CN110158928B - Floating robot - Google Patents
Floating robot Download PDFInfo
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- CN110158928B CN110158928B CN201910472698.XA CN201910472698A CN110158928B CN 110158928 B CN110158928 B CN 110158928B CN 201910472698 A CN201910472698 A CN 201910472698A CN 110158928 B CN110158928 B CN 110158928B
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- shaft
- roller
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- crawler
- support
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- 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
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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
- E04F21/02—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
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
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Abstract
The invention discloses a floating robot. A troweling robot comprising: roller device, roller device are used for rolling floating on treating floating ground, and roller device includes: the first shaft and the second shaft are coaxial and are arranged oppositely; the rotating motor comprises a rotating motor body and a rotating motor shaft, and the rotating motor shaft is connected with the first shaft; the rotary motor is arranged in the rotary drum, and the rotary motor body is fixedly connected with the rotary drum; the roller device is connected with the walking device to move under the driving of the walking device; the roller support is connected to the walking device, and the first shaft and the second shaft are connected to the roller support. The floating robot provided by the embodiment of the invention can greatly improve the floating area rate at the edge of the ground.
Description
Technical Field
The invention relates to the field of buildings, in particular to a floating robot.
Background
In the field of building, the concrete is usually required to be screeded on the ground, and the screeding by manpower is inefficient. For this purpose, the related art is designed with some mechanical automatic leveling mechanisms, which can automatically or semi-automatically level the floor or other substrate surface. However, the existing trowelling mechanism is usually of a disc structure, when the edge of the ground is trowelled, a large part of area cannot be automatically trowelled, the trowelling area rate is low, and improvement is needed.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a floating robot which can greatly improve the floating area rate at the edge of the ground.
The floating robot according to the embodiment of the invention comprises: roller device for rolling screeding on a ground to be screeded, comprising: the first shaft and the second shaft are coaxial and are arranged oppositely; the rotating motor comprises a rotating motor body and a rotating motor shaft, and the rotating motor shaft is connected with the first shaft; the rotary motor is arranged in the rotary drum, and the rotary motor body is fixedly connected with the rotary drum; the roller device is connected with the walking device to move under the driving of the walking device; the roller support is connected to the walking device, and the first shaft and the second shaft are connected to the roller support.
According to the floating robot provided by the embodiment of the invention, the roller device is arranged to float the ground to be leveled, so that the special rolling structure of the roller is utilized to float the ground, and the floating area rate of the edge of the ground can be greatly improved. Moreover, the rotary motor is fixedly connected with the roller, so that the weight of the roller can be improved on the premise of not increasing the appearance size of the roller, and the trowelling efficiency is further improved.
According to one embodiment of the invention, the running gear comprises two crawler tracks arranged side by side, which can be controlled independently of each other.
According to an embodiment of the invention, the walking device further comprises: the two crawler devices are arranged on the walking bracket, and the roller bracket is pivotally connected to the walking bracket; and the driving device is arranged on the walking support and is used for driving the two crawler devices to move.
According to an embodiment of the present invention, the driving device includes two motors, motor shafts of the two motors are coaxially arranged, and extending directions of the motor shafts of the two motors are opposite, each of the crawler devices includes: motor shafts of the two motors are respectively in transmission connection with driving wheels of the two crawler devices; a tension wheel; and the crawler belt is coated between the driving wheel and the tensioning wheel.
According to an embodiment of the present invention, each of the track devices further includes a support device disposed inside the track between the driving wheel and the tension wheel to support the track, the support device including: the supporting bracket comprises a first bracket and a second bracket, and the first bracket and the second bracket are crossed and can be in pivot connection; the two support wheels are respectively connected to the lower ends of the first bracket and the second bracket and are in contact with the crawler; and the elastic connecting piece is connected between the upper ends of the first support and the second support.
According to one embodiment of the invention, each of the track devices comprises a plurality of the support devices, which are arranged at intervals in the walking direction of the track.
According to one embodiment of the invention, the walking bracket is provided with two through holes, the two crawler devices are arranged in the through holes in a penetrating manner, the walking device further comprises a housing, and the housing is buckled on the walking bracket and defines an installation space with the walking bracket.
According to an embodiment of the invention, the walking device further comprises: the power supply device and the control device are arranged in the installation space, and the driving device, the power supply device and the control device are electrically connected with each other.
According to an embodiment of the present invention, the drum device further includes an eccentric vibration device, the eccentric vibration device can drive the drum to vibrate eccentrically, the eccentric vibration device includes: the vibration motor comprises a vibration motor body and a vibration motor shaft, and the vibration motor body is fixedly connected with the roller; the eccentric wheel is eccentrically connected with the shaft of the vibrating motor in a transmission way; the first bearing and the second bearing are respectively connected with the eccentric wheel through connecting shafts, and the first bearing and the second bearing are respectively fixedly connected with the roller.
According to an embodiment of the present invention, the drum device further includes: the conductive slip ring is connected with the second shaft and fixedly connected with the roller, the vibration motor and/or the rotating motor are/is connected with the conductive slip ring through a lead, and the second shaft is a hollow shaft.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural view of a troweling robot according to an embodiment of the present invention;
FIG. 2 is a side view of a troweling robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a troweling robot according to an embodiment of the present invention, with the cover removed;
FIG. 4 is a side view of a troweling robot according to an embodiment of the present invention with the cover removed;
FIG. 5 is a schematic structural view of a troweling robot according to an embodiment of the present invention, with the cover and the bracket removed;
fig. 6 is a schematic view of an internal structure of a drum of a troweling robot according to an embodiment of the present invention.
Reference numerals:
a troweling robot 100;
a traveling device 1;
a crawler device 11; a drive wheel 111; a tension pulley 112; a crawler belt 113;
a support device 114; a support bracket 1141; a first bracket 1142; a second bracket 1143; a support wheel 1144; an elastic connector 1145;
a traveling support 12; a through hole 121;
a drive device 13; a motor 131;
a casing 14; a power supply device and control device 15;
a roller bracket 2; a connecting portion 21;
a drum device 3; a first shaft 31; a second shaft 32;
a rotating motor 33; a rotating motor body 331; rotating motor shaft 332
A drum 35; an eccentric vibrating device 36;
a vibration motor 361; a vibration motor body 3611; a vibrating motor shaft 3612;
an eccentric wheel 362; a first bearing 363; a second bearing 364; a connecting shaft 365;
a first motor fixing ring 371; a second motor fixing ring 372;
a third bearing 381; a fourth bearing 382;
a first coupling 391; a second coupling 392;
a conductive slip ring 401; the slip ring secures the ring 402.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A troweling robot 100 according to an embodiment of the present invention is described below with reference to fig. 1 to 6. As shown in fig. 1 to 6, a troweling robot 100 according to an embodiment of the present invention includes: a roller device 3, a walking device 1 and a roller bracket 2.
The roller device 3 is used for rolling and leveling on the ground to be leveled, and the roller device 3 comprises: a first shaft 31, a second shaft 32, a rotation motor 33, and a drum 35.
The first shaft 31 and the second shaft 32 are coaxially and oppositely disposed, and optionally, the first shaft 31 and the second shaft 32 are relatively static structures of the roller device 3 and provide mounting positions for other components of the roller device 3.
The rotating motor 33 includes a rotating motor body 331 and a rotating motor shaft 332, and the rotating motor shaft 332 is connected to the first shaft 31, alternatively, as shown in fig. 6, the rotating motor shaft 332 and the first shaft 31 may be connected to each other by a coupling.
The drum 35 is rotatably provided between the first shaft 31 and the second shaft 32, that is, the drum 35 is rotatable with respect to the first shaft 31 and the second shaft 32, the rotating motor 33 is provided in the drum 35, and the rotating motor body 331 is fixedly connected to the drum 35. It should be explained that "the rotating motor body 331 is fixedly connected to the drum 35" means that the rotating motor body 331 and the drum 35 are in a relatively stationary connection relationship, and the rotating motor body 331 and the drum 35 can rotate synchronously.
Specifically, the rotating motor shaft 332 is fixedly connected to the first shaft 31, when the rotating motor 33 is energized, the rotating motor shaft 332 rotates relative to the rotating motor body 331, and the rotating motor shaft 332 is stationary relative to the first shaft 31, so that the rotating motor body 331 rotates relative to the first shaft 31, and further, since the rotating motor body 331 can drive the roller 35 to rotate synchronously, that is, the roller 35 can rotate relative to the first shaft 31 and the second shaft 32, the roller 35 can perform a rolling and leveling function on the ground.
Optionally, the roller device 3 is connected with the walking device 1 to move under the driving of the walking device 1, wherein the walking device 1 is used for driving the roller 35 to move on the ground to be leveled, so that the leveling can be performed at the position needing leveling.
The roller bracket 2 is connected on the walking device 1, and the roller bracket 2 is arranged, so that an installation fixing position is provided for the roller device 3. Alternatively, the roller frame 2 may be directly connected to the running gear 1, and the roller frame 2 may also be indirectly connected to the running gear 1. Alternatively, the roller bracket 2 may be U-shaped, V-shaped, etc., i.e. the roller bracket 2 may comprise two connecting portions 21, the roller device 3 being connected between the two connecting portions 21. The roller bracket 2 thus provides a setting position for the roller device 3.
Further, the first shaft 31 and the second shaft 32 are coupled to the drum bracket 2, whereby the first shaft 31 and the second shaft 32 are fixedly coupled to the two coupling portions 21, respectively, thereby facilitating the installation of the drum device 3.
As shown in fig. 1 to 5, a roller device 3 is rollably provided on the roller frame 2, and the roller device 3 is used for rolling and leveling on the ground to be leveled. Wherein roller device 3 can roll around its axis, when treating floating ground and carry out when floating, can utilize roller device 3 to roll floating ground, when treating the edge on floating ground from this and carry out when floating, because roller device 3 can roll floating form around its axis direction, can greatly improve the floating area rate to the edge on ground.
In addition, in the troweling robot 100 in the present application, the rotating motor body 331 is fixedly connected to the roller 35, and the rotating motor body 331 rotates synchronously with the roller 35, so that the troweling weight of the roller 35 can be increased to a certain extent on the premise of not increasing the external dimension of the roller 35, that is, when the roller 35 is used for troweling, because the rotating motor body 331 is fixedly connected to the roller 35, the weight of the roller 35 applied to the ground is at least equal to the sum of the weight of the rotating motor body 331 and the weight of the roller 35, and therefore the pressure of the roller 35 on the ground to be trowelled can be increased, and the troweling efficiency of the roller 35 on the ground can be further optimized.
According to the floating robot 100 of the embodiment of the present invention, the roller device 3 is provided to float the ground to be leveled, so that the special rolling structure of the roller 35 is utilized to float the ground, and the floating area ratio of the edge of the ground can be greatly increased. Moreover, the rotary motor 33 is fixedly connected with the roller 35, so that the weight of the roller 35 can be improved on the premise of not increasing the appearance size of the roller 35, and the floating efficiency is further improved.
The troweling robot 100 according to an embodiment of the present invention will be described in detail with reference to fig. 1 to 6.
The running gear 1 comprises two crawler tracks 11 arranged side by side, the two crawler tracks 11 being independently controllable. Thus, the movement of the troweling robot 100 can be powered by the two crawler devices 11 that are independently controlled, respectively. The running direction of the whole troweling robot 100 is controlled according to the steering and rotation speed control of the two crawler belts 113, for example, when the two crawler belts 113 are steered and have the same rotation speed, the troweling robot 100 according to the embodiment of the present invention may move forward or backward in a linear direction. The troweling robot 100 of the embodiment of the present invention may turn or rotate when the two crawlers 113 turn opposite or rotate at different speeds. So that the moving direction of the entire troweling robot 100 can be controlled.
As shown in fig. 3 to 5, the traveling device 1 includes a traveling bracket 12 and a driving device 13, the two crawler belts 11 are both disposed on the traveling bracket 12, the roller bracket 2 is pivotally connected to the traveling bracket 12, and the driving device 13 is disposed on the traveling bracket 12 and is used for driving the two crawler belts 11 to move. Alternatively, the two tracks 113 may be connected by a load shaft, the load shaft may be fixed with the traveling carriage 12, and the traveling carriage 12 may provide a fixing position for the control box, the driving device 13, the power device components, the controllable suspension, and the like. Therefore, the walking device 1 is complete in structure, the structural design of the floating robot 100 is reasonable, the automatic rolling of the roller device 3 is facilitated, and the floating effect of the floating robot 100 is improved.
As shown in fig. 3, optionally, two through holes 121 are formed on the traveling bracket 12, and two crawler belts 11 are inserted through the through holes 121, so that the crawler belts 11 can be stably arranged on the traveling bracket 12, and the two crawler belts 11 can stably support the traveling bracket 12.
As shown in fig. 1 and 2, the walking device 1 may further include a housing 14, and the housing 14 is fastened to the walking bracket 12 and defines an installation space with the walking bracket 12. Further, the walking device 1 further includes: the power supply device and the control device 15 are arranged in the installation space, and therefore the installation space can provide certain protection effect for the power supply device and the control device 15. Alternatively, the walking frame 12 and the housing 14 may be both circular, thereby making the mechanical structure of the walking device 1 more stable and beautiful in appearance.
Further, the driving device 13, the power supply device and the control device 15 are electrically connected with each other, the power supply device provides power supply for the driving device 13 and the control device, the automatic operation of the floating robot 100 is met, the floating robot 100 can be separated from the traction of a power line by arranging the power supply device, and the use is more flexible and free. The control device is electrically connected to the drive device 13, thereby controlling the drive device 13. The floating robot 100 may further include a detection device for detecting the condition of the ground, the detection device feeds back the detection result to the control device, and the control device controls the driving device 13 according to the detection result, so that the floating robot 100 may be controlled to change the traveling state according to the condition of the actual ground, thereby further improving the automation degree of the floating robot 100.
As shown in fig. 3 and 5, the driving device 13 includes two motors 131, motor shafts of the two motors 131 are coaxially arranged, and extending directions of the motor shafts of the two motors 131 are opposite, and each crawler belt device 11 includes: the motor shafts of the two motors 131 are respectively in transmission connection with the driving wheels 111 of the two crawler belt devices 11, and the crawler belt 113 is covered between the driving wheels 111 and the tensioning wheels 112. As shown in fig. 3 and 5, two motors 131 are disposed at one end of the traveling bracket 12 away from the drum device 3, and motor shafts of the two motors 131 face opposite directions and are respectively connected to corresponding driving wheels 111 so as to respectively drive the two driving wheels 111 to respectively rotate. The drive device 13 is thus simple in construction and the respective control of the operation of the two track units 11 can be achieved.
As shown in fig. 3 and 5, each crawler belt 11 has the same structure and is symmetrically arranged with respect to the traveling carriage 12. Therefore, the structure of the floating robot 100 is simpler, the floating robot has more modern design feeling, and the appearance is more attractive.
As shown in fig. 3 and 5, the two driving wheels 111 of the two track units 11 are located at one end of the traveling carriage 12 away from the roller unit 3, and the two tensioning wheels 112 of the two track units 11 are located adjacent to the roller unit 3, and the two tensioning wheels 112 thereof may be connected to each other by a connecting rod, thereby making the two track units 11 more compact and smoother in operation.
As shown in fig. 3 to 5, each crawler belt device 11 further includes a support device 114, the support device 114 is disposed inside the crawler belt 113 and between the driving wheel 111 and the idler wheel 112 to support the crawler belt 113, and the support device 114 includes: support bracket 1141, support wheel 1144 and elastic connecting member 1145, support bracket 1141 includes first bracket 1142 and second bracket 1143, first bracket 1142 and second bracket 1143 are crossed and can be pivoted and connected, support wheel 1144 includes two and connects respectively at the lower extreme of first bracket 1142 and second bracket 1143, support wheel 1144 contacts with track 113, elastic connecting member 1145 is connected between the upper end of first bracket 1142 and second bracket 1143. Therefore, the support device 114 is arranged, so that the whole trowelling robot 100 can be supported, the support structure has a good anti-seismic effect, the first bracket 1142 and the second bracket 1143 are crossed and can be connected in a pivoting manner, when the support device 114 receives external shock, the first bracket 1142 and the second bracket 1143 can be pivoted with each other and are connected through the elastic element, so that certain shock is absorbed, and the influence of the shock on the trowelling robot 100 is reduced.
Further, as shown in fig. 3 to 5, each crawler belt device 11 includes a plurality of support devices 114, and the plurality of support devices 114 are disposed at intervals in the traveling direction of the crawler belt 113. Thus, by providing a plurality of support devices 114, the supporting and damping effect of each crawler 11 on the troweling robot 100 can be further improved, and the mechanical structure of each crawler 11 is more stable.
The structure of the drum device 3 according to the present invention is described below with reference to fig. 6.
As shown in fig. 6, the drum device 3 of the embodiment of the present invention includes: a first shaft 31, a second shaft 32, a rotation motor 33, and a drum 35.
The first shaft 31 and the second shaft 32 are coaxially and oppositely disposed, and optionally, the first shaft 31 and the second shaft 32 are relatively static structures of the roller device 3 and provide mounting positions for other components of the roller device 3.
The rotating motor 33 includes a rotating motor body 331 and a rotating motor shaft 332, and the rotating motor shaft 332 is connected to the first shaft 31, and optionally, as shown in fig. 6, the rotating motor shaft 332 and the first shaft 31 may be connected to each other by a first coupling 391, thereby protecting the rotating motor shaft 332 and the first shaft 31.
The drum 35 is rotatably provided between the first shaft 31 and the second shaft 32, that is, the drum 35 is rotatable with respect to the first shaft 31 and the second shaft 32, the rotating motor 33 is provided in the drum 35, and the rotating motor body 331 is fixedly connected to the drum 35. It should be explained that "the rotating motor body 331 is fixedly connected to the drum 35" means that the rotating motor body 331 and the drum 35 are in a relatively stationary connection relationship, and the rotating motor body 331 and the drum 35 can rotate synchronously.
Specifically, the rotating motor shaft 332 is fixedly connected to the first shaft 31, when the rotating motor 33 is energized, the rotating motor shaft 332 rotates relative to the rotating motor body 331, and the rotating motor shaft 332 is stationary relative to the first shaft 31, so that the rotating motor body 331 rotates relative to the first shaft 31, and further, since the rotating motor body 331 can drive the roller 35 to rotate synchronously, that is, the roller 35 can rotate relative to the first shaft 31 and the second shaft 32, the roller 35 can perform a rolling and leveling function on the ground.
According to the roller device 3 of the troweling robot 100 provided by the embodiment of the invention, the rotating motor 33 is arranged in the roller 35 and is fixedly connected with the roller 35, so that when the rotating motor 33 is electrified and rotates, the rotating motor body 331 can drive the roller 35 to rotate synchronously, and further the rolling troweling on the ground is realized. In addition, the roller 35 can protect the rotating motor 33, and the appearance of the roller device 3 is more concise.
As shown in fig. 6, a first coupling 391 is optionally provided between the first shaft 31 and the rotating motor shaft 332. The first coupling 391 refers to a device for coupling two shafts or shafts and a rotating member without separating them under normal conditions. And also as a safety device to prevent the coupled machine parts from bearing excessive load, thereby playing the role of overload protection. That is, the connection between the first shaft 31 and the rotating motor shaft 332 can be protected by providing the first coupling 391.
As shown in fig. 6, optionally, the roller device 3 further includes a first motor fixing ring 371, the first motor fixing ring 371 is disposed in the roller 35 and fixedly connected to the roller 35, and the rotating motor body 331 is fixed in the first motor fixing ring 371. Through setting up first motor fixing ring 371 to can conveniently rotate the fixed connection between motor body 331 and the cylinder 35, connection structure is simple realizes easily moreover. In addition, the first motor fixing ring 371 is annular, so that the circumferential direction of the rotating motor body 331 can be wrapped and connected, the circumferential direction stress between the rotating motor body 331 and the roller 35 is uniform, and the rotating motor 33 is more stable when the rotating roller 35 is driven to rotate.
In other embodiments of the present invention, the roller device 3 further comprises an eccentric vibration device 36, and the eccentric vibration device 36 can drive the roller 35 to vibrate eccentrically. Therefore, in the process of floating the ground, the roller device 3 can generate a vibration effect on the ground, so that the floating robot 100 has a wider application range.
Further, the eccentric vibration device 36 may include: a vibration motor 361 and an eccentric 362. The vibration motor 361 is fixedly connected with the second shaft 32, the vibration motor 361 is arranged in the roller 35, and the eccentric wheel 362 is eccentrically connected with a motor shaft of the vibration motor 361. That is, the eccentric wheel 362 is driven by the vibration motor 361 to rotate eccentrically, so that the eccentric wheel 362 can drive the whole roller 35 to realize the vibration effect. When carrying out the floating to uneven ground like this, the vibrations effect of cylinder 35 can make the optimization to the leveling of ground, improves floating effect.
Alternatively, as shown in fig. 6, the eccentric vibration device 36 includes: the vibration motor 361 comprises a vibration motor body 3611 and a vibration motor shaft 3612, the vibration motor body 3611 is fixedly connected with the roller 35, and the eccentric wheel 362 is eccentrically connected with the vibration motor shaft 3612 in a transmission way. That is, the eccentric wheel 362 is driven by the vibration motor 361 to rotate eccentrically, so that the eccentric wheel 362 can drive the whole roller 35 to realize eccentric vibration, i.e., a vibration effect on the ground.
The vibration motor body 3611 is fixedly connected with the drum 35, that is, the vibration motor body 3611 and the drum 35 are relatively static and can rotate synchronously. Therefore, in the rolling process of the roller 35, the floating weight of the roller 35 can be increased to a certain extent, namely, when the roller 35 is used for floating the ground, because the vibration motor body 3611 is fixedly connected with the roller 35, the weight of the roller 35 applied to the ground increases the weight of the vibration motor body 3611, so that the pressure of the roller 35 on the ground to be floated can be further increased, and the floating efficiency of the roller 35 on the ground can be further optimized.
And the cylinder 35 can play certain guard action to shock motor 361, and shock motor 361 can drive eccentric wheel 362 and carry out eccentric rotation, and eccentric wheel 362 can drive the eccentric vibrations of cylinder 35 from this, and is further, at the in-process of floating the ground, can produce vibrations effect to ground to floating robot 100's application range is wider.
Optionally, the drum device 3 further includes a second motor fixing ring 372, the second motor fixing ring 372 is disposed in the drum 35 and is fixedly connected to the drum 35, and the vibration motor body 3611 is fixed in the second motor fixing ring 372. Through setting up the solid fixed ring 372 of second motor to can make things convenient for the fixed connection between shock dynamo body 3611 and the cylinder 35, connection structure is simple realizes easily moreover. In addition, the second motor fixing ring 372 is annular, so that the circumferential direction of the vibration motor body 3611 can be wrapped and connected, the circumferential stress between the vibration motor body 3611 and the roller 35 is uniform, and the rotation motor 33 is more stable when the roller 35 is driven to rotate.
Further, the eccentric vibration device 36 further includes: the eccentric 362 is provided with a first bearing 363 and a second bearing 364, the first bearing 363 and the second bearing 364 are respectively arranged at two sides of the eccentric 362, and the first bearing 363 and the second bearing 364 are respectively fixedly connected with the roller 35, so that the first bearing 363 and the second bearing 364 can limit the movement of the eccentric 362, namely the first bearing 363 and the second bearing 364 can limit the eccentric 362 to rotate on an axis around the connecting shaft 365.
The eccentric vibration device 36 further includes: the connecting shaft 365, the connecting shaft 365 passes through the first bearing 363, the eccentric wheel 362 and the second bearing 364 in sequence, and then is connected with the vibrating motor shaft 3612 of the vibrating motor 361. Thereby making the structural attachment of the eccentric shaking device 36 more stable.
Optionally, the drum device 3 further includes a second coupling 392, and the second coupling 392 is connected between the connecting shaft 365 and the vibrating motor shaft 3612. By providing the second coupling 392, the connection between the connecting shaft 365 and the vibrating motor shaft 3612 can be protected.
Preferably, as shown in fig. 6, the drum device 3 further includes: the conductive slip ring 401 is connected with the second shaft 32, the conductive slip ring 401 is fixedly connected with the roller 35, the vibration motor 361 and/or the rotating motor 33 are/is connected with the conductive slip ring 401 through conducting wires, and the second shaft 32 is a hollow shaft. Through the arrangement of the conductive slip ring 401, the connection between the vibration motor 361 and/or the rotation motor 33 and external wires, signal lines and the like can be facilitated, and the phenomenon that the line is twisted when the roller 35 rotates is avoided, so that the whole roller device 3 is protected. The second shaft 32 is a hollow shaft, thereby facilitating the connection of external cables to the conductive slip ring 401.
Optionally, the drum device 3 further includes a slip ring fixing ring 402, the slip ring fixing ring 402 is fixedly connected to the inner wall of the drum 35, and the conductive slip ring 401 is disposed in the slip ring fixing ring 402, so that the conductive slip ring 401 can rotate synchronously with the drum 35. In addition, the slip ring fixing ring 402 is annular, so that the circumferential direction of the conductive slip ring 401 can be wrapped and connected, the circumferential stress between the rotary conductive slip ring 401 and the roller 35 is uniform, and the movement is more stable.
Alternatively, as shown in fig. 6, the drum device 3 further includes: third bearing 381 and fourth bearing 382, third bearing 381 is fixedly connected with first shaft 31, and third bearing 381 is rotatably connected with roller 35, fourth bearing 382 is fixedly connected with second shaft 32, and fourth bearing 382 is rotatably connected with roller 35. By providing the third bearing 381 and the fourth bearing 382, the relative rotation of the drum 35 on the first shaft 31 and the second shaft 32 can be made smoother.
Preferably, sealing structures may be provided on both sides of the drum 35 to prevent liquid concrete from flowing into the drum 35 during operation.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A troweling robot, characterized by comprising:
roller device for rolling screeding on a ground to be screeded, comprising:
the first shaft and the second shaft are coaxial and are arranged oppositely;
the rotating motor comprises a rotating motor body and a rotating motor shaft, and the rotating motor shaft is connected with the first shaft;
the rotary motor is arranged in the rotary drum, and the rotary motor body is fixedly connected with the rotary drum;
the roller device is connected with the walking device to move under the driving of the walking device;
the roller bracket is connected to the walking device, and the first shaft and the second shaft are connected to the roller bracket;
eccentric vibrator, eccentric vibrator can drive the eccentric vibrations of cylinder, eccentric vibrator includes:
the vibration motor comprises a vibration motor body and a vibration motor shaft, and the vibration motor body is fixedly connected with the roller;
the eccentric wheel is eccentrically connected with the shaft of the vibrating motor in a transmission way;
the first bearing and the second bearing are respectively connected with the eccentric wheel through connecting shafts, and are respectively fixedly connected with the roller;
the conductive slip ring is connected with the second shaft and fixedly connected with the roller, the vibration motor and/or the rotating motor are/is connected with the conductive slip ring through a lead, and the second shaft is a hollow shaft.
2. The trowelling robot of claim 1, wherein the traveling means includes two crawler means arranged side by side, the two crawler means being independently controllable.
3. The troweling robot according to claim 2, characterized in that the walking means further comprises:
the two crawler devices are arranged on the walking bracket, and the roller bracket is pivotally connected to the walking bracket;
and the driving device is arranged on the walking support and is used for driving the two crawler devices to move.
4. The troweling robot according to claim 3, wherein the driving means includes two motors whose motor shafts are coaxially arranged and extend in opposite directions, each of the crawler means includes:
motor shafts of the two motors are respectively in transmission connection with driving wheels of the two crawler devices;
a tension wheel;
and the crawler belt is coated between the driving wheel and the tensioning wheel.
5. The troweling robot according to claim 4, wherein each of the crawler devices further includes a support device provided inside the crawler between the drive wheel and the tension wheel to support the crawler, the support device including:
the supporting bracket comprises a first bracket and a second bracket, and the first bracket and the second bracket are crossed and can be in pivot connection;
the two support wheels are respectively connected to the lower ends of the first bracket and the second bracket and are in contact with the crawler;
and the elastic connecting piece is connected between the upper ends of the first support and the second support.
6. The troweling robot according to claim 5, characterized in that each of the crawler devices includes a plurality of the support devices, which are disposed at intervals in a traveling direction of the crawler.
7. The trowelling robot of claim 3, wherein the traveling support is provided with two through holes, the two crawler assemblies are arranged through the through holes, and the traveling assembly further comprises a cover which is fastened on the traveling support and defines an installation space with the traveling support.
8. The troweling robot according to claim 7, characterized in that the walking means further comprises: the power supply device and the control device are arranged in the installation space, and the driving device, the power supply device and the control device are electrically connected with each other.
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 |
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| CN201910472698.XA CN110158928B (en) | 2019-05-31 | 2019-05-31 | Floating robot |
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| CN110158928A CN110158928A (en) | 2019-08-23 |
| CN110158928B true CN110158928B (en) | 2021-05-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110629643B (en) * | 2019-09-20 | 2021-07-13 | 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 |
| CN114991437B (en) * | 2021-03-01 | 2023-06-20 | 广东博智林机器人有限公司 | Vibrating slurry lifting device and trowelling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS6255375A (en) * | 1985-09-04 | 1987-03-11 | 株式会社竹中工務店 | Concrete leveling apparatus |
| JP2761764B2 (en) * | 1989-08-09 | 1998-06-04 | 東急建設株式会社 | Fresh concrete floor leveling device |
| CN2474653Y (en) * | 2001-03-28 | 2002-01-30 | 赵呈为 | Wall plastering machine |
| CN203924647U (en) * | 2014-05-27 | 2014-11-05 | 浙江海洋学院 | The smooth equipment of a kind of concrete floor |
| CN205189380U (en) * | 2015-11-17 | 2016-04-27 | 陈荣江 | Indoor smoothing machine |
| CN205854314U (en) * | 2016-07-31 | 2017-01-04 | 山东国兴智能科技有限公司 | A kind of BOGEY WHEEL is combined mutual pressure type crawler body mechanism |
| CN106193559B (en) * | 2016-09-07 | 2018-04-13 | 林群富 | A kind of small-sized flooring paving slurry all-in-one machine |
| JP7066167B2 (en) * | 2017-01-20 | 2022-05-13 | 須山建設株式会社 | Surplus water recovery device and surplus water suction vehicle equipped with this surplus water recovery device |
| CN113027079A (en) * | 2018-10-19 | 2021-06-25 | 黄建国 | Paint roller and using method |
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