Indoor small ground polishing robot

Abstract

The small indoor ground polishing robot comprises a rack and further comprises a storage tank, a discharging pipe and at least four laser radars, the storage tank is arranged above the rack through a connecting column, an extension part is arranged at the bottom of the storage tank, an opening is formed in the extension part, and the laser radars are arranged in the opening. An opening is formed in the periphery of the machine frame, the fan is arranged at the position, close to the opening, of the extension part, the laser radars are evenly distributed on the extension part in the circumferential direction, the discharging pipe penetrates through the opening and is connected with the storage tank through the fan, and the discharging pipe is arranged on the periphery of the machine frame in a surrounding mode. According to the utility model, the integrated operation of polishing, slurry extraction and feeding in a small indoor space can be automatically and efficiently realized.

Description

Technical Field

[0001] The utility model relates to the field of polishing robots, in particular to a small indoor floor polishing robot. Background Art

[0002] The grinder is mainly used for slurry raising, leveling and polishing in the construction of cement concrete surface. The existing grinders can be divided into two categories according to the type of their working device: disc grinders and blade grinders. Among them, blade grinders have two types: single-head and double-head. According to the power, they can be divided into two types: electric and internal combustion. The disc grinder is mainly used for slurry raising and leveling of concrete, while the blade grinder is mainly used for polishing in the subsequent construction of concrete. It is a concrete floor construction machine with good construction quality and high efficiency.

[0003] The Chinese patent application number CN202021682005.4 discloses a fully automatic polishing robot that uses a camera and various radars, connects the camera and various radars to an industrial computer, and sets an intelligent driving system in the industrial computer to achieve fully automatic operation. However, it can only perform polishing operations, not feeding operations. Utility Model Content

[0004] In view of the above deficiencies in the prior art, the problem to be solved by the utility model is to provide an automated and efficient robot that can perform integrated operations of polishing, pulping and feeding in a small indoor space.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] An indoor small floor polishing robot comprises a frame, a material storage tank, a discharge pipe, a fan and at least four laser radars, wherein the material storage tank is arranged above the frame through a connecting column, an extension portion is arranged at the bottom of the material storage tank, an opening is arranged at the extension portion, the fan is arranged at a position close to the opening, the laser radar is arranged on the extension portion in a circumferentially uniformly distributed manner, the discharge pipe passes through the opening and is connected to the material storage tank through the fan, and the discharge pipe is arranged around the frame;

[0007] A driving wheel, a universal wheel and a polishing mechanism are arranged at the bottom of the frame, a first motor is arranged inside the frame corresponding to the position of the driving wheel and a second motor is arranged inside the frame corresponding to the position of the polishing mechanism, a main controller is also included inside the frame, and the fan, the first motor, the second motor and the laser radar are all connected to the main controller by signals.

[0008] Preferably, the discharge pipe comprises a plurality of discharge holes arranged at intervals.

[0009] Preferably, it also includes an annular machine cover, which is arranged on the frame and the discharge pipe.

[0010] Preferably, the driving wheels are symmetrically arranged at the rear of the bottom of the frame along the traveling direction, and the universal wheels are arranged at the front of the bottom of the frame along the traveling direction.

[0011] Preferably, the polishing mechanism is symmetrically arranged between the universal wheel and the driving wheel.

[0012] Preferably, the polishing mechanism comprises a main shaft and four blades, wherein the blades are evenly distributed around the main shaft in the circumferential direction and are connected to the main shaft via a connecting pipe.

[0013] In summary, due to the adoption of the above technical solution, the beneficial effects of the utility model are:

[0014] Compared with the prior art, the indoor small floor polishing robot of the utility model can not only replace manual labor to complete automated operations, but also has high work efficiency and good construction quality. In addition, the indoor small floor polishing robot of the utility model can not only complete the floor polishing work, but also complete the feeding work and has more functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The axonometric diagram of the indoor small-sized floor polishing robot provided by the utility model is shown.

[0016] Figure 2 A top view of the small indoor floor polishing robot provided by the utility model is shown.

[0017] Figure 3 The bottom view of the indoor small-sized floor polishing robot provided by the utility model is shown.

[0018] Figure 4 The right side view of the small indoor floor polishing robot provided by the utility model is shown.

[0019] Figure 5 The figure shows the internal structure of the frame of the small indoor floor polishing robot provided by the utility model.

[0020] Figure 6 The structure diagram of the polishing mechanism of the indoor small-sized floor polishing robot provided by the utility model is shown.

[0021] Legend:

[0022] 1. Frame; 2. Storage tank; 3. Discharge pipe; 4. Laser radar; 5. Extension part; 6. Connecting column; 7. Driving wheel; 8. Universal wheel; 9. Main shaft; 10. First motor; 11. Blade; 12. Annular cover; 13. Discharge hole; 14. Second motor; 15. Connecting pipe; 16. Main controller; 17. Fan; 18. Polishing mechanism; 19. Opening. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the technical solution of the utility model clearer, the technical solution of the embodiment of the utility model will be clearly and completely described in combination with the drawings of the specific embodiments of the utility model. The same figure marks in the drawings represent the same parts. It should be noted that the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the described embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] Example 1

[0025] like Figure 1-Figure 6 The indoor small floor polishing robot shown includes a frame 1, a storage tank 2, a discharge pipe 3, a fan 17 and at least four laser radars 4. The storage tank 2 is arranged above the frame 1 through a connecting column 6. The storage tank 2 stores materials used for feeding work. The storage tank 2 is arranged above the frame 1 so that the storage tank 2 can move with the frame 1 to facilitate feeding work. An extension part 5 is arranged at the bottom of the storage tank 2, and an opening 19 is arranged on the extension part 5. The fan 17 is arranged at a position close to the opening 19 on the extension part 5. The laser radars 4 are evenly distributed along the circumference. The laser radar 4 is arranged on the extension part 5, and is used to scan the working environment and distance measurement of the indoor small floor polishing robot to avoid collision between the robot and the working environment during work. The laser radar 4 is evenly distributed along the circumference on the extension part 5 so that the laser radar 4 can completely scan all the position information around the indoor small floor polishing robot. The discharge pipe 3 passes through the opening 19 and is connected to the storage tank 2 through the fan 17. The fan 17 pumps the material in the storage tank 2 into the discharge pipe 3 for subsequent feeding work. The discharge pipe 3 is arranged around the frame 1.

[0026] A driving wheel 7, a universal wheel 8 and a polishing mechanism 18 are arranged at the bottom of the frame 1. A first motor 10 and a second motor 14 are arranged at the corresponding position of the driving wheel 7 and the polishing mechanism 18 respectively inside the frame 1. The first motor 10 is used to drive the driving wheel 7 to move, and the second motor 14 is used to drive the polishing mechanism 18 to rotate. The frame 1 also includes a main controller 16. The fan 17, the first motor 10, the second motor 14 and the laser radar 4 are all connected to the main controller 16 by signal.

[0027] The working principle and use process of this embodiment:

[0028] An indoor small floor polishing robot mainly consists of a frame 1, a storage tank 2, a discharge pipe 3, a fan 17 and a laser radar 4. After the indoor concrete slurry is completed, the robot is put into the work place by a running vehicle. After arriving at the work place, the robot scans the work environment through the laser radar 4, and transmits the scanned work environment position information to the main controller 16. The main controller 16 plans the robot's work route according to the received information. After that, the robot performs the polishing operation. The main controller 16 controls the first motor 10 to work. The first motor 10 rotates to drive the driving wheel 7 to rotate so that the robot can travel. The main controller 16 controls the second motor 14 to rotate and drive the polishing mechanism 18 to rotate to complete the polishing operation requirements. The robot completes the turning through the differential rotation of the polishing mechanism 18. The second motor 14 is configured as a motor that drives the polishing mechanism to rotate and lift. The polishing mechanism 18 can adjust the working height according to the flatness of the ground and the requirements of the polishing operation. After completing the polishing operation, the polishing mechanism 18 automatically rises to perform the feeding operation. At this time, the differential rotation of the driving wheel 7 is used for movement and steering. The fan 17 pumps the material stored in the storage tank 2 into the discharge pipe 3, and the discharge pipe 3 sprays the material to complete the feeding operation.

[0029] Example 2

[0030] like Figure 1-Figure 6 As shown, this embodiment is developed on the basis of the above embodiment in order to solve how to feed the material through the discharge pipe 3. Specifically, the discharge pipe 3 includes a plurality of discharge holes 13 arranged at intervals. The discharge holes 13 are arranged at intervals so that the sprayed material is evenly distributed. The number of discharge holes 13 can be set according to actual needs. The more the number, the finer the material sprayed.

[0031] Furthermore, the robot further comprises an annular cover 12, which is arranged on the frame 1 and the discharge pipe 3 to prevent the frame 1 and the discharge pipe 3 from being exposed to the outside for a long time, thereby protecting the external structure of the robot and making the overall appearance of the robot more concise and beautiful. Figure 1-Figure 6 It is not difficult to see that a hole for the discharge pipe 3 to pass through needs to be opened on the annular machine cover 12, so that one end of the discharge pipe 3 covered inside the annular machine cover 12 can extend from this hole and connect with the fan 17 located above the annular machine cover 12.

[0032] Example 3

[0033] like Figure 1-Figure 6As shown, this embodiment is based on the above embodiment to solve how to arrange and unfold the components at the bottom of the frame 1. Specifically, in order to improve the driving stability of the robot, the driving wheels 7 are symmetrically arranged at the rear of the bottom of the frame 1 along the driving direction, and the universal wheels 8 are arranged at the front of the bottom of the frame 1 along the driving direction.

[0034] Furthermore, the polishing mechanism 18 is symmetrically arranged between the universal wheel 8 and the driving wheel 7. The number of the polishing mechanism 18 is set to two, which can maximize the area passed by the robot during the polishing operation, and also provide power for the robot's steering through differential rotation.

[0035] The above description of the embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An indoor small floor polishing robot, comprising a frame (1), characterized in that: It also comprises a storage tank (2), a discharge pipe (3), a fan (17) and at least four laser radars (4), wherein the storage tank (2) is arranged above the frame (1) via a connecting column (6), an extension portion (5) is arranged at the bottom of the storage tank (2), the extension portion (5) is provided with an opening (19), the fan (17) is arranged at a position on the extension portion (5) close to the opening (19), the laser radars (4) are arranged on the extension portion (5) in a circumferentially uniformly distributed manner, the discharge pipe (3) passes through the opening (19) and is connected to the storage tank (2) via the fan (17), and the discharge pipe (3) is arranged around the frame (1); A driving wheel (7), a universal wheel (8) and a polishing mechanism (18) are arranged at the bottom of the frame (1); a first motor (10) and a second motor (14) are arranged inside the frame (1) at positions corresponding to the driving wheel (7) and at positions corresponding to the polishing mechanism (18); the storage tank (2) is arranged above the frame (1) via a connecting column (6); a main controller (16) is also included inside the frame (1); and the fan (17), the first motor (10), the second motor (14) and the laser radar (4) are all connected to the main controller (16) via signals.

2. The small indoor floor polishing robot according to claim 1, characterized in that: The discharge pipe (3) comprises a plurality of discharge holes (13) arranged at intervals.

3. The small indoor floor polishing robot according to claim 2, characterized in that: It also comprises an annular machine cover (12), wherein the annular machine cover (12) is arranged on the machine frame (1) and the discharge pipe (3).

4. The small indoor floor polishing robot according to claim 1, characterized in that: The driving wheels (7) are symmetrically arranged at the rear of the bottom of the frame (1) along the direction of travel, and the universal wheels (8) are arranged at the front of the bottom of the frame (1) along the direction of travel.

5. The small indoor floor polishing robot according to claim 4, characterized in that: The polishing mechanism (18) is symmetrically arranged between the universal wheel (8) and the driving wheel (7).

6. The small indoor floor polishing robot according to claim 5, characterized in that: The polishing mechanism (18) comprises a main shaft (9) and four blades (11). The blades (11) are evenly distributed around the main shaft (9) in the circumferential direction and are connected to the main shaft (9) via a connecting pipe (15).

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