CN212836575U - Ground processing robot capable of flexibly turning - Google Patents

Abstract

The utility model provides a ground treatment robot of flexible turn. The ground processing robot capable of flexibly turning comprises a driving vehicle, a connecting support and a ground processing mechanism, wherein the driving vehicle comprises a vehicle body and a movable driving piece arranged on the vehicle body, the first end of the connecting support is rotatably arranged on the vehicle body along a vertical shaft, and the ground processing mechanism is fixedly arranged at the second end of the connecting support. Because the first end of the connecting bracket is rotatably arranged on the vehicle body along the vertical shaft, when the ground processing robot turns, the driving vehicle turns in advance, the ground processing mechanism lags behind the driving vehicle, and the ground processing mechanism can gradually turn in the turning and straight-going process of the driving vehicle, so that the stable transition of the ground processing mechanism is realized, and the moving direction of the ground processing mechanism is finally consistent with the moving direction of the driving vehicle. Therefore, the problem of poor construction effect on the concrete ground caused by the fact that the ground processing mechanism part moves too fast is avoided, the ground forming effect is facilitated, and the construction effect of the ground processing robot is guaranteed.

Description

Ground processing robot capable of flexibly turning

Technical Field

The utility model relates to a construction equipment technical field particularly, relates to a ground treatment robot of flexible turn.

Background

With the increasing requirements on building quality, the quality of ground forming is particularly important, and the method is directly related to the realizable degree of a subsequent new process and method, such as a new floor tile thin-pasting process, a wood floor installation secondary-leveling-free technology and the like. The existing high-precision ground is continuously corrected mainly in a mode of manual polishing and retesting until the target requirement is met, the efficiency is low, the whole construction period is seriously influenced, the labor cost is high, and due to the fact that the technical levels of different workers are different, the effects of the high-precision ground are also different in level, and the difference is large.

At present, an automatic leveling machine is also available in the market, and the leveling mechanism is generally driven by a vehicle body to move on the concrete ground, so that the leveling mechanism can level the ground. However, in the above-mentioned leveling machine, since the vehicle body and the leveling mechanism are relatively fixed in the vertical axis direction, when the leveling machine turns, since the leveling mechanism and the leveling machine turn together sharply, some protrusions on the ground are directly lifted by the leveling mechanism, resulting in poor construction effect of the concrete ground when the concrete ground turns.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a ground treatment robot with flexible turning to solve the technical problem of poor ground concrete ground construction effect during the turning that the automatic leveling machine exists among the prior art.

In order to achieve the above object, the utility model provides a ground processing robot of flexible turn, include: the driving vehicle comprises a vehicle body and a movable driving piece arranged on the vehicle body; a connecting bracket, a first end of which is rotatably mounted on the vehicle body along a vertical shaft; and the ground processing mechanism is fixedly arranged at the second end of the connecting bracket.

In one embodiment, the first end of the connecting bracket is connected to the vehicle body by a first quick release structure.

In one embodiment, the first quick release structure includes a snap groove provided on the vehicle body and a snap block provided at a first end of the link bracket, the first end of the link bracket being rotatably coupled to the snap block along a vertical axis.

In one embodiment, the second end of the linking bracket is connected to the surface treating mechanism by a second quick release structure.

In one embodiment, the ground processing mechanism includes a leveling mechanism and a troweling mechanism, and the connecting bracket is selectively connected with the leveling mechanism or the troweling mechanism through a second quick release structure.

In one embodiment, the flattening mechanism is a plurality of types, and the connecting bracket is selectively connected with one of the plurality of flattening mechanisms through the second quick release structure.

In one embodiment, the troweling mechanism is multiple, and the connecting bracket is selectively connected with one of the multiple troweling mechanisms through the second quick release structure.

In one embodiment, a flattening mechanism comprises: a rack main body; two lifting driving pieces which are arranged on the frame main body at intervals; the scraper blade links to each other through the ball pair with the drive end of two lift driving pieces respectively, and two lift driving pieces are used for driving the scraper blade and move along vertical direction.

In one embodiment, the connecting bracket comprises: the fixed frame is rotatably arranged on the vehicle body along a vertical shaft, and the driving frame is connected with the ground processing mechanism; the driving mechanism comprises a fixing frame, a driving frame, a main connecting rod and an auxiliary connecting rod, wherein the fixing frame is provided with a first end and a second end; the first end of the telescopic driving piece is hinged with the fixing frame, the second end of the telescopic driving piece is hinged with the main connecting rod or the auxiliary connecting rod, and the fixing frame, the driving frame, the main connecting rod and the auxiliary connecting rod form a four-bar mechanism.

In one embodiment, one of the main connecting rod and the auxiliary connecting rod is connected with the fixed frame through a revolute pair, the other of the main connecting rod and the auxiliary connecting rod is connected with the fixed frame through a ball pair, the main connecting rod and the auxiliary connecting rod are respectively connected with the driving frame through the ball pair, and the fixed frame, the driving frame, the main connecting rod and the auxiliary connecting rod form a four-bar mechanism.

In one embodiment, the connecting bracket further comprises a movable hinge rod, a first end of the movable hinge rod is pivotally connected with one of the main connecting rod and the auxiliary connecting rod along a direction perpendicular to a plane of the connecting bracket, a second end of the movable hinge rod is connected with the driving frame along a pivot on the plane of the connecting bracket, and the movable hinge rod and the pivot connection structures at two ends of the movable hinge rod form a ball pair.

Use the technical scheme of the utility model, because the first end of linking bridge is rotationally installed on the automobile body along vertical axle, when ground treatment robot turned, the driving vehicle turned in advance, and ground treatment mechanism was comparatively lagged for the driving vehicle, and at the in-process that the driving vehicle turned and was gone straight, ground treatment mechanism just can turn gradually, realized ground treatment mechanism's smooth transition, and final and driving vehicle's moving direction is unanimous. Therefore, the problem of poor construction effect on the concrete ground caused by the fact that the ground processing mechanism part moves too fast is avoided, the ground forming effect is facilitated, and the construction effect of the ground processing robot is guaranteed.

In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.

Drawings

The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention. In the drawings:

fig. 1 shows a schematic structural view of a flexible-turning ground handling robot mounted levelling mechanism according to the present invention;

FIG. 2 shows a front schematic view of the flexible-turning ground handling robot of FIG. 1;

FIG. 3 shows a partially enlarged schematic view of the flexibly turning ground handling robot of FIG. 2;

FIG. 4 shows an enlarged structural view at a first quick release structure of the flexibly turning ground handling robot of FIG. 1;

FIG. 5 shows a schematic structural view of a connecting bracket of the flexible-cornering ground handling robot of FIG. 1;

FIG. 6 shows a structural schematic view of the steering of the flexibly-curved ground handling robot of FIG. 1;

fig. 7 shows a schematic structural view of a flexible-turning ground handling robot mounting and troweling mechanism according to the present invention;

FIG. 8 is a schematic structural view showing a twisted state of the connecting bracket of FIG. 5;

FIG. 9 shows a left side view schematic of the attachment bracket of FIG. 8;

FIG. 10 shows a schematic of the travel of a prior art screed when turning;

FIG. 11 illustrates a track diagram of the screed mechanism of the prior art screed of FIG. 10 when turning;

fig. 12 shows a schematic view of the travel of a flexibly curved ground handling robot when turning according to the present invention;

fig. 13 shows a trajectory diagram of the ground handling mechanism of the flexibly turning ground handling robot of fig. 12.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Fig. 1, 2 and 4 show an embodiment of the ground handling robot for flexible turning of the present invention, which includes a driving vehicle 10, a connecting bracket 20 and a ground handling mechanism, wherein the driving vehicle 10 includes a vehicle body 11 and a movable driving member 12 installed on the vehicle body 11, a first end of the connecting bracket 20 is rotatably installed on the vehicle body 11 along a vertical axis, and the ground handling mechanism is fixedly installed at a second end of the connecting bracket 20.

Use the technical scheme of the utility model in, as shown in fig. 6, because the first end of linking bridge 20 is rotationally installed on the automobile body along vertical axle, when ground processing robot turned, driving vehicle 10 turned earlier, and ground processing mechanism was comparatively lagged for driving vehicle 10, at the in-process that driving vehicle 10 turned and walked straightly, ground processing mechanism just can turn gradually, realized ground processing mechanism's smooth transition, and final and driving vehicle 10's moving direction is unanimous. Therefore, the problem of poor construction effect on the concrete ground caused by the fact that the ground processing mechanism part moves too fast is avoided, the ground forming effect is facilitated, and the construction effect of the ground processing robot is guaranteed.

Specifically, as shown in fig. 10 and 11, if the above-mentioned towing structure of the present invention is not adopted, the lateral side of the ground processing mechanism is relatively large when the vehicle 10 turns, and the concrete is easily turned up to destroy the processing surface. And in the technical scheme of the utility model, as shown in fig. 12 and 13, owing to adopt foretell trailing structure, when turning, ground processing mechanism's horizontal side is moved less, can be along one side of vibration board, is circular motion, and then helps ground shaping effect, has guaranteed ground processing robot's construction effect.

In the technical solution of the present invention, the movable driving member 12 is a wheel, and as another optional embodiment, the movable driving member 12 may also be a track.

In a preferred embodiment, the first end of the connecting bracket 20 is connected to the vehicle body 11 through a first quick release structure 30 for easy transportation and hoisting, and is assembled on site before construction for construction. Preferably, in the solution of the present embodiment, the first quick release structure 30 includes a clamping groove 31 disposed on the vehicle body 11 and a clamping block 32 disposed at the first end of the connecting bracket 20, and the first end of the connecting bracket 20 is rotatably connected to the clamping block 32 along a vertical axis. As an alternative embodiment, as shown in fig. 4, the clamping groove 31 is a dovetail groove, and the clamping block 32 is a T-shaped block matched with the dovetail groove. As an alternative embodiment not shown in the drawings, the first quick release structure 30 may also be a bayonet type quick release mating structure.

Preferably, in the solution of this embodiment, the second end of the connecting bracket 20 is connected to the ground handling mechanism through the second quick release structure 40. And the device can be disassembled on the construction site, so that the ground processing mechanism is convenient to replace.

As shown in fig. 1 and 7, in the solution of the present embodiment, the ground processing mechanism includes a leveling mechanism 50 and a leveling mechanism 60, and the connecting bracket 20 is selectively connected to the leveling mechanism 50 or the leveling mechanism 60 through the second quick release structure 40. Therefore, the corresponding ground processing mechanism can be selected according to different working condition requirements, and when the ground needs to be leveled at the beginning, the driving vehicle 10 is connected with the leveling mechanism 50, so that the leveling mechanism 50 can realize the primary leveling work on the ground; then, the vehicle 10 can be selectively driven to connect with the floating mechanism 60, so that the floating mechanism 60 can perform a floating or smoothing process on the ground. Therefore, only need pass through the utility model discloses a one set of product just can satisfy the construction requirements of the different processes of concrete ground construction, control concrete ground construction cost. Preferably, there are a plurality of flattening mechanisms 50, and the connecting bracket 20 is selectively connectable to one of the plurality of flattening mechanisms 50 via the second quick release structure 40. More preferably, the troweling mechanism 60 is a plurality of types, and the connecting bracket 20 is selectively connected to one of the plurality of troweling mechanisms 60 through the second quick release structure 40. In this way, different leveling mechanisms 50 and leveling mechanisms 60 can be replaced, and replacement after wear is facilitated, so that the universality and maintainability of the product are improved. The particular flattening mechanism 50 may be of different sizes with a range of lengths that may be changed to achieve different operating ranges. Can use longer vibrating plate and scraper blade to improve the operating speed in open place, can use the flexibility that shorter vibrating plate and scraper blade guaranteed to travel in narrow place and the more complex environment of barrier to the commonality of evener has been improved.

In the technical solution of this embodiment, the second quick release structure 40 is a torx screw, which can realize the quick replacement of the leveling mechanism 50. As other alternative embodiments, the second quick release structure 40 may also be a quick release screw, a quick release pin or other structures, and may be packaged for transportation or lifted for transportation and lifting, respectively.

As shown in fig. 1, 2 and 3, the leveling mechanism 50 includes a frame body 51, two lifting drivers 52 and a scraper 53, the two lifting drivers 52 are mounted on the frame body at intervals, and the scraper 53 and the driving ends of the two lifting drivers 52 are connected by a ball pair respectively. When the lifting type concrete leveling machine is used, the two lifting driving pieces 52 drive the scraper 53 to move in the vertical direction, so that the height of the scraper 53 in the vertical direction is adjusted, and paved concrete is leveled to a designed elevation. In the past, the two lifting driving parts drive the scraper to move along the vertical direction, and the hinged shafts are basically adopted to connect the scraper and the driving ends of the lifting driving parts, so that when the driving ends of the two lifting driving parts are not synchronous in extension, the connecting rods formed by the two lifting driving parts and the scraper are blocked. And in the technical scheme of the utility model, scraper blade 53 links to each other through the ball pair respectively with two lift driving piece 52's drive end, just can make two lift driving pieces can also move about with the connecting rod that the scraper blade constitutes, and then has avoided scraper blade 53 to block dead problem. More preferably, the leveling mechanism 50 further comprises a laser receiving mechanism including a vertical rod and a laser receiver mounted on the vertical rod, the vertical rod being detachably mounted on the leveling mechanism. Optionally, as shown in fig. 1, there are 2 laser receivers and an upright rod, the laser receivers are mounted on the upright rod, and the lower end of the upright rod is fixedly mounted on the scraper. The laser receiver receives the laser with fixed height emitted by the laser emitter, and can measure the relative height of the laser receiver to the laser, so that the relative height of the scraper can be converted. The relative height is compared with a set value, and the height and the posture adjustment amount of the scraper can be calculated according to the deviation.

It should be noted that the utility model discloses an among the technical scheme, driving vehicle 10 still includes the remote control module, can remote control operation through the remote control module, has avoided operating personnel to get into the concrete of pouring, greatly improves operational environment, reduces the interference to concrete surface quality. The remote control module consists of a control handle and a receiver mounted on the vehicle body 11. The user can send control commands of advancing, retreating, left turning, right turning, accelerating, decelerating and the like through the control handle. The control handle and the receiver are communicated in a wireless mode. And after receiving the instruction, the receiver sends the instruction to the whole machine control system to make corresponding action.

As shown in fig. 5, in the solution of the present embodiment, the connecting bracket 20 includes a fixed frame 21, a driving frame 22, a main link 23, a sub link 24 and a telescopic driving member 25, the fixed frame 21 is rotatably mounted on the vehicle body along a vertical axis, the driving frame 22 is connected with the ground processing mechanism, the main link 23 is respectively hinged at a first end of the fixed frame 21 and a first end of the driving frame 22, the sub link 24 is respectively hinged at a second end of the fixed frame 21 and a second end of the driving frame 22, and the fixed frame 21, the driving frame 22, the main link 23 and the sub link 24 form a four-link mechanism. The first end of the telescopic driving member 25 is hinged with the fixed frame 21, and the second end of the telescopic driving member 25 is hinged with the main connecting rod 23 or the auxiliary connecting rod 24. When in use, the telescopic driving member 25 extends or retracts to drive the four-bar linkage mechanism consisting of the fixed frame 21, the driving frame 22, the main connecting rod 23 and the auxiliary connecting rod 24 to deform, so as to drive the driving frame 22 to lift. As another alternative, the second end of the telescopic driving member 25 may be hinged to the main link 23 or the auxiliary link 24, and the driving frame 22 may be moved up and down to drive the ground processing mechanism to move up and down.

It should be noted that, in the technical solution of the present invention, the lifting driving member 52 and the telescopic driving member 25 are both electric push rods, and as other optional embodiments, the lifting driving member 52 and the telescopic driving member 25 may also be electric cylinders or pneumatic and hydraulic cylinders in other forms.

In the moving process of the ground processing robot, if the driving vehicle 10 encounters the problem of uneven ground, the driving vehicle 10 will incline left and right in the driving direction, and then the connecting bracket 20 will drive the ground processing mechanism to incline, so that the uneven processing of the concrete ground is caused, and the construction quality is affected. Therefore, as a preferred embodiment, as shown in fig. 8 and 9, the connecting bracket 20 includes a four-bar linkage mechanism consisting of a fixed frame 21, a driving frame 22, a main link 23 and a secondary link 24, wherein the fixed frame 21 is used for connecting with the driving vehicle 10, the driving frame 22 is used for connecting with the ground processing mechanism, the main link 23 is connected with the fixed frame 21 through a revolute pair, the secondary link 24 is connected with the fixed frame 21 through a ball pair, and the main link 23 and the secondary link 24 are respectively connected with the driving frame 22 through a ball pair. Thus, the fixed frame 21, the driving frame 22, the main link 23 and the auxiliary link 24 form a four-bar linkage mechanism, which not only maintains the motion characteristics of the parallelogram mechanism, but also has flexibility in space. The advantage of this is that, can drive the ground processing mechanism to go up and down to adjust the height through linking bridge 20, when driving the car 10 met the ground unevenness and inclined, mount 21 followed the slope about driving the car 10, because vice connecting rod 24 passes through the ball pair with mount 21 and main connecting rod 23 and vice connecting rod 24 pass through the ball pair with driving frame 22 respectively and is connected, just can make the mount 21 that links with driving car 10 drive main connecting rod 23 and vice connecting rod 24 and twist reverse relatively, and let driving frame 22 still be in the vertical position under the effect of ground processing mechanism gravity, avoided driving car 10 and inclined about tilting and the slope about the ground processing mechanism of linkage, thereby guaranteed the construction effect of evenly handling the concrete ground, ensure construction quality.

It should be noted that, in the technical solution of the present invention, the concept of ball pair connection refers to a movement mode of ball pair connection based on mechanical principle, and specifically, a ball pair movement structure can be formed by connecting at least two rotating pairs. In particular, the universal joint connector or the fisheye bearing can be used. In the technical solution of the present invention, as shown in fig. 3, the ball pair is a fisheye bearing.

As another alternative embodiment, the auxiliary link 24 is connected with the fixed frame 21 through a revolute pair, the main link 23 is connected with the fixed frame 21 through a ball pair, the main link 23 and the auxiliary link 24 are respectively connected with the driving frame 22 through a ball pair, the fixed frame 21, the driving frame 22, the main link 23 and the auxiliary link 24 form a four-link mechanism, and the effect of relatively twisting the fixed frame 21, the main link 23 and the auxiliary link 24 and keeping the driving frame 22 at the original vertical position can also be achieved.

As a preferred embodiment, as shown in fig. 5, 8 and 9, a first end of the movable hinge rod 26 is pivotally connected to one of the main link 23 and the auxiliary link 24 in a direction perpendicular to the plane of the connecting bracket 20, a second end of the movable hinge rod 26 is pivotally connected to the driving frame 22 in the plane of the connecting bracket 20, and the movable hinge rod 26 and the pivotal connection structure at the two ends thereof constitute a ball pair. When the ground processing mechanism can be driven to lift and adjust the height through the connecting bracket 20, the main connecting rod 23 and the auxiliary connecting rod 24 swing along the axial direction which is vertical to the plane of the connecting bracket 20, and the driving frame 22 is driven to lift and lower together with the movable hinge rod 26. When the driving cart 10 is inclined due to the unevenness of the ground, the fixed frame 21 is inclined left and right following the driving cart 10, and the driving frame 22 is rotated relative to the movable hinge rod 26 along the axis of the plane of the connecting bracket 20, so that the driving frame 22 can maintain the original vertical position, and thus, the connecting bracket 20 can be given higher flexibility by the movable hinge rod 26. As another alternative, a first end of the living hinge lever 26 is pivotally connected to the secondary link 24 in a direction perpendicular to the plane of the link bracket 20, and a second end of the living hinge lever 26 is pivotally connected to the driving frame 22 in the plane of the link bracket 20.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and 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 interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. A flexibly turning ground handling robot, comprising:

a drive vehicle (10) comprising a vehicle body (11) and a mobile drive member (12) mounted on the vehicle body (11);

a connecting bracket (20), a first end of the connecting bracket (20) being rotatably mounted on the vehicle body (11) along a vertical axis;

and the ground processing mechanism is fixedly arranged at the second end of the connecting bracket (20).

2. A flexible cornering ground handling robot according to claim 1, characterized in that a first end of said connecting bracket (20) is connected to said vehicle body (11) through a first quick release structure (30).

3. A flexible turning ground handling robot according to claim 2, characterized in that the first quick release structure (30) comprises a snap groove (31) provided on the vehicle body (11) and a snap block (32) provided at the first end of the attachment bracket (20), the first end of the attachment bracket (20) being rotatably connected to the snap block (32) along a vertical axis.

4. A flexible turning ground handling robot according to claim 1, characterized in that the second end of the connecting bracket (20) is connected to the ground handling mechanism by a second quick release structure (40).

5. A flexible turning ground handling robot according to claim 4, characterized in that the ground handling mechanism comprises a levelling mechanism (50) and a troweling mechanism (60), the connecting bracket (20) being selectively connectable to the levelling mechanism (50) or to the troweling mechanism (60) by the second quick release structure (40).

6. The flexible cornering ground handling robot according to claim 5, wherein said levelling means (50) is of a plurality, said connecting bracket (20) being selectively connectable to one of said plurality of levelling means (50) via said second quick release structure (40).

7. A flexible turning ground handling robot according to claim 5, characterized in that the troweling mechanism (60) is of a plurality, and the connecting bracket (20) is selectively connectable to one of the plurality of troweling mechanisms (60) by the second quick release structure (40).

8. Flexible turning ground handling robot according to claim 5, characterized in that the levelling means (50) comprises:

a frame main body (51);

two lifting driving pieces (52) which are arranged on the frame main body (51) at intervals;

and the scraping plates (53) are respectively connected with the driving ends of the two lifting driving pieces (52) through ball pairs, and the two lifting driving pieces (52) are used for driving the scraping plates (53) to move along the vertical direction.

9. A flexible-turning ground-handling robot according to claim 1, characterized in that said connecting bracket (20) comprises:

the device comprises a fixed frame (21) and a driving frame (22), wherein the fixed frame (21) is rotatably arranged on the vehicle body (11) along a vertical shaft, and the driving frame (22) is connected with the ground processing mechanism;

the driving mechanism comprises a main connecting rod (23) and an auxiliary connecting rod (24), wherein the main connecting rod (23) is respectively hinged to a first end of the fixed frame (21) and a first end of the driving frame (22), the auxiliary connecting rod (24) is respectively hinged to a second end of the fixed frame (21) and a second end of the driving frame (22), and the fixed frame (21), the driving frame (22), the main connecting rod (23) and the auxiliary connecting rod (24) form a four-bar mechanism;

the first end of the telescopic driving piece (25) is hinged to the fixing frame (21), and the second end of the telescopic driving piece (25) is hinged to the main connecting rod (23) or the auxiliary connecting rod (24).

10. A flexible cornering ground handling robot according to claim 9, wherein one of said main link (23) and said auxiliary link (24) is connected with said fixed frame (21) through a revolute pair, the other of said main link (23) and said auxiliary link (24) is connected with said fixed frame (21) through a ball pair, said main link (23) and said auxiliary link (24) are respectively connected with said driving frame (22) through a ball pair, said fixed frame (21), said driving frame (22), said main link (23) and said auxiliary link (24) constitute a four-link mechanism.

11. A flexible-turning ground-handling robot according to claim 10, characterized in that the connecting bracket (20) further comprises a living hinge rod (26), a first end of the living hinge rod (26) is pivotally connected to one of the main link (23) and the secondary link (24) in a direction perpendicular to the plane of the connecting bracket (20), a second end of the living hinge rod (26) is pivotally connected to the driving frame (22) in the plane of the connecting bracket (20), and the living hinge rod (26) and the pivotal connection structures at the two ends thereof constitute a ball pair.

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