CN110158928A - Smooth out robot - Google Patents
Smooth out robot Download PDFInfo
- Publication number
- CN110158928A CN110158928A CN201910472698.XA CN201910472698A CN110158928A CN 110158928 A CN110158928 A CN 110158928A CN 201910472698 A CN201910472698 A CN 201910472698A CN 110158928 A CN110158928 A CN 110158928A
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- China
- Prior art keywords
- roller
- support
- axis
- electric machine
- rotary electric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/42—Machines for imparting a smooth finish to freshly-laid paving courses other than by rolling, tamping or vibrating
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
Abstract
The invention discloses a kind of floating robots.Smooth out robot, comprising: drum apparatus, drum apparatus are used to smooth out wait smooth out to roll on ground, and drum apparatus includes: first axle and the second axis, and first axle and the second axis are coaxial and be oppositely arranged；Rotary electric machine, rotary electric machine include rotary electric machine ontology and rotary electric machine axis, and rotary electric machine axis is connected with first axle；Roller, roller are rotatably arranged between first axle and the second axis, and rotary electric machine is set in roller, and rotary electric machine ontology is fixedly linked with roller；Running gear, drum apparatus are connected to move under the driving of running gear with running gear；Rolling stand, rolling stand are connected on running gear, and first axle and the second axis connection are on rolling stand.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: drum apparatus, the drum apparatus are used for wait smooth out ground
It rolls and smoothes out on face, the drum apparatus includes: first axle and the second axis, and the first axle and second axis are coaxial and opposite
Setting；Rotary electric machine, the rotary electric machine include rotary electric machine ontology and rotary electric machine axis, the rotary electric machine axis and described the
One axis is connected；Roller, the roller are rotatably arranged between the first axle and second axis, and the rotary electric machine is set to
In the roller, and the rotary electric machine ontology is fixedly linked with the roller；Running gear, the drum apparatus and the row
Walking apparatus is connected to move under the driving of the running gear；Rolling stand, the rolling stand are connected to the walking dress
It sets, the first axle and second axis connection are on the rolling stand.
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.Moreover, by the way that rotary electric machine and roller are fixedly linked, so as to not increase the apparent size of roller
Under the premise of, the weight of roller is improved, floating efficiency is further increased.
According to one embodiment of present invention, the running gear includes two crawler attachments arranged side by side, two institutes
Stating crawler attachment can independently control.
According to one embodiment of present invention, the running gear further include: mobile holder, two crawler attachments are equal
On the mobile holder, the rolling stand is pivotably connected on the mobile holder；Driving device, the driving
Device is set 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 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 includes vibration electricity
Machine ontology and vibration motor axis, the vibration motor ontology are fixedly linked with the roller；Eccentric wheel, the eccentric wheel is prejudicially
It is connected with vibration motor axis transmission；First bearing and second bearing, the first bearing and the second bearing are led to respectively
It crosses connecting shaft to be connected with the eccentric wheel, 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: conducting slip ring, the conducting slip ring with it is described
Second axis is connected and the conducting slip ring is fixedly linked with the roller, the vibration motor and/or the rotary electric machine and institute
It states conducting slip ring to be connected by conducting wire, second axis is hollow shaft.
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；Rotary electric machine ontology 331；Rotary electric machine axis 332
Roller 35；Eccentric shaking device 36；
Vibration motor 361；Vibration motor ontology 3611；Vibration motor axis 3612；
Eccentric wheel 362；First bearing 363；Second bearing 364；Connecting shaft 365；
First motor fixed ring 371；Second motor fixed ring 372；
3rd bearing 381；Fourth bearing 382；
First shaft coupling 391；Second shaft coupling 392；
Conducting slip ring 401；Slip ring fixed ring 402.
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: drum apparatus 3, running gear 1 and rolling stand 2.
Drum apparatus 3 be used for wait smooth out on ground roll smooth out, drum apparatus 3 include: first axle 31, the second axis 32,
Rotary electric machine 33 and roller 35.
First axle 31 and the second axis 32 are coaxial and be oppositely arranged, and optionally, first axle 31 and the second axis 32 are drum apparatus 3
Opposing stationary structure, the other component for drum apparatus 3 provides installation position.
Rotary electric machine 33 includes rotary electric machine ontology 331 and rotary electric machine axis 332, rotary electric machine axis 332 and first axle 31
It is connected, optionally, as shown in fig. 6, rotary electric machine axis 332 can be connected with each other with first axle 31 by shaft coupling.
Roller 35 is rotatably arranged between first axle 31 and the second axis 32, that is to say, that roller 35 is relative to first axle
31 and second axis 32 can be rotated, rotary electric machine 33 is set in roller 35, and rotary electric machine ontology 331 is fixedly linked with roller 35.
Wherein it is to be understood that " rotary electric machine ontology 331 is fixedly linked with roller 35 " refers to, rotary electric machine ontology 331 and roller
It is opposing stationary connection relationship between 35, can be rotated synchronously between rotary electric machine ontology 331 and roller 35.
Specifically, rotary electric machine axis 332 is fixedly linked with first axle 31, and when rotary electric machine 33 is powered, rotary electric machine
Axis 332 relative to rotary electric machine ontology 331 rotate, rotary electric machine axis 332 relative to first axle 31 be it is static, as a result, rotation electricity
Machine ontology 331 is rotationally, further, since rotary electric machine ontology 331 can drive roller 35 synchronous relative to first axle 31
Rotation, that is to say, that roller 35 can be rotated relative to first axle 31 and the second axis 32, and then roller 35 may be implemented over the ground
The effect that the rolling in face smoothes out.
Optionally, drum apparatus 3 is connected to move under the driving of running gear 1 with running gear 1, wherein running gear
1 for driving roller 35 to be moved on ground to be smoothed out, so as to need the position smoothed out to be smoothed out.
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,.
Further, first axle 31 and the second axis 32 are connected on rolling stand 2, thus first axle 31 and the second axis 32 with
Two interconnecting pieces 21 are fixedly linked respectively, thus facilitate the installation of drum apparatus 3.
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 drum apparatus 3, thus when the edge for treating floating ground is smoothed out, due to drum apparatus
3 can roll the form of floating around its axis direction, can greatly improve the floating the area ratio to the edge on ground.
In addition, rotary electric machine ontology 331 is fixedly linked with roller 35 in floating robot 100 in the application, rotation electricity
Machine ontology 331 is rotated synchronously with roller 35, can be to a certain extent in this way under the premise of not increasing by 35 apparent size of roller
Increase the floating weight of roller 35, i.e., when smoothing out ground using roller 35, since rotary electric machine ontology 331 and roller 35 are fixed
It is connected, thus roller 35 applies weight on the ground at least equal to the weight of rotary electric machine ontology 331 and the weight of roller 35
The sum of, it is possible thereby to which improving roller 35 treats the pressure for smoothing out ground, roller 35 is advanced optimized to the floating efficiency 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.Moreover, by the way that rotary electric machine 33 and roller 35 are fixedly linked, so as to not increase roller 35
Apparent size under the premise of, improve roller 35 weight, further increase floating efficiency.
Floating robot 100 according to an embodiment of the present invention is described in detail below with reference to FIG. 1 to FIG. 6.
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.
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 make to carry out crawler attachment 11 to be stably placed on mobile holder 12, and two crawler attachments 11 can be with
Stable supporting role is played to mobile holder 12.
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, the drum apparatus 3 of the embodiment of the present invention includes: first axle 31, the second axis 32,33 and of rotary electric machine
Roller 35.
First axle 31 and the second axis 32 are coaxial and be oppositely arranged, and optionally, first axle 31 and the second axis 32 are drum apparatus 3
Opposing stationary structure, the other component for drum apparatus 3 provides installation position.
Rotary electric machine 33 includes rotary electric machine ontology 331 and rotary electric machine axis 332, rotary electric machine axis 332 and first axle 31
It is connected, optionally, as shown in fig. 6, rotary electric machine axis 332 can be connected with each other with first axle 31 by first shaft coupling 391, by
This can play a protective role to rotary electric machine axis 332 and first axle 31.
Roller 35 is rotatably arranged between first axle 31 and the second axis 32, that is to say, that roller 35 is relative to first axle
31 and second axis 32 can be rotated, rotary electric machine 33 is set in roller 35, and rotary electric machine ontology 331 is fixedly linked with roller 35.
Wherein it is to be understood that " rotary electric machine ontology 331 is fixedly linked with roller 35 " refers to, rotary electric machine ontology 331 and roller
It is opposing stationary connection relationship between 35, can be rotated synchronously between rotary electric machine ontology 331 and roller 35.
Specifically, rotary electric machine axis 332 is fixedly linked with first axle 31, and when rotary electric machine 33 is powered, rotary electric machine
Axis 332 relative to rotary electric machine ontology 331 rotate, rotary electric machine axis 332 relative to first axle 31 be it is static, as a result, rotation electricity
Machine ontology 331 is rotationally, further, since rotary electric machine ontology 331 can drive roller 35 synchronous relative to first axle 31
Rotation, that is to say, that roller 35 can be rotated relative to first axle 31 and the second axis 32, and then roller 35 may be implemented over the ground
The effect that the rolling in face smoothes out.
The drum apparatus 3 according to an embodiment of the present invention for smoothing out robot 100, by the way that rotary electric machine 33 is set to roller 35
It is interior and be fixedly linked with roller 35, so that rotary electric machine ontology 331 can drive roller when rotary electric machine 33 is powered and rotates
35 rotate synchronously, and then realize that the rolling to ground smoothes out.Make in addition, roller 35 can also play protection to rotary electric machine 33
With, and the appearance of drum apparatus 3 is more succinct.
As shown in fig. 6, optionally, first shaft coupling 391 is equipped between first axle 31 and rotary electric machine axis 332.First
Axis device 391 refers to two axis of connection or axis and revolving meber, a kind of device not disengaged under normal circumstances.Also as a kind of safety dress
It sets for preventing coupled parts from bearing excessive load, plays the role of overload protection.That is, passing through setting first shaft coupling
391 can play a protective role to the connection between first axle 31 and rotary electric machine axis 332.
As shown in fig. 6, optionally, drum apparatus 3 further includes first motor fixed ring 371, first motor fixed ring 371 is set
It is fixedly linked in roller 35 and with roller 35, rotary electric machine ontology 331 is fixed in first motor fixed ring 371.By setting
First motor fixed ring 371 is set, so as to facilitate being fixedly connected between rotary electric machine ontology 331 and roller 35, Er Qielian
Binding structure is simply easy to accomplish.In addition, first motor fixed ring 371 is in a ring, so as to the week to rotary electric machine ontology 331
To package connection is carried out, to make the circumferential uniform force between rotary electric machine ontology 331 and roller 35, such rotary electric machine
33 when driving roller 35 to rotate, more steadily.
In other embodiments of the invention, drum apparatus 3 further includes eccentric shaking device 36, and eccentric rotary device can
Drive 35 eccentric rotary of roller.As a result, during smoothing out ground, drum apparatus 3 can generate vibrating effect to ground, from
And the use scope for smoothing out robot 100 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.In this way when smoothing out to the ground of out-of-flatness, the shock effect of roller 35 can make optimization to ground
Smooth effect, improve smearing effect.
Optionally, as shown in fig. 6, eccentric shaking device 36 includes: vibration motor 361 and eccentric wheel 362, vibration motor
361 include vibration motor ontology 3611 and vibration motor axis 3612, and vibration motor ontology 3611 is fixedly linked with roller 35, eccentric
Wheel 362 is prejudicially connected with the transmission of vibration motor axis 3612.I.e. by vibration motor 361 with 362 eccentric rotary of movable eccentric wheel, from
And eccentric wheel 362 can drive entire roller 35 to realize eccentric rotary, the i.e. vibrating effect to ground.
Wherein vibration motor ontology 3611 is fixedly linked with roller 35, i.e. vibration motor ontology 3611 and roller 35 is relatively quiet
Only, it and can rotate synchronously.As a result, during roller 35 rolls, smearing for roller 35 can be increased to a certain extent
Flat weight, i.e., when smoothing out ground using roller 35, since vibration motor ontology 3611 and roller 35 are fixedly linked, such roller
35 weight for applying on the ground increase the weight of vibration motor ontology 3611 again, it is possible thereby to which it is right to further increase roller 35
The pressure on ground to be smoothed out advanced optimizes roller 35 to the floating efficiency on ground.
And roller 35 can play a certain protective role vibration motor 361, and vibration motor 361 can drive bias
Wheel 362 carries out eccentric rotary, and thus eccentric wheel 362 can drive 35 eccentric rotary of roller, further, in the process for smoothing out ground
In, vibrating effect can be generated to ground, so that the use scope for smoothing out robot 100 is wider.
Optionally, drum apparatus 3 further includes the second motor fixed ring 372, and the second motor fixed ring 372 is set in roller 35
And be fixedly linked with roller 35, vibration motor ontology 3611 is fixed in the second motor fixed ring 372.By the way that the second motor is arranged
Fixed ring 372, so as to facilitate being fixedly connected between vibration motor ontology 3611 and roller 35, and connection structure is simple
It is easy to accomplish.In addition, the second motor fixed ring 372 is in a ring, carried out so as to the circumferential direction to vibration motor ontology 3611
Package connection, to make the circumferential uniform force between vibration motor ontology 3611 and roller 35, such rotary electric machine 33 is in band
When dynamic roller 35 rotates, more steadily.
Further, eccentric shaking device 36 further include: first bearing 363 and second bearing 364,363 He of first bearing
Second bearing 364 is respectively arranged on the two sides of eccentric wheel 362, first bearing 363 and second bearing 364 respectively with 35 stationary phase of roller
Even, first bearing 363 and second bearing 364 can play restriction effect, i.e. first bearing to the movement of eccentric wheel 362 as a result,
363 and second bearing 364 can limit eccentric wheel 362 and be rotated on the axis where connecting shaft 365.
Eccentric shaking device 36 further include: connecting shaft 365, connecting shaft 365 sequentially pass through first bearing 363, eccentric wheel 362
After second bearing 364, it is connected with the vibration motor axis 3612 of vibration motor 361.Thus connect 36 structure of eccentric shaking device
It connects more stable.
Optionally, drum apparatus 3 further includes second shaft coupling 392, and second shaft coupling 392 is connected to connecting shaft 365 and shake
Between dynamic motor shaft 3612.By the way that second shaft coupling 392 is arranged, so as to connecting shaft 365 and vibration motor axis 3612 it
Between connection play a protective role.
Preferably, as shown in fig. 6, drum apparatus 3 further include: conducting slip ring 401, conducting slip ring 401 and 32 phase of the second axis
Even and conducting slip ring 401 is fixedly linked with roller 35, and vibration motor 361 and/or rotary electric machine 33 pass through with conducting slip ring 401 leads
Line is connected, and the second axis 32 is hollow shaft.By the way that conducting slip ring 401 is arranged, so as to facilitate vibration motor 361 and/or rotation
The connection of motor 33 and external electric wire, signal wire etc. when avoiding roller 35 from rotating, generates torsion to route, to protect
Protect entire drum apparatus 3.Second axis 32 is hollow shaft, it is possible thereby to which external cable is facilitated to connect with conducting slip ring 401.
Optionally, drum apparatus 3 further includes slip ring fixed ring 402, slip ring fixed ring 402 and 35 inner wall stationary phase of roller
Even, conducting slip ring 401 is set in slip ring fixed ring 402, and thus conducting slip ring 401 can be rotated synchronously with roller 35.In addition,
Slip ring fixed ring 402 carries out package connection in a ring, so as to the circumferential direction to conducting slip ring 401, to keep rotation conductive
Circumferential uniform force between slip ring 401 and roller 35 moves more steady.
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
Drum apparatus, the drum apparatus are used to smooth out wait smooth out to roll on ground, and the drum apparatus includes:
First axle and the second axis, the first axle and second axis are coaxial and are oppositely arranged；
Rotary electric machine, the rotary electric machine include rotary electric machine ontology and rotary electric machine axis, the rotary electric machine axis and described the
One axis is connected；
Roller, the roller are rotatably arranged between the first axle and second axis, and the rotary electric machine is set to described
In roller, and the rotary electric machine ontology is fixedly linked with the roller；
Running gear, the drum apparatus are connected to move under the driving of the running gear with the running gear；
Rolling stand, the rolling stand are connected on the running gear, and the first axle and second axis connection are in institute
It states on rolling stand.
2. floating robot according to claim 1, which is characterized in that the running gear includes two arranged side by side
Crawler attachment, two crawler attachments can be controlled independently.
3. floating robot according to claim 2, which is characterized in that the running gear further include:
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.
4. floating robot according to claim 3, 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.
5. floating robot according to claim 4, 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.
6. floating robot according to claim 5, 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.
7. floating robot according to claim 3, 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.
8. floating robot according to claim 7, 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.
9. floating robot according to claim 1, 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 include vibration motor ontology and vibration motor axis, the vibration motor ontology with it is described
Roller is fixedly linked；
Eccentric wheel, the eccentric wheel are prejudicially connected with vibration motor axis 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 9, which is characterized in that the drum apparatus further include:
Conducting slip ring, the conducting slip ring is connected with second axis and the conducting slip ring is fixedly linked with the roller, institute
It states vibration motor and/or the rotary electric machine and is connected with the conducting slip ring by conducting wire, second axis is hollow shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910472698.XA CN110158928B (en) | 2019-05-31 | 2019-05-31 | Floating robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910472698.XA CN110158928B (en) | 2019-05-31 | 2019-05-31 | Floating robot |
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| CN110158928A true CN110158928A (en) | 2019-08-23 |
| CN110158928B CN110158928B (en) | 2021-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910472698.XA Active CN110158928B (en) | 2019-05-31 | 2019-05-31 | Floating robot |
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| CN110629643A (en) * | 2019-09-20 | 2019-12-31 | 广东博智林机器人有限公司 | Floating robot |
| CN111764656A (en) * | 2020-07-22 | 2020-10-13 | 江苏科技大学 | Crawler concrete spreader for high-rise building |
| CN114991437A (en) * | 2021-03-01 | 2022-09-02 | 广东博智林机器人有限公司 | Vibrating slurry extracting device and floating robot |
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| CN110158928B (en) | 2021-05-07 |
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