A multi-head robot for stone maintenance

Abstract

The utility model discloses a multi -head robot for stone maintenance relates to the technical field of stone maintenance, it includes the shell, the bottom of shell is provided with the bottom plate, three maintenance machines are set up on the bottom plate, the angle adjusting mechanism corresponding with maintenance machine is set up on the bottom plate, the moving mechanism is set up the bottom of bottom plate, the angle adjusting mechanism includes movable frame, is hingedly set up in the top of bottom plate, drive part is set up in the top of bottom plate for drive movable frame rotates, the maintenance machine sets movable frame's bottom end, effectively solved the current maintenance machine, needs manual operation, there is the problem of low efficiency, stone maintenance quality is unstable and manual labor intensity big.

Description

Technical Field

[0001] This utility model relates to the technical field of stone maintenance, and more specifically, to a multi-head robot for stone maintenance. Background Technology

[0002] Stone crystallization maintenance is a key process for enhancing the decorative effect and extending the service life of stone. It typically relies on manual operation of semi-automatic equipment (such as single-grip polishers and high-speed polishing machines) to physically grind the stone surface and apply chemical agents, thereby forming a glossy crystalline protective layer. However, because the equipment often weighs tens of kilograms and generates high-frequency vibrations during operation, operators must work under this weight, which can easily lead to arm tremors, shoulder, neck, and lower back muscle strain, causing serious health damage. Furthermore, the effective continuous working time is short, resulting in low maintenance efficiency.

[0003] Based on this, the present invention provides a multi-head robot for stone maintenance. Utility Model Content

[0004] To address the problems mentioned in the background art, this utility model provides a multi-head robot for stone maintenance.

[0005] This utility model provides a multi-head robot for stone maintenance, which adopts the following technical solution:

[0006] A multi-head robot for stone maintenance includes a shell with a base plate at the bottom; three maintenance machines mounted on the base plate; angle adjustment mechanisms corresponding to the maintenance machines mounted on the base plate; a moving mechanism mounted at the bottom of the base plate; the angle adjustment mechanism includes a movable frame hinged to the top of the base plate; a driving component mounted on the top of the base plate for driving the movable frame to rotate; and the maintenance machines are located at the bottom of the movable frame.

[0007] Preferably, the three maintenance machines are arranged in an equilateral triangular array on the base plate.

[0008] Preferably, the driving component includes a pair of upright plates disposed on the top of the base plate, with a crossbar between the two upright plates; an electric push cylinder disposed on the top of the base plate and located between the two upright plates; a moving rod disposed on the side end of the movable frame, and arc-shaped grooves formed on the sides of both upright plates, with the moving rod slidably connected to the arc-shaped grooves; the side end of the movable frame is connected to the output end of the electric push cylinder via a chain, and the chain is rotatably connected to the crossbar.

[0009] Preferably, the moving mechanism includes casters, which are disposed at the bottom of the base plate; and two AGV drive wheels, which are symmetrically disposed at the bottom of the base plate.

[0010] Preferably, the bottom of the base plate is provided with three nozzles, and the nozzles correspond to the positions of the maintenance machine. The top of the base plate is provided with a storage box, and the bottom of the base plate is provided with a water pump. The drain end of the water pump is connected to each nozzle through a four-way pipe, and the suction end of the water pump is connected to the storage box through a pipeline.

[0011] Preferably, a feeding pipe is provided on the top of the outer shell, and the feeding pipe is connected to the storage box.

[0012] In summary, this utility model has the following beneficial technical effects:

[0013] The movable frame is driven by a drive mechanism to rotate, allowing the maintenance machine to be tilted at different angles. This facilitates the replacement of the steel wool at the bottom of the machine by staff. The rotation of the movable frame also changes the angle of the machine's bottom. Simultaneously, a moving mechanism enables the robot to move automatically for maintenance, reducing the need for manual operation. This structural design effectively solves the problems of existing maintenance machines that require manual operation, resulting in low efficiency, inconsistent stone maintenance quality, and high labor intensity.

[0014] The curing solution in the storage tank is pressurized and delivered to each nozzle by a water pump. The nozzle then sprays the curing solution onto the steel wool of the curing machine, thus completing the automated spraying of the curing solution without the need for manual spraying.

[0015] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of a multi-head robot for stone maintenance according to an embodiment of this utility model;

[0017] Figure 2 This is a schematic diagram of the bottom structure of a multi-head robot for stone maintenance according to an embodiment of this utility model;

[0018] Figure 3 This is a schematic diagram of the internal structure of a multi-head robot for stone maintenance according to an embodiment of this utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the water pump, nozzle, and storage tank in an embodiment of this utility model;

[0020] Figure 5 yes Figure 4 Enlarged structural diagram at point A;

[0021] Figure 6 yes Figure 3 Enlarged structural diagram at point B.

[0022] Explanation of reference numerals in the attached drawings: 1. Outer shell; 2. Base plate; 3. Curing machine; 4. Angle adjustment mechanism; 400. Movable frame; 401. Vertical plate; 402. Horizontal bar; 403. Electric push cylinder; 404. Moving rod; 405. Arc groove; 406. Chain; 5. Moving mechanism; 500. Caster wheel; 501. AGV drive wheel; 6. Nozzle; 7. Storage box; 8. Water pump; 9. Feeding pipe. Detailed Implementation

[0023] The following is in conjunction with the appendix Figures 1 to 6 The present invention will be described in further detail below.

[0024] It should be noted that the accompanying drawings are schematic and not to scale. For clarity and convenience, the relative dimensions and proportions of the parts shown are exaggerated or reduced in size; all dimensions are merely illustrative and not limiting. Furthermore, the same reference numerals are used for the same structures, elements, or fittings appearing in more than two drawings to indicate similar features.

[0025] This utility model discloses a multi-head robot for stone maintenance. (Refer to...) Figures 1 to 6 A multi-head robot for stone maintenance includes a shell 1, three maintenance machines 3, an angle adjustment mechanism 4 corresponding to the maintenance machines 3, and a moving mechanism 5; a base plate 2 is provided at the bottom of the shell 1; the three maintenance machines 3 are mounted on the base plate 2; the angle adjustment mechanism 4 corresponding to the maintenance machines 3 is mounted on the base plate 2; and the moving mechanism 5 is located at the bottom of the base plate 2.

[0026] The angle adjustment mechanism 4 includes a movable frame 400 and a driving component; the movable frame 400 is hinged to the top of the base plate 2; the driving component is located on the top of the base plate 2 and is used to drive the movable frame 400 to rotate; the maintenance machine 3 is located at the bottom end of the movable frame 400.

[0027] Specifically, the movable frame 400 is driven to rotate by the drive component, thereby allowing the maintenance machine 3 to be rotated at an angle. This makes it easier for staff to replace the steel wool at the bottom of the maintenance machine 3. The rotation of the movable frame 400 can also change the angle of the bottom of the maintenance machine 3. At the same time, in conjunction with the moving mechanism 5, the robot can move automatically for maintenance, which can reduce the number of steps required for manual operation of the machine.

[0028] This structural design effectively solves the problems of existing maintenance machines, which require manual operation, resulting in low efficiency, unstable stone maintenance quality, and high labor intensity.

[0029] Specifically, the three maintenance machines 3 are arranged in an equilateral triangle array on the base plate 2. This arrangement of the three machines covers the maintenance area in an overlapping manner, achieving a complete absence of maintenance gaps.

[0030] like Figure 3 and Figure 6 As shown, the driving component includes a pair of upright plates 401 and an electric push cylinder 403; the pair of upright plates 401 are disposed on the top of the base plate 2, and a crossbar 402 is disposed between the two upright plates 401; the electric push cylinder 403 is disposed on the top of the base plate 2 and is located between the two upright plates 401; a moving rod 404 is disposed on the side end of the movable frame 400, and an arc-shaped groove 405 is provided on the side of each of the two upright plates 401, and the moving rod 404 is slidably connected to the arc-shaped groove 405; the side end of the movable frame 400 is connected to the output end of the electric push cylinder 403 through a chain 406, and the chain 406 is rotatably connected to the crossbar 402.

[0031] Specifically, the driving mechanism is achieved by using an electric cylinder 403 to pull the chain 406 to retract, thereby causing the movable frame 400 to rotate on the base plate 2, thus completing the bottom flip of the maintenance machine 3. When the movable frame 400 rotates, the moving rod 404 on the movable frame 400 can rotate within the arc groove 405. The cooperation between the moving rod 404 and the arc groove 405 increases the stability of the rotation of the movable frame 400.

[0032] like Figure 2 As shown, the moving mechanism 5 includes casters 500 and two AGV drive wheels 501; the casters 500 are located at the bottom of the base plate 2; the two AGV drive wheels 501 are symmetrically arranged at the bottom of the base plate 2.

[0033] Specifically, the two AGV drive wheels 501 drive the base plate 2 to move, thereby enabling the robot to move (forward, backward, left and right, and rotate 360°).

[0034] like Figure 3 and Figure 4 As shown, the bottom of the base plate 2 is provided with three nozzles 6, and the nozzles 6 correspond to the positions of the maintenance machine 3. The top of the base plate 2 is provided with a storage box 7, and the bottom of the base plate 2 is provided with a water pump 8. The drain end of the water pump 8 is connected to each nozzle 6 through a four-way pipe, and the suction end of the water pump 8 is connected to the storage box 7 through a pipeline.

[0035] Specifically, the maintenance solution in the storage tank 7 is pressurized and delivered to each nozzle 6 by the water pump 8. The nozzle 6 then sprays the maintenance solution onto the steel wool of the maintenance machine 3, thereby completing the automated spraying of the maintenance solution without the need for manual spraying.

[0036] like Figure 3As shown, a feeding pipe 9 is provided on the top of the outer shell 1, and the feeding pipe 9 is connected to the storage tank 7. A sealing head is provided at the top of the feeding pipe 9. When adding the curing liquid, the sealing head can be removed.

[0037] Specifically, the outer casing 1 contains a battery to power the various electrical components inside the robot, and a controller (PLC controller) to program the operation of each component.

[0038] Specifically, a lidar, ultrasonic sensor, and infrared sensor (i.e., a vision module) are installed on the outer surface of the outer casing 1. The lidar's scanning plane is parallel to the ground, used to acquire distance and contour information of the robot's surrounding environment. The ultrasonic and infrared sensors are directed towards the front and sides of the robot, used to detect nearby obstacles. The detected environmental data is transmitted to the controller in real time. The controller uses this sensor data to fuse and construct a three-dimensional spatial model of the robot's working environment, and performs real-time obstacle avoidance decisions and optimal path planning based on this model.

[0039] The controller is configured to: receive environmental perception signals from lidar, ultrasonic sensors, and infrared sensors; generate control signals according to a preset program or remote instructions and send them to the electric push cylinder 403 to drive the movable frame 400 to rotate, thereby adjusting the angle of the maintenance machine 3; send them to the AGV drive wheel 501 motor to control the robot's movement direction and speed; and send them to the water pump 8 to control the start and stop of the nozzle 6; thereby realizing the robot's automatic path planning, real-time obstacle avoidance, and coordinated operation control of various execution components.

[0040] All standard parts used in this utility model can be purchased from the market. Irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0041] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0042] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0043] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0045] The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0046] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-head robot for stone maintenance, characterized in that, include: The outer casing (1) has a bottom plate (2) at its bottom; Three maintenance machines (3) are set on the base plate (2); An angle adjustment mechanism (4) corresponding to the maintenance machine (3) is set on the base plate (2); The moving mechanism (5) is located at the bottom of the base plate (2); The angle adjustment mechanism (4) includes: The movable frame (400) is hinged to the top of the base plate (2); The driving component is located on the top of the base plate (2) and is used to drive the movable frame (400) to rotate; The maintenance machine (3) is equipped with a movable frame (400) at the bottom.

2. The multi-head robot for stone maintenance according to claim 1, characterized in that: The three maintenance machines (3) are arranged in an equilateral triangle array on the base plate (2).

3. A multi-head robot for stone maintenance according to claim 1, characterized in that: The driving component includes: A pair of upright plates (401) are provided on the top of the base plate (2), and a crossbar (402) is provided between the two upright plates (401); An electric push cylinder (403) is disposed on the top of the base plate (2) and located between the two vertical plates (401); The movable frame (400) is provided with a moving rod (404) at its side end, and the two upright plates (401) are provided with arc-shaped grooves (405) on their sides. The moving rod (404) is slidably connected to the arc-shaped grooves (405). The side end of the movable frame (400) is connected to the output end of the electric push cylinder (403) via a chain (406), and the chain (406) is rotatably connected to the crossbar (402).

4. A multi-head robot for stone maintenance according to claim 1, characterized in that: The moving mechanism (5) includes: Casters (500) are installed at the bottom of the base plate (2); Two AGV drive wheels (501) are symmetrically arranged at the bottom of the base plate (2).

5. A multi-head robot for stone maintenance according to claim 1, characterized in that: The bottom of the base plate (2) is provided with three nozzles (6), and the nozzles (6) correspond to the positions of the maintenance machine (3). The top of the base plate (2) is provided with a storage box (7). The bottom of the base plate (2) is provided with a water pump (8). The drain end of the water pump (8) is connected to each nozzle (6) through a four-way pipe. The suction end of the water pump (8) is connected to the storage box (7) through a pipeline.

6. A multi-head robot for stone maintenance according to claim 5, characterized in that: The top of the outer shell (1) is provided with a feeding pipe (9), and the feeding pipe (9) is connected to the storage box (7).

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