CN110528887A - Smooth out robot scrapes sweeping device and floating robot - Google Patents
Smooth out robot scrapes sweeping device and floating robot Download PDFInfo
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- CN110528887A CN110528887A CN201910790764.8A CN201910790764A CN110528887A CN 110528887 A CN110528887 A CN 110528887A CN 201910790764 A CN201910790764 A CN 201910790764A CN 110528887 A CN110528887 A CN 110528887A
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- plate
- sweeping device
- lifter plate
- rack
- scraper component
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/10—Devices for levelling, e.g. templates or boards
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
Sweeping device and floating robot are scraped the invention discloses a kind of floating robot, scraping sweeping device includes: supporting element；Lifter plate, lifter plate can oscilaltions relative to supporting element；Actuator, one end of actuator is connected on supporting element and the other end is connected on lifter plate；Scraper component, scraper component are located on lifter plate, and the bottom of scraper component is equipped with scraping article；Wherein, actuator can drive lifter plate to decline, so that the scraping article of scraper component contacts concrete face to be onstructed.The present invention passes through setting scraper component, it can destroy and smooth out concrete surface pre-hardening in robot work progress, promote the warehouse and smearing effect for smoothing out robot, and scraper component is driven to achive up and down by actuator, so that scraper component is more flexible when in use, operation is more simple and convenient, improves the degree of automation of whole device.
Description
Technical field
The present invention relates to technical field of construction equipment more particularly to it is a kind of smooth out robot scrape sweeping device and smooth out machine
People.
Background technique
Currently, need when Contraction in Site using the concrete being laid in robot floating construction surface is smoothed out, still,
Construction surface is easy to appear the concrete surface of initial set after being laid with concrete, is unfavorable for smoothing out the floating operation of robot.
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
Sweeping device is scraped by flat robot, to solve the problem of to be unfavorable for smoothing out operation because there is the concrete surface of initial set in construction surface.
The present invention, which also aims to, proposes a kind of floating robot, scrapes sweeping device with the above-mentioned floating robot of application.
Sweeping device is scraped by a kind of floating robot according to an embodiment of the present invention, comprising: supporting element；Lifter plate, the liter
Dropping plate can oscilaltion relative to the supporting element；Actuator, one end of the actuator are connected on the supporting element and another
One end is connected on the lifter plate；Scraper component, the scraper component are located on the lifter plate, the bottom of the scraper component
Portion is equipped with scraping article；Wherein, the actuator can drive the lifter plate to decline, so that the scraping article of the scraper component contacts coagulation
Soil face to be onstructed.
Sweeping device is scraped by floating robot according to an embodiment of the present invention, by the way that scraper component is arranged, can destroy floating
Pre-hardening concrete surface in robot work progress promotes the warehouse and smearing effect for smoothing out robot, and passes through driving
Part driving scraper component achives up and down, so that scraper component is more flexible when in use, operation is more simple and convenient, improves whole
The degree of automation of a device.
In some embodiments, rotating mechanism is equipped between the scraper component and the lifter plate, so that the scraper plate
Component is pivotably coupled on the lifter plate.
Preferably, the rotating mechanism includes: the first hinged seat, and first hinged seat is connected to the scraper component
On；Second hinged seat, second hinged seat are connected on the lifter plate；Joint pin, the joint pin are arranged in described
On one hinged seat and the second hinged seat.
In some embodiments, the scraper component includes: the first fixed plate, is formed in first fixed plate vertical
In the extension board of first fixed plate；Second fixed plate, second fixed plate are connected on the extension board, and described
Two fixed plates, first fixed plate are surrounded by mounting groove between the extension board；Scraper plate, the scraper plate are located at the installation
In slot, the scraper plate stretches out the mounting groove, and the scraping article is formed on the extension end of the scraper plate.
Preferably, the scraper plate is made of rubber material, and the scraping article on the scraper plate is serrated.
In some embodiments, the sweeping device of scraping further includes guiding mechanism, and the guiding mechanism includes: guide pad, institute
Guide pad is stated to be located on the supporting element；Guiding axis, the guiding axis passes through the guide pad, and one end of the guiding axis connects
It connects on the lifter plate；Cushion block, the cushion block are connected on the other end far from the lifter plate of the guiding axis.
In some embodiments, the supporting element includes: support plate；Mounting rack, the mounting rack are connected to the support
The middle part of plate is formed with assembly space on the mounting rack, and the upper end of the assembly space is equipped with attachment base, and the actuator is set
In in the assembly space and being connected to the attachment base.
In some embodiments, the lifter plate includes: lifting plate；Cushion block is promoted, the promotion cushion block is connected to described
The center of lifting plate；Third hinge seat, the third hinge seat are connected on the promotion cushion block, and the third hinge seat can pivot
It is connected on the actuator with turning.
A kind of floating robot according to an embodiment of the present invention, comprising: rack；Running gear, the running gear are located at
The bottom of the rack, to drive the rack to walk；Jacking apparatus, the jacking apparatus are located at the center of the rack, institute
Jacking apparatus is stated to jack up upwards by the rack and the running gear and be detached from construction surface；Transfer, the steering dress
It is set on the jacking apparatus, is turned to being driven up the rack and the running gear of jack-up；Sweeping device is scraped, it is described
It scrapes sweeping device to be located in the rack, the sweeping device of scraping is to scrape sweeping device according to previously described floating robot.
Floating robot according to an embodiment of the present invention can be realized one kind by setting jacking apparatus and transfer
It is first lifted the steering mode rotated afterwards, turning radius is small under which, can avoid damage to construction surface, and curving effect is more preferable.Its
It is secondary that sweeping device is scraped by setting, it can be realized the destruction of the concrete surface to initial set, thus the smearing effect of hoisting machine people.
In some embodiments, the floating robot further includes vibration device, and the vibration device is vibrating motor, institute
State vibrating motor be it is multiple, multiple vibrating motors are evenly arranged in the rack.
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 schematic perspective view that sweeping device is scraped in the embodiment of the present invention；
Fig. 2 is the partial structurtes composition schematic diagram of scraper component in the embodiment of the present invention；
Fig. 3 is the schematic perspective view that robot is smoothed out in the embodiment of the present invention.
Appended drawing reference:
Scrape sweeping device 50,
Supporting element 51, support plate 511, mounting rack 512, assembly space 5121, attachment base 5122,
Lifter plate 52, lifting plate 521, promoted cushion block 522, third hinge seat 523,
Actuator 53,
Scraper component 54, scraping article 54a, the first fixed plate 541, extension board 5411, the second fixed plate 542, scraper plate 543, peace
Tankage 54b,
Rotating mechanism 55, the first hinged seat 551, the second hinged seat 552, joint pin 553,
Guiding mechanism 56, guide pad 561, guiding axis 562, cushion block 563,
First inductive switch 57, the second inductive switch 58, detection plate 59,
Floating robot 100,
Rack 10,
Running gear 20, the first roller 21, second tin roller 22, actuator 23, transmission mechanism 24, the first sprocket wheel 241, second
Sprocket wheel 242, transmission chain 243, correction roller 25, damping unit 26,
Jacking apparatus 30, transfer 40, vibration device 60, battery 70, electric cabinet 80.
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 " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside", " circumferential direction " is side based on the figure
Position or positional relationship, are merely for convenience of description of the present invention and simplification of the description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, defining " first ", the feature of " second " can explicitly or implicitly include one or more be somebody's turn to do
Feature, for distinguishing Expressive Features, point of out-of-order, point of no weight.In the description of the present invention, unless otherwise indicated, " more
It is a " it is meant that 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.
With reference to the accompanying drawing, describe the floating robot of the embodiment of the present invention scrapes sweeping device 50.
As shown in Figure 1, sweeping device 50 is scraped by a kind of floating robot according to an embodiment of the present invention, comprising: supporting element 51,
Lifter plate 52, actuator 53, scraper component 54.
Supporting element 51 smoothes out robot for being fixed on, and supports and entirely scrapes sweeping device 50.Lifter plate 52 is relative to branch
Support member 51 can oscilaltion.One end of actuator 53 is connected on supporting element 51 and the other end is connected on lifter plate 52.Scraper plate
Component 54 is located on lifter plate 52, and the bottom of scraper component 54 is equipped with scraping article 54a；Wherein, actuator 53 can drive lifter plate 52
Decline, so that the scraping article 54a of scraper component 54 contacts concrete face to be onstructed.It is to be understood that in ground construction operation, root
According to initial set concrete surface the case where, lifter plate 52 can be driven to move down by actuator 53, make scraper component 54 by
It gradually moves down, until the bottom of scraper component 54 contacts concrete face to be onstructed.As the construction for smoothing out robot is advanced, board group is scraped
Scraping article 54a on part 54 can destroy the concrete surface of initial set, loose concrete face, to be conducive to smooth out along direction of advance
Robot smoothes out construction surface, promotes warehouse and smearing effect.
It should be noted that since actuator 53 can drive 54 oscilaltion of lifter plate 52 and scraper component, not
In the case where needing to sweep construction surface, lifter plate 52 and scraper component 54 can be lifted upwards, interference is avoided to smooth out robot
Movement, facilitate smooth out robot construction walking.When needing to sweep construction surface, actuator 53 drives lifter plate 52 to move down, and makes
Scraper component 54 move to bottom scraping article 54a be inserted into the concrete of initial set after stop, destroying pre-hardening concrete, due to
The presence of scraping article 54a, scraper component 54 are easier to destroy the concrete of initial set, and effect is also more preferable, equally can also will be after destruction
Concrete taken away along direction of advance, uniformly paving be sprinkled upon on other concrete construction faces.
Sweeping device 50 is scraped by floating robot according to an embodiment of the present invention, by the way that scraper component 54 is arranged, can destroy
Concrete surface pre-hardening in robot work progress is smoothed out, promotes the warehouse and smearing effect for smoothing out robot, and pass through
Actuator 53 drives scraper component 54 to achive up and down, so that scraper component 54 is more flexible when in use, the simpler side of operation
Just, the degree of automation of whole device is improved.
In some embodiments, scraper component 54, which can be, is fixed on lifter plate 52.In this way, with robot is smoothed out
Construction advance, lifter plate 52 destroys the concrete surface of initial set with scraper component 54, and in this mode, scraper component 5 is broken
The ability of the concrete surface of bad initial set is stronger.
In some embodiments, as shown in Figure 1, being equipped with rotating mechanism 55 between scraper component 54 and lifter plate 52, so that
Scraper component 54 is pivotably coupled on lifter plate 52.Coagulation grade difference under concrete layer different depth, i.e. hardness are not
Together, according to the difference of site operation situation, actuator 53 not can guarantee the concrete table dropped to scraper component 54 with initial set
The suitable position of face contact is easy to enter more hard concrete layer beyond concrete surface.And above-mentioned this mode is used,
Scraper component 54 is pivotably coupled on lifter plate 52, therefore, when the scraping article 54a of 54 bottom of scraper component touches more heavily fortified point
When hard concrete layer, scraper component 54 can be detached from more hard concrete layer by rotation, only destroy the concrete of initial set
Surface, so that it is guaranteed that sweeping effect.And which makes the movement of scraper component 54 more flexible, can avoid scraping by rotation
Board group part 54 is damaged because stress is excessive, advantageously ensures that the safety of scraper component 54.
In some embodiments, rotating mechanism 55 can be two, and board group is scraped in two spaced apart being located at of rotating mechanisms 55
Between part 54 and lifter plate 52, such as two rotating mechanisms 55 are respectively provided at the left and right side of 52 lower section of lifter plate, to protect
Demonstrate,prove the stability that scraper component 54 pivots.Certainly, rotating mechanism 55 can also be multiple, such as three or four, here
It does not remake and illustrates.
Preferably, as shown in Figure 1, rotating mechanism 55 includes: the first hinged seat 551, the second hinged seat 552, joint pin
553.First hinged seat 551 is connected on scraper component 54, and the second hinged seat 552 is connected on lifter plate 52, and joint pin 553 is worn
On the first hinged seat 551 and the second hinged seat 552.Joint pin 553 realizes the first hinged seat 551 and the second hinged seat
Connection between 552, the first hinged seat 551 can be rotated with the axle center of around hinge pin 553 with respect to the second hinged seat 552, from
And realize the pivotable connection between scraper component 54 and lifter plate 52,55 structure of rotating mechanism is simple, rotation process is steady,
Reliably, practical.
In some embodiments, as shown in Fig. 2, scraper component 54 include: the first fixed plate 541, the second fixed plate 542,
Scraper plate 543.The extension board 5411 perpendicular to the first fixed plate is formed in first fixed plate 541；Second fixed plate 542 is connected to
On extension board 5411, and mounting groove 54b is surrounded by between the second fixed plate 542, the first fixed plate 541, extension board 5411；Scraper plate
543 are located in mounting groove 54b, and scraper plate 543 stretches out mounting groove 54b, and scraping article 54a is formed on the extension end of scraper plate 543.By this
Mode, scraper plate 543 cooperate in mounting groove 54b, and therefore, the scraper plate 543 as important component is easy in 541 He of the first fixed plate
It is mounted and dismounted, is conveniently replaceable between second fixed plate 542, the service life of scraper component 54 can be extended.
Preferably, scraper plate 543 is made of rubber material, rubber material have elasticity, therefore, scraper plate 543 touch compared with
When for hard concrete layer, scraper plate 543 can only destroy the concrete surface of initial set by flexible deformation, to avoid scraper plate
543 are damaged.Scraping article 54a on scraper plate 543 is serrated, and is easier to break initial set using the scraping article 54a of the shape design
Concrete layer, be conducive to promoted execution.Certainly, the shape of scraping article 54a is without being limited thereto, such as scraping article 54a can also be
The other shapes such as colter shape, are just not described in detail herein.
In some embodiments, as shown in Figure 1, scraping sweeping device 50 further includes guiding mechanism 56, guiding mechanism 56 includes: to lead
To block 561, guiding axis 562, cushion block 563.Guide pad 561 is located on supporting element 51, and guiding axis 562 passes through guide pad 561, and leads
It is connected on lifter plate 52 to one end of axis 562, cushion block 563 is connected on the other end of separate lifter plate 52 of guiding axis 562.
Using which, lifter plate 52 is slided up and down in guide pad 561 by guiding axis 562, is propped up to realize that lifter plate 52 is opposite
The oscilaltion of support member 51, so that entire lifting process is stable, reliable.
In some embodiments, guiding mechanism 56 can be two, and what two guiding mechanisms 56 were spaced apart is located at supporting element
Between 51 and lifter plate 52, such as two guiding mechanisms 56 are respectively provided at the left and right side of 52 top of lifter plate, to guarantee
The stability that lifter plate 52 is gone up and down.Certainly, guiding mechanism 56 can also be multiple, such as three or four, here just no longer
It illustrates.
In some embodiments, as shown in Figure 1, supporting element 51 includes: support plate 511, mounting rack 512.Mounting rack 512 connects
It connects and is formed with assembly space 5121 on the middle part of support plate 511, mounting rack 512, the upper end of assembly space 5121 is equipped with connection
Seat 5122, actuator 53 are set in assembly space 5121 and are connected to attachment base 5122.Assembly space 5121 can form barrier
Region avoids actuator 53 so that actuator 53 is located in assembly space 5121 protective effect that can be played to actuator 53
It is damaged.
In some embodiments, as shown in Figure 1, supporting element 51 is equipped with vertically spaced first inductive switch
57 and second inductive switch 58, the first inductive switch 57 and the second inductive switch 58 can be electrically connected with actuator 53, lifter plate
52 are equipped with detection plate 59.Using which, in lifting process, detection plate 59 rises lifter plate 52 as lifter plate 52 is synchronous
Drop.For example, the first inductive switch 57 is located at the top of supporting element 51, when lifter plate 52 declines, when inductive switch 57 senses inspection
After drafting board 59, actuator 53 is closed, and be can ensure that the scraper component 54 of 52 bottom of lifter plate contacts construction surface at this time, is avoided scraping board group
Part 54 is excessive and impaired because of fall；Same principle, the second inductive switch 58 are located at the lower section of supporting element 51, and lifter plate is said
When 52 rising, after inductive switch 57 senses detection plate 59, actuator 53 is closed, and can ensure that the top of lifter plate 52 this moment not
Supporting element 51 can be collided, to avoid scraper component 54 impaired.Pass through the first inductive switch 57 of setting and the second inductive switch
58 cooperation detection plates 59, so that lifter plate 52 has upper and lower two extreme positions, to improve the safety of scraper component 54.
In some embodiments, the first inductive switch 57 and the second inductive switch 58 can be photoelectric sensor, so as to
Sensitively to detect detection plate 59, in addition, the first inductive switch 57 and the second inductive switch 58 can also be other forms
Sensor, it is without being limited thereto, it does not just remake illustrate one by one herein.
In some embodiments, as shown in Figure 1, lifter plate 52 includes: lifting plate 521, promotes cushion block 522, third hinge
Seat 523.The center that cushion block 522 is connected to lifting plate 521 is promoted, third hinge seat 523, which is connected to, to be promoted on cushion block 522, third
Hinge seat 523 is pivotably coupled on actuator 53.It by this way, can pivot between actuator 53 and third hinge seat 523
Turn ground connection, then the connection type of the two is more flexible, and compared to rigidity, this connection type can reduce impact between the two
Property, so as to improve the safety of actuator 53 and third hinge seat 523.Lifting plate 521 is located at due to promoting cushion block 522
Center, therefore, when actuator 53 drives lifting plate 521 to go up and down, it is ensured that lifting plate 521 has good in lifting process
Balance, lifting process are more stable.
In some embodiments, actuator 53 can be at least one of electric pushrod, cylinder, oil cylinder.This kind driving
Element, it is easy to operate, it is easy to use, it is advantageously implemented automatic operation.The form of actuator 53 is without being limited thereto, can also be it
His driving element, does not just remake illustrate one by one herein.
With reference to the accompanying drawing, the description present invention scrapes the specific embodiment of sweeping device 50.
As depicted in figs. 1 and 2, sweeping device 50 is scraped by a kind of robot that smoothes out, comprising: supporting element 51, lifter plate 52, driving
Part 53, scraper component 54.Supporting element 51 smoothes out robot for being fixed on, and supports and entirely scrapes sweeping device 50.Lifter plate 52
It can oscilaltion relative to supporting element 51.Actuator 53 be electric pushrod, one end of actuator 53 be connected on supporting element 51 and
The other end is connected on lifter plate 52.Scraper component 54 is located on lifter plate 52, and the bottom of scraper component 54 is equipped with scraping article 54a；
Wherein, actuator 53 can drive lifter plate 52 to decline, so that the scraping article 54a of scraper component 54 contacts concrete face to be onstructed.
Rotating mechanism 55 is equipped between scraper component 54 and lifter plate 52, so that scraper component 54 is pivotably coupled to rise
It drops on plate 52, rotating mechanism 55 includes: the first hinged seat 551, the second hinged seat 552, joint pin 553.First hinged seat 551 connects
It connects on scraper component 54, the second hinged seat 552 is connected on lifter plate 52, and joint pin 553 is arranged in 551 He of the first hinged seat
On second hinged seat 552.
Scraper component 54 includes: the first fixed plate 541, the second fixed plate 542, scraper plate 543.Shape in first fixed plate 541
At the extension board 5411 having perpendicular to the first fixed plate；Second fixed plate 542 is connected on extension board 5411, and the second fixed plate
542, mounting groove 54b is surrounded by between the first fixed plate 541, extension board 5411；Scraper plate 543 is located in mounting groove 54b, scraper plate
543 stretch out mounting groove 54b, and scraping article 54a is formed on the extension end of scraper plate 543.Scraper plate 543 is made of rubber material, scraper plate 543
On scraping article 54a be serrated.
Scraping sweeping device 50 further includes guiding mechanism 56, and guiding mechanism 56 includes: guide pad 561, guiding axis 562, cushion block
563.Guide pad 561 is located on supporting element 51, and guiding axis 562 passes through guide pad 561, and one end of guiding axis 562 is connected to liter
It drops on plate 52, cushion block 563 is connected on the other end of separate lifter plate 52 of guiding axis 562.
Supporting element 51 includes: support plate 511, mounting rack 512.Mounting rack 512 is connected to the middle part of support plate 511, installation
Assembly space 5121 is formed on frame 512, the upper end of assembly space 5121 is equipped with attachment base 5122, and it is empty that actuator 53 is set to assembly
Between in 5121 and be connected to attachment base 5122.
Lifter plate 52 includes: lifting plate 521, promotes cushion block 522, third hinge seat 523.Promotion cushion block 522, which is connected to, to be mentioned
The center of lift slab 521, third hinge seat 523, which is connected to, to be promoted on cushion block 522, and third hinge seat 523 is pivotably coupled to drive
On moving part 53.
In conclusion the present invention is that new type auto entangle of one kind sweeps floating robot, compared to floating machine on the market
People mainly uses drum-type structure and carries out warehouse floating to ground, while increasing in front end and scraping sweeping device 50, by sweeping
Device 50 destroys the mixed mud surface of initial set, the warehouse and smearing effect of hoisting drum.In addition, of the invention scrapes sweeping device 50 not
It can be only used for concrete and smooth out operation, can be also used for other floating devices.
As shown in figure 3, a kind of floating robot 100 according to an embodiment of the present invention, comprising: rack 10, running gear 20,
Jacking apparatus 30, scrapes sweeping device 50 at transfer 40.
Running gear 20 is located at the bottom of rack 10, to drive rack 10 to walk.Jacking apparatus 30 is located in rack 10
Centre, jacking apparatus 30 by rack 10 and running gear 20 to jack up upwards and be detached from construction surface.Transfer 40 is located at jacking dress
It sets on 30, is turned to being driven up rack 10 and the running gear 20 of jack-up.It scrapes sweeping device 50 to be located in rack 10, scrapes sweeping device
Sweeping device 50 is scraped by the 50 floating robot for basis above.
Robot 100 is smoothed out when smoothing out operation, scrapes the front end that sweeping device 50 is located at rack 10, sweeping device 50 is scraped and sweeps just
Solidifying concrete construction face, then running gear 20 smoothes out construction surface in the process of walking.It needs to turn to when smoothing out robot 100
When, rack 10 simultaneously together with running gear 20 thereon and is scraped sweeping device 50 and is lifted together by the starting of jacking apparatus 30, then turns to
Device 40 drives rack 10 to turn to, and smoothes out the whole steering of robot 100 to realize.
Floating robot 100 according to an embodiment of the present invention passes through setting jacking apparatus 30 and transfer 40, Neng Goushi
Now a kind of to be first lifted the steering mode rotated afterwards, turning radius is small under which, can avoid damage to construction surface, curving effect is more
It is good.Sweeping device 50 is scraped secondly by setting, can be realized the destruction of the concrete surface to initial set, so that hoisting machine people's smears
Flat effect.
In some embodiments, smoothing out robot 100 further includes vibration device 60, and vibration device 60 is vibrating motor, vibration
Dynamic motor be it is multiple, multiple vibrating motors are evenly arranged in rack 10.Vibrating motor is able to drive the vibration of rack 10, to make rack
The running gear 20 of 10 lower sections vibrates, and cement slurry is taken out of by vibration and overstocks the table in concrete base layer by running gear 20
Face, to play paste effect.In specific example, vibrating motor can be set as two, and two vibrating motors are located at rack 10
The left and right sides, to play balanced vibrating effect.
In some embodiments, running gear 20 includes the first roller 21, second tin roller 22, actuator 23, transmission mechanism
24.First roller 21 and second tin roller 22 are each provided at the bottom of rack 10 and open up along the direction of travel interval for smoothing out robot
It sets, is equipped with transmission mechanism 24 between the first roller 21 and actuator 23, between second tin roller 22 and actuator 23, to drive
One roller 21 and second tin roller 22 rotate synchronously.
In some embodiments, actuator 23 is driving motor, and transmission mechanism 24 includes the first sprocket wheel 241, the second sprocket wheel
242, transmission chain 243, the first sprocket wheel 241 are located on the output shaft of driving motor, the second sprocket wheel 242 be located at the first roller 21 or
On the axis of second tin roller 22, transmission chain 243 is set on the first roller 21 and second tin roller 22.To start in driving motor
Afterwards, the output revolving speed of driving motor is transferred on the second sprocket wheel 242 through transmission chain 243, the first roller of driving 21 and the second rolling
Cylinder 22 rotates.
In some embodiments, running gear 20 further includes correction roller 25, and correction roller 25 is two, two correction rollings
Cylinder 25 is located at the two sides for smoothing out the direction of travel of robot, and two correction rollers 25 are located at the first roller 21 and second tin roller 22
Between.It is respectively connected with damping unit 26 on the axis of two correction rollers 25, damping unit 26 is installed in rack 10, damping dress
Set 26 structure it is identical as the structure composition of damper, for applying damping force, herein with regard to no longer to damping unit 26 carry out
It is described in detail.When running gear 20 the first roller 21 and second tin roller 22 due to the frictional force by construction surface is different sideslip
When, two damping units 26 can apply not equal damping force on two different rollers, with the row for correcting floating robot
Walk direction, it is ensured that smooth out Robot and be correctly oriented floating construction.
In some embodiments, rack 10 is equipped with battery 70 and electric cabinet 80, and battery 60 is specifically as follows lithium battery, is
Running gear 20, transfer 40, scrapes sweeping device 50, the offer electric power of vibration device 60 at jacking apparatus 30, and electric cabinet 80 is for controlling
Running gear 20 processed, jacking apparatus 30, transfer 40, scrape sweeping device 50, vibration device 60 works.
With reference to the accompanying drawing, the description present invention smoothes out the specific embodiment of robot.
As shown in figure 3, a kind of floating robot 100, comprising: rack 10, jacking apparatus 30, turns to dress at running gear 20
It sets 40, scrape sweeping device 50, vibration device 60.First roller 21 and second tin roller 22 are separately fixed at the anteroposterior position of 10 lower section of rack
Set, scrape sweeping device 50 and be mounted on before rack 10, correction roller 25 is fixed on the left and right sides of rack 10, damping unit 26 with
The correction connection of roller 25, jacking apparatus 30 and transfer 40 are mounted on the center of rack 10, battery and electric cabinet 80
It is mounted on the upper surface of rack 10, vibrating motor is symmetrically fixed on the intermediate two sides of rack 10.
Mainly the working principle for smoothing out robot is described below:
Firstly, driving motor drives the first roller 21 of front and back and second tin roller 22 to walk, while vibrating motor works, and makes
First roller 21 and second tin roller 22 generate certain amplitude, carry out warehouse and floating to construction surface.Since mixed mud is by just
After solidifying, surface has certain hardness, and a degree of destruction, the warehouse of hoisting drum can be carried out to surface by scraping sweeping device 50
And smearing effect.When direction of travel generates deviation, damping unit 26 can generate one to correction roller 25 according to offset direction
Resistance is determined, thus the deviation of directivity that correcting apparatus generates during the work time.When robot needs to turn to, 30 He of jacking apparatus
Transfer 40 starts operation, and after jacking apparatus 30 props up robot, rotates to assigned direction by transfer 40, completes
The steering work of entire robot.Specifically when robot needs to turn to, the promotion electric cylinders in jacking apparatus 30 work, and pass through
Machine is risen on lifting shaft and chassis, and steering motor can turn to robot by tooth sector, after the completion of steering,
Electric cylinders work is promoted, robot landing continues to smooth out work.Battery is fixed in rack 10, provides electricity to whole equipment
Driving source, associated appliance element, which is mounted in electric cabinet 80, is sealed protection.
Other compositions such as jacking apparatus 30, transfer 40 etc. according to an embodiment of the present invention for smoothing out robot 100
And operation be all for those of ordinary skills it is known, be not detailed herein.
In the description of this specification, the description of reference term " embodiment ", " example " etc. mean combine the embodiment or
Example particular features, structures, materials, or characteristics described are included at least one embodiment or example of the invention.At this
In specification, schematic expression of the above terms be may not refer to the same embodiment or example.Moreover, description is specific
Feature, structure, material or feature 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. sweeping device is scraped by a kind of floating robot characterized by comprising
Supporting element；
Lifter plate, the lifter plate can oscilaltions relative to the supporting element；
Actuator, one end of the actuator is connected on the supporting element and the other end is connected on the lifter plate；
Scraper component, the scraper component are located on the lifter plate, and the bottom of the scraper component is equipped with scraping article；Wherein, institute
Stating actuator can drive the lifter plate to decline, so that the scraping article of the scraper component contacts concrete face to be onstructed.
2. sweeping device is scraped by floating robot according to claim 1, which is characterized in that the scraper component and the liter
It drops and is equipped with rotating mechanism between plate, so that the scraper component is pivotably coupled on the lifter plate.
3. sweeping device is scraped by the robot according to claim 2 that smoothes out, which is characterized in that the rotating mechanism includes:
First hinged seat, first hinged seat are connected on the scraper component；
Second hinged seat, second hinged seat are connected on the lifter plate；
Joint pin, the joint pin are arranged on first hinged seat and the second hinged seat.
4. sweeping device is scraped by the robot according to claim 1 that smoothes out, which is characterized in that the scraper component includes:
First fixed plate is formed with the extension board perpendicular to first fixed plate in first fixed plate；
Second fixed plate, second fixed plate are connected on the extension board, and second fixed plate, first fixation
Mounting groove is surrounded by between plate, the extension board；
Scraper plate, the scraper plate are located in the mounting groove, and the scraper plate stretches out the mounting groove, and the scraping article is formed in described scrape
On the extension end of plate.
5. sweeping device is scraped by floating robot according to claim 4, which is characterized in that the scraper plate is rubber material system
At, and the scraping article on the scraper plate is serrated.
6. sweeping device is scraped by floating robot according to claim 1, which is characterized in that it further include guiding mechanism, it is described
Guiding mechanism includes:
Guide pad, the guide pad are located on the supporting element；
Guiding axis, the guiding axis passes through the guide pad, and one end of the guiding axis is connected on the lifter plate；
Cushion block, the cushion block are connected on the other end far from the lifter plate of the guiding axis.
7. sweeping device is scraped by the robot according to claim 1 that smoothes out, which is characterized in that the supporting element includes:
Support plate；
Mounting rack, the mounting rack are connected to the middle part of the support plate, and assembly space, the dress are formed on the mounting rack
Upper end with space is equipped with attachment base, and the actuator is set in the assembly space and is connected to the attachment base.
8. sweeping device is scraped by the robot according to claim 1 that smoothes out, which is characterized in that the lifter plate includes:
Lifting plate；
Promote cushion block, the center for promoting cushion block and being connected to the lifting plate；
Third hinge seat, the third hinge seat are connected on the promotion cushion block, and the third hinge seat is pivotably connected
On the actuator.
9. a kind of floating robot, it is characterised in that: include:
Rack；
Running gear, the running gear are located at the bottom of the rack, to drive the rack to walk；
Jacking apparatus, the jacking apparatus are located at the center of the rack, and the jacking apparatus is with by the rack and the row
Walking apparatus jacks up upwards and is detached from construction surface；
Transfer, the transfer are located on the jacking apparatus, be driven up jack-up the rack and the row
Walking apparatus turns to；
Sweeping device is scraped, the sweeping device of scraping is located in the rack, and the sweeping device of scraping is according to any in claim 1 to 8
Sweeping device is scraped by floating robot described in item.
10. floating robot according to claim 9, which is characterized in that further include vibration device, the vibration device is
Vibrating motor, the vibrating motor be it is multiple, multiple vibrating motors are evenly arranged in the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910790764.8A CN110528887A (en) | 2019-08-26 | 2019-08-26 | Smooth out robot scrapes sweeping device and floating robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910790764.8A CN110528887A (en) | 2019-08-26 | 2019-08-26 | Smooth out robot scrapes sweeping device and floating robot |
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| CN110528887A true CN110528887A (en) | 2019-12-03 |
Family
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| CN201910790764.8A Pending CN110528887A (en) | 2019-08-26 | 2019-08-26 | Smooth out robot scrapes sweeping device and floating robot |
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| CN110924686A (en) * | 2019-12-19 | 2020-03-27 | 广东博智林机器人有限公司 | Floating robot |
| CN110984585A (en) * | 2019-12-18 | 2020-04-10 | 广东博智林机器人有限公司 | Mortar leveling and paving device |
| CN111119459A (en) * | 2019-12-09 | 2020-05-08 | 王勇 | Cement leveling device |
| CN111188496A (en) * | 2019-12-25 | 2020-05-22 | 广东博智林机器人有限公司 | Ground floating robot |
| CN111441592A (en) * | 2020-04-09 | 2020-07-24 | 广东博智林机器人有限公司 | Floating device and floating robot |
| CN111530688A (en) * | 2020-05-09 | 2020-08-14 | 广东博智林机器人有限公司 | Scribble and scrape mechanism and coating device |
| CN113374232A (en) * | 2020-03-10 | 2021-09-10 | 广东博智林机器人有限公司 | Floor paint scraping device and floor paint coating robot |
| CN113756552A (en) * | 2020-06-03 | 2021-12-07 | 广东博智林机器人有限公司 | Knife coating device and coating equipment |
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| CN113756552A (en) * | 2020-06-03 | 2021-12-07 | 广东博智林机器人有限公司 | Knife coating device and coating equipment |
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