to claim 4, characterized in that, A mounting bracket is fixedly installed on the top of the mobile chassis, and the vacuum cleaner is fixedly installed on the top of the mounting bracket.

6. The indoor decoration auxiliary device based on a robotic arm according to claim 1, characterized in that, The mobile chassis is provided with adjustable feet on its side. Each adjustable foot includes a threaded rod and a load-bearing plate. An adjustment plate is fixedly installed on the side of the mobile chassis. The threaded rod passes through the adjustment plate and is threadedly connected to it. The load-bearing plate is fixedly connected to the threaded rod.

7. The indoor decoration auxiliary device based on a robotic arm according to claim 1, characterized in that, The mobile chassis is equipped with Mecanum wheels at all four corners.

8. The indoor decoration auxiliary device based on a robotic arm according to claim 1, characterized in that, The pressure sensor is a piezoresistive pressure sensor.

9. The indoor decoration auxiliary device based on a robotic arm according to claim 1, characterized in that, The second motor is fixedly mounted on the connecting plate by tension bolts.

10. The indoor decoration auxiliary device based on a robotic arm according to claim 1, characterized in that, It also includes a controller, and the robotic arm, the first motor, the second motor, the pressure sensor, and the mobile chassis are all electrically connected to the controller.

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