Terrace grinding robot with adjustable radar horizontal angle

Abstract

The utility model discloses a terrace grinding robot with an adjustable radar horizontal angle. The terrace grinding robot comprises a robot main body, a connecting assembly, a supporting assembly, a first driving device, a mounting frame, a swing seat, a second driving device and a radar, walking wheels are arranged at one end of the robot body, one end of the connecting assembly is installed at the other end of the robot body, the supporting assembly is installed at the other end of the connecting assembly in a vertically movable mode and used for enabling the robot body to swing upwards along the walking wheels, and the first driving device is used for driving the supporting assembly to move vertically. According to the content, the terrace grinding robot with the radar adjustable in horizontal angle solves the problems that in the pre-walking process of a terrace grinding robot in the prior art, a grinding disc of the terrace grinding robot is always located at the grinding position, the grinding disc can be damaged due to a complex ground structure, the service life of the grinding disc is shortened, and the grinding disc cannot be damaged. And even the subsequent grinding quality and grinding efficiency are influenced.

Description

Technical Field

[0001] The utility model relates to the technical field of floor grinding robots, in particular to a floor grinding robot with adjustable horizontal angle of a radar. Background Art

[0002] The emergence of floor grinding robots is the result of the deep integration of artificial intelligence and robot technology. With the continuous progress of artificial intelligence technology, especially the maturity of deep learning, machine vision and autonomous navigation technology, robots have higher intelligent levels and autonomous operation capabilities. Before grinding, the floor grinding robot needs to carry a radar and pre-walk once to achieve multiple goals such as precise positioning and navigation, obstacle avoidance and safety, improving grinding efficiency and quality, and real-time data feedback and adjustment. This step is crucial for ensuring the smooth progress and final quality of the grinding operation.

[0003] However, in the existing floor grinding robots, during the pre-walking process, the grinding disc for grinding is always in the grinding position. The complex ground structure may damage the grinding disc, thereby reducing the service life of the grinding disc and even affecting the subsequent grinding quality and efficiency. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a floor grinding robot with adjustable horizontal angle of a radar, which solves the problem that in the existing floor grinding robots, during the pre-walking process, the grinding disc for grinding is always in the grinding position, and the complex ground structure may damage the grinding disc, thereby reducing the service life of the grinding disc and even affecting the subsequent grinding quality and efficiency.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A floor grinding robot with adjustable horizontal angle of a radar includes a robot main body, a connection component, a support component, a first driving device, a mounting frame, a swing seat, a second driving device and a radar;

[0007] One end of the robot main body is provided with traveling wheels, one end of the connection component is installed at the other end of the robot main body, the support component is movably installed up and down at the other end of the connection component, the support component is used to swing the robot main body upward along the traveling wheels, and the first driving device is used to drive the support component to move up and down;

[0008] The mounting frame is installed on the main body, the swing seat is swingably installed on the mounting frame, the second driving device is used to drive the swing seat to swing, and the radar is installed on the swing seat.

[0009] Further, the second driving device includes an elastic member, a sliding member, a jacking block, and a second driving portion;

[0010] One end of the elastic member is installed on the mounting frame, the other end of the elastic member abuts against the front end of the swing frame, an avoidance groove is provided at the rear end of the swing seat, the sliding member is slidably installed on the mounting frame, the jacking block is installed at the front end of the sliding member, the jacking block is located in the avoidance groove, the jacking block is provided with an inclined surface, the inclined surface abuts against the swing seat, and the second driving portion is used to drive the sliding member to slide back and forth.

[0011] Specifically, the second driving portion includes a swing handle and a connecting block;

[0012] The swing handle is swingably installed on the mounting frame, the connecting block is hinged to the swing handle, and the connecting block is hinged to the rear end of the sliding member.

[0013] Preferably, the connecting assembly includes a connecting frame and a sleeve;

[0014] One end of the connecting frame is installed on the robot body, the other end of the connecting frame is installed with the sleeve, the support assembly is vertically movably installed at one end of the sleeve, the first driving device is installed at the other end of the sleeve, and the output end of the first driving device is connected to the support assembly.

[0015] In some embodiments, the connecting frame is provided with a plurality of weight reduction grooves, and the plurality of weight reduction grooves are uniformly distributed along the length direction of the connecting frame.

[0016] Further, the first driving device includes a rotating handle and a lead screw;

[0017] The rotating handle is rotatably installed on the top of the sleeve, one end of the lead screw is connected to the rotating handle, and the support assembly is vertically movably installed on the lead screw.

[0018] Specifically, the support assembly includes a moving rod, a connecting plate, and a rotating wheel;

[0019] One end of the moving rod is vertically movably installed on the lead screw, the moving rod is located inside the sleeve, and one ends of the connecting plates are respectively installed on the left and right sides of the other end of the moving rod, and the other ends of the two connecting plates are installed with the rotating wheel.

[0020] Preferably, the rotating wheel is opposite to the hollow area inside the connecting frame.

[0021] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0022] By means of a robot main body, traveling wheels, a connecting assembly, a supporting assembly, a first driving device, a mounting bracket, a swinging seat, a second driving device and a radar, the robot main body is swung upward along the traveling wheels before pre-traveling scanning and recording the terrain, so as to avoid damage to the grinding disc during pre-traveling. This can not only improve the wear service life, but also ensure the subsequent grinding quality and grinding efficiency. Moreover, by adopting the swinging adjustment structure of the swinging seat, the radar can still be in a horizontal state when the robot main body is tilted, ensuring the accuracy of terrain scanning and recording. Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of a floor grinding robot according to one embodiment of the present invention;

[0024] Figure 2 is a schematic structural diagram of a second driving device according to one embodiment of the present invention;

[0025] Figure 3 is a schematic structural diagram of a second driving part according to one embodiment of the present invention;

[0026] Figure 4 is a schematic structural diagram of a supporting assembly and a connecting assembly according to one embodiment of the present invention;

[0027] Wherein: robot main body 1, traveling wheels 11, connecting assembly 2, connecting frame 21, weight reduction groove 211, sleeve 22, supporting assembly 3, moving rod 31, connecting plate 32, rotating wheel 33, first driving device 4, rotating handle 41, lead screw 42, mounting bracket 5, swinging seat 6, clearance groove 61, second driving device 7, elastic member 71, sliding member 72, jacking block 73, inclined surface 731, second driving part 74, swinging handle 741, connecting block 742, radar 8. Detailed Description of the Embodiment

[0028] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention, and should not be construed as a limitation to the present invention.

[0029] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", "inner side", "outer side", "inner end", "outer end", "axial direction", "radial direction", "circumferential direction", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model 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 therefore should not be construed as a limitation to the present utility model. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features, which are used to distinguish and describe the features, without order or importance. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality of" is more than two.

[0030] In an embodiment of the present utility model, such as Figures 1-4As shown in the figure, a floor grinding robot with adjustable radar horizontal angle includes a robot main body 1, a connecting component 2, a supporting component 3, a first driving device 4, a mounting frame 5, a swinging seat 6, a second driving device 7 and a radar 8; One end of the robot main body 1 is provided with traveling wheels 11, and one end of the connecting component 2 is installed at the other end of the robot main body 1. The supporting component 2 is movably installed up and down at the other end of the connecting component 2. The supporting component 2 is used to swing the robot main body 1 upward along the traveling wheels 11. The first driving device 4 is used to drive the supporting component 2 to move up and down; The mounting frame 5 is installed on the main body 1. The swinging seat 6 is swingably installed on the mounting frame 5. The second driving device 7 is used to drive the swinging seat 6 to swing. The radar 8 is installed on the swinging seat 6. In this embodiment, the robot main body 1 is a prior art. There are traveling wheels 11 at the rear end of the robot main body 1, and one end of the connecting component 2 is installed at the front end of the robot main body 1. The other end of the connecting component 2 is installed with the supporting component 3. During operation, specifically when the floor grinding robot needs to pre-walk and scan to record the terrain, the first driving device 4 drives the supporting component 3 to move downward until the supporting component 3 abuts against the ground, and swings the robot main body 1 upward along the traveling wheels 11, with a swinging angle of 8°. Thus, the grinding disc of the robot main body 1 moves upward away from the ground, avoiding damage to the grinding disc during pre-walking. The mounting frame 5 is installed on the robot main body 1, and the radar 8 is installed on the mounting frame 5 through the swinging seat 6. Therefore, at this time, the radar 8 is also in an inclined state. Then, the second driving device 7 drives the swinging seat 6 to swing, and adjusts the inclination angle of the swinging seat 6 to make the radar 8 return to the horizontal state, so as to facilitate correct scanning and recording of the terrain during pre-walking; Through the robot main body 1, traveling wheels 11, connecting component 2, supporting component 3, first driving device 4, mounting frame 5, swinging seat 6, second driving device 7 and radar 8, the robot main body 1 is swung upward along the traveling wheels 11 before pre-walking and scanning to record the terrain, avoiding damage to the grinding disc during pre-walking. This can not only improve the wear service life, but also ensure the subsequent grinding quality and grinding efficiency. And by adopting the swinging adjustment structure of the swinging seat 6, the radar 8 can still be in a horizontal state when the robot main body 1 is inclined, ensuring the accuracy of terrain scanning and recording.

[0031] As Figures 1-3As shown, the second driving device 7 includes an elastic member 71, a sliding member 72, a jacking block 73 and a second driving portion 74; one end of the elastic member 71 is mounted on the mounting bracket 5, and the other end of the elastic member 71 abuts against the front end of the swing bracket 6. An avoidance groove 61 is provided at the rear end of the swing seat 6. The sliding member 72 is slidably mounted on the mounting bracket 5. The jacking block 73 is mounted on the front end of the sliding member 72. The jacking block 73 is located in the avoidance groove 61. The jacking block 73 is provided with an inclined surface 731 which abuts against the swing seat 6. The second driving portion 74 is used to drive the sliding member 72 to slide back and forth. In this embodiment, the bottom of the elastic member 71 is mounted on the mounting bracket 5, the top of the elastic member 71 abuts against the front end of the swing seat 6. The elastic member 71 is a spring. The sliding member 72 is slidably mounted on the top surface of the mounting bracket 5. The rear end of the sliding member 72 is connected to the second driving portion 74. The front end of the sliding member 72 is mounted with the jacking block 73. The middle parts of the left and right ends of the swing seat 6 are hinged to the mounting bracket 5. The swing seat 6 covers the jacking block 73 and the elastic member 71. The inclined surface 731 faces upward at the front side of the swing seat 6. The jacking block 73 is located in the avoidance groove 61. The inclined surface 731 abuts against the bottom of the front end of the avoidance groove 61. During operation, the second driving portion 74 drives the sliding member 72 to slide forward. The sliding member 72 pushes the jacking block 73 to move forward. Specifically, the jacking block 73 moves forward along the length direction of the avoidance groove 61. And under the action of the inclined surface 731 of the jacking block 731, the jacking member 731 jacks up the rear end of the swing seat 6, causing the front end of the swing seat 6 to swing downward. The elastic member 71 is in a compressed state, thereby offsetting the inclination angle of the robot main body 1 swinging along the traveling wheels 11, so that the swing seat 6 and the radar 8 are in a horizontal state. When resetting, specifically, the second driving portion 74 drives the sliding member 72 to slide backward. The sliding member 72 pulls the jacking member 73 to slide backward. After the swing seat 6 loses the supporting and jacking force of the jacking block 73, under the elastic force of the elastic member 71, the elastic member 71 jacks up the front end of the swing seat 6, and the rear end of the swing seat 6 swings downward, thereby realizing the reset, which is convenient and fast. Further, by providing the avoidance groove 61 and making the jacking block 73 located in the avoidance groove 61, it can prevent the jacking block 73 from disengaging from the swing seat 6. This not only makes the structure more compact and has better integrity, but also can reasonably utilize the space and improve the space utilization rate.

[0032] As Figures 2-3As shown in the figure, the second driving part 74 includes a swinging handle 741 and a connecting block 742; the swinging handle 741 is swingably mounted on the mounting bracket 5, the connecting block 742 is hinged to the swinging handle 741, and the connecting block 742 is hinged to the rear end of the sliding member 72. In this embodiment, the front end of the connecting block 742 is hinged to the sliding block 72, the rear end of the connecting block 742 is hinged to the swinging handle 741, and the swinging handle 741 is swingably mounted on the mounting bracket 5. When the swinging handle 741 is arranged in the left-right direction, the hinge at the rear end of the connecting block 742 is located at the rear side of the swinging position of the swinging handle 741. When the swinging handle 741 swings, specifically when the swinging handle 741 swings by 90°, that is, the swinging handle 741 swings from the left-right direction to the front-rear direction, the hinge at the rear end of the connecting block 742 also swings along the swinging position of the swinging handle 741, so that the hinge at the rear end of the connecting block 742 swings from the rear side of the swinging position of the swinging handle 741 to the right side, thereby pushing the sliding member 72 forward by the connecting block 742, which is convenient and fast. When resetting, only need to swing the swinging handle 741 in the opposite direction.

[0033] As Figure 4 shown, the connecting assembly 2 includes a connecting frame 21 and a sleeve 22; one end of the connecting frame 21 is mounted on the robot body 1, the other end of the connecting frame 21 is mounted with the sleeve 22, the support assembly 3 is vertically movably mounted on one end of the sleeve 22, the first driving device 4 is mounted on the other end of the sleeve 22, and the output end of the first driving device 4 is connected to the support assembly 3. In this embodiment, the rear end of the connecting frame 21 is mounted on the front end of the robot body 1, the front end of the connecting frame 21 is mounted with the sleeve 22, and the connecting frame 21 can ensure that the support assembly 3 is located on the front side of the robot body 1, avoiding interference with the grinding disc when the support assembly 3 moves. Further, the first driving device 4 is mounted on the top of the sleeve 22, the support assembly 3 is mounted on the bottom of the sleeve 22, and the first driving device 4 can drive the support assembly 3 to slide up and down in the sleeve 22, which is convenient and fast.

[0034] As Figure 4 shown, the connecting frame 21 is provided with a plurality of weight-reducing grooves 211, and the plurality of weight-reducing grooves 211 are evenly distributed along the length direction of the connecting frame 21. In this embodiment, the connecting frame 21 is of a U-shaped structure, and a plurality of the weight-reducing grooves 211 are evenly arranged along the length direction of its structure. The weight-reducing grooves 211 can reduce the weight of the connecting frame 21, thereby reducing the load-bearing capacity of the robot body 1.

[0035] As Figure 4As shown, the first driving device 4 includes a rotating handle 41 and a lead screw 42; the rotating handle 41 is rotatably installed at the top of the sleeve 22, one end of the lead screw 42 is connected to the rotating handle 41, and the support assembly 3 is vertically movably installed on the lead screw 42. In this embodiment, when it is necessary to adjust the movement and expansion of the support assembly 3, specifically, the rotating handle 41 is rotated, the rotating handle 41 drives the lead screw 42 to rotate, and the support assembly 3 moves up and down under the action of the lead screw structure. In this embodiment, the mechanical rotation is adopted to move the support assembly 3 up and down, which is convenient for the user to adjust by himself without additional electric or pneumatic drive. Preferably, the rotating handle 41 is of a Z-shaped structure. Compared with the handwheel structure, the long force arm structure in this embodiment is more labor-saving.

[0036] As Figure 4 shown, the support assembly 3 includes a moving rod 31, a connecting plate 32 and a rotating wheel 33; one end of the moving rod 31 is vertically movably installed on the lead screw 42, the moving rod 31 is located inside the sleeve 22, and one end of each of the two connecting plates 32 is installed on the left and right sides of the other end of the moving rod 31, and the other ends of the two connecting plates 32 are installed with the rotating wheel 33. In this embodiment, the moving rod 31 is located inside the sleeve 22, the top of the moving rod 31 is installed on the lead screw 42, one end of each of the two connecting plates 32 is respectively installed on both sides of the bottom of the moving rod 31, the rotating wheel 33 is rotatably installed at the other ends of the two connecting plates 32, and the rotating wheel 33 is located between the two connecting plates 32. During operation, the rotating handle 41 drives the lead screw 42 to rotate. Under the rotation of the lead screw 42, the moving rod 31 moves downward along the length direction of the sleeve 22, so that the rotating wheel 33 moves downward until the rotating wheel 33 is lower than the ground, and the robot body 1 swings upward along the traveling wheel 11, so that the grinding disc is away from the ground, which is convenient and fast. And to move the moving rod 31 upward, just twist the rotating handle 41 in the reverse direction, which is convenient and fast.

[0037] As Figure 4 shown, the rotating wheel 33 is directly opposite to the hollow area inside the connecting frame 21. In this embodiment, the rotating wheel 33 is located at the rear side of the moving rod 31, so that the rotating wheel 33 can be directly opposite to the hollow area inside the U-shaped connection 21. Compared with the layout of setting the rotating wheel 33 at the front side of the moving rod 31, the structure of this embodiment is beneficial to saving space, reducing the occupied area of the floor grinding robot, and making it more compact.

[0038] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0039] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present utility model, and the scope of the present utility model is defined by the claims and their equivalents.

Claims

1. A floor grinding robot with adjustable radar horizontal angle, characterized in that: It includes a robot body, a connecting assembly, a supporting assembly, a first driving device, a mounting frame, a swing seat, a second driving device and a radar; One end of the robot body is provided with a walking wheel, and the other end of the robot body is installed with one end of the connecting assembly, and the supporting assembly is installed on the other end of the connecting assembly so as to be movable up and down, and the supporting assembly is used to make the robot body swing upward along the walking wheel, and the first driving device is used to drive the supporting assembly to move up and down; The mounting frame is mounted on the main body, the swing seat is swingably mounted on the mounting frame, the second driving device is used to drive the swing seat to swing, and the radar is mounted on the swing seat.

2. The floor grinding robot with adjustable radar horizontal angle according to claim 1, characterized in that: The second driving device includes an elastic member, a sliding member, a lifting block and a second driving part; One end of the elastic member is installed on the mounting frame, and the other end of the elastic member abuts against the front end of the swing seat. The rear end of the swing seat is provided with a clearance groove. The sliding member is slidably installed on the mounting frame, and the lifting block is installed on the front end of the sliding member. The lifting block is located in the clearance groove. The lifting block is provided with an inclined surface, and the inclined surface abuts against the swing seat. The second driving part is used to drive the sliding member to slide back and forth.

3. The floor grinding robot with adjustable radar horizontal angle according to claim 2, characterized in that: The second driving part includes a swing handle and a connecting block; The swing handle can be swingably mounted on the mounting frame, the connecting block is hinged to the swing handle, and the connecting block is hinged to the rear end of the sliding member.

4. The floor grinding robot with adjustable radar horizontal angle according to claim 1, characterized in that: The connecting assembly includes a connecting frame and a sleeve; One end of the connecting frame is installed on the robot body, and the sleeve is installed on the other end of the connecting frame. The supporting assembly can be installed on one end of the sleeve and can be moved up and down. The first driving device is installed on the other end of the sleeve, and the output end of the first driving device is connected to the supporting assembly.

5. The floor grinding robot with adjustable radar horizontal angle according to claim 4, characterized in that: The connecting frame is provided with a plurality of weight-reducing grooves, and the plurality of weight-reducing grooves are evenly distributed along the length direction of the connecting frame.

6. The floor grinding robot with adjustable radar horizontal angle according to claim 4, characterized in that: The first driving device includes a rotating handle and a screw rod; The rotating handle can be rotatably mounted on the top of the sleeve, one end of the screw rod is connected to the rotating handle, and the supporting assembly can be moved up and down and mounted on the screw rod.

7. The floor grinding robot with adjustable radar horizontal angle according to claim 6, characterized in that: The support assembly includes a moving rod, a connecting plate and a rotating wheel; One end of the moving rod can be moved up and down and installed on the screw rod. The moving rod is located inside the sleeve. One end of the connecting plate is installed on the left and right sides of the other end of the moving rod respectively, and the other end of the two connecting plates is installed with the rotating wheels.

8. The floor grinding robot with adjustable radar horizontal angle according to claim 7, characterized in that: The rotating wheel is directly opposite to the hollow area inside the connecting frame.

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