CN215670872U

CN215670872U - Ground floating robot

Info

Publication number: CN215670872U
Application number: CN202121599994.5U
Authority: CN
Inventors: 冯文龙; 王堃; 李思桥; 项林佳; 宗晓
Original assignee: Suzhou Fangshi Technology Co ltd
Current assignee: Suzhou Fangshi Technology Co ltd
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2022-01-28
Anticipated expiration: 2031-07-14

Abstract

The utility model provides a ground floating robot. The ground floating robot comprises a vehicle body, a floating mechanism and a height driving mechanism. The height driving mechanism is arranged between the vehicle body and the floating mechanism and used for driving the floating mechanism to change the height. The height driving mechanism comprises a lifting state and a putting down state, and in the lifting state, the height driving mechanism drives the floating mechanism to be separated from the ground by a certain height; and in a laid-down state, the height driving mechanism drives the floating mechanism to be attached to the ground. When the ground floating robot finishes ground operation and needs to be transported to travel, the height driving mechanism is operated to a lifting state, so that the height driving mechanism drives the floating mechanism to be separated from the ground by a certain height, the floating mechanism is not easily interfered with the ground, and the normal traveling motion of the ground floating robot is ensured.

Description

Ground floating robot

Technical Field

The utility model relates to the technical field of construction robots, in particular to a ground floating robot.

Background

At present, in the field of engineering construction, in order to solve the problems of high labor cost and unstable labor construction quality, an automatic robot capable of replacing manpower for construction is released on the market. Among them, various types of floor-smoothing robots have been produced in concrete floor construction.

The ground floating robot mainly comprises two parts: the floating mechanism is installed on the vehicle body, and the vehicle body drives the floating mechanism to move on the concrete ground. In order to make the movement of the floor-levelling robot more stable, a wheeled vehicle body or a crawler-type vehicle body is used.

If the ground floating robot needs to move outside the floating working condition, the floating mechanism of the existing ground floating robot is easily interfered with the ground, and the moving motion of the ground floating robot is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a ground floating robot, which aims to solve the technical problem that the ground floating robot in the prior art is not suitable for moving outside a floating working condition.

In order to achieve the above object, the present invention provides a ground-leveling robot, including a vehicle body and a leveling mechanism, wherein the leveling mechanism is height-adjustably mounted on the vehicle body, the ground-leveling robot further includes a height driving mechanism, the height driving mechanism is mounted between the vehicle body and the leveling mechanism and is used for driving the height of the leveling mechanism to change, the height driving mechanism includes a lifting state and a laying-down state, and in the lifting state, the height driving mechanism drives the leveling mechanism to be separated from the ground by a certain height; and in a laid-down state, the height driving mechanism drives the floating mechanism to be attached to the ground.

In one embodiment, the ground floating robot further comprises a connecting frame, the floating mechanism is mounted on the vehicle body in a height-adjustable mode through the connecting frame, the height driving mechanism is in driving connection with the connecting frame, and the height driving mechanism drives the connecting frame to drive the floating mechanism to change in height.

In one embodiment, the connecting frame is provided with a sliding chute, the output end of the height driving mechanism is movably arranged in the sliding chute, and in a lifting state, the output end of the height driving mechanism is abutted against the top end of the sliding chute; in a laying-down state, the output end of the height driving mechanism is positioned between the top end of the sliding groove and the bottom end of the sliding groove, and the floating mechanism is not subjected to the acting force of the output end of the height driving mechanism in the height direction.

In one embodiment, the height driving mechanism further comprises a pressing state, the trowelling mechanism is attached to the ground in the pressing state, and the output end of the height driving mechanism is abutted against the bottom end of the sliding groove and used for exerting pressure on the trowelling mechanism.

In one embodiment, a pressure sensor is installed at the bottom end of the sliding chute, the ground leveling robot further comprises a controller, the controller is electrically connected with the pressure sensor and the height driving mechanism, and the controller controls the height driving mechanism to apply pressure to the leveling mechanism according to a pressure value fed back by the pressure sensor.

In one embodiment, the troweling mechanism is adjustably hinged to the vehicle body by a link pitch angle.

In one embodiment, the output end of the height drive mechanism is slidably hinged within the chute.

In one embodiment, the height drive mechanism comprises a drive member which drives the telescopic rod member to extend or retract, and a telescopic rod member which is hingedly mounted to the vehicle body, the free end of the telescopic rod member being slidably hinged within the chute.

In one embodiment, the height drive mechanism is an electric cylinder, an air cylinder, a hydraulic cylinder, or an electric push rod.

In one embodiment, the vehicle body is a tracked vehicle body or a wheeled vehicle body.

By applying the technical scheme of the utility model, when the ground floating robot carries out floating operation on the ground, the height driving mechanism is operated to the put-down state, so that the height driving mechanism drives the floating mechanism to be attached to the ground, thereby carrying out construction operation; when the ground floating robot finishes ground operation and needs to be transported to travel, the height driving mechanism is operated to a lifting state, so that the height driving mechanism drives the floating mechanism to be separated from the ground by a certain height, the floating mechanism is not easily interfered with the ground, and the normal traveling motion of the ground floating robot is ensured. The ground floating robot is not only suitable for the advancing movement during ground floating operation, but also suitable for the advancing movement outside the working condition operation.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the utility model, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the utility model and together with the description serve to explain the utility model and not to limit the utility model. In the drawings:

fig. 1 is a front view schematically illustrating a structure of a floating mechanism of a floor floating robot according to an embodiment of the present invention;

FIG. 2 is a front view of a schematic structural view of an embodiment of the troweling mechanism of the floor-troweling robot of FIG. 1 disengaged from the floor;

fig. 3 shows a perspective view of the connecting frame of the floor-levelling robot of fig. 1 at a chute.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the utility model herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Fig. 1 and 2 show an embodiment of the floor-levelling robot of the utility model, comprising a vehicle body 10, a levelling mechanism 20 and a height drive mechanism 30. Wherein the troweling mechanism 20 is height-adjustably mounted on the vehicle body 10, and the height driving mechanism 30 is mounted between the vehicle body 10 and the troweling mechanism 20 for driving the height change of the troweling mechanism 20. The height driving mechanism 30 comprises a lifting state and a putting down state, and in the lifting state, the height driving mechanism 30 drives the floating mechanism 20 to be separated from the ground by a certain height h; in the lowered state, the height driving mechanism 30 drives the trowelling mechanism 20 to be attached to the ground.

By applying the technical scheme of the utility model, when the ground floating robot carries out floating operation on the ground, the height driving mechanism 30 is operated to a put-down state to drive the floating mechanism 20 to be attached to the ground so as to carry out construction operation; when the ground floating robot needs to be transported and moved when the ground floating robot finishes ground operation, the height driving mechanism 30 is operated to be in a lifting state, and the height driving mechanism drives the floating mechanism 20 to be separated from the ground by a certain height h, so that the floating mechanism 20 is not easy to interfere with the ground, and the normal moving motion of the ground floating robot is ensured. The ground floating robot is not only suitable for the advancing movement during ground floating operation, but also suitable for the advancing movement outside the working condition operation.

As shown in fig. 1 and fig. 2, in the technical solution of the present embodiment, preferably, the floor leveling robot further includes a connecting frame 40, the leveling mechanism 20 is height-adjustably mounted on the vehicle body 10 through the connecting frame 40, the height driving mechanism 30 is in driving connection with the connecting frame 40, and the height driving mechanism 30 drives the connecting frame 40 to drive the leveling mechanism 20 to change the height. In use, the height driving mechanism 30 drives the connecting frame 40 to change the height, so as to drive the floating mechanism 20 to move through the connecting frame 40. As another alternative, the connecting frame 40 may be omitted, and the height driving mechanism 30 may directly drive the height change of the connecting frame 40.

As a more preferable embodiment, as shown in fig. 2 and 3, the connecting frame 40 is provided with a slide groove 41, and the output end of the height driving mechanism 30 is movably installed in the slide groove 41. In the lifted state, the output end of the height driving mechanism 30 abuts against the top end of the sliding groove 41, and the output end of the height driving mechanism 30 exerts an upward force on the top end of the sliding groove 41, so that the sliding groove 41 drives the connecting frame 40 to move upward, and the trowelling mechanism 20 is driven to be separated from the ground by a certain height h. In the lowered state, the output end of the height driving mechanism 30 is located between the top end of the sliding chute 41 and the bottom end of the sliding chute 41, and the trowelling mechanism 20 is not subjected to the acting force of the output end of the height driving mechanism 30 in the height direction, which is equivalent to the trowelling mechanism 20 operating on the concrete ground only under the condition of self gravity or the component force of the gravity of the connecting frame 40. In the operation process of the floating mechanism 20, the floating mechanism 20 is not limited by the height driving mechanism 30 in the height direction, can float up and down and always tightly attach to the concrete ground under the action of gravity, the flexibility of the floating mechanism 20 attached to the concrete ground is higher, and scratching on certain height fluctuation positions of the concrete ground can not be caused. During the up-and-down floating of the troweling mechanism 20, the output end of the height driving mechanism 30 moves between the top end of the chute 41 and the bottom end of the chute 41.

In the present embodiment, the troweling mechanism 20 is a rotating disc troweling mechanism. With the above embodiment, the height driving mechanism 30 is not limited to the degree of freedom of the floating mechanism 20 in the height direction, so that the floating mechanism 20 can float up and down, and the use requirement of the floating mechanism 20 in concrete ground work can be met.

As an alternative embodiment not shown in the drawings, the height driving mechanism 30 further includes a pressing state in which the troweling mechanism 20 is attached to the ground, and the output end of the height driving mechanism 30 abuts against the bottom end of the chute 41 for applying pressure to the troweling mechanism 20. In this embodiment, the output end of the height driving mechanism 30 can apply pressure to the trowelling mechanism 20 to increase the trowelling force of the trowelling mechanism 20 on the concrete floor. In this embodiment, troweling mechanism 20 cannot float upward, but may be adapted to different needs for concrete floor treatment.

Based on the above embodiment, it is more preferable that a pressure sensor is installed at the bottom end of the chute 41, the floor-leveling robot further includes a controller, the controller is electrically connected to the pressure sensor and the height driving mechanism 30, and the controller controls the height driving mechanism 30 to apply pressure to the leveling mechanism 20 according to a pressure value fed back by the pressure sensor. In the technical scheme of this strength, the pressure value of pressure sensor feedback can control the concrete pressure of applying to floating mechanism 20 to the ground construction demand of difference, the pressure value of the pertinence selection adaptation, accurate control is to the pressure that ground was applyed, further improves the construction effect.

As an alternative embodiment, as shown in fig. 1 and 2, the troweling mechanism 20 is pitch-angle-adjustably hinged to the vehicle body 10 by a link 40. In use, the elevation driving mechanism 30 changes the pitch angle of the connecting frame 40, thereby changing the elevation of the trowelling mechanism 20.

In the solution of the present embodiment, the output end of the height driving mechanism 30 is slidably hinged in the sliding slot 41. Therefore, the height adjusting mechanism can be matched with the top end of the sliding chute 41 or the bottom end of the sliding chute 41 and can move in the sliding chute 41, and the output end of the height driving mechanism 30 is also suitable for the structure of the connecting frame 40 for adjusting the height of the floating mechanism 20 in a pitching mode.

As shown in fig. 3, in the solution of the present embodiment, two opposite sliding grooves 41 are formed on the connecting frame 40, and the output end of the height driving mechanism 30 is slidably connected in the two opposite sliding grooves 41 through a pivot, so that the height driving mechanism 30 and the connecting frame 40 move in a matching manner more stably. More preferably, to prevent the pivot shaft from falling off the slide groove 41, retaining members are further provided at both ends of the pivot shaft.

In the solution of the present embodiment, the sliding groove 41 is a long hole. As another alternative embodiment, the sliding groove 41 may be a circular hole.

As shown in fig. 3, in the solution of the present embodiment, the height driving mechanism 30 includes a driving member 31 and a telescopic rod member 32, the driving member 31 drives the telescopic rod member 32 to extend or retract, the driving member 31 is hinged on the vehicle body 10, and the free end of the telescopic rod member 32 is slidably hinged in the sliding slot 41. In the present embodiment, the vehicle body 10, the connecting frame 40 and the height driving mechanism 30 form a triangular mechanism with a changeable side length, and the driving member 31 drives the telescopic rod member 32 to extend or retract so as to change the pitch angle of the connecting frame 40. When the driving member 31 drives the telescopic rod member 32 to extend, the telescopic rod member is pushed to the extreme position of the top end of the sliding chute 41 in the sliding chute 41, so as to jack up the whole troweling mechanism 20.

In the solution of the present embodiment, the height driving mechanism 30 selects an electric push rod. As other alternative embodiments, the height driving mechanism 30 may alternatively be an electric cylinder, an air cylinder, or a hydraulic cylinder.

As other alternative embodiments not shown in the drawings, instead of the above-mentioned structure of the articulated swing type link 40, a structure of the link 40 of a direct lifting type may be used, in which a chain type lifting mechanism or the above-mentioned cylinder, air cylinder, hydraulic cylinder or electric push rod may be used to drive the height change of the troweling mechanism 20.

In the aspect of the present invention, the form of the vehicle body 10 is exemplified by a crawler type vehicle body. The crawler-type vehicle body 10 reduces the pressure on the ground, lightens the trace of the trolley during walking, reduces the damage degree to the front leveling process, and ensures the leveling effect of the leveling mechanism 20. Optionally, in the technical scheme of this embodiment, the track is the special track of the low line of customization, under the prerequisite of guaranteeing sufficient intensity, the low line track can provide sufficient land fertility of grabbing, also can the maximize lighten the trace that rolls of concrete construction face to guarantee the construction effect of floating. Simultaneously, in the technical scheme of this embodiment, the crawler-type automobile body still has about the track differential steering ability, and it is more efficient convenient to finely tune the direction when making the walking.

As other alternative embodiments, the vehicle body 10 may also be a wheeled vehicle body, and the wheeled vehicle body may be a two-wheeled vehicle body or a four-wheeled vehicle body.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A floor-levelling robot comprising a vehicle body (10) and a levelling means (20), characterized in that the levelling means (20) is height-adjustably mounted on the vehicle body (10), the floor-levelling robot further comprising a height-driving mechanism (30), the height-driving mechanism (30) being mounted between the vehicle body (10) and the levelling means (20) for driving a height change of the levelling means (20), the height-driving mechanism (30) comprising a raised state in which the height-driving mechanism (30) drives the levelling means (20) to disengage from the ground by a certain height; and in the laid-down state, the height driving mechanism (30) drives the floating mechanism (20) to be attached to the ground.

2. The floor-levelling robot according to claim 1, characterized in that it further comprises a connecting frame (40), the levelling mechanism (20) is mounted on the vehicle body (10) in a height-adjustable manner by means of the connecting frame (40), the height driving mechanism (30) is in driving connection with the connecting frame (40), and the height driving mechanism (30) drives the connecting frame (40) to drive the levelling mechanism (20) to change its height.

3. A floor-levelling robot according to claim 2, in which the connecting frame (40) is provided with a slide slot (41), the output end of the height driving mechanism (30) is movably mounted in the slide slot (41), and in the lifted state, the output end of the height driving mechanism (30) abuts against the top end of the slide slot (41); in the laid-down state, the output end of the height driving mechanism (30) is located between the top end of the sliding groove (41) and the bottom end of the sliding groove (41), and the floating mechanism (20) is free from acting force of the output end of the height driving mechanism (30) in the height direction.

4. A floor-levelling robot according to claim 3, in which the height-driving mechanism (30) further comprises a depressed state in which the levelling mechanism (20) is in abutment with the floor, the output of the height-driving mechanism (30) being in abutment with the bottom end of the chute (41) for applying pressure to the levelling mechanism (20).

5. The robot for floor screeding according to claim 4, wherein a pressure sensor is installed at the bottom end of the chute (41), the robot further comprises a controller electrically connected with the pressure sensor and the height driving mechanism (30), and the controller controls the height driving mechanism (30) to apply pressure to the screeding mechanism (20) according to a pressure value fed back by the pressure sensor.

6. A floor-levelling robot according to claim 3, in which the levelling means (20) is adjustably articulated on the vehicle body (10) by the link (40) pitch angle.

7. A floor-levelling robot according to claim 6, in which the output of the height driving mechanism (30) is slidingly articulated within the chute (41).

8. A floor-levelling robot according to claim 7, in which the height-driving mechanism (30) comprises a driving member (31) and a telescopic rod member (32), the driving member (31) driving the telescopic rod member (32) to extend or retract, the driving member (31) being hingedly mounted on the vehicle body (10), the free end of the telescopic rod member (32) being slidingly hinged within the chute (41).

9. A floor-levelling robot according to claim 8, in which the height-driving mechanism (30) is an electric cylinder, a pneumatic cylinder, a hydraulic cylinder or an electric push rod.

10. A floor-levelling robot according to claim 1, in which the vehicle body (10) is a tracked vehicle body (10) or a wheeled vehicle body (10).