Ground operation equipment

Abstract

The present invention relates to a ground operation device, comprising: a frame; an actuator disposed at one end of the frame; a driven wheel disposed at the other end of the frame and having a steering freedom; a steering drive member disposed on the frame; and a traveling wheel rotatably mounted on the frame and located between the driven wheel and the actuator, the traveling wheel being drivingly connected to the steering drive member and capable of being driven to steer. The steering drive member can flexibly drive the traveling wheel to rotate relative to the frame, so as to adjust the longitudinal or transverse movement of the chassis unit, which can well meet the grinding construction requirements of the ground at the corners on one side of walls and columns with different shapes. Moreover, this commutation, combined with the traveling power of the traveling wheel, can well overcome the frictional resistance generated between the grinding disc and the floor surface and the rotational centrifugal force of the grinding itself, reduce the difficulty for construction workers to control the chassis unit, improve the controllability of the ground operation device, and thus contribute to improving the grinding quality of the corner ground.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly to a ground operation device. Background Art

[0002] In the construction industry, a floor grinding machine is a device for grinding or polishing a concrete floor. It is mainly used to remove the surface slurry of the concrete floor after it is completely dry, so as to carry out subsequent floor surface construction operations (such as applying floor paint, etc.). In addition, the floor grinding or polishing function can be achieved by replacing different machine cutter heads. Floor grinding machines are widely used in the floor construction of underground garages and industrial factories, and are an indispensable device in the construction processes of epoxy floor, cured floor, and diamond abrasive floor.

[0003] In order to improve the grinding efficiency, the grinding disc diameter of large grinding machines is usually above 600 mm to achieve rapid grinding of large areas. However, due to the large overall volume and large grinding disc size of large grinding machines, there is a problem that it is impossible to grind the ground areas close to the corners and columns. Therefore, a small grinding machine needs to be used in combination for grinding the corner ground. At present, the structure of small grinding machines on the market is relatively simple, mainly consisting of a driving motor, a grinding disc, and a frame. When operating on the corner ground, the construction workers push the grinding machine for grinding operations. However, affected by the frictional resistance generated between the grinding disc and the ground and the rotational centrifugal force of the grinding disc itself, it will cause the construction workers to consume a lot of effort when pushing, maintaining a straight line, and turning and reversing the small grinding machine, with a large physical labor intensity and a cumbersome construction process. Summary of the Invention

[0004] Based on this, it is necessary to provide a ground operation device, aiming to solve the problems of difficult operation, large labor intensity, and poor controllability in the prior art.

[0005] On the one hand, the present application provides a ground operation device, which includes:

[0006] A frame;

[0007] An actuator, which is arranged at one end of the frame and is used to contact the ground during operation;

[0008] A driven wheel, which is arranged at the other end of the frame and has a steering freedom degree;

[0009] A steering drive member, which is arranged on the frame; and

[0010] A traveling wheel, which is configured to have an active traveling ability, and the traveling wheel is rotationally installed on the frame and is located between the driven wheel and the actuator; and

[0011] A steering drive is provided on the frame, and the travel wheel is drivingly connected to the steering drive and can be driven to steer.

[0012] When the ground handling equipment described above is in operation, each functional component, including the actuator, is mounted separately on the frame. When grinding corners near walls, columns, and other areas, the steering drive maintains its initial position, with the travel wheels providing driving force. The frame moves longitudinally parallel to the walls and columns, and the actuator completes the grinding of the corners in the longitudinal area. When turning at right angles to walls and columns, the steering drive rotates the travel wheels, simultaneously delivering driving force, while the driven wheels provide steering freedom for the frame. This allows the frame to switch from longitudinal to lateral movement, allowing the actuator to complete the grinding of the corners in the lateral area. Compared with the existing technology, since the walking wheels themselves can provide the walking power required for the movement of ground working equipment, that is, realize the automatic movement of ground working equipment, the force required by construction workers to push the ground working equipment to move can be greatly reduced, and the labor intensity of construction workers can be reduced. In addition, the steering drive can flexibly drive the walking wheels to rotate relative to the frame, and the driven wheels can further provide steering freedom, so that the frame can be easily and labor-savingly adjusted to move longitudinally or laterally. The switching between the two different movement directions is quick and smooth, which can well meet the grinding construction needs of the corners of walls and columns of different shapes.

[0013] The technical solution of this application is further described below:

[0014] In one embodiment, the distance between the walking wheel and the actuator is smaller than the distance between the walking wheel and the driven wheel.

[0015] In one embodiment, the steering drive component includes a drive seat and a drive rod that cooperates with the drive seat for telescopic drive. The drive seat is rotatably arranged on the frame, and the end of the drive rod away from the drive seat is rotatably connected to the walking wheel.

[0016] In one embodiment, the walking wheel includes a walking motor, a wheel body and a rotating support. The wheel body is driven and connected to the walking motor, the walking motor is driven and connected to the drive rod, and the walking motor is rotatably mounted on the frame through the rotating support.

[0017] In one embodiment, the frame has a head end and a tail end that are oppositely arranged. When the ground operation device moves longitudinally, the steering drive member remains in a retracted state, and the rotation axis of the walking wheel is perpendicular to the line connecting the head end and the tail end of the frame; when the ground operation device moves laterally, the steering drive member drives the walking wheel to rotate 90°, and the rotation axis of the walking wheel is parallel to the line connecting the head end and the tail end of the frame.

[0018] In one embodiment, the ground operation device further includes front guide wheels, and the front guide wheels are used to be arranged on the left and right sides of the actuator.

[0019] In one embodiment, the ground operation device further includes rear guide wheels, and the rear guide wheels are arranged on the left and right sides of one end of the frame away from the actuator.

[0020] In one embodiment, the ground operation device further includes a first support leg and a second support leg. The first support leg and the second support leg are both movably arranged on the frame and are between the walking wheel and the driven wheel, and the first support leg and the second support leg are respectively on opposite sides of the steering drive member; the first support leg and the second support leg both have a retracted state and an extended state, and can be switched between the retracted state and the extended state.

[0021] In one embodiment, both the first support leg and the second support leg include a support, a leg, a caster, a safety buckle and an elastic member. The support is connected to the frame, the leg is rotatably connected to the support, the caster is installed at the end of the leg away from the support, the safety buckle is arranged on the leg and is rotatably connected to the support, and the elastic member is arranged on the safety buckle and is connected to the frame.

[0022] In one embodiment, the ground operation device further includes:

[0023] A chassis unit, the chassis unit having the frame;

[0024] An electronic control unit, the electronic control unit is arranged on the chassis unit, and the electronic control unit is electrically connected to the chassis unit; the actuator is connected to the electronic control unit and the chassis unit, and the actuator is electrically connected to the electronic control unit; and

[0025] A dust collection unit, the dust collection unit is arranged on the electronic control unit, and the dust collection unit is electrically connected to the electronic control unit. Description of the Drawings

[0026] The accompanying drawings that form a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0028] Figure 1 Structural schematic diagram of the ground operation equipment according to an embodiment of the present invention;

[0029] Figure 2 Structural schematic diagram of the chassis unit in the present invention;

[0030] Figure 3 For Figure 2 Structural schematic diagram after the traveling wheel rotates 90°;

[0031] Figure 4 Structural schematic diagram of the ground operation equipment in the present invention for grinding the ground along the wall;

[0032] Figure 5 Structural schematic diagram of the ground operation equipment in the present invention for grinding the ground along the column;

[0033] Figure 6 Structural schematic diagram of the first support leg in the present invention;

[0034] Figure 7 Structural diagram of the first support leg and the second support leg in the unfolded state in the present invention;

[0035] Figure 8 For Figure 7 Structural schematic diagram from another perspective.

[0036] Explanation of reference numerals:

[0037] 100, chassis unit; 10, frame; 11, head end; 12, tail end; 20, steering drive member; 21, drive seat; 22, drive rod; 30, traveling wheel; 31, traveling motor; 32, wheel body; 40, driven wheel; 50, rear guide wheel; 60, front guide wheel; 70, first support leg; 71, support; 72, leg; 73, caster; 74, safety buckle; 75, elastic member; 80, second support leg; 200, ground operation equipment; 300, electric control unit; 400, actuator; 410, grinding disc; 500, dust suction unit; 600, wall; 700, column. Detailed implementation manners

[0038] In order to make the above objects, features, and advantages of the present invention more apparent and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0039] As Figure 1 shown, a ground operation device 200 according to an embodiment of the present application is used for grinding construction on the concrete floor of buildings such as underground garages and industrial factories to eliminate quality defects such as floating slurry on the floor surface, so as to make the floor obtain better flatness for subsequent construction of processes such as floor paint. For example, the ground operation device 200 can be, but is not limited to, a floor grinding robot.

[0040] Exemplarily, the ground operation device 200 includes: a chassis unit 100, an electric control unit 300, an actuator 400, and a dust suction unit 500. The chassis unit 100 is the bearing base of the entire ground operation device 200. The chassis unit 100 includes a frame 10, and the frame 10 is used to load and fix the electric control unit 300, the actuator 400, and the dust suction unit 500, and at the same time provides the power and steering ability required for the ground operation device 200 to move. The actuator 400 is the direct execution device for grinding the floor. The dust suction unit 500 is used to timely absorb and remove the dust generated when the actuator 400 grinds the floor, ensuring environmental hygiene and personnel health. The electric control unit 300, as the control center of the ground operation device 200, plays a role in regulating the automated collaborative work of the chassis unit 100, the actuator 400, and the dust suction unit 500, and improves the intelligent level of the ground operation device 200.

[0041] Please continue to refer to Figure 1 , specifically, the electric control unit 300 is disposed on the chassis unit 100, and the electric control unit 300 is electrically connected to the chassis unit 100; the actuator 400 is connected to the electric control unit 300 and the chassis unit 100, and the actuator 400 is electrically connected to the electric control unit 300; the dust suction unit 500 is disposed on the electric control unit 300, and the dust suction unit 500 is electrically connected to the electric control unit 300.

[0042] As Figure 2 and Figure 3As shown in the figure, the ground operation device 200 includes: a driven wheel 40, a steering drive 20, and a traveling wheel 30. The actuator 400 is disposed at one end of the frame 10 and is used to contact the ground during operation; the driven wheel 40 is disposed at the other end of the frame 10 and has a steering freedom; the traveling wheel 30 is configured to have an active traveling ability, and the traveling wheel 30 is rotatably mounted on the frame 10 and is located between the driven wheel 40 and the actuator 400. The steering drive 20 is disposed on the frame 10, and the traveling wheel 30 is drivingly connected to the steering drive 20 and can be driven to steer.

[0043] When the ground operation device 200 of the above solution is working, each functional component including the actuator 400 is respectively installed on the frame 10. When grinding the corner ground in areas close to the wall 600, column 700, etc., the steering drive 20 maintains the initial state, the traveling wheel 30 provides the traveling power, the frame 10 moves longitudinally parallel to the wall 600 and the column 700, and the actuator 400 completes the grinding operation of the corner ground in the longitudinal area; when moving to the right-angle turn of the wall 600 and the column 700, the steering drive 20 drives the traveling wheel 30 to rotate, and at the same time the traveling wheel 30 outputs the traveling power, and the driven wheel 40 provides the steering freedom for the frame 10. At this time, the frame 10 can be switched from longitudinal movement to lateral movement, so as to satisfy the actuator 400 to complete the grinding operation of the corner ground in the lateral area.

[0044] Furthermore, since the traveling wheel 30 is disposed between the actuator 400 and the driven wheel 40, when the ground operation device 200 moves laterally as a whole, it can more stably maintain the traveling direction.

[0045] Compared with the prior art, since the traveling wheel 30 itself can provide the traveling power required for the movement of the ground operation device 200, that is, the automatic movement of the ground operation device 200 is realized, the force required for the construction worker to push the ground operation device 200 to move can be greatly reduced, and the labor intensity of the construction worker can be reduced. In addition, the steering drive 20 can flexibly drive the traveling wheel 30 to rotate relative to the frame 10, and the driven wheel 40 can further provide the steering freedom, so that the frame 10 can be conveniently and labor-savingly adjusted to move longitudinally or laterally, and the switching between the two different moving directions is fast and smooth, which can well meet the grinding construction requirements of the corner ground on one side of walls 600 and columns 700 with different shapes.

[0046] In this embodiment, the frame 10 is generally formed into a rectangular frame structure, which has a simple structure, is easy to manufacture, and has high use reliability.

[0047] Please continue to refer to Figure 2, the frame 10 has a head end 11 and a tail end 12 that are relatively arranged. The head end 11 and the tail end 12 are respectively the two ends of the length direction of the frame 10. The steering drive 20 is arranged in the middle or near the middle of the bottom surface of the frame 10. In this embodiment, the actuator 400 is a grinding disc device, and the grinding disc device includes a grinding disc 410. In addition, the head end 11 of the frame 10 is also used to arrange the grinding disc 410. It is easy to understand that the grinding disc 410 is the main component of the actuator 400 and is the direct execution component for grinding the floor. During operation, the grinding disc 410 is driven by the motor to rotate at high speed, and the floor is subjected to rotational grinding processing, thereby improving the flatness of the floor surface.

[0048] The travel wheel 30 is arranged at the head end 11 of the frame 10 and behind the grinding disc 410. The steering drive 20 is arranged between the travel wheel 30 and the driven wheel 40. The distance between the travel wheel 30 and the actuator 400 is smaller than the distance between the travel wheel 30 and the driven wheel 40.

[0049] In this way, when the ground working device 200 needs to turn, the operator pushes the end where the driven wheel 40 is located to turn the robot. This arrangement increases the distance between the running wheels 30 and the driven wheels 40, making it easier for the operator to turn the ground working device 200. Furthermore, more space is reserved between the running wheels 30 and the driven wheels 40 for arranging the steering drive 20, thereby improving the space utilization at the bottom of the frame 10.

[0050] Please continue reading Figure 2 The driven wheel 40 is rotatably arranged at the tail end 12 of the frame 10. The driven wheel 40 and the walking wheel 30 are located at both ends of the frame 10, playing the role of stably supporting the frame 10. At the same time, the driven wheel 40 assists the chassis unit 100 to turn more smoothly and quickly.

[0051] Optionally, the driven wheel 40 may be, but is not limited to, a universal wheel.

[0052] It can be understood that there are two driven wheels 40 , which are arranged in a triangular structure with the traveling wheel 30 to form a more stable triangular support structure.

[0053] Please continue reading Figure 2 and Figure 3, when the ground operation device 200 moves longitudinally, the steering driving member 20 remains in the retracted state, and the rotation axis of the traveling wheel 30 is perpendicular to the connection line (the shortest straight line) between the head end 11 and the tail end 12 of the frame 10; when the ground operation device 200 moves laterally, the steering driving member 20 drives the traveling wheel 30 to rotate 90°, and the rotation axis of the traveling wheel 30 is parallel to the connection line (the shortest straight line) between the head end 11 and the tail end 12 of the frame 10. The traveling wheel 30 completes the attitude angle change in a simple and highly implementable manner, enabling the chassis unit 100 to move smoothly along the longitudinal or lateral direction while closely adhering to the wall surface and the column 700.

[0054] Please continue to refer to Figure 2 and Figure 3 , in some embodiments, the steering driving member 20 includes a driving seat 21 and a driving rod 22 that is telescopically driven in cooperation with the driving seat 21. The driving seat 21 is rotatably provided on the frame 10, and one end of the driving rod 22 away from the driving seat 21 is rotatably connected to the traveling wheel 30. The driving seat 21 drives the driving rod 22 to telescopically move, thereby driving the traveling wheel 30 to rotate, and realizing the switching of the chassis unit 100 moving longitudinally or laterally.

[0055] Optionally, the steering driving member 20 can be an electric push rod, a cylinder, an oil cylinder, an electric cylinder or other devices that can output telescopic linear power. For example, when the steering driving member 20 adopts an electric cylinder, the piston rod extends, pushing the traveling wheel 30 to rotate 90° in the clockwise direction, and the chassis unit 100 can move laterally. In this way, when operating at some narrow corners, the grinding operation can be completed without rotating the body of the ground operation device 200, reducing the use difficulty and improving the grinding operation efficiency.

[0056] Please continue to refer to Figure 2 , in some embodiments, the traveling wheel 30 includes a traveling motor 31, a wheel body 32 and a rotating support member. The wheel body 32 is drivingly connected to the traveling motor 31, the traveling motor 31 is drivingly connected to the driving rod 22, and the traveling motor 31 is rotatably installed on the frame 10 through the rotating support member. The rotating support member plays a role in supporting and positioning the rotation of the traveling wheel 30; the traveling motor 31 rotates the wheel body 32 of the traveling wheel, so that the chassis unit 100 has the ability to actively travel.

[0057] Optionally, the rotating support member can be a bearing, a sleeve or other components that play a role in rotating support and wear reduction, and can be specifically selected according to actual needs.

[0058] Please continue to refer to Figure 2, in addition, based on any of the above embodiments, the ground operation device 200 further includes a front guide wheel 60, and the front guide wheel 60 is used to be arranged on the left and right sides of the actuator 400. Specifically, in this embodiment, the front guide wheel 60 is installed on the left and right sides of the grinding disc 410. Thus, with the help of the front guide wheel 60, the distances between the frame 10 and the grinding disc 410 and the wall surface and the edge of the column 700 can be determined, preventing the wall surface from being damaged during grinding. At the same time, the front guide wheel 60 plays a role in lateral positioning and guiding for the chassis unit 100. By installing a front guide wheel 60 on each of the left and right sides of the frame 10, the guiding and moving requirements for different side walls and columns 700 can be adapted.

[0059] Furthermore, the ground operation device 200 further includes a rear guide wheel 50, and the rear guide wheel 50 is arranged on the left and right sides of one end of the frame 10 far from the actuator 400. The distances between the frame 10 and the grinding disc 410 and the wall surface and the edge of the column 700 are determined, preventing the wall surface from being damaged during grinding. At the same time, the rear guide wheel 50 plays a role in lateral positioning and guiding for the chassis unit 100. By installing a rear guide wheel 50 on each of the left and right sides of the frame 10, the guiding and moving requirements for different side walls and columns 700 can be adapted.

[0060] Please continue to refer to Figure 2 , Figure 7 and Figure 8 , in addition, based on any of the above embodiments, the chassis unit 100 further includes a first support leg 70 and a second support leg 80. The first support leg 70 and the second support leg 80 are both movably arranged on the frame 10 and are located between the traveling wheels 30 and the driven wheels 40, and the first support leg 70 and the second support leg 80 are respectively on opposite sides of the steering drive member 20; the first support leg 70 and the second support leg 80 both have a retracted state and an extended state, and can be switched between the retracted state and the extended state.

[0061] When the first support leg 70 and the second support leg 80 are in the retracted state of keeping close to the frame 10, it is convenient for the chassis unit 100 to approach and move along parallel to the wall surface and the column 700 to complete the corner ground grinding operation. The first support leg 70 and the second support leg 80 are arranged between the traveling wheels 30 and the driven wheels 40. Therefore, the first support leg 70 and the second support leg 80 can be accommodated between the traveling wheels 30 and the driven wheels 40, making full use of the space below the frame 10. In addition, when the ground operation device 200 is transferred or passes through an uneven road surface, the first support leg 70 and the second support leg 80 are extended to both sides of the frame 10, playing a role in lateral support and anti-overturning for the frame 10, preventing the ground operation device 200 from tipping over due to the deviation of the center of gravity.

[0062] Please continue to refer to Figure 6, in one embodiment, both the first support leg 70 and the second support leg 80 include a support 71, a leg 72, a caster 73, a safety buckle 74 and an elastic member 75. The support 71 is connected to the frame 10, the leg 72 is rotatably connected to the support 71, the caster 73 is installed at the end of the leg 72 away from the support 71, the safety buckle 74 is provided on the leg 72 and is rotatably connected to the support 71, and the elastic member 75 is provided on the safety buckle 74 and is connected to the frame 10. The above embodiment provides a first support leg 70 and a second support leg 80 with a simple structure and convenient operation for switching working states.

[0063] Specifically, in the initial state, when the safety buckle 74 is not under external force, it buckles and fixes the leg 72 on the support 71. At this time, the leg 72 is close to the bottom surface of the frame 10, and the ground operation device 200 can grind the bottom surface of the corners against the wall and the column 700 without interference. Under external force, the safety buckle 74 opens, and the leg 72 rotates and unfolds in the opposite direction. The leg 72 forms an approximately perpendicular arrangement relationship with the side of the frame 10, thus providing a good lateral support effect. At this time, the elastic member 75 applies a downward elastic pressure to the leg 72 to ensure that the leg 72 can float up and down to adapt to the uneven bottom surface, avoiding rigid damage. Under the action of the elastic pressure, the caster 73 can always reliably contact the floor surface, playing a good role in following the movement of the frame 10. When retracting is required, the elastic tension of the elastic member 75 helps the leg 72 to rotate and retract more quickly and labor-saving.

[0064] Optionally, the elastic member 75 can be but is not limited to a spring, an elastic column or an elastic sheet, etc.

[0065] As Figure 4 and Figure 5 shown, they are respectively schematic diagrams of the ground operation device 200 grinding the bottom surfaces of the wall corners and the column 700 corners. Taking Figure 4 the grinding operation of the corner ground of the wall corner in as an example, the ground operation device 200 first moves horizontally, then the steering drive 20 drives the walking wheels 30 to rotate 90° and then moves longitudinally. Immediately afterwards, the steering drive 20 drives the walking wheels 30 to rotate 90° and then moves horizontally again. Finally, the steering drive 20 drives the walking wheels 30 to rotate 90° and then moves longitudinally again. Thus, the grinding construction of the four-sided vertical wall corner ground is completed.

[0066] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as within the scope described in this specification.

[0067] The embodiments described above merely represent several implementation manners of the present invention. Their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

[0068] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0069] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0070] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "connected with", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] In the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0072] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

Claims

1. A ground operation equipment, characterized in that: The ground operation equipment includes: frame; an actuator, the actuator being disposed at one end of the frame and configured to contact the ground during operation; A driven wheel, the driven wheel is arranged at the other end of the frame and has a steering degree of freedom; a travel wheel configured to have active travel capability, the travel wheel being rotatably mounted on the frame and located between the driven wheel and the actuator; and A steering drive member, the steering drive member being arranged on the frame, the travel wheel being drivingly connected to the steering drive member and capable of being driven to steer; The ground working equipment further includes a first support leg and a second support leg, wherein the first support leg and the second support leg are both movably arranged on the frame and located between the walking wheel and the driven wheel, and the first support leg and the second support leg are respectively located on opposite sides of the steering drive member; the first support leg and the second support leg both have a folded state and an extended state, and can switch between the folded state and the extended state; The frame has a head end and a tail end that are arranged opposite to each other. When the ground working equipment moves longitudinally, the steering drive member remains in a retracted state, and the rotation axis of the running wheel is perpendicular to the line connecting the head end of the frame and the tail end of the frame; when the ground working equipment moves laterally, the steering drive member drives the running wheel to rotate 90 degrees, and the rotation axis of the running wheel is parallel to the line connecting the head end of the frame and the tail end of the frame; There are two driven wheels, which are arranged in a triangle structure with the travel wheels.

2. The ground working equipment according to claim 1, characterized in that: The distance between the walking wheel and the actuator is smaller than the distance between the walking wheel and the driven wheel.

3. The ground working equipment according to claim 1, characterized in that: The steering drive component includes a drive seat and a drive rod that cooperates with the drive seat for telescopic driving. The drive seat is rotatably arranged on the frame, and one end of the drive rod away from the drive seat is rotatably connected to the walking wheel.

4. The ground working equipment according to claim 3, characterized in that: The travel wheel includes a travel motor, a wheel body and a rotating support. The wheel body is drivingly connected to the travel motor, the travel motor is drivingly connected to the drive rod, and the travel motor is rotatably mounted on the frame through the rotating support.

5. The ground working equipment according to claim 1, characterized in that: The ground working equipment further includes front guide wheels, which are used to be arranged on the left and right sides of the actuator.

6. The ground working equipment according to claim 1, characterized in that: The ground operation equipment further includes rear guide wheels, which are arranged on the left and right sides of an end of the frame away from the actuator.

7. The ground working equipment according to claim 1, characterized in that: The first supporting leg and the second supporting leg each include a support, a leg, a caster, a safety buckle and an elastic member. The support is connected to the frame, the leg is rotatably connected to the support, the caster is installed at the end of the leg away from the support, the safety buckle is arranged on the leg and is rotatably connected to the support, and the elastic member is arranged on the safety buckle and is connected to the frame.

8. The ground working equipment according to claim 1, characterized in that: The ground operation equipment further includes: a chassis unit having the frame; an electronic control unit, the electronic control unit being disposed on the chassis unit and electrically connected to the chassis unit; the actuator being connected to the electronic control unit and the chassis unit, and electrically connected to the electronic control unit; and A dust suction unit is provided on the electric control unit and is electrically connected to the electric control unit.

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