Self-adapting flexible cleaning and polishing device capable of adapting to uneven wall surface

Abstract

The utility model provides a kind of self-adapting flexible cleaning and polishing device that can adapt to undulating wall surface, it is related to cleaning and polishing equipment field, including initiative lifting mechanism, multiple groups of flexible polishing mechanism, flexible tensioning mechanism and polishing drive mechanism, and polishing drive mechanism drives flexible polishing mechanism by flexible tensioning mechanism;The patent is integrated initiative lifting mechanism, multiple groups of flexible polishing mechanism, flexible tensioning mechanism and polishing drive mechanism, and forms a set of self-adapting polishing system that can work cooperatively.Wherein, initiative lifting mechanism realizes the up and down adjustment of the overall height of device, so that it can adapt to the wall surface of different undulating height;The cooperation design of flexible polishing mechanism and flexible tensioning mechanism, through flexible transmission and dynamic tensioning, makes the polishing end can adhere to the undulating profile of small curvature wall surface, solves the problem of poor adaptability of traditional drum type or disc type mechanism to small curvature wall surface.

Description

Technical Field

[0001] This utility model relates to the field of cleaning and polishing equipment, and in particular to an adaptive flexible cleaning and polishing device that can adapt to undulating walls. Background Technology

[0002] Most existing grinding mechanisms use disc-type working discs arranged in a cross pattern on a surface parallel to the working surface, and are driven by one or more drive units. They are effective and efficient for large flat surfaces or curved walls with large curvature, but are less adaptable to walls with small curvature. Currently, the conventionally used roller-type operating mechanism combined with a reciprocating mechanism has a certain adaptability. For example, patent publication number CN115571293A, entitled "A Ship Surface Cleaning and Maintenance Robot," includes a body; it also includes a cleaning mechanism, a power mechanism, a walking mechanism, an adsorption device, a lighting device, a monitoring module, an energy storage module, a controller, and a functional tank. The cleaning mechanism for cleaning and maintaining the ship's hull surface is located inside the body; the power mechanism is located on the left side of the cleaning mechanism and is used for the rotation and switching of the cleaning mechanism. Through the cleaning mechanism, power mechanism, and walking mechanism, a series of processing steps are achieved for removing rust from the ship's hull surface, washing, drying, and spraying with an anti-rust coating. It has advantages such as complete functions, wide applicability, high efficiency, and good quality. In addition, the power mechanism can switch between various functional rollers to realize the process changes corresponding to each functional roller, thereby efficiently cleaning and maintaining rust on the ship's hull surface. However, it is difficult to adapt to small curvature walls, and the operating efficiency is low, with a complex operating process. Therefore, how to efficiently clean and grind small curvature walls has become a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the shortcomings of the existing technology and provide an adaptive flexible cleaning and polishing device that can adapt to undulating walls. The active lifting mechanism of this patent realizes the up and down adjustment of the overall height of the device, so that it can adapt to walls with different undulation heights. The design of the flexible polishing mechanism and the flexible tensioning mechanism, through flexible transmission and dynamic tensioning, enables the polishing end to conform to the undulating contour of the small curvature wall, solving the problem of poor adaptability of traditional roller or disc mechanisms to small curvature walls.

[0004] This utility model is achieved through the following technical solution: An adaptive flexible cleaning and polishing device that can adapt to undulating walls includes an active lifting mechanism, multiple sets of flexible polishing mechanisms, a flexible tensioning mechanism, and a polishing drive mechanism. The active lifting mechanism is used to drive the flexible polishing mechanism, the flexible tensioning mechanism, and the polishing drive mechanism to adjust up and down as a whole. The fixed part of the active lifting mechanism is fixedly connected to the vehicle body, and the lifting part of the active lifting mechanism is fixedly connected to the fixed part of the flexible polishing mechanism. The polishing end of the flexible polishing mechanism is close to the wall surface to be treated. The polishing drive mechanism drives the flexible polishing mechanism through the flexible tensioning mechanism, which is used to ensure the polishing intensity of the flexible polishing mechanism in real time.

[0005] As can be seen, in the above technical solution, this patent integrates an active lifting mechanism, multiple sets of flexible grinding mechanisms, a flexible tensioning mechanism, and a grinding drive mechanism to form a set of adaptive grinding systems that can work collaboratively. The active lifting mechanism allows for vertical adjustment of the overall height of the device, enabling it to adapt to walls with varying undulations. The combined design of the flexible grinding mechanism and the flexible tensioning mechanism, through flexible transmission and dynamic tensioning, allows the grinding end to conform to the contours of walls with small curvatures, solving the problem of poor adaptability of traditional roller or disc-type mechanisms to walls with small curvatures. Simultaneously, the grinding drive mechanism, through the flexible tensioning mechanism, ensures real-time grinding intensity, avoiding uneven grinding force caused by wall undulations, thus improving work efficiency and grinding quality, and is particularly suitable for efficient cleaning and grinding of walls with small curvatures.

[0006] According to the above technical solution, preferably, the active lifting mechanism includes a vehicle body connecting plate, a drive unit, a guide rail, and a slider. The back side of the vehicle body connecting plate is fixedly connected to the traveling vehicle body, the guide rail is fixedly connected to the front side of the vehicle body connecting plate, the slider is slidably connected to the guide rail, the drive unit drives the slider to slide up and down along the guide rail, and the flexible grinding mechanism, the flexible tensioning mechanism, and the grinding drive mechanism are all fixedly connected to the slider.

[0007] As can be seen, the above technical solution utilizes a sliding fit structure of "vehicle body connecting plate-guide rail-slider" combined with the linear drive of the drive unit to achieve overall vertical lifting and lowering adjustment of the flexible grinding mechanism, flexible tensioning mechanism, and grinding drive mechanism. This structure features smooth movement and high positioning accuracy, enabling precise matching of height changes on walls with different curvatures. This ensures that the grinding end remains close to the wall surface to be processed, avoiding grinding omissions or excessive wear due to height deviations, and significantly improving adaptability to undulating walls.

[0008] According to the above technical solution, preferably, the drive unit is a cylinder, a hydraulic rod, an electric telescopic rod, or a lead screw unit.

[0009] According to the above technical solution, preferably, the flexible grinding mechanism includes a grinding support cylinder, a cylinder fixing component, a cylinder connecting component, a pressure roller, a driven synchronous belt pulley, a brush drive shaft, and a roller-type brush. The cylinder fixing component is fixedly connected to the slider, the fixing part of the grinding support cylinder is fixedly connected to the cylinder fixing component, the cylinder connecting component is fixedly connected to the telescopic end of the grinding support cylinder, the driven synchronous belt pulley and the pressure roller are both rotatably connected to the cylinder connecting component through bearings, the brush drive shaft is coaxially fixedly connected to the driven synchronous belt pulley, the roller-type brush is sleeved and fixed on the brush drive shaft, the synchronous belt of the grinding drive mechanism passes through the gap between the driven synchronous belt pulley and the pressure roller, the driven synchronous belt pulley and the pressure roller squeeze the synchronous belt up and down, and the synchronous belt drives the driven synchronous belt pulley to rotate.

[0010] As can be seen, in the above technical solution, this patent achieves the core function of flexible grinding through the combined design of a grinding support cylinder and a synchronous belt drive: on the one hand, the telescopic end of the grinding support cylinder can drive the cylinder connector and subsequent components (such as the pressure pulley and the driven synchronous pulley) to float elastically in the vertical direction, allowing the roller brush to adapt to the small curvature undulations of the wall surface (such as the concave and convex parts of an arc-shaped wall surface); on the other hand, the synchronous belt passes through the gap between the driven synchronous pulley and the pressure pulley and is squeezed and driven by both, utilizing the elastic deformation characteristics of the synchronous belt to further enhance the ability to conform to the wall contour during the transmission process. This structure significantly reduces the restriction on the curvature of the wall surface, effectively solves the problem of poor contact when grinding small curvature walls, and maintains the uniformity of grinding force.

[0011] According to the above technical solution, preferably, the grinding drive mechanism further includes at least one set of drive motors and drive timing pulleys. The drive motors are fixedly connected to the cylinder fixing parts through the support plate. The drive motors drive the drive timing pulleys to rotate, and the drive timing pulleys drive the timing belt to rotate cyclically.

[0012] As can be seen, in the above technical solution, this patent integrates the drive motor and the drive synchronous pulley into the flexible grinding mechanism. The drive motor directly drives the drive synchronous pulley to rotate, which in turn drives the synchronous belt to circulate, ultimately driving the driven synchronous pulley and the roller brush to rotate. This design shortens the power transmission path, reduces energy loss in intermediate transmission components, and improves transmission efficiency. At the same time, the direct drive method of the drive motor ensures the stability and controllability of power output, avoids power delays or fluctuations caused by multi-stage transmission, and ensures the uniformity and consistency of the grinding process.

[0013] According to the above technical solution, preferably, the flexible tensioning mechanism includes at least one set of flexible tensioning components. The flexible tensioning components include a tensioning cylinder, a tensioning wheel, a tensioning wheel shaft, and a tensioning wheel connector. The fixed part of the tensioning cylinder is fixedly connected to the cylinder fixing component, and the tensioning wheel connector is fixedly connected to the telescopic end of the tensioning cylinder. The tensioning wheel is rotatably connected to the tensioning wheel connector through the tensioning wheel shaft, and the synchronous belt passes around the tensioning wheel.

[0014] As can be seen, in the above technical solution, this patent uses the telescopic movement of the tensioning cylinder to drive the tensioning wheel to move along the tensioning direction of the synchronous belt, allowing for real-time adjustment of the synchronous belt tension. During the grinding of surfaces with small curvature, the required length of the synchronous belt changes due to surface undulations. The tensioning cylinder can dynamically compensate for the slack in the synchronous belt, maintaining effective compression contact between the synchronous belt and the driven synchronous belt pulley and pressure pulley, thus preventing grinding failure or power interruption due to synchronous belt slippage. This structure ensures the reliability of the grinding drive mechanism under complex working conditions and improves the device's ability to continuously operate on surfaces with small curvature.

[0015] The beneficial effects of this utility model are: (1) This patent integrates an active lifting mechanism, multiple sets of flexible grinding mechanisms, a flexible tensioning mechanism and a grinding drive mechanism to form a set of adaptive grinding systems that can work together. (2) The active lifting mechanism of this patent realizes the up and down adjustment of the overall height of the device, so that it can adapt to the wall surface with different undulation height; the combination design of the flexible grinding mechanism and the flexible tensioning mechanism, through flexible transmission and dynamic tensioning, enables the grinding end to fit the undulation contour of the small curvature wall surface, solving the problem of poor adaptability of traditional roller or disc mechanism to small curvature wall surface. (3) The grinding drive mechanism ensures grinding intensity in real time through a flexible tensioning mechanism, avoiding uneven grinding force caused by wall undulation, improving work efficiency and grinding quality, and is especially suitable for efficient cleaning and grinding of walls with small curvature. Attached Figure Description

[0016] Figure 1 A schematic diagram of the equiaxed side structure of this utility model is shown; Figure 2 A schematic diagram of the isometric structure of this invention after the cover has been removed is shown; Figure 3 This diagram shows a front view of the structure of the present invention after the cover has been removed; Figure 4 A side view of the present invention is shown. Figure 5 This diagram shows a side view of the structure of the present invention after the cover has been removed; Figure 6 A schematic diagram of the isometric structure of the flexible grinding mechanism in this utility model is shown; Figure 7 A front view structural schematic diagram of the flexible grinding mechanism in this utility model is shown; Figure 8 A schematic diagram of the equiaxed side structure of the flexible tensioning mechanism in this utility model is shown; Explanation of reference numerals in the attached figures: 1. Active lifting mechanism; 2. Flexible grinding mechanism; 3. Flexible tensioning mechanism; 4. Grinding drive mechanism; 5. Car body connecting plate; 6. Drive unit; 7. Guide rail; 8. Slider; 9. Grinding support cylinder; 10. Cylinder fixing component; 11. Cylinder connecting component; 12. Pressure roller; 13. Driven synchronous belt pulley; 14. Brush drive shaft; 15. Roller brush; 16. Drive motor; 17. Drive synchronous belt pulley; 18. Tensioning cylinder; 19. Tensioning wheel; 20. Tensioning wheel connecting component; 21. Cover; 22. Synchronous belt. Detailed Implementation

[0017] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and preferred embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0018] In the description of the utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the utility model.

[0019] As shown in the figure, this utility model provides an adaptive flexible cleaning and polishing device that can adapt to undulating walls. It includes an active lifting mechanism 1, multiple sets of flexible polishing mechanisms 2, a flexible tensioning mechanism 3, and a polishing drive mechanism 4. The active lifting mechanism 1 is used to drive the flexible polishing mechanism 2, the flexible tensioning mechanism 3, and the polishing drive mechanism 4 to adjust up and down as a whole. The fixed part of the active lifting mechanism 1 is fixedly connected to the walking vehicle body, which can be a wall-climbing robot, etc. The lifting part of the active lifting mechanism 1 is fixedly connected to the fixed part of the flexible polishing mechanism 2. The polishing end of the flexible polishing mechanism 2 is close to the wall surface to be treated. The polishing drive mechanism 4 drives the flexible polishing mechanism 2 through the flexible tensioning mechanism 3. The flexible tensioning mechanism 3 is used to ensure the polishing intensity of the flexible polishing mechanism 2 in real time. This patent integrates the active lifting mechanism 1, multiple sets of flexible polishing mechanisms 2, the flexible tensioning mechanism 3, and the polishing drive mechanism 4 to form an adaptive polishing system that can work collaboratively. Among them, the active lifting mechanism 1 realizes the vertical adjustment of the overall height of the device, enabling it to adapt to walls with different undulations; the coordinated design of the flexible grinding mechanism 2 and the flexible tensioning mechanism 3, through flexible transmission and dynamic tensioning, allows the grinding end to conform to the undulating contour of the small curvature wall, solving the problem of poor adaptability of traditional roller or disc mechanisms to small curvature walls; at the same time, the grinding drive mechanism 4 ensures the grinding intensity in real time through the flexible tensioning mechanism 3, avoiding uneven grinding force caused by wall undulations, improving work efficiency and grinding quality, and is especially suitable for efficient cleaning and grinding of small curvature walls.

[0020] Optionally, in one possible implementation, the active lifting mechanism 1 includes a vehicle body connecting plate 5, a drive unit 6, a guide rail 7, and a slider 8. The back side of the vehicle body connecting plate 5 is fixedly connected to the traveling vehicle body, the guide rail 7 is fixedly connected to the front side of the vehicle body connecting plate 5, and the slider 8 is slidably connected to the guide rail 7. The drive unit 6 drives the slider 8 to slide up and down along the guide rail 7. The flexible grinding mechanism 2, the flexible tensioning mechanism 3, and the grinding drive mechanism 4 are all fixedly connected to the slider 8. Through the sliding cooperation structure of the vehicle body connecting plate 5, the guide rail 7, and the slider 8, combined with the linear drive of the drive unit 6, the overall vertical lifting adjustment of the flexible grinding mechanism 2, the flexible tensioning mechanism 3, and the grinding drive mechanism 4 is realized. This structure features smooth movement and high positioning accuracy, and can accurately match the height changes of walls with different curvatures, ensuring that the grinding end is always close to the wall to be processed, avoiding grinding omissions or excessive wear due to height deviations, and significantly improving adaptability to undulating walls.

[0021] Optionally, in one possible implementation, the drive unit 6 is a cylinder, a hydraulic rod, an electric telescopic rod, or a lead screw unit.

[0022] Optionally, in one possible implementation, the flexible grinding mechanism 2 includes a grinding support cylinder 9, a cylinder fixing member 10, a cylinder connecting member 11, a pressure roller 12, a driven synchronous belt pulley 13, a brush drive shaft 14, and a roller-type brush 15. The cylinder fixing member 10 is fixedly connected to the slider 8. The fixing part of the grinding support cylinder 9 is fixedly connected to the cylinder fixing member 10. The cylinder connecting member 11 is fixedly connected to the telescopic end of the grinding support cylinder 9. The driven synchronous belt pulley 13 and the pressure roller 12 are both rotatably connected to the cylinder connecting member 11 through bearings. The brush drive shaft 14 is coaxially fixedly connected to the driven synchronous belt pulley 13. The roller-type brush 15 is sleeved and fixed on the brush drive shaft 14. The synchronous belt 22 of the grinding drive mechanism 4 passes through the driven synchronous belt pulley 13 and the pressure roller 15. The gap between the pulleys 12 allows the driven synchronous pulley 13 and the pressure pulley 12 to press the synchronous belt 22 vertically, driving the driven synchronous pulley 13 to rotate. This patent achieves the core function of flexible grinding through the combined design of the grinding support cylinder 9 and the synchronous belt 22: On the one hand, the telescopic end of the grinding support cylinder 9 can drive the cylinder connector 11 and subsequent components (such as the pressure pulley 12 and the driven synchronous pulley 13) to float elastically in the vertical direction, allowing the roller brush 15 to adapt to the small curvature undulations of the wall surface; on the other hand, the synchronous belt 22 passes through the gap between the driven synchronous pulley 13 and the pressure pulley 12 and is driven by both, utilizing the elastic deformation characteristics of the synchronous belt 22 to further enhance the ability to conform to the wall contour during transmission. This structure significantly reduces the restriction on the curvature of the wall surface, effectively solves the problem of poor contact when grinding small curvature walls, and maintains the uniformity of grinding force.

[0023] Optionally, in one possible implementation, the grinding drive mechanism 4 further includes at least one set of drive motors 16 and drive timing pulleys 17. The drive motors 16 are fixedly connected to the cylinder fixing member 10 via a support plate. The drive motors 16 drive the drive timing pulleys 17 to rotate, and the drive timing pulleys 17 drive the timing belt 22 to rotate cyclically. This patent integrates the drive motors 16 and drive timing pulleys 17 into the flexible grinding mechanism 2. The drive motors 16 directly drive the drive timing pulleys 17 to rotate, thereby driving the timing belt 22 to rotate cyclically, and finally driving the driven timing pulleys 13 and the roller brush 15 to rotate. This design shortens the power transmission path, reduces energy loss of intermediate transmission components, and improves transmission efficiency. At the same time, the direct drive method of the drive motors 16 ensures the stability and controllability of power output, avoids power delay or fluctuation caused by multi-stage transmission, and ensures the uniformity and consistency of the grinding process.

[0024] Optionally, in one possible implementation, the flexible tensioning mechanism 3 includes at least one set of flexible tensioning components. In this embodiment, the flexible tensioning mechanism 3 includes two sets of symmetrically arranged flexible tensioning components. The flexible tensioning components include a tensioning cylinder 18, a tensioning wheel 19, a tensioning wheel shaft, and a tensioning wheel connector 20. The fixed part of the tensioning cylinder 18 is fixedly connected to the cylinder fixing member 10. The tensioning wheel connector 20 is fixedly connected to the telescopic end of the tensioning cylinder 18. The tensioning wheel 19 is rotatably connected to the tensioning wheel connector 20 through the tensioning wheel shaft. The synchronous belt 22 passes around the tensioning wheel 19. This patent drives the tensioning wheel 19 to move along the tensioning direction of the synchronous belt 22 through the telescopic movement of the tensioning cylinder 18, and the tension of the synchronous belt 22 can be adjusted in real time. During the grinding of walls with small curvature, the required length of the timing belt 22 changes due to the undulations of the wall. The tensioning cylinder 18 can dynamically compensate for the slack of the timing belt 22, maintaining effective compression contact between the timing belt 22 and the driven timing pulley 13 and pressure pulley 12, thus preventing grinding failure or power interruption caused by slippage of the timing belt 22. This structure ensures the reliability of the grinding drive mechanism 4 under complex working conditions and improves the device's ability to continuously operate on walls with small curvature.

[0025] Optionally, in one possible implementation, a cover 21 is provided on the front side of the cleaning and polishing device and is fixedly connected to the cylinder fixing member 10.

[0026] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An adaptive flexible cleaning and polishing device that can adapt to undulating walls, characterized in that, The device includes an active lifting mechanism, multiple sets of flexible grinding mechanisms, a flexible tensioning mechanism, and a grinding drive mechanism. The active lifting mechanism is used to drive the flexible grinding mechanism, the flexible tensioning mechanism, and the grinding drive mechanism to adjust up and down as a whole. The fixed part of the active lifting mechanism is fixedly connected to the vehicle body, and the lifting part of the active lifting mechanism is fixedly connected to the fixed part of the flexible grinding mechanism. The grinding end of the flexible grinding mechanism is close to the wall surface to be treated. The grinding drive mechanism drives the flexible grinding mechanism through the flexible tensioning mechanism, which is used to ensure the grinding intensity of the flexible grinding mechanism in real time.

2. The adaptive flexible cleaning and polishing device for undulating walls according to claim 1, characterized in that, The active lifting mechanism includes a vehicle body connecting plate, a drive unit, a guide rail, and a slider. The back side of the vehicle body connecting plate is fixedly connected to the vehicle body, the guide rail is fixedly connected to the front side of the vehicle body connecting plate, the slider is slidably connected to the guide rail, and the drive unit drives the slider to slide up and down along the guide rail. The flexible grinding mechanism, the flexible tensioning mechanism, and the grinding drive mechanism are all fixedly connected to the slider.

3. The adaptive flexible cleaning and polishing device for undulating walls according to claim 2, characterized in that, The drive unit is a cylinder, hydraulic rod, electric telescopic rod, or lead screw unit.

4. The adaptive flexible cleaning and polishing device for undulating walls according to claim 2, characterized in that, The flexible grinding mechanism includes a grinding support cylinder, a cylinder fixing component, a cylinder connecting component, a pressure roller, a driven synchronous belt pulley, a brush drive shaft, and a roller-type brush. The cylinder fixing component is fixedly connected to the slider, the fixing part of the grinding support cylinder is fixedly connected to the cylinder fixing component, and the cylinder connecting component is fixedly connected to the telescopic end of the grinding support cylinder. The driven synchronous belt pulley and the pressure roller are both rotatably connected to the cylinder connecting component through bearings. The brush drive shaft is coaxially fixedly connected to the driven synchronous belt pulley. The roller-type brush is sleeved and fixed on the brush drive shaft. The synchronous belt of the grinding drive mechanism passes through the gap between the driven synchronous belt pulley and the pressure roller. The driven synchronous belt pulley and the pressure roller squeeze the synchronous belt up and down, and the synchronous belt drives the driven synchronous belt pulley to rotate.

5. The adaptive flexible cleaning and polishing device for undulating walls according to claim 4, characterized in that, The grinding drive mechanism also includes at least one set of drive motors and drive timing pulleys. The drive motors are fixedly connected to the cylinder fixing component through a support plate. The drive motors drive the drive timing pulleys to rotate, and the drive timing pulleys drive the timing belt to rotate cyclically.

6. The adaptive flexible cleaning and polishing device for undulating walls according to claim 5, characterized in that, The flexible tensioning mechanism includes at least one set of flexible tensioning components. The flexible tensioning components include a tensioning cylinder, a tensioning wheel, a tensioning wheel shaft, and a tensioning wheel connector. The fixed part of the tensioning cylinder is fixedly connected to the cylinder fixing component. The tensioning wheel connector is fixedly connected to the telescopic end of the tensioning cylinder. The tensioning wheel is rotatably connected to the tensioning wheel connector through the tensioning wheel shaft. The synchronous belt passes around the tensioning wheel.

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