CN110080508A - Smooth out robot - Google Patents
Smooth out robot Download PDFInfo
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- CN110080508A CN110080508A CN201910472713.0A CN201910472713A CN110080508A CN 110080508 A CN110080508 A CN 110080508A CN 201910472713 A CN201910472713 A CN 201910472713A CN 110080508 A CN110080508 A CN 110080508A
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- support
- bearing
- roller
- crawler
- wheel
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of floating robot, the floating robot includes: running gear, and the running gear includes two crawler attachments arranged side by side, and two crawler attachments can be controlled independently；Rolling stand, the rolling stand are connected on the running gear；Drum apparatus, the drum apparatus are rollably located on the rolling stand, and the drum apparatus is used to smooth out wait smooth out to roll on ground.The floating the area ratio according to an embodiment of the present invention for smoothing out robot and can greatly improving the edge on ground.
Description
Technical field
The present invention relates to building fields, more particularly, to a kind of floating robot.
Background technique
In the field of construction, it will usually which the floating processing for needing to carry out ground concrete carries out smoothing out it by manpower
Smooth out low efficiency.Design has some machine automatizations to smooth out mechanism in the related technology thus, these mechanisms can be automatically or semi-automatically
Floating operation is carried out to ground or other matrix faces.But existing floating mechanism is usually disc structure, to groundplane edge
When place is smoothed out, there is a big chunk region to cannot achieve automatic plastering, floating the area ratio is low, needs to improve.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention proposes that one kind is smeared
Flat robot, the floating robot can greatly improve the floating the area ratio of the edge on ground.
Floating robot according to an embodiment of the present invention, comprising: running gear, the running gear include two and set side by side
The crawler attachment set, two crawler attachments can be controlled independently；Rolling stand, the rolling stand are connected to the row
On walking apparatus；Drum apparatus, the drum apparatus are rollably located on the rolling stand, the drum apparatus be used for
It smoothes out to roll on ground and smooth out.
Floating robot according to an embodiment of the present invention is treated floating ground by setting drum apparatus and is smoothed out,
To be smoothed out using the special rolling structure of roller to ground, so as to greatly improve to the edge on ground
Smooth out the area ratio.
According to one embodiment of present invention, the running gear includes: mobile holder, and two crawler attachments are all provided with
In on the mobile holder, the rolling stand is pivotably connected on the mobile holder；Driving device, the driving dress
It is arranged on the mobile holder and for driving two crawler attachment movements.
According to one embodiment of present invention, the driving device includes two motors, the motor shaft of two motors
It is coaxially arranged, and the extending direction of the motor shaft of two motors is on the contrary, each crawler attachment includes: driving wheel,
The motor shaft of two motors is connected with the transmission of the driving wheel of two crawler attachments respectively；Tensioning wheel；Crawler belt, the shoe
Band is coated between the driving wheel and the tensioning wheel.
According to one embodiment of present invention, each crawler attachment further includes support device, and the support device is set
Inside the crawler belt and between the driving wheel and the tensioning wheel, to be supported to the crawler belt, the support
Device includes: supporting support, and the supporting support includes first support and second support, the first support and second described
Frame intersects and is pivotably connected；Support wheel, the support wheel include two and are connected to the first support and described the
The lower end of two brackets, the support wheel are contacted with the crawler belt；Flexible connector, the flexible connector are connected to described first
Between bracket and the upper end of the second support.
According to one embodiment of present invention, each crawler attachment includes multiple support devices, multiple described
Support device is spaced apart setting along the direction of travel of the crawler belt.
According to one embodiment of present invention, through hole, described two crawler attachments there are two being set on the mobile holder
Be arranged in described through hole, the running gear further includes housing, the housing be buckled on the mobile holder and with it is described
Installation space is limited between mobile holder.
According to one embodiment of present invention, the running gear further include: power supply device and control device, the power supply
Device and the control device are set in the installation space, the driving device, the power supply device and control dress
It sets and is electrically connected to each other.
According to one embodiment of present invention, the drum apparatus includes: first axle and the second axis, the first axle and institute
The second axis is stated to be connected on the rolling stand and be oppositely arranged；Rotary electric machine, the rotary electric machine pass through first motor
Bracket is connected in the first axle；Flange, the gearing flange are interlocked, the gearing flange is driven phase with the rotary electric machine
Even；Roller, the roller are rotatably arranged in the first axle and second axis, the rotary electric machine, the gearing method
Lan Jun is set in the roller, and the gearing flange is fixedly linked with the roller.
According to one embodiment of present invention, the drum apparatus further includes eccentric shaking device, the eccentric rotary dress
The roller eccentric rotary can be driven by setting, and the eccentric shaking device includes: vibration motor, and the vibration motor passes through the second electricity
Machine support connects on second axis, and the vibration motor is set in the roller；Eccentric wheel, the eccentric wheel prejudicially with
The vibration motor transmission is connected；First bearing and second bearing, the first bearing and the second bearing pass through company respectively
Spindle is connected with the eccentric wheel, and the first bearing and the second bearing are fixedly linked with the roller respectively.
According to one embodiment of present invention, the drum apparatus further include: 3rd bearing, the 3rd bearing with it is described
First axle is fixedly linked, and the 3rd bearing is rotationally connected with the roller；And fourth bearing, the fourth bearing with
Second axis is fixedly linked, and the fourth bearing is rotationally connected with the roller.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram according to an embodiment of the present invention for smoothing out robot；
Fig. 2 is the side view according to an embodiment of the present invention for smoothing out robot；
Fig. 3 is the structural schematic diagram according to an embodiment of the present invention for smoothing out robot, and eliminates housing；
Fig. 4 is the side view according to an embodiment of the present invention for smoothing out robot, and eliminates housing；
Fig. 5 is the structural schematic diagram according to an embodiment of the present invention for smoothing out robot, and eliminates housing and bracket；
Fig. 6 is the schematic diagram of internal structure of the roller according to an embodiment of the present invention for smoothing out robot.
Appended drawing reference:
Smooth out robot 100；
Running gear 1；
Crawler attachment 11；Driving wheel 111；Tensioning wheel 112；Crawler belt 113；
Support device 114；Supporting support 1141；First support 1142；Second support 1143；Support wheel 1144；Elasticity is even
Fitting 1145；
Mobile holder 12；Through hole 121；
Driving device 13；Motor 131；
Housing 14；Power supply device and control device 15；
Rolling stand 2；Interconnecting piece 21；
Drum apparatus 3；
First axle 31；Second axis 32；Rotary electric machine 33；Interlock flange 34；Roller 35；
Eccentric shaking device 36；
Vibration motor 361；Eccentric wheel 362；First bearing 363；Second bearing 364；Connecting shaft 365；
First motor bracket 371；Second electric machine support 372；First flange 373；Second flange 374；
3rd bearing 381；Fourth bearing 382；
First shaft coupling 391；Second shaft coupling 392.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In addition, limit
There is the feature of " first ", " second " to can explicitly or implicitly include one or more of the features surely.Of the invention
In description, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Floating robot 100 according to an embodiment of the present invention is described below with reference to FIG. 1 to FIG. 6.As shown in Fig. 1~Fig. 6, root
According to the floating robot 100 of the embodiment of the present invention, comprising: running gear 1, rolling stand 2 and drum apparatus 3.
Running gear 1 includes two crawler attachments 11 arranged side by side, and two crawler attachments 11 can be controlled independently.By
This can provide power by two crawler attachments independently controlled 11 for the movement of trowelling machine device people 100.According to two
The steering of a crawler belt 113 and the control of revolving speed, to control the entire traffic direction for smoothing out robot 100, such as when two shoes
Band 113 turns to and revolving speed is identical, and the floating robot 100 of the embodiment of the present invention can be transported linearly forward or backward
It is dynamic.When two crawler belts 113 turn to opposite or revolving speed difference, the floating robot 100 of the embodiment of the present invention can turn to or
Rotation.So as to control the entire direction of motion for smoothing out robot 100.
Rolling stand 2 is connected on running gear 1, by the way that the rolling stand 2 is arranged, to provide peace for drum apparatus 3
Fill fixed bit.Optionally, rolling stand 2 can be connected directly between on running gear 1, and rolling stand 2 can also be indirectly coupled to
On running gear 1.Optionally, rolling stand 2 can be U-shaped, V-arrangement etc., i.e., rolling stand 2 may include two interconnecting pieces 21,
Drum apparatus 3 is connected between two interconnecting pieces 21.Rolling stand 2 is that drum apparatus 3 provides setting position as a result,.
As shown in fig. 1~fig. 5, drum apparatus 3 is rollably located on rolling stand 2, and drum apparatus 3 is used for wait smooth out
It rolls and smoothes out on ground.Wherein drum apparatus 3 can be rolled around its axis, when treat smooth out ground smoothed out when, Ke Yili
Rolling floating is carried out to ground with completely new drum apparatus 3, thus when the edge for treating floating ground is smoothed out, due to rolling
Wound packages, which sets 3, can roll the form of floating around its axis direction, can greatly improve the floating the area ratio to the edge on ground.
Floating robot 100 according to an embodiment of the present invention is treated floating ground by setting drum apparatus 3 and is smeared
It is flat, so that the special rolling structure using roller 35 smoothes out ground, so as to greatly improve the side to ground
Floating the area ratio at edge.
Floating robot 100 according to an embodiment of the present invention is described in detail below with reference to FIG. 1 to FIG. 6.
As shown in Fig. 3~Fig. 5, running gear 1 includes mobile holder 12 and driving device 13, and two crawler attachments 11 are all provided with
In on mobile holder 12, rolling stand 2 is pivotably connected on mobile holder 12, and driving device 13 is set on mobile holder 12
And for driving two crawler attachments 11 to move.It optionally, can be by load-carrying axis connection, in bogie axle between two crawler belts 113
Fixed mobile holder 12, mobile holder 12 can mention for control cabinet, driving device 13, power supply device component, controllability suspension etc.
For fixed bit.Thus the structural integrity of running gear 1, and the reasonable in design of robot 100 is smoothed out, be conducive to roller dress
3 automatic rolling is set, the smearing effect for smoothing out robot 100 is promoted.
As shown in figure 3, optionally, being set on mobile holder 12 there are two hole 121 is penetrated, two crawler attachments 11 are arranged in
Via hole 121, it is possible thereby to be stably placed at crawler attachment 11 on mobile holder 12, and two crawler attachments 11 can be right
Mobile holder 12 plays stable supporting role.
As depicted in figs. 1 and 2, running gear 1 can also include housing 14, housing 14 be buckled on mobile holder 12 and and
Installation space is limited between mobile holder 12.Further, running gear 1 further include: power supply device and control device 15, electricity
Source device and control device 15 are set in installation space, and installation space can mention as a result, for power supply device and control device 15
For certain protective effect.Optionally, mobile holder 12 and housing 14 all can be round, it is possible thereby to make running gear 1
Mechanical structure is more stable, and appearance looks elegant.
Further, driving device 13, power supply device and control device 15 are electrically connected to each other, and power supply device is driving device
13 and control device power supply is provided, meet the automatic running for smoothing out robot 100, and can be with by setting power supply device
Make to smooth out impeding for the disengaging power supply line of robot 100, uses more flexible freedom.Control device is electrically connected with driving device 13,
To control driving device 13.Smoothing out robot 100 can also include detection device, the case where for detecting ground,
Detection device will test result and feed back to control device, and control device controls driving device 13 according to testing result, so as to
Robot 100 is smoothed out according to travel condition is changed the case where actual ground with control, is further increased and is smoothed out robot 100
The degree of automation.
As shown in Figure 3 and Figure 5, driving device 13 includes two motors 131, and the motor shaft of two motors 131 is coaxially arranged,
And the extending direction of the motor shaft of two motors 131 is on the contrary, each crawler attachment 11 includes: driving wheel 111, tensioning wheel 112
With crawler belt 113, the motor shaft of two motors 131 is connected with the transmission of the driving wheel 111 of two crawler attachments 11 respectively, crawler belt 113
It is coated between driving wheel 111 and tensioning wheel 112.As shown in Figure 3 and Figure 5, two motors 131 are located at the separate of mobile holder 12
One end of drum apparatus 3 is arranged, the motor shafts of two motors 131 towards on the contrary, and respectively with corresponding 111 phase of driving wheel
Even, it is rotated respectively to respectively drive two driving wheels 111.Thus the structure of driving device 13 is simple, and may be implemented two
A crawler attachment 11 is separately operable control.
As shown in Figure 3 and Figure 5, the structure of each crawler attachment 11 is identical, and is arranged symmetrically relative to mobile holder 12.By
This can make the structure of trowelling machine device people 100 more succinct, have more modern designs sense, and appearance is more beautiful.
As shown in Figure 3 and Figure 5, two driving wheels 111 of two crawler attachments 11 are located at the separate roller of mobile holder 12
One end of device 3, two tensioning wheels 112 of two crawler attachments 11 are arranged adjacent to drum apparatus 3, two tensioning wheel 112 it
Between can be connected with each other by connecting rod so that the structure of two crawler attachments 11 is more compact, run more steady.
As shown in Fig. 3~Fig. 5, each crawler attachment 11 further includes support device 114, and support device 114 is set to crawler belt 113
Internal and positioned at driving wheel 111 and tensioning wheel 112 between, to be supported to crawler belt 113, support device 114 includes: that support is propped up
Frame 1141, support wheel 1144 and flexible connector 1145, supporting support 1141 include first support 1142 and second support 1143,
First support 1142 intersects with second support 1143 and is pivotably connected, and support wheel 1144 includes two and is connected to first
The lower end of bracket 1142 and second support 1143, support wheel 1144 are contacted with crawler belt 113, and flexible connector 1145 is connected to first
Between bracket 1142 and the upper end of second support 1143.From there through setting support device 114, so as to entire trowelling machine
Device people 100 plays a supporting role, and its anti seismic efficiency of above-mentioned support construction is good, first support 1142 and second support 1143
Intersect and be pivotably connected, so that first support 1142 and second support 1143 can when support device 114 receives exterior vibration
It with pivotally, and is connected by elastic component, to absorb certain vibration, mitigates influence of the vibration to robot 100 is smoothed out.
Further, as shown in Fig. 3~Fig. 5, each crawler attachment 11 includes multiple support devices 114, multiple support dresses
Set the 114 direction of travel settings spaced apart along crawler belt 113.As a result, by the way that multiple support devices 114 are arranged, can further mention
The support and cushioning effect of high each 11 pairs of floating robots 100 of crawler attachment, the mechanical structure of each crawler attachment 11 is more
Stablize.
The structure of drum apparatus 3 according to the present invention is described below with reference to Fig. 6.As shown in fig. 6, drum apparatus 3 includes:
One axis 31, rotary electric machine 33, interlocks flange 34 and roller 35 at second axis 32.
First axle 31 and the second axis 32 are connected on rolling stand 2 and are oppositely arranged, i.e. first axle 31 and the second axis
32 are coaxially oppositely arranged.Rotary electric machine 33 is fixedly linked with first axle 31, and optionally, rotary electric machine 33 passes through first motor bracket
371 are connected in first axle 31.It interlocks flange 34 to be connected with the transmission of rotary electric machine 33, roller 35 is rotatably arranged at first axle 31
On the second axis 32, rotary electric machine 33 interlocks flange 34 in roller 35, and interlocks flange 34 and 35 stationary phase of roller
Even.
Wherein first axle 31 and the second axis 32 provide rotation axis for the rotation of roller 35.As shown in fig. 1~fig. 5, first axle
31 and second axis 32 be connected on two interconnecting pieces 21 of rolling stand 2.
It interlocks flange 34 and the inner wall of roller 35 is fixedly linked, interlocking flange 34 can turn under the driving of rotary electric machine 33
It is dynamic, it interlocks flange 34 and is further driven to roller 35 around first axle 31 and the rotation of the second axis 32, be thus arranged in the inside of roller 35
Device of rotation driving 13, to drive external 35 structure of roller rotation, roller 35 can play a protective role to internal structure.And
And rotary electric machine 33 therein is connected in first axle 31 by first motor bracket 371, so that rotary electric machine 33 itself is not
Rotation is relatively-stationary structure, so that mounting structure of the rotary electric machine 33 in roller 35 is simple and stablizes, vibration influence
It is small.And the appearance of drum apparatus 3 is more succinct.
It is according to an embodiment of the present invention smooth out robot 100 drum apparatus 3, by by rotary electric machine 33 and interlock flange
34 are set in roller 35, to can play a protective role to rotary electric machine 33 and gearing flange 34, and drum apparatus 3 is outer
It sees more succinct.In addition, rotary electric machine 33 is fixedly connected with first axle 31, so that rotary electric machine 33 itself does not rotate,
For relatively-stationary structure, mounting structure of the rotary electric machine 33 in roller 35 is simple and stablizes, and vibration influence is small.
It is smoothed out in addition, being treated using drum apparatus 3 and smoothing out ground, to utilize the special rolling knot of roller 35
Structure smoothes out ground, so as to greatly improve the floating the area ratio to the edge on ground.
In an embodiment of the present invention, drum apparatus 3 can also include first motor bracket 371, first motor bracket 371
It is fixedly linked with first axle 31 by first flange 373, rotary electric machine 33 is set on first motor bracket 371.As a result, by setting
First motor bracket 371 is set, stablizes installation so as to meet rotary electric machine 33 in roller 35.Specifically, first motor
Bracket 371 is fixedly linked with first axle 31, and rotary electric machine 33 is fixedly connected on first motor bracket 371, to meet rotation
Motor 33 is connected with the relatively fixed of first axle 31, structurally reasonable, and the setting of rotary electric machine 33 is more stable.
As shown in fig. 6, optionally, drum apparatus 3 further includes first shaft coupling 391, first shaft coupling 391 is connected to rotation
Between the motor shaft and gearing flange 34 of motor 33.First shaft coupling 391 refers to two axis of connection or axis and revolving meber, in positive reason
A kind of device not disengaged under condition.Also it is used to prevent coupled parts from bearing excessive load as a kind of safety device, plays
The effect of overload protection.That is, can be played to the connection between motor shaft and gearing flange 34 by setting first shaft coupling 391
Protective effect.
As shown in fig. 6, drum apparatus 3 further includes eccentric shaking device 36, eccentric rotary device can drive roller 35 eccentric
Rotation.As a result, during smoothing out ground, drum apparatus 3 can generate vibrating effect to ground, to smooth out robot
100 use scope is wider.
Further, eccentric shaking device 36 may include: vibration motor 361 and eccentric wheel 362.Vibration motor 361 with
Second axis 32 is fixedly linked, and vibration motor 361 is set in roller 35, and eccentric wheel 362 is prejudicially connected to the electricity of vibration motor 361
On arbor.I.e. by vibration motor 361 with 362 eccentric rotary of movable eccentric wheel, so that eccentric wheel 362 can drive entire roller 35
Realize vibrating effect.
Optionally, drum apparatus 3 further includes the second electric machine support 372, and the second electric machine support 372 and the second axis 32 pass through the
Two flanges 374 are fixedly linked, and vibration motor 361 is set on the second electric machine support 372.I.e. vibration motor 361 passes through the second motor
Bracket 372 is connected on the second axis 32, that is to say, that 361 phase of vibration motor is fixed, and thus when roller 35 rotates, can be subtracted
The small influence to vibration motor 361.
Eccentric shaking device 36 further include: first bearing 363 and second bearing 364, first bearing 363 and second bearing
364 are respectively arranged on the two sides of eccentric wheel 362, and first bearing 363 and second bearing 364 are fixedly linked with roller 35 respectively.Vibration
Motor 361 is set in roller 35, and eccentric wheel 362 is prejudicially connected with the transmission of vibration motor 361, first bearing 363 and the second axis
Holding 364 can be connected with eccentric wheel 362 by connecting shaft 365 respectively, first bearing 363 and second bearing 364 respectively with roller
35 are fixedly linked.Optionally, as shown in fig. 6, connecting shaft 365 can sequentially pass through first bearing 363, eccentric wheel 362 and second
After bearing 364, it is connected with the motor 131 of vibration motor 361.Thus make the connection of 36 structure of eccentric shaking device more stable.Rolling
Cylinder 35 can play a certain protective role vibration motor 361, and vibration motor 361 can drive eccentric wheel 362 to carry out bias
Rotation, thus eccentric wheel 362 can drive 35 eccentric rotary of roller, further, can be to ground during smoothing out ground
Vibrating effect is generated, so that the use scope for smoothing out robot 100 is wider.
Wherein, first bearing 363 and second bearing 364 are fixedly linked with roller 35 respectively, and eccentric wheel 362 passes through connecting shaft
365 are connected with first bearing 363 and second bearing 364, and first bearing 363 and second bearing 364 can be to eccentric wheels as a result,
Restriction effect is played in 362 movement, i.e. first bearing 363 and second bearing 364 can limit eccentric wheel 362 around connecting shaft
It is rotated on axis where 365.
Optionally, in actual application, the rotation speed of roller 35 can be adjusted according to the corresponding states that need to smooth out ground
Degree and vibration frequency, make smearing effect reach best.
Optionally, drum apparatus 3 further includes second shaft coupling 392, and second shaft coupling 392 is connected to connecting shaft 365 and shake
Between the motor shaft of dynamic motor 361.It can be to the connection between motor shaft and connecting shaft 365 by setting first shaft coupling 391
It plays a protective role.
Optionally, as shown in fig. 6, drum apparatus 3 further include: 3rd bearing 381 and fourth bearing 382,3rd bearing 381
It is fixedly linked with first axle 31, and 3rd bearing 381 is rotationally connected with roller 35, fourth bearing 382 and the second axis 32 are solid
It is fixed to be connected, and fourth bearing 382 is rotationally connected with roller 35.By the way that 3rd bearing 381 and fourth bearing 382 is arranged, from
And relative rotation of the roller 35 in first axle 31 and the second axis 32 can be made more smooth.
Preferably, sealing structure can be set in 35 two sides of roller, so that the concrete of liquid flows into roller when preventing operation
In 35.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of floating robot characterized by comprising
Running gear, the running gear include two crawler attachments arranged side by side, and two crawler attachments can be only respectively
Vertical control；
Rolling stand, the rolling stand are connected on the running gear；
Drum apparatus, the drum apparatus are rollably located on the rolling stand, and the drum apparatus is used for wait smooth out
It rolls and smoothes out on ground.
2. floating robot according to claim 1, which is characterized in that the running gear includes:
Mobile holder, two crawler attachments are set on the mobile holder, and the rolling stand is pivotably connected to
On the mobile holder；
Driving device, the driving device are set on the mobile holder and for driving two crawler attachment movements.
3. floating robot according to claim 2, which is characterized in that the driving device include two motors, two
The motor shaft of the motor is coaxially arranged, and the extending direction of the motor shaft of two motors is on the contrary, each crawler belt dress
It sets and includes:
Driving wheel, the motor shaft of two motors are connected with the transmission of the driving wheel of two crawler attachments respectively；
Tensioning wheel；
Crawler belt, the crawler belt are coated between the driving wheel and the tensioning wheel.
4. floating robot according to claim 3, which is characterized in that each crawler attachment further includes support dress
It sets, the support device is set to inside the crawler belt and between the driving wheel and the tensioning wheel, to the crawler belt
It is supported, the support device includes:
Supporting support, the supporting support include first support and second support, and the first support and the second support are handed over
It pitches and is pivotably connected；
Support wheel, the support wheel include two and are connected to the lower end of the first support and the second support, institute
Support wheel is stated to contact with the crawler belt；
Flexible connector, the flexible connector are connected between the first support and the upper end of the second support.
5. floating robot according to claim 4, which is characterized in that each crawler attachment includes multiple branch
Support arrangement, multiple support devices are spaced apart setting along the direction of travel of the crawler belt.
6. floating robot according to claim 2, which is characterized in that hole is penetrated there are two setting on the mobile holder,
Described two crawler attachments are arranged in described through hole, and the running gear further includes housing, and the housing is buckled in the row
It walks on bracket and limits installation space between the mobile holder.
7. floating robot according to claim 6, which is characterized in that the running gear further include: power supply device and
Control device, the power supply device and the control device are set in the installation space, the driving device, the power supply
Device and the control device are electrically connected to each other.
8. floating robot according to claim 1, which is characterized in that the drum apparatus includes:
First axle and the second axis, the first axle and second axis are connected on the rolling stand and are oppositely arranged；
Rotary electric machine, the rotary electric machine are connected in the first axle by first motor bracket；
Flange, the gearing flange are interlocked, the gearing flange is connected with rotary electric machine transmission；
Roller, the roller are rotatably arranged in the first axle and second axis, the rotary electric machine, the gearing method
Lan Jun is set in the roller, and the gearing flange is fixedly linked with the roller.
9. floating robot according to claim 8, which is characterized in that the drum apparatus further includes eccentric shaking dress
It sets, the eccentric rotary device can drive the roller eccentric rotary, and the eccentric shaking device includes:
Vibration motor, the vibration motor are connected on second axis by the second electric machine support, and the vibration motor is set to
In the roller；
Eccentric wheel, the eccentric wheel are prejudicially connected with vibration motor transmission；
First bearing and second bearing, the first bearing and the second bearing pass through connecting shaft and the eccentric wheel phase respectively
Even, the first bearing and the second bearing are fixedly linked with the roller respectively.
10. floating robot according to claim 8, which is characterized in that the drum apparatus further include:
3rd bearing, the 3rd bearing are fixedly linked with the first axle, and the 3rd bearing and the roller can be rotated
Ground is connected；With
Fourth bearing, the fourth bearing are fixedly linked with second axis, and the fourth bearing and the roller can be rotated
Ground is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910472713.0A CN110080508B (en) | 2019-05-31 | 2019-05-31 | Floating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910472713.0A CN110080508B (en) | 2019-05-31 | 2019-05-31 | Floating robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110080508A true CN110080508A (en) | 2019-08-02 |
| CN110080508B CN110080508B (en) | 2021-05-18 |
Family
ID=67423078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910472713.0A Active CN110080508B (en) | 2019-05-31 | 2019-05-31 | Floating robot |
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| CN (1) | CN110080508B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110541551A (en) * | 2019-08-26 | 2019-12-06 | 广东博智林机器人有限公司 | Slurry supplementing device of trowelling robot and trowelling robot |
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| CN111021734A (en) * | 2019-11-25 | 2020-04-17 | 广东博智林机器人有限公司 | Floating robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110512873A (en) * | 2019-08-15 | 2019-11-29 | 广东博智林机器人有限公司 | For smoothing out the running gear of robot and with its floating robot |
| CN110541551A (en) * | 2019-08-26 | 2019-12-06 | 广东博智林机器人有限公司 | Slurry supplementing device of trowelling robot and trowelling robot |
| CN110593573A (en) * | 2019-08-26 | 2019-12-20 | 广东博智林机器人有限公司 | Correction device and correction method of floating robot and floating robot |
| CN110593573B (en) * | 2019-08-26 | 2021-09-07 | 广东博智林机器人有限公司 | Correction device and correction method of floating robot and floating robot |
| CN111021734A (en) * | 2019-11-25 | 2020-04-17 | 广东博智林机器人有限公司 | Floating robot |
| WO2021129061A1 (en) * | 2019-12-25 | 2021-07-01 | 广东博智林机器人有限公司 | Ground screeding robot |
| CN111305531A (en) * | 2020-02-28 | 2020-06-19 | 广东博智林机器人有限公司 | Paving device and mortar paving robot |
| CN111305531B (en) * | 2020-02-28 | 2021-08-17 | 广东博智林机器人有限公司 | Paving device and mortar paving robot |
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