Grinding Robot

Abstract

Provided is a grinding robot. The grinding robot includes a main rack and a flip bracket pivotally connected to the main rack through a pin shaft. A flip device is further provided between the flip bracket and the main rack and includes a first drive portion and a linkage mechanism. The first drive portion is disposed on the main rack. One end of the linkage mechanism is pivotally connected to the main rack and another end of the linkage mechanism is pivotally connected to the flip bracket. A spacing exists between a pivot point between the flip bracket and the main rack and a pivot point between the flip bracket and the linkage mechanism.

1 . A grinding robot, comprising a main rack and a flip bracket pivotally connected to the main rack through a pin shaft, wherein a flip device is further provided between the flip bracket and the main rack and comprises:
 a first drive portion disposed on the main rack; and   a linkage mechanism, wherein one end of the linkage mechanism is pivotally connected to the main rack, another end of the linkage mechanism is pivotally connected to the flip bracket, and a spacing exists between a pivot point between the flip bracket and the main rack and a pivot point between the flip bracket and the linkage mechanism,   wherein the first drive portion is drivingly connected to the linkage mechanism, when driven by the first drive portion, the linkage mechanism is capable of driving the flip bracket to be flipped relative to the main rack, and the flip bracket has a first state in which the flip bracket is folded relative to the main rack and a second state in which the flip bracket is extended relative to the main rack.   
     
     
         2 . The grinding robot of  claim 1 , wherein the linkage mechanism further comprises:
 a first link, wherein one end of the first link is pivotally connected to the main rack through a rotary shaft, and the first link is drivingly connected to the first drive portion; and   a second link, wherein one end of the second link is pivotally connected to another end of the first link through a first connecting shaft, and another end of the second link) is pivotally connected to the flip bracket through a third connecting shaft.   
     
     
         3 . The grinding robot of  claim 2 , wherein the first link comprises a first rod segment and a second rod segment, wherein one end of the first rod segment is pivotally connected to the main rack through the rotary shaft, another end of the first rod segment is connected to one end of the second rod segment, another end of the second rod segment is pivotally connected to the first drive portion, and the first link is pivotally connected to the one end of the second link through the first connecting shaft at a position where the first rod segment and the second rod segment are connected. 
     
     
         4 . The grinding robot of  claim 2 , wherein:
 the first link comprises a first rod segment;   the flip device further comprises a crank connected to the rotary shaft ; and   the rotary shaft is fixedly connected to the first rod segment, the crank is connected to the first drive portion, and through the crank and the rotary shaft, the first drive portion drives the first rod segment to rotate, so as to drive, through the second link, the flip bracket to be flipped.   
     
     
         5 . The grinding robot of  claim 2 , wherein a ratio of a linear distance between the rotary shaft and the first connecting shaft to a linear distance between the first connecting shaft and the third connecting shaft is greater than or equal to 1.9 and less than or equal to 2.2. 
     
     
         6 . The grinding robot of  claim 4 , further comprising:
 a first limiting column disposed on the rack and configured to limit a limit position where the first link of the linage mechanism swings backward relative to the rack; and   a second limiting column disposed on the rack and configured to limit a limit position where the first link of the linage mechanism swings forward relative to the rack.   
     
     
         7 . The grinding robot of  claim 6 , wherein the first limiting column and the second limiting column are disposed above the rotary shaft, and the first link is provided with a protruding finger between the first limiting column and the second limiting column. 
     
     
         8 . The grinding robot of  claim 1 , further comprising:
 a grinding mechanism provided with a grinding disc and position-adjustably disposed on the main rack; and   a second drive portion disposed between the main rack and the grinding mechanism and configured to drive the grinding mechanism to move, so as to adjust a posture of the grinding disc.   
     
     
         9 . The grinding robot of  claim 8 , wherein:
 the flip bracket is provided with a first support wheel; and   in a case where the flip bracket is in the first state, projections of the flip bracket and the first support wheel on the grinding disc of the grinding mechanism are within a region where a surface of the grinding disc is located.   
     
     
         10 . The grinding robot of  claim 1 , wherein:
 the main rack is provided with a grinding mechanism and a plurality of moving wheels; wherein when the grinding robot is in operation, at least part of the plurality of moving wheels and the grinding mechanism are in contact with the ground, so as to form a working surface;   the grinding robot further comprises a loading rack comprising at least one second support wheel; and   the loading rack is configured to be movably connected to the main rack so that when the loading rack is driven by the main rack, the at least one second support wheel is capable of being non-coplanar with the working surface of the grinding robot.   
     
     
         11 . The grinding robot of  claim 1 , further comprising a first guide portion and a second guide portion between the main rack and a loading rack, wherein the first guide portion forms a guide space, and the second guide portion is movably disposed in the guide space; and
 when the loading rack moves relative to the main rack, the second guide portion slides in the guide space.   
     
     
         12 . The grinding robot of  claim 11 , wherein the guide space is a guide groove and the second guide portion is a guide pin inserted into the guide groove. 
     
     
         13 . The grinding robot of  claim 11 , wherein the loading rack and the main rack are detachably connected through a movable mechanism. 
     
     
         14 . The grinding robot of  claim 13 , wherein the movable mechanism comprises a telescopic structure having an extended state and a retracted state;
 the main rack comprises a first connecting portion, and the loading rack comprises a second connecting portion mated with the first connecting portion; and   in a case where the telescopic structure is in the extended state, the first connecting portion and the second connecting portion are capable of being movably connected; and in a case where the telescopic structure is in the retracted state, the first connecting portion and the second connecting portion are capable of being separated.   
     
     
         15 . The grinding robot of  claim 14 , wherein the telescopic structure comprises a fastener, a movable member, and a drive mechanism, wherein the fastener is mounted on the main rack or the loading rack; and
 the movable member is movably disposed on the fastener, and the drive mechanism is configured to drive the movable member to extend or retract relative to the fastener so that the telescopic structure is in the extended state or the retracted state.   
     
     
         16 . The grinding robot of  claim 15 , wherein a first mating surface is provided on the fastener, a second mating surface mated with the first mating surface is provided on the drive mechanism, and the drive mechanism enables the first mating surface to be mated with or to be staggered with the second mating surface;
 wherein when the first mating surface is mated with the second mating surface, the movable member protrudes from the fastener; and when the first mating surface is staggered with the second mating surface, the movable member- 4424  retracts relative to the fastener.   
     
     
         17 . The grinding robot of  claim 16 , wherein:
 the telescopic structure further comprises an elastic reset, wherein the elastic reset is disposed between the fastener and the movable member and configured to keep the movable member in the extended state; and   the first mating surface and the second mating surface each comprise an inclined surface and a tip abutting surface.   
     
     
         18 . The grinding robot of  claim 16 , wherein the fastener and the movable member are provided with threads that are mated with each other, the drive mechanism drives the movable member to rotate around an axis of the movable member, and the movable member is capable of extending or retracting relative to the fastener. 
     
     
         19 . The grinding robot of  claim 16 , wherein:
 the fastener and the movable member are connected to each other by a thread and a pin shaft; and   the pin shaft is inserted into a screw ring of the thread, the drive mechanism- drives the movable member to rotate around an axis of the movable member, and the pin shaft is capable of moving to different screw rings along the thread so that the movable member is capable of extending or retracting relative to the fastener.   
     
     
         20 . The grinding robot of  claim 10 , wherein the loading rack comprises at least three second support wheels, and at least one of the at least three second support wheels is a lift support wheel. 
     
     
         21 - 32  (canceled)