CN210307076U - Ceiling polishing robot - Google Patents

Abstract

The utility model provides a ceiling polishing robot relates to building technical field. The ceiling polishing robot comprises a frame, a lifting column and a clamping device, wherein the bottom end of the lifting column is fixed on the frame; clamping device sets up on the frame, and with the bottom of lift post has the interval along vertical direction, clamping device is configured as can follow the horizontal direction to the lift post carries out the centre gripping. The utility model provides a ceiling polishing robot can fasten the lift post when polishing robot is worked, improves the stability of lift post.

Description

Ceiling polishing robot

Technical Field

The utility model relates to a building technical field especially relates to a ceiling polishing robot.

Background

In the prior art of processing the ceiling, workers often finish various working procedures of the ceiling in the high altitude by manually carrying scaffolds or ladders to a working area. Because scaffold and ladder operation scope are limited, after the manual work accomplished local region smallpox operation, need fall to ground, move scaffold or ladder to the region of not working, continue to accomplish technology processing, the manual work is polished inefficiently, has consequently appeared the ceiling and has polished the robot.

The existing ceiling polishing robot comprises a frame and a polishing device, wherein the frame drives the polishing device to move to different positions, and polishing of ceilings at different positions is realized. Grinding device includes grinding component and lift post, and grinding component dress is on the top of lift post, and the bottom mounting of lift post is on the frame, and the ceiling polishing robot is at the during operation, and the lift post need extend to a take the altitude to make and install grinding device and the ceiling laminating at lift capital portion. However, the existing ceiling polishing robot only has the bottom end of the lifting column fixedly connected with the frame, so that the fixing between the lifting column and the frame is unstable, and the lifting column is easy to deflect in the using process.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a ceiling polishing robot can realize fixing the lift post with the frame is more stable, guarantees ceiling polishing robot's normal use.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides a ceiling polishing robot, including frame and lift post, the bottom mounting of lift post is in on the frame, still include clamping device, clamping device sets up on the frame, and with the bottom of lift post has the interval along vertical direction, clamping device is configured to be right can follow the horizontal direction the lift post carries out the centre gripping.

Preferably, the clamping device comprises:

the two chucks are respectively arranged on two sides of the lifting column;

and the fastening driving assembly can drive the two chucks to move towards or away from each other.

Preferably, the clamping device further comprises:

a first guide assembly configured to move the collet relative to the frame in the horizontal direction.

Preferably, the lifting column comprises a plurality of sub-lifting columns which are nested in sequence, two adjacent sub-lifting columns can slide relatively in the vertical direction, and when the lifting column is in an extended state, the cross-sectional area of the lifting column is gradually increased from bottom to top.

Preferably, the clamping device is located at an upper portion of the frame.

Preferably, be provided with battery installation station on the frame, battery installation station includes the curb plate of two relative settings and sets up in two bottom plate between the curb plate, two the curb plate and the bottom plate forms the installation space who holds the battery jointly, the ceiling polishing robot still includes battery quick change device, battery quick change device includes:

a roller assembly provided on an inner wall of the side panel and/or a top surface of the bottom panel, the roller assembly being configured to allow a battery to enter the installation space in an extension direction of the installation space.

Preferably, the battery quick-change device further comprises:

and the locking assembly is arranged at an entrance of the installation space and can be switched between a locking state of shielding the entrance and an unlocking state of exposing the entrance.

Preferably, the frame comprises a chassis and a running assembly located below the chassis, the running assembly can drive the chassis to move, and a vibration damping device is arranged between the chassis and the running assembly and is configured to elastically support the chassis.

Preferably, the vibration damping device includes:

one end of the damping spring is abutted against the chassis, and the other end of the damping spring is abutted against the running assembly; and

and the second guide assembly comprises a guide post and a guide hole which can slide relatively along the vertical direction, one of the guide post and the guide hole is arranged on the chassis, and the other guide post and the guide hole are arranged on the running assembly.

Preferably, the method further comprises the following steps:

and the top support mechanism is arranged at the bottom of the chassis, and the output end of the top support mechanism can move along the vertical direction relative to the chassis so as to be abutted against the ground.

Preferably, the vehicle further comprises an obstacle avoidance device, the obstacle avoidance device is configured to be capable of identifying obstacle information around the vehicle frame, the obstacle avoidance device comprises a laser radar and a sound wave sensor, the laser radar and the sound wave sensor are arranged on the peripheral side of the vehicle frame and are distributed at intervals along the peripheral direction of the vehicle frame

Preferably, the method further comprises the following steps:

the laser anti-falling device is arranged on the frame and is configured to be capable of identifying the height condition of the ground around the frame and enabling the frame to avoid a pit or a landslide on the ground.

The utility model has the advantages that:

1. the utility model provides a ceiling polishing robot, including frame, lift post and clamping device. Wherein, the bottom mounting of lift post is on the frame, and clamping device sets up on the frame and has the interval along vertical direction with the bottom of lift post, and clamping device can carry out the centre gripping to the lift post along the horizontal direction. Because the lifting column is fixed mutually with the frame in its bottom and other positions of lifting column along vertical direction, can realize that lifting column and frame are fixed in a plurality of positions, compare the lifting column only in its bottom with the fixed scheme of frame, the fixed of lifting column and frame is more stable, and the lifting column is difficult to take place the incline at the in-process that uses, can guarantee ceiling polishing robot's normal use.

2. The utility model provides a ceiling polishing robot, including battery quick change device, battery quick detach device includes wheel components, takes out the battery or puts into battery installation station with rolling mode from battery installation station through wheel components to reduce the frictional force between battery and the installation station, realize the quick installation and the dismantlement of battery.

3. The utility model provides a ceiling polishing robot, including installing the vibration damper between chassis and the subassembly that traveles, vibration damper includes damping spring and second direction subassembly, and the second direction subassembly leads damping spring, and when the robot walking of polishing of day flower plate took place the vibration, damping spring applyed the elastic support power to the chassis, finally reached and carried out the effect of damping to ceiling polishing robot.

Drawings

Fig. 1 is a three-dimensional structure diagram of a ceiling polishing robot according to an embodiment of the present invention;

fig. 2 is a three-dimensional structure diagram of a frame of a ceiling polishing robot according to an embodiment of the present invention;

fig. 3 is a three-dimensional structure diagram of a clamping device of a ceiling polishing robot according to an embodiment of the present invention;

fig. 4 is a front view of a frame of a ceiling sanding robot according to an embodiment of the present invention;

fig. 5 is a rear view of a frame of a ceiling sanding robot according to an embodiment of the present invention;

fig. 6 is an assembly structure diagram between a battery quick-change device of a chassis mechanism and a chassis according to an embodiment of the present invention;

fig. 7 is a structural view of an assembly between a vibration damping device and a traveling component of a ceiling polishing robot according to an embodiment of the present invention;

fig. 8 is an exploded view of a top bracing mechanism of a ceiling polishing robot according to an embodiment of the present invention.

In the figure:

1. a frame, 11, a chassis; 12. an electric control part supporting frame; 13. a travel assembly; 14. a battery installation station; 15. a side plate; 16. a base plate; 17. an inlet;

2. an electric control device; 21. an electric cabinet; 22. an exhaust fan; 23. a human-machine exchange interface;

3. a clamping device; 31. fastening the driving component; 32. a first guide assembly; 33. a chuck;

4. a vibration damping device; 41. an upper support; 42. a lower support; 43. a guide post; 44. a damping spring; 45. a limiting member; 46. a guide sleeve;

5. a jacking device; 51. supporting the electric cylinder; 52. a shoring connecting rod; 53. supporting the cup with feet;

6. an obstacle avoidance device; 61. a laser radar; 62. an acoustic wave sensor;

7. a laser anti-falling device;

8. a battery quick-change device; 81. a battery; 82. a roller assembly; 83. a locking assembly;

9. a dust box;

10. a polishing device; 101. polishing the assembly; 102. and (4) lifting the column.

Detailed Description

In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention.

Referring to fig. 1, the present invention provides a ceiling polishing robot, which includes a frame 1 and a polishing device 10, wherein the polishing device 10 includes a polishing assembly 101 and a lifting column 102. The bottom end of the lifting column 102 is fixed on the frame 1 and can move in a telescopic manner along the vertical direction. The ceiling sanding robot further comprises an electric control device 2 and a clamping device 3. The electric control device 2 and the clamping device 3 are both arranged on the frame 1. The electric control device 2 is used for controlling the frame 1 to self-move, the lifting column 102 to lift and the grinding assembly 101 to move. The clamping device 3 clamps the lifting column 102 along the horizontal direction by applying a pair of acting forces to the lifting column 102 along the horizontal direction, and fixes a plurality of positions of the lifting column 102, thereby improving the stability of the lifting column 102, so that the extended lifting column 102 can be more stably fixed on the frame 1.

Referring to fig. 1 and 2, the frame 1 includes an electric control member support frame 12, a chassis 11, and a traveling assembly 13. Specifically, the electric control part support frame 12 is arranged on the chassis 11, the electric control part support frame 12 is used for installing the electric control device 2, and the traveling assembly 13 is arranged at the bottom of the chassis 11 and is used for driving the chassis 11 to move in the horizontal direction so as to realize the movement of the frame 1 in the horizontal direction.

In order to provide the maximum securing force to the lifting column 102, the clamping device 3 is provided on top of the electric cabinet support 12.

In order to provide more stable supporting force for the grinding assembly 101, when the lifting column 102 is in an extending state, the lifting column 102 is of a structure with a wide upper part and a narrow lower part, the structure with the wide upper part of the lifting column 102 can provide a larger supporting area for the grinding assembly 101, the lifting column 102 can stably support the grinding assembly 101, and the ceiling grinding robot has a better using effect. Specifically, the lifting column 102 includes a plurality of sub-lifting columns nested in sequence, and two adjacent sub-lifting columns can slide relatively in the vertical direction, so that the lifting column 102 can realize a lifting function. After the lifting column 102 is extended, the adjacent sub-lifting columns are locked, so that the adjacent sub-lifting columns can be prevented from sliding relatively, and the cross-sectional area of the extended sub-lifting columns is gradually increased from bottom to top, so that the lifting column 102 is in a wide-top and narrow-bottom state after being extended. Because the top of the lifting column 102 with a wide top and a narrow bottom is heavy, if the lifting column 102 is fixed to the frame 1 only by the bottom end of the lifting column 102 with a wide top and a narrow bottom, the lifting column 102 is more prone to deflection, and in severe cases, the fixing position of the lifting column 102 and the frame 1 is cracked, so that the lifting column 102 falls down. Other positions of the upper narrow and lower wide lifting column 102 are clamped by the clamping device 3, so that the upper wide and lower narrow lifting column 102 and the frame 1 are fixed at multiple points, stable support can be provided for the polishing assembly 101, the lifting column 102 and the frame 1 can be fixed more stably, and the polishing assembly 101 works more stably. In addition, the clamping device 3 needs to apply an acting force to the lifting column 102 after the lifting column 102 is extended to a predetermined height, so as to prevent the clamping device 3 from clamping the upper sub-lifting column before the lifting column 102 is extended, which may cause the lifting column 102 to be unable to be extended.

Preferably, referring to fig. 2 and 3, the clamping device 3 comprises a clamping head 33 and a fastening drive assembly 31. The two chucks 33 are provided, and the two chucks 33 are provided on the same horizontal plane and are respectively provided on both sides of the lifting column 102. The tightening drive assembly 31 is used to drive the two jaws 33 toward or away from each other. When the fastening driving assembly 31 drives the two clamping heads 33 to move towards each other, the two clamping heads 33 clamp the lifting column 102; the two collets 323 release the lifting column 102 when the tightening drive assembly 31 drives the two jaws 33 back toward each other. Specifically, the fastening driving assembly 31 in this embodiment may be two cylinders, each cylinder corresponds to one chuck 33, a body of each cylinder is fixed to the frame 1, an output end of each cylinder is connected to the chuck 33, and the two chucks 33 can be close to or away from each other by driving the two cylinders respectively. In other embodiments, the fastening driving assembly 31 may also be a bidirectional cylinder, a body of the bidirectional cylinder is disposed on the frame 1, one output end of the bidirectional cylinder is connected with one chuck 33, the other output end of the bidirectional cylinder is connected with the other chuck 33, synchronous movement of the two chucks is realized through the operation of the bidirectional cylinder, and the clamping and releasing actions are more accurate.

Preferably, the clamping device 3 further comprises a first guide assembly 32, and the first guide assembly 32 is used for moving the clamping head 33 in a horizontal direction relative to the frame 1, so that the moving direction of the clamping head 33 can be controlled. Specifically, the first guiding assembly 32 includes a sliding rail and a sliding block, the sliding rail and the sliding block both extend along the horizontal direction, the sliding rail is fixed on the electric cabinet support 12, the clamping head 33 is fixed on the sliding block, and the fastening driving assembly 31 drives the clamping head 33 to slide along the sliding rail.

Preferably, the clamping device 3 is disposed at the upper portion of the electrical component support bracket 12, so that the clamping device 3 can be fastened to the portion of the lifting column 102 away from the ground as much as possible, so that the lifting column 102 can obtain a more effective fastening effect. Of course, the holding device 3 may alternatively be disposed at any position on or near the top surface of the electric control member support bracket 12.

Preferably, referring to fig. 1 and 4, the electric control device 2 includes an electric cabinet 21, an exhaust fan 22 and a human-machine interface 23. The electric control box 21 is arranged in the electric control part supporting frame 12, and the position of the electric control part supporting frame 12 for installing the electric control box 21 is arranged in a sealed box body form, so that the electric control part supporting frame 12 can well protect the electric control box 21; the exhaust fan 22 is arranged on the side of the electric control part support frame 12 and used for reducing the temperature in the electric control part support frame 12 and preventing the electric control box 21 from being overhigh in temperature; the human-machine interface 23 is used to set instructions to the ceiling sanding robot.

Preferably, referring to fig. 2 and 5, the ceiling polishing robot further includes an obstacle avoidance device 6, and the obstacle avoidance device 6 is configured to identify obstacle information around the vehicle frame 1 and transmit the obstacle information to the electric cabinet 21, so that the vehicle frame 1 can walk around the obstacle. Specifically, the obstacle avoidance device 6 includes a laser radar 61 and a sonic sensor 62, and both the laser radar 61 and the sonic sensor 62 are disposed on the chassis 11. After the laser emitted by the laser radar 61 and the sound wave emitted by the sound wave sensor 62 touch surrounding obstacles, the specific positions of the obstacles can be fed back, and reasonable data is provided for path planning and obstacle avoidance. The laser measurement range is large, the sound wave measurement range is small, no dead angle supplement can be formed by combining the laser measurement range and the sound wave measurement range, and the cost of the obstacle avoidance device 6 is cheaper due to the combination of the laser and the sound wave.

Preferably, the laser radar 61 and the sound wave sensor 62 are arranged on the peripheral side of the chassis 11 and distributed at intervals along the peripheral direction of the chassis 11, so that the measurement areas of the sound wave sensor 62 and the laser radar 61 are larger, and balanced and reasonable detection of the obstacle is realized.

Preferably, the ceiling polishing robot further comprises a laser anti-falling device 7, the laser anti-falling device 7 is arranged on the chassis 11, and the laser anti-falling device 7 is used for identifying the height condition of the ground around the frame 1 and transmitting the condition information to the electric cabinet 21. If a cave or a landslide appears on the ground, the laser emitted by the laser anti-falling device 7 can feed back the position information of the cave or the landslide to the electric cabinet 21, and the electric cabinet 21 sends out an instruction to enable the frame 1 to avoid the cave or the landslide to walk, so that the ceiling polishing robot is prevented from falling.

Preferably, the ceiling sanding robot further includes a navigator and an alarm lamp provided on the vehicle frame 1. The navigator plays a role in navigating the autonomous movement of the vehicle frame 1. The alarm lamp color can be divided into green, yellow and red, the green demonstration shows for normal operation, and the red demonstration shows for the ceiling polishing robot mechanical or electrical fault appears and needs the maintenance, when operating personnel maintained the ceiling polishing robot, the alarm lamp shows for yellow. The current state of the ceiling polishing robot is informed to an operator through the color of the alarm lamp.

Preferably, referring to fig. 1 and 5, the ceiling polishing robot further includes a dust box 9, the dust box 9 is disposed on the chassis 11 and located at one side of the electric control device 2, and the dust box 9 is used for containing dust generated when the ceiling polishing robot polishes the ceiling.

Preferably, referring to fig. 2 and 6, a battery installation station 14 is disposed on the frame 1, the battery installation station 14 includes two side plates 15 disposed opposite to each other and a bottom plate 16 disposed between the two side plates 15, and the two side plates 15 and the bottom plate 16 together form an installation space for accommodating the battery 81. The battery installation station 14 also includes a battery quick-change device that includes a roller assembly 82 and a locking assembly 83.

A roller assembly 82 is provided on the inner walls of the two side plates and the top surface of the plates, the roller assembly 82 serving to allow the battery 81 to enter the installation space in the a direction (the extending direction of the side plate 15 and the bottom plate 16) so that the battery 81 can be more easily placed into or taken out of the installation space. It should be noted that in other embodiments, the roller assembly 82 may be mounted on only one side panel 15 or only the bottom panel 16, and quick removal and installation of the battery 81 may also be achieved.

The lock assembly 83 is provided at the entrance 17 of the installation space, and the lock assembly 83 is switchable between a locked state of shielding the entrance 17 and an unlocked state of exposing the entrance 17 by manual operation of an operator. Specifically, when the locking component 83 is in a locked state, the locking component 83 can shield the entrance 17, and at this time, the locking component 83 can limit the battery 81 located in the installation space to be separated from the installation space, so that the battery 81 can be well locked in the installation space; when the locking assembly 83 is in the unlocked state, the locking assembly 83 is moved away from the entrance 17 so that the entrance 17 is exposed, and the battery 81 can enter or leave the installation space through the entrance 17, thereby facilitating the disassembly and assembly of the battery 81 relative to the battery installation station. It should be noted that the blocking of the entrance 17 by the locking assembly 83 includes both full blocking and partial blocking as long as the battery 81 is prevented from slipping out of the installation space.

Specifically, the locking assembly 83 includes a latch and a torsion spring, the latch is disposed on the two oppositely disposed side plates 15 through the torsion spring, and the latch can be shielded at the entrance 17 by the restoring force of the torsion spring, and meanwhile, the latch can be opened, so that the battery 81 can be conveniently taken and placed.

Specifically, the roller assembly 82 includes a plurality of rollers, when the battery 81 needs to be placed into or taken out of the installation space, the locking assembly 83 is manually opened, the battery 81 is directly placed into or taken out of the installation space, during the process of placing and taking the battery 81, rolling connection is generated between the plurality of rollers and the battery 84, friction between the battery 81 and the side plate 15 and the bottom plate 16 is reduced by adopting a roller rolling mode, so that the battery 81 is more easily placed and taken out, and quick detachment and installation of the battery 81 are realized.

Preferably, referring to fig. 2 and 7, the ceiling sanding robot further includes a vibration damping device 4, and the vibration damping device 4 can provide an elastic supporting force for the chassis 11 to achieve a vibration damping effect on the ceiling sanding robot.

The damping device 4 comprises a damping spring 44 and a second guiding assembly. One end of the damping spring 44 is abutted against the chassis 11, and the other end is abutted against the running component 13; the second guide assembly comprises a guide post 43 and a guide hole, wherein the guide post 43 and the guide hole can slide relatively along the vertical direction, the guide post 43 is arranged on the traveling assembly 13, and the guide hole is arranged on the chassis 11. The damping spring 44 is sleeved on the guide post 43, the guide post 43 guides the damping spring 44, one end of the guide post 43 penetrates through the guide hole, and the guide hole guides the guide post 43. When the frame 1 vibrates due to uneven ground in the moving process, the chassis 11 downwards presses the damping spring 44, the damping spring 44 contracts and continuously provides supporting force for the chassis 11, and the buffering effect on the frame 1 is achieved. Of course, in other embodiments, the guide posts 43 may be provided on the chassis 11, and correspondingly the guide holes may be provided on the travel assembly 13.

Specifically, the vibration damping device 4 further includes an upper support 41, a lower support 42, a stopper 45, and a guide sleeve 46. The upper support 41 is arranged on the chassis 11; the guide posts 43 are arranged in four spaced and parallel arrangement to obtain a stable guiding effect, the bottom of the guide posts 43 is connected with the lower supporting member 42, and the upper part of the guide posts passes through the upper supporting member 41; the lower support 42 is connected with the running assembly 13; the limiting member 45 is disposed on the portion of the guide post 43 extending from the upper support 41 to prevent the guide post 43 from sliding out of the upper support 41; the damping spring 44 is sleeved on the guide post 43 and is arranged between the upper support 41 and the lower support 42; the guide sleeve 46 is sleeved on the guide post 43 and connected with the upper support 41, and the guide sleeve 46 plays a role in guiding the guide post 43.

Specifically, in the present embodiment, the traveling assembly 13 includes a steering wheel capable of providing a driving force in a horizontal direction and a moving direction for the chassis 11, and a driven wheel for supporting the chassis 11 to roll. To achieve a large range of movement of the frame 1, the driven wheels may be universal wheels.

Preferably, referring to fig. 2 and 8, the ceiling polishing robot further includes four top supporting devices 5, the four top supporting devices 5 are all disposed at the bottom of the chassis 11, and the output end of the top supporting device 5 can move in the vertical direction relative to the chassis 11 to abut against the ground. When frame 1 moved to predetermineeing the position, lift post 102 extended to predetermineeing the height for the ceiling is hugged closely to the dish of polishing of subassembly 101, and shoring device 5 butt is subaerial, makes frame 1 be difficult for taking place to remove, improves frame 1's stability. After the ceiling polishing robot finishes the construction, the shoring device 5 is moved away from the ground, so that the vehicle frame 1 can move smoothly.

Specifically, the jack device 5 includes a jack cylinder 51, a jack connecting rod 52, and a jack foot cup 53. The top bracing electric cylinder 51 is arranged on the chassis 11, the top bracing foot cup 53 is connected with the bottom of the top bracing connecting rod 52, and the top bracing electric cylinder 51 is used for driving the top bracing connecting rod 52 to move along the vertical direction, so that the top bracing foot cup 53 can be abutted to the ground or moved away from the ground. The area of the bottom surface of the top bracing foot cup 53 is large, so that the top bracing foot cup 53 can be supported with a large area on the ground, and the top bracing device 5 has a good supporting effect on the frame 1.

The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.

Claims (12)

1. A ceiling polishing robot, includes frame (1) and lift post (102), the bottom mounting of lift post (102) is in on frame (1), its characterized in that still includes:

the clamping device (3) is arranged on the frame (1) and has a distance with the bottom end of the lifting column (102) along the vertical direction, and the clamping device (3) is configured to clamp the lifting column (102) along the horizontal direction.

2. A ceiling sanding robot according to claim 1, characterized in that the clamping device (3) comprises:

two chucks (33) respectively arranged on two sides of the lifting column (102);

the fastening driving component (31), the fastening driving component (31) can drive the two chucks (33) to move towards or away from each other.

3. A ceiling sanding robot according to claim 2, characterized in that the clamping device (3) further comprises:

a first guide assembly (32) configured to move the collet (33) relative to the frame (1) in the horizontal direction.

4. A ceiling grinding robot according to claim 1, characterized in that the lifting column (102) comprises a plurality of successively nested sub-lifting columns, adjacent two of which are relatively slidable in a vertical direction, and the cross-sectional area of the lifting column (102) is gradually increased from bottom to top when the lifting column (102) is in an extended state.

5. A ceiling sanding robot according to claim 1, characterized in that the clamping device (3) is located in the upper part of the frame (1).

6. A ceiling grinding robot according to claim 1, characterized in that a battery mounting station (14) is arranged on the frame, the battery mounting station (14) comprises two oppositely arranged side plates (15) and a bottom plate (16) arranged between the two side plates (15), the two side plates (15) and the bottom plate (16) together form a mounting space for accommodating a battery (81), the ceiling grinding robot further comprises a battery quick-change device (8), and the battery quick-change device (8) comprises:

a roller assembly (82) provided on an inner wall of the side plate (15) and/or a top surface of the bottom plate (16), the roller assembly (82) being configured to allow a battery (81) to enter the installation space in an extending direction of the installation space.

7. A ceiling sanding robot according to claim 6, characterized in that the battery quick-change device (8) further comprises:

a locking assembly (83) provided at an entrance (17) of the installation space, the locking assembly (83) being switchable between a locked state in which the entrance (17) is shielded and an unlocked state in which the entrance (17) is exposed.

8. A ceiling sanding robot according to claim 4, characterized in that the frame (1) comprises a chassis (11) and a driving assembly (13) below the chassis (11), the driving assembly (13) being capable of driving the chassis (11) in motion, a vibration damping device (4) being arranged between the chassis (11) and the driving assembly (13), the vibration damping device (4) being configured to elastically support the chassis (11).

9. A ceiling sanding robot according to claim 8, characterized in that the vibration damping device (4) comprises:

a damping spring (44) having one end abutting against the chassis (11) and the other end abutting against the travel assembly (13); and

and the second guide assembly comprises a guide post (43) and a guide hole which can slide relatively in the vertical direction, one of the guide post (43) and the guide hole is arranged on the chassis (11), and the other guide post is arranged on the running assembly (13).

10. A ceiling sanding robot as defined in claim 8, further comprising:

the top supporting mechanism (5) is arranged at the bottom of the chassis (11), and the output end of the top supporting mechanism (5) can move along the vertical direction relative to the chassis (11) so as to be abutted against the ground.

11. The ceiling polishing robot according to claim 1, further comprising an obstacle avoidance device (6), wherein the obstacle avoidance device (6) is configured to be able to identify obstacle information around the vehicle frame (1), and the obstacle avoidance device (6) includes a laser radar (61) and an acoustic wave sensor (62), and the laser radar (61) and the acoustic wave sensor (62) are disposed on a circumferential side of the vehicle frame (1) and are distributed at intervals in the circumferential direction of the vehicle frame (1).

12. A ceiling sanding robot as defined in claim 1, further comprising:

the laser anti-falling device (7) is arranged on the frame (1), and the laser anti-falling device (7) is configured to be capable of identifying the height condition of the ground around the frame (1) and enabling the frame (1) to avoid pits or landslides on the ground.

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