Floor leveling robot

Abstract

The present invention provides a floor smoothing robot. The floor smoothing robot includes a vehicle body, a smoothing mechanism and a height driving mechanism. The smoothing mechanism is mounted on the vehicle body in an adjustable height, and the height driving mechanism is mounted between the vehicle body and the smoothing mechanism to drive the height change of the smoothing mechanism. The height driving mechanism includes a lifting state and a lowering state. In the lifting state, the height driving mechanism drives the smoothing mechanism to a certain height off the ground; in the lowering state, the height driving mechanism drives the smoothing mechanism to fit into the ground. When the floor smoothing robot needs to move after completing ground operations, the height driving mechanism is operated to the lifting state to drive the smoothing mechanism to a certain height off the ground. This makes it less likely for the smoothing mechanism to interfere with the ground, thereby ensuring the normal movement of the floor smoothing robot.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and in particular to a ground smoothing robot. Background Art

[0002] Currently, in the construction industry, to address the high labor costs and inconsistent quality of manual labor, automated robots are being introduced to the market that can replace manual labor. Specifically, various types of floor-smoothing robots have emerged for concrete floor construction.

[0003] The floor-smoothing robot mainly consists of two parts: a body and a screed mechanism. The screed mechanism is mounted on the body, and the body drives the screed mechanism to move on the concrete floor. In order to make the movement of the floor-smoothing robot more stable, a wheeled body or a tracked body is used.

[0004] If the floor-smoothing robot is required to move outside the smoothing working condition, the smoothing mechanism of the existing floor-smoothing robot is likely to interfere with the ground, affecting the movement of the floor-smoothing robot. Summary of the Invention

[0005] The main purpose of the present invention is to provide a floor smoothing robot to solve the technical problem in the prior art that the floor smoothing robot is not suitable for moving outside the smoothing working condition.

[0006] In order to achieve the above-mentioned purpose, a floor smoothing robot is provided according to the present invention, including a vehicle body and a smoothing mechanism, the height of the smoothing mechanism being adjustably mounted on the vehicle body, the floor smoothing robot also including a height driving mechanism, the height driving mechanism being mounted between the vehicle body and the smoothing mechanism, and being used to drive the height change of the smoothing mechanism, the height driving mechanism including a lifting state and a lowering state, in the lifting state, the height driving mechanism drives the smoothing mechanism to leave the ground to a certain height; in the lowering state, the height driving mechanism drives the smoothing mechanism to fit into the ground.

[0007] In one embodiment, the floor smoothing robot further includes a connecting frame, the smoothing mechanism is height-adjustably mounted on the vehicle body via the connecting frame, the height driving mechanism is drivingly connected to the connecting frame, and the height driving mechanism drives the connecting frame to drive the height change of the smoothing mechanism.

[0008] In one embodiment, a slide groove is provided on the connecting frame, and the output end of the height driving mechanism is movably installed in the slide groove. In the raised state, the output end of the height driving mechanism is in contact with the top end of the slide groove; in the lowered state, the output end of the height driving mechanism is located between the top end of the slide groove and the bottom end of the slide groove, and the leveling mechanism is not affected by the output end of the height driving mechanism in the height direction.

[0009] In one embodiment, the height driving mechanism further includes a downward pressing state. In the downward pressing state, the smoothing mechanism is in contact with the ground, and the output end of the height driving mechanism abuts against the bottom end of the slide groove to apply pressure to the smoothing mechanism.

[0010] In one embodiment, a pressure sensor is installed at the bottom end of the slide, and the ground leveling robot also includes a controller, which is electrically connected to the pressure sensor and the height drive mechanism. The controller controls the height drive mechanism to apply pressure to the leveling mechanism according to the pressure value feedback from the pressure sensor.

[0011] In one embodiment, the smoothing mechanism is hinged to the vehicle body via a connecting frame so that the pitch angle can be adjusted.

[0012] In one embodiment, the output end of the height driving mechanism is slidably hinged in the sliding groove.

[0013] In one embodiment, the height driving mechanism includes a driving component and a telescopic rod component. The driving component drives the telescopic rod component to extend or retract. The driving component is hingedly mounted on the vehicle body, and the free end of the telescopic rod component is slidably hinged in the slide groove.

[0014] In one embodiment, the height driving mechanism is an electric cylinder, a pneumatic cylinder, a hydraulic cylinder or an electric push rod.

[0015] In one embodiment, the vehicle body is a tracked vehicle body or a wheeled vehicle body.

[0016] By applying the technical solution of the present invention, when the ground-smoothing robot is performing ground-smoothing operations, the height drive mechanism is operated to the lowered state, so that the height drive mechanism drives the smoothing mechanism to contact the ground for construction operations; when the ground-smoothing robot completes ground operations and needs to move, the height drive mechanism is operated to the raised state, so that the height drive mechanism drives the smoothing mechanism to a certain height away from the ground. This makes it less likely for the smoothing mechanism to interfere with the ground, thereby ensuring the normal movement of the ground-smoothing robot. The ground-smoothing robot of the present invention is not only suitable for movement during ground-smoothing operations, but also for movement outside of working conditions.

[0017] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0019] Figure 1A schematic diagram of the front structure of an embodiment of the floor smoothing robot according to the present invention in which the smoothing mechanism is fitted to the floor;

[0020] Figure 2 Shown Figure 1 A schematic diagram of the main structure of an embodiment of a floor-smoothing robot in which the smoothing mechanism is separated from the ground;

[0021] Figure 3 Shown Figure 1 Schematic diagram of the three-dimensional structure of the slide groove of the connecting frame of the floor leveling robot. DETAILED DESCRIPTION

[0022] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate to facilitate the embodiments of the present invention described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or apparatuses.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] Figure 1 and Figure 2The figure shows an embodiment of a floor-smoothing robot according to the present invention. The robot comprises a body 10, a smoothing mechanism 20, and a height-drive mechanism 30. The smoothing mechanism 20 is mounted on the body 10 in an adjustable manner. The height-drive mechanism 30 is installed between the body 10 and the smoothing mechanism 20 to drive the height of the smoothing mechanism 20. The height-drive mechanism 30 has two states: a raised state, in which the smoothing mechanism 20 is lifted off the ground to a certain height h; and a lowered state, in which the smoothing mechanism 20 is brought into contact with the ground.

[0027] By applying the technical solution of the present invention, when the ground-leveling robot is performing ground-leveling operations, the height drive mechanism 30 is operated to the lowered state, so that it drives the leveling mechanism 20 to contact the ground for construction operations; when the ground-leveling robot completes ground operations and needs to move, the height drive mechanism 30 is operated to the raised state, so that it drives the leveling mechanism 20 to separate from the ground by a certain height h. This makes it less likely that the leveling mechanism 20 will interfere with the ground, thereby ensuring the normal movement of the ground-leveling robot. The ground-leveling robot of the present invention is not only suitable for movement during ground-leveling operations, but also for movement outside of working conditions.

[0028] Figure 1 and Figure 2 As shown, in the technical solution of this embodiment, preferably, the floor smoothing robot further includes a connecting frame 40, through which the smoothing mechanism 20 is height-adjustably mounted on the vehicle body 10, and a height drive mechanism 30 is drivingly connected to the connecting frame 40. The height drive mechanism 30 drives the connecting frame 40 to drive the height change of the smoothing mechanism 20. During use, the height drive mechanism 30 drives the height change of the connecting frame 40, thereby driving the smoothing mechanism 20 to move through the connecting frame 40. As another optional embodiment, the connecting frame 40 can also be omitted, and the height drive mechanism 30 can directly drive the height change of the connecting frame 40.

[0029] As a more preferred embodiment, Figure 2 and Figure 3As shown, the connecting frame 40 is provided with a chute 41, and the output end of the height drive mechanism 30 is movably mounted in the chute 41. In the raised state, the output end of the height drive mechanism 30 abuts the top of the chute 41, exerting an upward force on the top of the chute 41, causing the chute 41 to drive the connecting frame 40 upward, thereby driving the trowel mechanism 20 off the ground to a certain height h. In the lowered state, the output end of the height drive mechanism 30 is located between the top and bottom of the chute 41. The trowel mechanism 20 is not subject to the vertical force exerted by the output end of the height drive mechanism 30. This means that the trowel mechanism 20 operates on the concrete floor solely under its own weight or the external weight component of the connecting frame 40. During operation, the trowel mechanism 20 is not restricted in height by the height drive mechanism 30. It can float up and down, maintaining close contact with the concrete floor under the action of gravity. This provides a more flexible fit between the trowel mechanism 20 and the concrete floor, preventing scratches on the uneven surfaces of the concrete floor. During the process of the smoothing mechanism 20 floating up and down, the output end of the height driving mechanism 30 moves between the top end of the slide groove 41 and the bottom end of the slide groove 41 .

[0030] It should be noted that in the technical solution of this embodiment, the trowel mechanism 20 is a rotary disc trowel mechanism. With the above-mentioned embodiment, the height drive mechanism 30 does not restrict the height freedom of the trowel mechanism 20, allowing the trowel mechanism 20 to float up and down, which better meets the needs of the trowel mechanism 20 for concrete floor work.

[0031] As an optional embodiment (not shown), the height drive mechanism 30 also includes a downward pressure state. In this downward pressure state, the smoothing mechanism 20 is in contact with the ground, and the output end of the height drive mechanism 30 abuts the bottom end of the chute 41, applying pressure to the smoothing mechanism 20. In this embodiment, the output end of the height drive mechanism 30 can apply pressure to the smoothing mechanism 20, increasing the smoothing force applied by the smoothing mechanism 20 to the concrete floor. In this embodiment, the smoothing mechanism 20 cannot float upward, but it can be adapted to different concrete floor treatment needs.

[0032] Based on the above embodiment, more preferably, a pressure sensor is installed at the bottom end of the chute 41, and the floor smoothing robot also includes a controller, which is electrically connected to the pressure sensor and the height drive mechanism 30. The controller controls the height drive mechanism 30 to apply pressure to the smoothing mechanism 20 based on the pressure value fed back by the pressure sensor. In this technical solution, the pressure value fed back by the pressure sensor can control the specific pressure applied to the smoothing mechanism 20, thereby selecting an appropriate pressure value for different floor construction requirements, accurately controlling the pressure applied to the floor, and further improving the construction effect.

[0033] As an optional implementation, Figure 1 and Figure 2 As shown, the trowel mechanism 20 is hinged to the vehicle body 10 via a connecting frame 40 so that the pitch angle can be adjusted. During use, the height driving mechanism 30 drives the pitch angle of the connecting frame 40 to change, thereby driving the height of the trowel mechanism 20 to change.

[0034] In the technical solution of this embodiment, the output end of the height drive mechanism 30 is slidably hinged in the slide groove 41. In this way, it can not only cooperate with the top end or the bottom end of the slide groove 41, but also move within the slide groove 41. In addition, the output end of the height drive mechanism 30 also adapts to the structure of the connecting frame 40 to adjust the height of the screed mechanism 20 in pitch.

[0035] like Figure 3 As shown, in the technical solution of this embodiment, two oppositely disposed slide grooves 41 are formed on the connecting frame 40. The output end of the height drive mechanism 30 is angularly connected to the two oppositely disposed slide grooves 41 via a pivot. In this way, the coordinated movement of the height drive mechanism 30 and the connecting frame 40 is more stable. More preferably, to prevent the pivot from falling off the slide groove 41, anti-drop components are also provided at both ends of the pivot.

[0036] In the technical solution of this embodiment, the above-mentioned chute 41 is a long hole. As another optional implementation, the above-mentioned chute 41 can also be a round hole.

[0037] like Figure 3 As shown, in the technical solution of this embodiment, the height drive mechanism 30 includes a drive component 31 and a telescopic rod component 32. The drive component 31 drives the telescopic rod component 32 to extend or retract. The drive component 31 is hingedly mounted on the vehicle body 10, and the free end of the telescopic rod component 32 is slidably hinged within the chute 41. In the technical solution of this embodiment, the vehicle body 10, the connecting frame 40, and the height drive mechanism 30 form a triangular mechanism with variable side lengths. The drive component 31 drives the telescopic rod component 32 to extend or retract, thereby changing the pitch angle of the connecting frame 40. When the drive component 31 drives the telescopic rod component 32 to extend, it pushes it into the chute 41 to the extreme position at the top end of the chute 41, thereby lifting the entire leveling mechanism 20.

[0038] In the technical solution of this embodiment, the height driving mechanism 30 is an electric push rod. As other optional implementations, the height driving mechanism 30 can also be an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0039] As other optional embodiments not shown in the figures, in addition to adopting the above-mentioned articulated swinging connecting frame 40 structure, a direct lifting connecting frame 40 structure can also be adopted. In this embodiment, a chain lifting mechanism or the above-mentioned cylinder, air cylinder, hydraulic cylinder or electric push rod can be used to drive the height change of the smoothing mechanism 20.

[0040] It should be noted that, in the technical solution of the present invention, the form of the vehicle body 10 is taken as an example of a crawler-type vehicle body. The crawler-type vehicle body 10 reduces the pressure on the ground, reduces the traces left by the trolley when it is walking, reduces the degree of damage to the previous leveling process, and ensures the leveling effect of the leveling mechanism 20. Optionally, in the technical solution of this embodiment, the crawler is a customized special crawler with low texture. Under the premise of ensuring sufficient strength, the low-texture crawler can not only provide sufficient grip, but also maximize the reduction of the rolling marks on the concrete construction surface, thereby ensuring the leveling construction effect. At the same time, in the technical solution of this embodiment, the crawler-type vehicle body also has the ability to turn the left and right tracks differentially, making it more efficient and convenient to fine-tune the direction during walking.

[0041] As another optional embodiment, 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.

[0042] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0043] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0044] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0045] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A floor smoothing robot, comprising a body (10) and a smoothing mechanism (20), characterized in that: The trowel mechanism (20) is mounted on the vehicle body (10) in an adjustable height. The floor trowel robot further comprises a height driving mechanism (30), which is mounted between the vehicle body (10) and the trowel mechanism (20) and is used to drive the height change of the trowel mechanism (20). The height driving mechanism (30) comprises a lifting state and a lowering state. In the lifting state, the height driving mechanism (30) drives the trowel mechanism (20) to be separated from the ground by a certain height. In the lowering state, the height driving mechanism (30) drives the trowel mechanism (20) to be in contact with the ground. The floor trowel robot further comprises a connecting frame (40), through which the trowel mechanism (20) is mounted on the vehicle body (10) in an adjustable height. The height driving mechanism (30) is connected to the connecting frame (40) in a driving manner. The height driving mechanism (30) drives the connecting frame (40) to drive the height change of the trowel mechanism (20). A slide groove (41) is provided on the connecting frame (40), and the output end of the height driving mechanism (30) is movably installed in the slide groove (41). In the lifting state, the output end of the height driving mechanism (30) abuts against the top end of the slide groove (41); in the lowering state, the output end of the height driving mechanism (30) is located between the top end of the slide groove (41) and the bottom end of the slide groove (41), and the smoothing mechanism (20) is not subjected to the force of the output end of the height driving mechanism (30) in the height direction. The height driving mechanism (30) also includes a downward pressing state. In the downward pressing state, the smoothing mechanism (20) is in contact with the ground, and the output end of the height driving mechanism (30) abuts against the bottom end of the slide groove (41) to apply pressure to the smoothing mechanism (20).

2. The floor smoothing robot according to claim 1, characterized in that: A pressure sensor is installed at the bottom end of the chute (41). The floor smoothing robot also includes a controller, which is electrically connected to the pressure sensor and the height driving mechanism (30). The controller controls the height driving mechanism (30) to apply pressure to the smoothing mechanism (20) according to the pressure value fed back by the pressure sensor.

3. The floor smoothing robot according to claim 1, characterized in that: The smoothing mechanism (20) is hinged to the vehicle body (10) via the connecting frame (40) in an adjustable pitch angle.

4. The floor smoothing robot according to claim 3, characterized in that: The output end of the height driving mechanism (30) is slidably hinged in the sliding groove (41).

5. The floor smoothing robot according to claim 4, characterized in that: The height driving mechanism (30) comprises a driving component (31) and a telescopic rod component (32), wherein the driving component (31) drives the telescopic rod component (32) to extend or retract, the driving component (31) is hingedly mounted on the vehicle body (10), and the free end of the telescopic rod component (32) is slidably hinged in the slide groove (41).

6. The floor smoothing robot according to claim 5, characterized in that: The height driving mechanism (30) is an electric cylinder, a pneumatic cylinder, a hydraulic cylinder or an electric push rod.

7. The floor smoothing robot according to claim 1, characterized in that: The vehicle body (10) is a crawler-type vehicle body (10) or a wheeled vehicle body (10).

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