Ground leveling robot and steering mechanism thereof

Abstract

The utility model relates to ground leveling technical field discloses a ground leveling robot and steering mechanism thereof, the steering mechanism includes elevating unit and rotation unit, and elevating unit includes the support base of installation to the frame, and the support base has the support state of the ground leveling robot's walking mechanism of ground support to make and the ground separation and the retraction state of from the support state to make the walking mechanism ground contact, and the rotation unit sets up to when the support base is in the support state of making the walking mechanism ground separation, can drive the frame relative elevating unit rotates around vertical axis. Therefore, compared with the prior art, the utility model can avoid the friction contact between the walking mechanism and the ground, prevent it from wearing or damaging in the rotation process, improve the reliability and service life of the equipment.

Description

Technical Field

[0001] This utility model relates to the field of ground leveling technology, specifically to a steering mechanism for a ground leveling robot. Furthermore, this utility model also provides a ground leveling robot equipped with this steering mechanism. Background Technology

[0002] In building construction, structural construction typically involves the sequential implementation of the main structure and secondary structure. After the main structure is completed, construction of the secondary structure and some non-fair-faced concrete structures must be carried out. To meet the functional and aesthetic requirements of the building, wall plastering or flooring construction is usually required after the completion of the above structures. To ensure good thickness control and flatness of the plaster or flooring layer, mortar spots need to be laid before construction as reference points for controlling the construction elevation and thickness. However, the traditional method of manually laying mortar spots and leveling the floor has problems such as high labor intensity, low work efficiency, and strong dependence on the skills of the workers. Moreover, due to the instability of human operation during construction, deviations in elevation control accuracy are easily caused. Therefore, in recent years, floor leveling robots have been gradually introduced into construction sites to reduce labor intensity and improve the accuracy of leveling operations.

[0003] However, most leveling robots on the market use tracked or roller-type movement structures. Therefore, the robot's steering relies heavily on differential speed control on both sides, which makes it prone to direct contact and friction with the leveled mortar spots during rotation, causing damage to the surface of the mortar spots. In addition, the complex environmental conditions at the construction site will also accelerate the wear of tracked or roller components, thereby affecting the stability and service life of the machine structure. Utility Model Content

[0004] The purpose of this utility model is to overcome the aforementioned technical problems existing in the prior art.

[0005] To achieve the above objectives, this utility model provides a steering mechanism for a ground leveling robot, including a lifting unit and a rotating unit. The lifting unit includes a support base mounted to the frame, which has a supported state in which the walking mechanism of the ground leveling robot is raised and lifted off the ground, and a retracted state in which the walking mechanism is retracted from the supported state and grounded. The rotating unit is configured to drive the frame to rotate relative to the lifting unit about a vertical axis when the support base is in the supported state in which the walking mechanism is lifted off the ground.

[0006] Optionally, the lifting unit also includes a lifting drive motor mounted to the support base, a lead screw driven by the lifting drive motor and extending in a vertical direction, a bearing platform threaded onto the lead screw, and a guide member for limiting the relative rotation of the support base and the bearing platform, so that the support base can be raised and lowered relative to the bearing platform and the frame by rotating the lead screw driven by the lifting drive motor, and can switch between a retracted state and a supported state supported on the ground.

[0007] Optionally, the rotating unit includes a rotary motor and a slewing bearing respectively mounted to the frame. The outer ring of the slewing bearing is fixedly connected to the support platform, and the inner ring is fixedly connected to the frame. The rotary motor is connected to a rotating wheel that meshes with the outer ring, so that when the support base is in a supported state that causes the walking mechanism to lift off the ground, the frame can be rotated relative to the support base and the support platform around the central axis of the slewing bearing by outputting power from the rotary motor.

[0008] Optionally, the guide includes a guide rod disposed on one of the support base and the platform and extending through a guide hole formed on the other, to restrict relative rotation between the support base and the platform during the rotation of the lead screw driven by the lifting drive motor, and to allow the support base to descend from the retracted state or the frame to rise with the platform until the traveling mechanism is lifted off the ground.

[0009] Optionally, multiple guide rods are provided, and the multiple guide rods are spaced apart circumferentially along the support base.

[0010] Optionally, the end of the guide rod is provided with a connecting plate for connecting to the support platform, and the connecting plate is detachably connected to the support platform.

[0011] Optionally, a position sensor is provided on the support platform to define the lowest position at which the support platform moves downward.

[0012] Optionally, a limiting plate is provided at the end of the lead screw, which is used to limit the highest position of the bearing platform moving upward.

[0013] Optionally, a connecting sleeve for a threaded connecting rod is provided at the center of the bearing platform.

[0014] Another aspect of this utility model provides a ground leveling robot, including the steering mechanism described above.

[0015] Through the above technical solution, this utility model adopts a structural design that combines a lifting unit and a rotating unit. Before the leveling robot turns or turns around, the lifting unit first raises the frame to avoid the tracks or rollers from contacting the leveled area. Then, the rotating unit drives the frame to rotate in place relative to the support base, which effectively avoids damage to the mortar spots and wear on the tracks or rollers, thereby improving the construction accuracy and enhancing the durability of the equipment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall steering mechanism of the ground leveling robot of this utility model;

[0017] Figure 2 This is a schematic diagram of the overall steering mechanism and the chassis of the ground leveling robot of this utility model.

[0018] Explanation of reference numerals in the attached figures

[0019] 1. Support base; 2. Lead screw; 3. Bearing platform; 4. Connecting bushing; 5. Frame; 6. Slewing bearing; 601. Outer ring; 602. Inner ring; 603. Fixed gear; 7. Rotary motor; 701. Rotating wheel; 702. Moving gear; 8. Guide rod; 9. Connecting plate; 10. Position sensor; 11. Limiting plate. Detailed Implementation

[0020] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of this utility model.

[0021] refer to Figure 1 The ground leveling robot of this utility model includes an integrated steering mechanism, which comprises a lifting unit and a rotating unit. The lifting unit includes a support base 1 mounted on a frame 5. This support base 1 can switch between two states: a supported state, where the support base 1 supports the ground and lifts the walking mechanism (e.g., tracks or rollers) mounted on the frame 5, lifting it off the ground; and a retracted state, where the support base 1 retracts, allowing the walking mechanism to touch the ground, thus enabling the robot to move normally. The rotating unit is configured to drive the frame 5 to rotate around a vertical axis when the support base 1 is in the supported state (i.e., the walking mechanism is off the ground), enabling the ground leveling robot to turn in place. This avoids frictional contact between the walking mechanism and the ground during the robot's turning process, preventing wear or damage during rotation and improving the reliability and service life of the equipment.

[0022] In this invention, the component used to drive the support base 1 to switch between the retracted state and the supported state can adopt any suitable driving method. (Reference) Figure 1 The lifting unit may include a lifting drive motor mounted on a support base 1, a lead screw 2 driven by the motor and extending in a vertical direction, and a support platform 3 threadedly connected to the lead screw 2. Figure 2The lifting unit also includes a guide component located between the support platform 3 and the support base 1 to limit the relative rotation between the two. This allows the support base 1 to move up and down relative to the support platform 3 and the frame 5 by rotating the lead screw 2 driven by the motor, and to switch between the retracted state and the supported state.

[0023] Specifically, in its initial state, the bottom surface of the support base 1 is higher than the contact point between the walking mechanism and the ground, i.e., it is suspended, which is the retracted state mentioned above. This prevents damage caused by friction between the support base 1 and the ground during the robot's movement on the ground. When the lifting drive motor starts and drives the lead screw 2 to rotate, the platform 3 is in an indirectly fixed state because the frame 5 is grounded at this time. With the help of the guide members restricting the relative rotation between the support base 1 and the platform 3, the lead screw 2 will move downward along the axial direction relative to the platform 3 during rotation, driving the lifting drive motor and the support base 1 connected to it to descend as a whole.

[0024] When the bottom surface of the support base 1 contacts the ground, its downward movement is stopped, and the friction between the bottom surface and the ground further restricts its rotation, thus providing a stable and fixed support for the support base 1 relative to the frame 5. At this time, the continuous rotation of the lead screw 2 will drive the support platform 3 to overcome the weight of the frame 5 and rise vertically, thereby lifting the frame 5 and allowing the walking mechanism to completely detach from the ground and enter a freely rotatable state. Thus, the support base 1 switches from a retracted state to a supported state, and the rotating unit can also drive the frame 5 to rotate around the vertical axis in any direction in this state, realizing the in-situ turning function of the ground leveling robot.

[0025] In another embodiment, the support platform 3 and the support base 1 can also be connected by a telescopic cylinder. Specifically, the two ends of the telescopic cylinder are fixedly connected to the support platform 3 and the support base 1, respectively, and the telescopic movement of the cylinder enables the support base 1 to switch between a retracted state and a supported state on the ground. Although the telescopic cylinder has a simple structure and fast response speed, it should be noted that, comparatively, this invention preferably adopts a drive form that converts the rotation of the lead screw 2 into linear displacement, which has more significant advantages in practical applications.

[0026] Specifically, ground leveling robots typically have a significant overall weight (their chassis 5 also requires numerous other structures, such as the leveling head, moving parts that drive the leveling head, and the walking mechanism). In this context, using a telescopic cylinder can easily lead to problems such as insufficient cylinder thrust or limitations in the hydraulic (pneumatic) system, preventing effective lifting of the chassis 5. It may even result in sluggish movement or poor stability under high loads. In contrast, the lead screw 2 drive offers stronger load-bearing capacity and transmission stability, enabling precise lifting of large loads with relatively small driving torque. Furthermore, its smooth movement, high control precision, and resistance to environmental factors make it particularly suitable for the high-load, low-speed, stable operation required for chassis 5 lifting. Therefore, the lead screw 2 drive scheme adopted in this invention is more suitable for ground leveling robot applications requiring high reliability and high load-bearing capacity.

[0027] In addition, refer to Figure 1 In one embodiment, the rotating unit may include a rotary motor 7 and a slewing bearing 6. The slewing bearing 6 has two rings that can rotate relative to each other, namely an outer ring 601 and an inner ring 602, which can be selectively connected between the support platform 3 and the frame 5, respectively, according to the needs of the structural arrangement.

[0028] In a preferred structure, combining Figure 2 As shown, the outer ring 601 of the slewing bearing 6 is fixedly mounted on the support platform 3, and the inner ring 602 is fixedly connected to the frame 5. The output end of the rotary motor 7 is connected to a rotating wheel 701 that meshes with the outer circumferential surface of the outer ring 601. Specifically, a fixed gear 603 can be fitted onto the outer circumferential surface of the outer ring 601 of the slewing bearing 6, and correspondingly, a movable gear 702 can be fitted onto the outer ring 601 of the rotating wheel 701. The two mesh with each other to reliably transmit power to the fixed gear 603 when the rotary motor 7 drives the rotating wheel 701, thereby preventing slippage during rotation and ensuring rotational accuracy and driving stability. Alternatively, the fixed gear 603 and the outer ring 601, and the movable gear 702 and the rotating wheel 701, can be integrally formed. That is, a radially protruding tooth structure can be directly formed on the outer circumferential surfaces of the outer ring 601 and the rotating wheel 701, thus constituting the fixed gear 603 and the movable gear 702.

[0029] When the support base 1 is in a supported state and the walking mechanism is off the ground, the rotary motor 7 outputs power, driving the rotating wheel 701 to roll along the outer circumference of the outer ring 601 under the action of the reaction force, forming a circular motion around the central axis of the slewing bearing 6. In order to synchronously drive the corresponding rotation of the frame 5, the rotary motor 7 can be mounted on the frame 5, so as to indirectly and fixedly connect to the inner ring 602 through the frame 5. This allows the frame 5, together with its fixed inner ring 602, to synchronously and correspondingly rotate relative to the outer ring 601 on the support platform 3 during the movement of the rotating wheel 701, thereby completing the in-situ turning operation of the ground leveling robot.

[0030] In another alternative configuration, the inner ring 602 of the slewing bearing 6 can be fixedly connected to the support platform 3, and the outer ring 601 can be fixedly connected to the frame 5. In this case, to drive the frame 5 to rotate, the rotary motor 7 needs to be mounted on the support platform 3, ensuring that its relative position to the support platform 3 remains unchanged. The output end of the rotary motor 7 is also connected to the rotating wheel 701, which drives the outer ring 601 to rotate relative to the fixed inner ring 602, thereby driving the frame 5 to rotate and achieving the steering function.

[0031] It is important to note that, in combination Figure 1 The structure shown, compared to the aforementioned method of mounting the motor on the frame 5, places higher demands on the space and structural strength of the support platform 3. This is because in this design, the rotary motor 7 and the slewing bearing 6 must be simultaneously mounted on the support platform 3. The support platform 3 must have sufficient mounting area and rigidity to support its installation strength and operational stability, ensuring continuous and reliable operation of the system during stationary turning.

[0032] refer to Figure 2 The steering mechanism of this invention can be positioned directly below the center of gravity of the chassis 5, for example, in the middle of the two tracks or rollers, to optimize the overall weight distribution and improve steering stability. The inner ring 602 can be fixedly connected to the platform of the chassis 5, which connects the two side structures of the vehicle body. The rotary motor 7 is also fixedly mounted on this platform to maintain a relatively stationary state with the inner ring 602, achieving stable drive for steering movements.

[0033] Furthermore, the fixed connections between the rotary motor 7 and the inner ring 602, and between the outer ring 601 of the slewing bearing 6 and the lower support platform 3, can employ common mechanical connection methods such as threaded connections, bolt fastening, or plug-in fittings. The specific connection structure used can be flexibly selected based on factors such as installation space, structural strength, and ease of assembly; this article does not impose any limitations on this.

[0034] In some embodiments, reference Figure 2The aforementioned guide component may include a guide rod 8 disposed on one of the support base 1 and the carrier platform 3. The guide rod 8 extends through a guide hole formed on the other and is arranged in a vertical direction. For example, the guide rod 8 may be fixedly connected to the bottom end face of the carrier platform 3 and extend vertically downward, correspondingly inserting into the guide hole disposed on the support base 1, so that it moves only in a vertical direction without rotating during lifting and lowering. Conversely, the guide rod 8 may also be disposed on the top end face of the support base 1 and extend vertically upward, correspondingly inserting into the guide hole on the carrier platform 3, which structurally achieves effective restriction of relative rotation.

[0035] Through the above structural design, the guide rod 8 can effectively limit the relative rotation between the support base 1 and the bearing platform 3 during the rotation of the lead screw 2 driven by the lifting drive motor, ensuring that the rotational motion of the lead screw 2 is reliably converted into the relative lifting between the support base 1 and the frame 5. At the same time, the guide rod 8 can also match and guide the movement stroke between the two, improving the stability and accuracy of the system's movement.

[0036] In addition, to ensure that the guide structure remains effective during the process of the support base 1 moving from the retracted state to the supported state, or the vehicle frame 5 being lifted by the support platform 3 to make the walking mechanism completely leave the ground, the length of the guide rod 8 should be greater than the maximum relative displacement distance that the support base 1 needs to move relative to the support platform 3 between the above two states, thereby providing full-process guidance and motion stability for the entire lifting process.

[0037] Furthermore, multiple guide rods 8 can be configured and arranged at intervals along the circumference of the support base 1, thereby providing multi-point guiding support for the support platform 3 during lifting and lowering, effectively improving its stability and anti-deviation capability during vertical movement. In addition, for ease of installation and maintenance, the ends of the guide rods 8 can be detachably connected to the support platform 3 via connecting plates 9. Specifically, the connecting plate 9 is fixedly connected to the ends of the guide rods 8 and threadedly connected to the support platform 3 via multiple bolts, resulting in a simple structure, convenient assembly, and reduced maintenance costs.

[0038] In some embodiments, a position sensor 10, such as a proximity sensor, is also provided on the support platform 3 to detect the distance between the support platform 3 and the top surface of the support base 1, so as to avoid excessive descent or misoperation and enhance the safety of system operation.

[0039] Meanwhile, a limiting plate 11 can be provided at the end of the lead screw 2 to limit the upward movement of the support platform 3 to its highest position. This limiting plate 11 can be constructed as a circular disc structure. When the support platform 3 rises to the preset height, its bottom surface contacts the limiting plate 11, forming a mechanical limit to prevent the support platform 3 from continuing to rise, thereby avoiding the risk of it detaching from the lead screw 2 due to excessive lifting. Furthermore, to meet the requirement that the frame 5 completely detaches from the ground or ground surface before turning in place, the highest position that the support platform 3 is allowed to reach should be higher than the minimum lifting height required to achieve the suspension of the frame 5. In actual use, the operator can determine whether the lifting is complete (i.e., entering the support state) based on whether the frame 5 is in a suspended state; conversely, they can also determine whether the descent process is complete (i.e., entering the retraction state) based on whether the frame 5 is supported on the ground again and whether the support base 1 is suspended below the frame 5, and stop the operation of the lifting motor accordingly.

[0040] It should be noted that the position sensor 10 and the limit plate 11 mainly play an auxiliary protective role in this utility model. Their function is to provide extreme position protection for the operator and prevent excessive lifting caused by misoperation, and they are not used to directly control the start and stop logic of the lifting motor. The judgment and execution of the lifting operation are still based on the actual working state of the frame 5 and the support base 1, and are judged by the operator in combination with the equipment status or executed by the control system setting conditions.

[0041] After the chassis 5 has been lifted and lifted off the ground, the rotary motor 7 can be started to enable the chassis 5 to rotate in place. Alternatively, according to the control logic set by the system, the lifting motor and the rotary motor 7 can be controlled in a coordinated manner, so that the chassis 5 can perform a rotation operation synchronously during the lifting process, thereby improving the working efficiency and response speed of the ground leveling robot.

[0042] Furthermore, a connecting bushing 4 can be provided at the middle position of the support platform 3. This bushing is used to install the support platform 3 onto the lead screw 2 via a threaded connection, ensuring the reliability of power transmission. Simultaneously, when the support platform 3 is raised to its highest position, the connecting bushing 4 can contact the limiting plate 11, forming a mechanical stop. Through the rigid fit between the connecting bushing 4 and the limiting plate 11, an effective limiting protection structure can be constructed, preventing structural damage due to improper operation and further improving the overall safety and stability of the system.

[0043] Another aspect of this utility model discloses a ground leveling robot that employs the steering mechanism described above.

[0044] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be considered as the content disclosed in the present invention and all fall within the protection scope of the present invention.

Claims

1. A steering mechanism for a ground leveling robot, characterized in that, include: The lifting unit includes a support base (1) mounted to the frame (5), the support base (1) having a supported state in which the walking mechanism of the ground leveling robot is raised and removed from the ground, and a retracted state in which the walking mechanism is retracted from the supported state and grounded. A rotating unit is configured to drive the frame (5) to rotate relative to the lifting unit about a vertical axis when the support base (1) is in a support state that causes the walking mechanism to lift off the ground.

2. The steering mechanism of the ground leveling robot according to claim 1, characterized in that, The lifting unit also includes a lifting drive motor mounted on the support base (1), a lead screw (2) driven by the lifting drive motor and extending in the vertical direction, a bearing platform (3) threaded onto the lead screw (2), and a guide for limiting the relative rotation of the support base (1) and the bearing platform (3), so that the support base (1) can be raised and lowered relative to the bearing platform (3) and the frame (5) by rotating the lead screw (2) driven by the lifting drive motor, and can switch between a retracted state and a supported state supported on the ground.

3. The steering mechanism of the ground leveling robot according to claim 2, characterized in that, The rotating unit includes a rotary motor (7) and a slewing bearing (6) respectively mounted on the frame (5). The outer ring (601) of the slewing bearing (6) is fixedly connected to the support platform (3), and the inner ring (602) is fixedly connected to the frame (5). The rotary motor (7) is connected to a rotating wheel (701) that meshes with the outer ring (601). When the support base (1) is in a support state that causes the walking mechanism to lift off the ground, the frame (5) can be rotated relative to the support base (1) and the support platform (3) around the central axis of the slewing bearing (6) by the output power of the rotary motor (7).

4. The steering mechanism of the ground leveling robot according to claim 2, characterized in that, The guide includes a guide rod (8) disposed on one of the support base (1) and the carrier platform (3) and extending through a guide hole formed on the other, to restrict the relative rotation of the support base (1) and the carrier platform (3) during the rotation of the lead screw (2) driven by the lifting drive motor, and to cause the support base (1) to descend from the retracted state or to cause the frame (5) to rise with the carrier platform (3) to the point that the walking mechanism is off the ground.

5. The steering mechanism of the ground leveling robot according to claim 4, characterized in that, The guide rod (8) is provided in multiple ways, and the multiple guide rods (8) are arranged at intervals along the circumference of the support base (1).

6. The steering mechanism of the ground leveling robot according to claim 4, characterized in that, The end of the guide rod (8) is provided with a connecting plate (9) for connecting with the support platform (3), and the connecting plate (9) is detachably connected to the support platform (3).

7. The steering mechanism of the ground leveling robot according to claim 2, characterized in that, The support platform (3) is provided with a position sensor (10), which is used to limit the lowest position of the support platform (3) when it moves downward.

8. The steering mechanism of the ground leveling robot according to claim 2, characterized in that, The end of the lead screw (2) is provided with a limiting plate (11), which is used to limit the highest position of the bearing platform (3) moving upward.

9. The steering mechanism of the ground leveling robot according to claim 2, characterized in that, The center of the bearing platform (3) is provided with a connecting sleeve (4) that is threaded to the lead screw (2).

10. A ground leveling robot, characterized in that, Includes the steering mechanism according to any one of claims 1 to 9.

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