About the author:

Shanghai Key Laboratory of Engineering Structure Safety, Shanghai Research Institute of Building SciencesCo., Ltd., Shanghai 200032, China

Abstract:

Aiming at the problems of low efficiency, high labor intensity, severe dust and noise pollution,and poor quality consistency caused by the long-term reliance on manual operation in the concrete surfacegrinding process for building reinforcement and renovation, this study developed a human-machinecollaborative building grinding robot applicable to practical engineering, and carried out systematicresearch on the overall structural design of the robot, optimization of the grinding actuator, dust control,and coordinated electronic control operation. With a six degree of freedom robotic arm as the main body,the robot has a working radius of 1.798m, covering typical floor components. Through comparative tests,a driving scheme with rigid grinding discs of excellent comprehensive performance and an integratedthree-phase motor was adopted, and a closed-loop dust removal system combining a dust cover with anindustrial vacuum cleaner was designed to achieve dust-free operation. By introducing drag teaching anda graphical teaching pendant interface, construction workers can conveniently plan grinding paths withoutprogramming, lowering the operation threshold. The robot effectively integrates mechanical flexibility,tool reliability, environmental friendliness and operational intuitiveness, providing a solution for theintelligent upgrading of building grinding processes.