Floor grinding robot with foldable front supporting riding wheels
The foldable roller structure solves the problem of inconvenient disassembly and assembly of existing floor grinding robots, enabling quick storage and unfolding, reducing space occupancy and improving ease of use.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- FOSHAN OKA ROBOT CO LTD
- Filing Date
- 2025-06-16
- Publication Date
- 2026-05-15
AI Technical Summary
The front support rollers of existing floor grinding robots need to be disassembled and reassembled, which is inconvenient to use and takes up space.
It adopts a foldable support roller structure, and the support rollers can be stored and unfolded through pins and linkages. The operation is simplified and the space occupancy is reduced by the cooperation of the swing frame and linkages.
It enables rapid storage and deployment of the rollers, simplifies operation, reduces the robot's space occupancy, and improves ease of use and efficiency.
Smart Images
Figure CN224239037U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of floor grinding robot technology, and in particular to a floor grinding robot with foldable front support rollers. Background Technology
[0002] The emergence of floor grinding robots is a product of the deep integration of artificial intelligence and robotics technology. With the continuous advancement of artificial intelligence technology, especially the maturity of deep learning, machine vision, and autonomous navigation technologies, robots have acquired higher levels of intelligence and autonomous operation capabilities. To improve the movement stability of floor grinding robots, front support rollers are installed on their front sides.
[0003] However, in existing technologies, front support rollers are usually installed and removed in a detachable manner, meaning that the front support roller is added when needed and removed when not needed, making the use of the front support roller extremely cumbersome. Utility Model Content
[0004] The purpose of this invention is to propose a floor grinding robot with foldable front support rollers, which solves the problem that the front support rollers in the prior art are usually installed and removed in a disassembly and assembly manner, that is, the front support rollers are added when needed and removed when not needed, which makes the use of the front support rollers extremely troublesome.
[0005] To achieve this objective, the present invention adopts the following technical solution:
[0006] A floor grinding robot with foldable front support rollers includes a robot body, a mounting frame, a first link assembly, a second link assembly, a swing frame, support rollers, pins, and hinge seats;
[0007] The mounting bracket is installed on the front side of the robot body, and the hinge seat is installed on the mounting bracket. The hinge seat is provided with a first fixing hole and a second fixing hole.
[0008] One end of the first link assembly is swayably mounted on the hinge seat, and the other end of the first link assembly is hinged to the swing frame. The first link assembly is provided with a first locking hole, which can be directly opposite the first fixing hole.
[0009] One end of the second link assembly is pivotally mounted on the hinge seat, and the other end of the second link assembly is hinged to the swing frame. The second link assembly is provided with a second locking hole, which can be directly aligned with the second fixing hole. The support roller is rotatably mounted on the swing frame.
[0010] When the pin is installed in the first fixing hole and the first locking hole, the swing frame is in the storage state;
[0011] When the pin is installed in the second fixing hole and the second locking hole, the swing frame is in the unfolded state.
[0012] Furthermore, the first linkage assembly includes a first linkage, a first pivot, and a second pivot;
[0013] The first rotating shaft is mounted on the hinge seat, and the left and right ends of the first rotating shaft protrude from the left and right sides of the hinge seat, respectively. The second rotating shaft is mounted on the swing frame, and the left and right ends of the second rotating shaft protrude from the left and right sides of the swing frame, respectively. One end of each of the two first connecting rods is mounted on the left and right ends of the first rotating shaft, and the other end of each of the two first connecting rods is mounted on the left and right ends of the second rotating shaft, respectively.
[0014] Specifically, the first link assembly further includes a first connecting shaft, the left and right ends of which are respectively connected to the two first links. The first connecting shaft is located between the first rotating shaft and the second rotating shaft, and the first locking hole is located between the first connecting shaft and the first rotating shaft.
[0015] Preferably, the second linkage assembly includes a second linkage, a third pivot, and a fourth pivot;
[0016] The third rotating shaft is mounted on the hinge seat. The third rotating shaft is located below the front side of the first rotating shaft. The left and right ends of the third rotating shaft protrude from the left and right sides of the hinge seat, respectively.
[0017] The fourth rotating shaft is mounted on the swing frame. The fourth rotating shaft is located below the front side of the second rotating shaft, and the left and right ends of the fourth rotating shaft protrude from the left and right sides of the swing frame, respectively.
[0018] One end of each of the two second connecting rods is respectively installed at the left and right ends of the third rotating shaft, and the other end of each of the two second connecting rods is respectively installed at the left and right ends of the fourth rotating shaft.
[0019] In some embodiments, a second connecting shaft is also included, with its left and right ends respectively mounted on the two inner sides of the swing frame, and the second connecting shaft is located between the second rotating shaft and the fourth rotating shaft.
[0020] Furthermore, mounting plates are provided on the rear sides of the left and right ends of the mounting frame, and the mounting plates are provided with adjustment holes. The mounting frame can move left and right along the length direction of the adjustment holes, and the mounting frame is installed on the robot body through the adjustment holes.
[0021] Specifically, the mounting bracket is provided with a reinforcing block, one end of which is connected to the mounting plate, and the other end of which is connected to the top surface of the mounting bracket.
[0022] Compared with the prior art, one of the above technical solutions has the following beneficial effects:
[0023] The robot body, mounting frame, first link assembly, first locking hole, second link assembly, second locking hole, swing frame, support roller, pin, hinge seat, first fixing hole and second fixing hole are used to swing open and close the support roller so that it can be folded and unfolded for support. With the locking and fixing of the pin, the operation of folding, unfolding and fixing is simple, convenient and quick and efficient. Moreover, the folded state can also reduce the space occupation of the floor grinding robot. Attached Figure Description
[0024] Figure 1 This is a structural schematic diagram of a floor grinding robot with foldable front support rollers, according to one embodiment of this utility model.
[0025] Figure 2 yes Figure 1 A magnified view of point A;
[0026] Figure 3 This is a schematic diagram of the support roller in a stowed state according to one embodiment of the present invention;
[0027] Figure 4 This is a schematic diagram of the support roller in the unfolded state according to one embodiment of the present invention;
[0028] The components include: robot body 1, mounting frame 2, mounting plate 21, adjustment hole 211, reinforcing block 22, first link assembly 3, first locking hole 301, first link 31, first rotating shaft 32, second rotating shaft 33, first connecting shaft 34, second link assembly 4, second locking hole 401, second link 41, third rotating shaft 42, fourth rotating shaft 43, swing frame 5, support roller 6, pin 7, hinge seat 8, first fixing hole 81, second fixing hole 82, and second connecting shaft 9. Detailed Implementation
[0029] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying 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 with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.
[0030] In the description of this utility model, it should be understood that 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," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish descriptive features, without any order or emphasis. In the description of this utility model, unless otherwise stated, "multiple" means two or more.
[0031] In one embodiment of this utility model, such as Figure 1-4As shown, a floor grinding robot with a foldable front support roller includes a robot body 1, a mounting frame 2, a first link assembly 3, a second link assembly 4, a swing frame 5, a support roller 6, a pin 7, and a hinge seat 8. The mounting frame 2 is mounted on the front side of the robot body 1, and the hinge seat 8 is mounted on the mounting frame 2. The hinge seat 8 has a first fixing hole 81 and a second fixing hole 82. One end of the first link assembly 3 is swayably mounted on the hinge seat 8, and the other end of the first link assembly 3 is hinged to the swing frame 5. The first link assembly 3 has a first locking hole 301, which can... The first fixing hole 81 is directly opposite to the second fixing hole 82. One end of the second connecting rod assembly 4 is swayably mounted on the hinge seat 8, and the other end of the second connecting rod assembly 4 is hinged to the swing frame 5. The second connecting rod assembly 4 is provided with a second locking hole 401, which is directly opposite to the second fixing hole 82. The support roller 6 is rotatably mounted on the swing frame 5. When the pin 7 is installed in the first fixing hole 81 and the first locking hole 301, the swing frame 5 is in a retracted state. When the pin 7 is installed in the second fixing hole 82 and the second locking hole 401, the swing frame 5 is in an extended state.In this embodiment, one end of the first connecting rod assembly 3 is swayably mounted on the top of the hinge seat 8, and one end of the second connecting rod assembly 4 is swayably mounted on the bottom of the hinge seat 8. The sway point of one end of the second connecting rod assembly 4 is located below the front side of the sway point of one end of the first connecting rod assembly 3. The other end of the first connecting rod assembly 3 is hinged to the top of the swing frame 5, and the other end of the second connecting rod assembly 4 is hinged to the middle of the swing frame 5. The hinge point of the other end of the second connecting rod assembly 4 is located below the front side of the hinge point of the other end of the first connecting rod assembly 3. The hinge seat 8 is provided with the first fixing hole 81 and the second connecting rod assembly 4. Two fixing holes 82 are located below the first fixing hole 81. The pin 7 is detachably installed in the first fixing hole 81, the second fixing hole 82, the first locking hole 301, and the second locking hole 401. When the support roller 6 is in the retracted state, the second fixing hole 82 is directly opposite the second locking hole 401, and the pin 7 is inserted into the second fixing hole 82 and the second locking hole 401. At this time, under the fixation of the pin 7, the second connecting rod assembly 4 cannot swing. At the same time, the second connecting rod assembly 4 fixes the first connecting rod assembly 3 through the swing frame 5, thereby making the entire front support roller... When the wheel assembly is fixed and the support roller 6 needs to be unfolded, the pin 7 is removed from the second fixing hole 82 and the second locking hole 401, allowing the second connecting rod assembly 4 and the first connecting rod assembly 3 to swing. During the swinging process of the first connecting rod assembly 3 and the second connecting rod assembly 4, the swing frame 5 drives the support roller 6 to swing and unfold adaptively until the fixing hole 81 is aligned with the first locking hole 301. At this time, the swing frame 5 drives the support roller 6 to be in a fully unfolded state. Then, the pin 7 is inserted into the first fixing hole 81 and the first locking hole 301 to fix the first connecting rod assembly 3. The first link assembly 3 fixes the second link assembly 4 through the swing frame 5, thereby fixing the entire front support roller assembly. This application uses the robot body 1, mounting frame 2, first link assembly 3, first locking hole 301, second link assembly 4, second locking hole 401, swing frame 5, roller 6, pin 7, hinge seat 8, first fixing hole 81 and second fixing hole 82 to swing open and close the roller 6 so that it can be folded and unfolded for support. With the locking and fixing of the pin 7, the operation of folding, unfolding and fixing is simple, convenient and quick and efficient. Moreover, the folded state can also reduce the space occupation of the floor grinding robot.
[0032] like Figure 1-4As shown, the first linkage assembly 3 includes a first linkage 31, a first rotating shaft 32, and a second rotating shaft 33. The first rotating shaft 32 is mounted on the hinge seat 8, and the left and right ends of the first rotating shaft 32 protrude from the left and right sides of the hinge seat 8, respectively. The second rotating shaft 33 is mounted on the swing frame 5, and the left and right ends of the second rotating shaft 33 protrude from the left and right sides of the swing frame 5, respectively. One end of each of the two first linkages 31 is mounted on the left and right ends of the first rotating shaft 32, and the other end of each of the two first linkages 31 is mounted on the left and right ends of the second rotating shaft 33, respectively. In this embodiment, the first rotating shaft 32 is mounted on the hinge seat 8, with its left and right ends protruding from the left and right sides of the hinge seat 8, respectively. One end of each of the two first connecting rods 31 is mounted on the two ends of the first rotating shaft 32, and the second rotating shaft 33 is mounted on the swing frame 5, with its left and right ends protruding from the left and right sides of the swing frame 5, respectively. One end of each of the two first connecting rods 31 is mounted on the left and right ends of the first rotating shaft 32, and the other end of each of the two first connecting rods 31 is mounted on the left and right ends of the second rotating shaft 33, respectively. That is, the two first connecting rods 31 are located on the left and right outer sides of the hinge seat 8 and the swing frame 5, so that the hinge seat 8 and the swing frame 5 are located between the two first connecting rods 31 in both the stowed and unfolded states. This makes full use of the hollow area between the two first connecting rods 31, making the structure more compact and reducing the space occupancy rate.
[0033] like Figure 3-4 As shown, the first connecting rod assembly 3 further includes a first connecting shaft 34. The left and right ends of the first connecting shaft 34 are respectively connected to the two first connecting rods 31. The first connecting shaft 34 is located between the first rotating shaft 32 and the second rotating shaft 33. The first locking hole 301 is located between the first connecting shaft 34 and the first rotating shaft 32. In this embodiment, the first connecting shaft 34 is installed between the two first connecting rods 31, and the first connecting shaft 34 is located between the first rotating shaft 32 and the second rotating shaft 33, which helps to improve the connection stability between the two first connecting rods 31, making their integrity better and preventing the first connecting rod 31 from breaking under stress in the middle.
[0034] like Figure 1-4As shown, the second linkage assembly 4 includes a second linkage 41, a third pivot 42, and a fourth pivot 43; the third pivot 42 is mounted on the hinge seat 8, and is located below the front side of the first pivot 32; the left and right ends of the third pivot 43 protrude from the left and right sides of the hinge seat 8, respectively; the fourth pivot 43 is mounted on the swing frame 5, and is located below the front side of the second pivot 33; the left and right ends of the fourth pivot 43 protrude from the left and right sides of the swing frame 5, respectively; one end of each of the two second linkages 41 is mounted on the left and right ends of the third pivot 42, and the other end of each of the two second linkages 41 is mounted on the left and right ends of the fourth pivot 43, respectively. In this embodiment, the third rotating shaft 42 is mounted on the hinge seat 8, and the left and right ends of the third rotating shaft 43 protrude from the left and right sides of the hinge seat 8, respectively. The fourth rotating shaft 43 is mounted on the swing frame 5, and the left and right ends of the fourth rotating shaft 43 protrude from the left and right sides of the swing frame 5, respectively. One end of each of the two second connecting rods 41 is mounted on the left and right ends of the third rotating shaft 42, and the other end of each of the two second connecting rods 41 is mounted on the left and right ends of the fourth rotating shaft 43, respectively. That is, the two second connecting rods 41 are located on the left and right outer sides of the hinge seat 8 and the swing frame 5, so that the hinge seat 8 and the swing frame 5 are located between the two second connecting rods 41 whether in the retracted or unfolded state. This makes full use of the hollow area between the two second connecting rods 41, making the structure more compact and reducing the space occupancy rate.
[0035] like Figure 3-4 As shown, it also includes a second connecting shaft 9, with its left and right ends respectively installed on the inner sides of the swing frame 5. The second connecting shaft 9 is located between the second rotating shaft 33 and the fourth rotating shaft 43. In this embodiment, installing the second connecting shaft 9 inside the swing frame 5 helps to enhance the structural stability of the internally hollowed-out swing frame 5, making it less prone to deformation and cracking. Furthermore, the second connecting shaft 9 is located in the narrow blank area between the second rotating shaft 33 and the fourth rotating shaft 43, which helps to improve space utilization.
[0036] like Figure 3-4As shown, mounting plates 21 are provided on the rear sides of both ends of the mounting frame 2. Each mounting plate 21 has adjustment holes 211. The mounting frame 2 can move left and right along the length direction of the adjustment holes 211. The mounting frame 2 is mounted to the robot body 1 through the adjustment holes 211. In this embodiment, mounting plates 21 are respectively provided on the rear sides of both ends of the mounting frame 2. Each mounting plate 21 has two adjustment holes 211. The adjustment holes 211 are oblong holes. The mounting frame 2 is mounted to the front side of the robot body 1 through the adjustment holes 211, and the mounting frame 2 can move left and right along the length direction of the adjustment holes 211, thereby adjusting the position of the support roller 6 and ensuring the support quality of the support roller 6.
[0037] like Figure 3-4 As shown, the mounting frame 2 is provided with a reinforcing block 22. One end of the reinforcing block 22 is connected to the mounting plate 21, and the other end of the reinforcing block 22 is connected to the top surface of the mounting frame 2. In this embodiment, the reinforcing block 22 is provided on the top surface of the mounting frame 2, so that one end of the reinforcing block 22 is connected to the mounting plate 21, and the other end of the reinforcing block 22 is connected to the top surface of the mounting frame 2. This helps to strengthen the connection stability between the mounting plate 21 and the mounting frame 2, making it more integrated and structurally more stable.
[0038] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0039] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.
Claims
1. A floor grinding robot with foldable front support rollers, characterized in that: Includes the robot body, mounting frame, first link assembly, second link assembly, swing frame, support rollers, pins, and hinge base; The mounting bracket is installed on the front side of the robot body, and the hinge seat is installed on the mounting bracket. The hinge seat is provided with a first fixing hole and a second fixing hole. One end of the first link assembly is swayably mounted on the hinge seat, and the other end of the first link assembly is hinged to the swing frame. The first link assembly is provided with a first locking hole, which can be directly opposite the first fixing hole. One end of the second link assembly is swayably mounted on the hinge seat, and the other end of the second link assembly is hinged to the swing frame. The second link assembly is provided with a second locking hole, which can be directly aligned with the second fixing hole. The support roller is rotatably mounted on the swing frame. When the pin is installed in the first fixing hole and the first locking hole, the swing frame is in the storage state; When the pin is installed in the second fixing hole and the second locking hole, the swing frame is in the unfolded state.
2. The floor grinding robot with foldable front support rollers according to claim 1, characterized in that: The first linkage assembly includes a first linkage, a first pivot, and a second pivot; The first rotating shaft is mounted on the hinge seat, and the left and right ends of the first rotating shaft protrude from the left and right sides of the hinge seat, respectively. The second rotating shaft is mounted on the swing frame, and the left and right ends of the second rotating shaft protrude from the left and right sides of the swing frame, respectively. One end of each of the two first connecting rods is mounted on the left and right ends of the first rotating shaft, and the other end of each of the two first connecting rods is mounted on the left and right ends of the second rotating shaft, respectively.
3. The floor grinding robot with foldable front support rollers according to claim 2, characterized in that: The first link assembly further includes a first connecting shaft, the left and right ends of which are respectively connected to the two first links. The first connecting shaft is located between the first rotating shaft and the second rotating shaft, and the first locking hole is located between the first connecting shaft and the first rotating shaft.
4. A floor grinding robot with foldable front support rollers according to claim 2, characterized in that: The second linkage assembly includes a second linkage, a third pivot, and a fourth pivot; The third rotating shaft is mounted on the hinge seat. The third rotating shaft is located below the front side of the first rotating shaft. The left and right ends of the third rotating shaft protrude from the left and right sides of the hinge seat, respectively. The fourth rotating shaft is mounted on the swing frame. The fourth rotating shaft is located below the front side of the second rotating shaft, and the left and right ends of the fourth rotating shaft protrude from the left and right sides of the swing frame, respectively. One end of each of the two second connecting rods is respectively installed at the left and right ends of the third rotating shaft, and the other end of each of the two second connecting rods is respectively installed at the left and right ends of the fourth rotating shaft.
5. A floor grinding robot with foldable front support rollers according to claim 4, characterized in that: It also includes a second connecting shaft, the left and right ends of which are respectively installed on the two inner sides of the swing frame, and the second connecting shaft is located between the second rotating shaft and the fourth rotating shaft.
6. A floor grinding robot with foldable front support rollers according to claim 1, characterized in that: The mounting frame has mounting plates on the rear sides of both the left and right ends. The mounting plates have adjustment holes. The mounting frame can move left and right along the length direction of the adjustment holes. The mounting frame is installed on the robot body through the adjustment holes.
7. A floor grinding robot with foldable front support rollers according to claim 6, characterized in that: The mounting bracket is equipped with a reinforcing block, one end of which is connected to the mounting plate, and the other end of which is connected to the top surface of the mounting bracket.