CN110593057A - Floating robot - Google Patents
Floating robot Download PDFInfo
- Publication number
- CN110593057A CN110593057A CN201910791697.1A CN201910791697A CN110593057A CN 110593057 A CN110593057 A CN 110593057A CN 201910791697 A CN201910791697 A CN 201910791697A CN 110593057 A CN110593057 A CN 110593057A
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- CN
- China
- Prior art keywords
- rack
- driving device
- troweling
- frame
- driving
- 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
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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
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
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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
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
- E01C19/262—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles pedestrian-controlled, e.g. with safety arrangements for operator
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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
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
- E01C19/264—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles with attachments for work other than rolling, e.g. grading, scarifying
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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
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
- E01C19/282—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit
- E01C19/283—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit pedestrian-controlled, e.g. with safety arrangements for operator
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a floating robot which comprises a rack, a movable floating device, a jacking device and a steering device, wherein the movable floating device is arranged on the rack, the movable floating device can drive the rack to move and can be used for floating the surface of a substrate, the jacking device is arranged on the rack, the jacking device can jack the rack and the movable floating device upwards, the steering device is arranged on the rack, and the steering device can change the moving direction of the rack after the jacking device jacks the rack and the movable floating device. The floating robot provided by the embodiment of the invention has a simple structure, and the walking direction of the floating robot can be better changed.
Description
Technical Field
The invention relates to the technical field of construction robots, in particular to a floating robot.
Background
With the updating of machines, construction robots are gradually applied to the construction field, and the leveling robots in the related art are generally complex in structure and difficult to control the steering operation of the leveling robots.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a floating robot, which has a simple structure and can change the walking direction of the floating robot well.
According to the floating robot provided by the embodiment of the invention, the floating robot comprises a rack, a movable floating device, a jacking device and a steering device, wherein the movable floating device is arranged on the rack, the movable floating device can drive the rack to move and can be used for floating the surface of a substrate, the jacking device is arranged on the rack, the jacking device can jack the rack and the movable floating device upwards, the steering device is arranged on the rack, and the steering device can change the moving direction of the rack after the jacking device jacks the rack and the movable floating device.
According to the floating robot provided by the embodiment of the invention, the movable floating device is arranged on the floating robot, so that the floating robot can walk through the movable floating device, and can also carry out floating operation on the surface of a substrate through the movable floating device.
In addition, the floating robot according to the present invention may have the following additional technical features:
in some embodiments of the present invention, the jacking device includes a first driving device, a jacking rod and a top plate, the first driving device is mounted on the frame, the top plate is disposed at the lower end of the jacking rod, and the first driving device can drive the jacking rod to move up and down relative to the frame.
Optionally, the jacking device further comprises a fixed plate and a guide device, the upper end of the ejector rod is connected with the fixed plate, one end of the first driving device is connected with the rack, the other end of the first driving device is connected with the fixed plate to drive the fixed plate to move up and down relative to the rack, and the guide device is arranged between the rack and the fixed plate to limit the moving direction of the fixed plate.
Optionally, the steering device comprises a second driving device, a driving wheel and a driven wheel, the second driving device is arranged on the fixing plate, the driving wheel is in transmission connection with the second driving device, the driven wheel is meshed with the driving wheel, one end of the ejector rod is connected with the driven wheel, the other end of the ejector rod is connected with the top plate, and the driven wheel, the ejector rod and the top plate can synchronously rotate.
In some embodiments of the present invention, the mobile leveling device includes a plurality of rollers and a third driving device, each roller is rotatably disposed below the frame, the outer wall surface of the roller is configured to be leveled on the substrate surface, the rotation axes of the plurality of rollers are parallel, and the third driving device is mounted on the frame to drive the plurality of rollers to rotate.
Optionally, the movable floating device further comprises a plurality of first transmission devices, the first transmission devices are respectively corresponding to the plurality of rollers, each first transmission device comprises a first hinge wheel, a second hinge wheel and a chain, the first hinge wheel is connected with the corresponding roller and can rotate synchronously, the second hinge wheel is connected with the third driving device in a transmission manner, the chain is sleeved outside the first hinge wheel and the second hinge wheel, and the second hinge wheel drives the first hinge wheel to rotate through the chain.
In some embodiments of the present invention, the troweling robot further includes a leveling device, the leveling device is disposed on the frame, the leveling device includes a scraper connection plate, a fourth driving device, and a scraper, one end of the fourth driving device is pivotally connected to the frame, the other end of the fourth driving device is pivotally connected to the scraper connection plate, the fourth driving device is configured to adjust an inclination angle of the scraper connection plate, the scraper is disposed on the scraper connection plate, the scraper is pivotally connected to the scraper connection plate, and a protective layer is disposed on the scraper and is configured to contact the surface of the substrate.
Optionally, the strickle device still includes connecting device, connecting device includes dead lever, head rod and second connecting rod, the dead lever is located in the frame, the head rod is connected in the frame, fourth drive arrangement the one end with head rod pivoted links to each other, the both ends of second connecting rod respectively with the dead lever with but scraper blade connecting plate pivoted links to each other.
Furthermore, the floating robot further comprises a detection device and a control device, the detection device is arranged on the rack and used for detecting the levelness of the surface of the base body, the control device is electrically connected with the detection device and the fourth driving device respectively, and the control device controls the fourth driving device to act according to the detection result of the detection device.
In some embodiments of the present invention, the troweling robot further includes a vibration device including a vibration motor provided on the frame.
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 first angle of a troweling robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a second angle of the troweling robot according to the embodiment of the present invention;
fig. 3 is a schematic structural view of a removal detection device of the troweling robot according to the embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a third angle of the troweling robot according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a fourth angle of the troweling robot according to the embodiment of the present invention.
Reference numerals:
100: a floating robot;
1: a frame;
2: moving the floating device; 21: a drum; 22: a third driving device; 23: a first transmission device; 231: a first hinge pulley; 232: a second hinge pulley; 233: a chain;
3: a jacking device; 31: a first driving device; 32: a top rod; 33: a top tray; 34: a fixing plate; 35: a guide device; 351: a guide post;
4: a steering device; 41: a second driving device; 42: a driving wheel; 43: a driven wheel;
5: a strickling device; 51: a scraper connecting plate; 52: a fourth drive device; 53: a squeegee; 55: a connecting device; 551: fixing the rod; 552: a first connecting rod; 553: a second connecting rod;
6: a detection device;
7: a control device;
8: a vibrating device; 81: a vibration motor.
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.
A troweling robot 100 according to an embodiment of the present invention is described below with reference to fig. 1 to 5.
As shown in fig. 1 to 5, a troweling robot 100 according to an embodiment of the present invention includes a frame 1, a mobile troweling apparatus 2, a jacking apparatus 3, and a steering apparatus 4.
Specifically, remove floating device 2 and establish in frame 1, remove floating device 2 and can drive frame 1 and remove and can be used to the floating base member surface, that is to say, remove floating device 2 and can cooperate and install in frame 1, remove floating device 2 and install the back in frame 1, drive removal floating device 2, remove floating device 2 and can drive frame 1 walking, at the in-process that removes floating device 2 walking, remove floating device 2 and can carry out the floating operation to the base member surface. Alternatively, the substrate surface may be a cement floor, wall, or the like, without limitation.
The jacking device 3 is arranged on the frame 1, the jacking device 3 can jack the frame 1 and the movable troweling device 2 upwards, that is, the jacking device 3 can be installed on the frame 1 in a matching way, after the jacking device 3 is installed on the frame 1 in a matching way, the jacking device 3 can move relatively to the frame 1, in the examples shown in figures 1-5, the jacking device 3 can move downwards, so that the jacking device 3 can be abutted against the ground, after the jacking device 3 is abutted against the ground, the jacking device 3 can continue to move downwards relative to the frame 1, so that the frame 1 is far away from the surface of the base body, meanwhile, the movable troweling device 2 is installed on the frame 1, when the frame 1 is far away from the surface of the base body, the movable troweling device 2 can be driven to be far away from the surface of the base body, therefore, by arranging the jacking device 3 on the frame 1, the jacking device 3 can jack the frame 1 and the, away from the substrate surface.
Turn to device 4 and establish in frame 1, turn to device 4 and can change the moving direction of frame 1 after jacking device 3 jacks up frame 1 and removal trowelling device 2, that is to say, turn to device 4 and can cooperate the installation in frame 1, jack up device 2 jack-up upwards with frame 1 and removal trowelling device when jacking device 3, and break away from the back with the base member surface, the drive turns to device 4, turn to device 4 and can make and produce relative rotation between frame 1 and the jacking device 3, remove trowelling device 2 and install in frame 1, frame 1 can drive and remove trowelling device 2 and produce relative rotation for between the jacking device 3.
Further, after the frame 1 and the movable troweling device 2 rotate to a set position, the jacking device 3 may move upward relative to the frame 1, so that the frame 1 drives the movable troweling device 2 to move toward the substrate surface, optionally, after the movable troweling device 2 contacts the substrate surface, the jacking device 3 may continue to move upward relative to the frame 1 to separate from the substrate surface, at this time, the troweling robot 100 may walk by moving the troweling device 2, or may perform troweling operation on the substrate surface by moving the troweling device 2. Therefore, the walking direction of the floating robot 100 and the floating operation direction can be better changed through the matching of the jacking device 3 and the steering device 4, the operation is simple, and the practicability is strong.
Therefore, according to the floating robot 100 provided by the embodiment of the invention, the movable floating device 2 is arranged on the floating robot 100, so that the floating robot 100 can walk through the movable floating device 2, and can also perform floating operation on the surface of a substrate through the movable floating device 2, and the lifting device 3 and the steering device 4 are arranged on the floating robot 100, so that the walking direction of the floating robot 100 and the floating operation direction can be changed by the floating device under the matching of the lifting device 3 and the steering device 4, and the operation is simple and the practicability is strong.
In some embodiments of the present invention, the jacking device 3 includes a first driving device 31, a top rod 32 and a top disk 33, the first driving device 31 is installed on the frame 1, the top disk 33 is installed at the lower end of the top rod 32, the first driving device 31 can drive the top rod 32 to move up and down relative to the frame 1, that is, the first driving device 31 can be installed on the frame 1 in a matching manner, further, as shown in fig. 1-5, the top rod 32 is arranged along the up-down direction, the first driving device 31 is installed at the upper end of the top rod 32, the top disk 33 is installed at the lower end of the top rod 32, the first driving device 31 can drive the top rod 32 to move up and down, and the top disk 33 can be driven by the top rod 32 to move up and.
Specifically, when the walking direction of the floating robot 100 needs to be changed, the first driving device 31 may drive the push rod 32 to move downward, the push rod 32 may drive the top plate 33 to move downward, the top plate 33 may abut against the surface of the substrate during the downward movement, at this time, the first driving device 31 may drive the push rod 32 to continue to move downward, under the supporting action of the push rod 32 and the top plate 33, the frame 1 and the movable floating device 2 may be far away from the surface of the substrate, in the example shown in fig. 1 to 5, the top plate 33 is substantially formed into a circular disc shape, the floating robot 100 abuts against the surface of the substrate through the top plate 33, so that the pressure may be small, so that the surface of the substrate may better support the floating robot 100, after the steering device 4 rotates the frame 1 and the movable floating device 2 to a predetermined position, the first driving device 31 may drive the push rod 32 to move upward relative to the frame 1, thereby bringing the moving trowelling device 2 into contact with the substrate surface and the top disc 33 out of contact with the substrate surface.
Optionally, the jacking device 3 further comprises a fixing plate 34, the upper end of the jacking rod 32 is connected with the fixing plate 34, one end of the first driving device 31 is connected with the frame 1, and the other end of the first driving device 31 is connected with the fixing plate 34 to drive the fixing plate 34 to move up and down relative to the frame 1. In the example shown in fig. 1 to 5, in the up-down direction, the jacking device 3 includes a top plate 33, a jacking rod 32, and a fixing plate 34 in sequence from the bottom to the top, further, the first driving device 31 extends in the up-down direction, the lower end of the first driving device 31 can be fittingly installed on the frame 1, the fixing plate 34 can be fittingly installed on the upper end of the first driving device 31, and the upper end of the jacking rod 32 can be fittingly installed on the fixing plate 34, so that the fixing plate 34, the jacking rod 32, and the top plate 33 can be fittingly installed on the frame 1 by the first driving device 31, and the first driving device 31 can drive the fixing plate 34 to move in the up-down direction relative to the frame 1, so that the jacking rod 32 and the top plate 33 move in the up-down direction relative to the frame 1.
Further, the jacking device 3 may further include a guiding device 35, the guiding device 35 is disposed between the frame 1 and the fixing plate 34 to define a moving direction of the fixing plate 34, that is, during the movement of the fixing plate 34 in the up-down direction, the guiding device 35 may limit the fixing plate 34, so that the fixing plate 34 moves relatively stably in the up-down direction, and thus the jacking rods 32 and the jacking plates 33 may stably jack up the frame 1 and the moving troweling device 2.
Alternatively, the first driving device 31 may be an electric push rod, and the fixing plate 34 may be preferably driven by the electric push rod to move in the up-and-down direction, which is simple in structure and convenient to operate, and of course, it should be understood that the first driving device 31 may have other structures, and is not limited herein. Further, the first driving device 31 may be provided in plural, where plural means two or more, and by providing plural first driving devices 31 between the frame 1 and the fixed plate 34, the fixed plate 34 may be preferably driven to move in the up-down direction with respect to the frame 1.
Alternatively, as shown in fig. 1 to 5, the guide means 35 may be defined by guide posts 351 and guide through holes (not shown in the drawings), specifically, the guide posts 351 are formed at the lower end of the fixing plate 34, and accordingly, the frame 1 is formed with guide through holes which are engaged with the guide posts 351, and the guide posts 351 may move along the guide through holes during the movement of the fixing plate 34 in the up-down direction, so that the movement of the fixing plate 34 may be stabilized. Further, a plurality of guiding devices 35 may be provided, and the movement of the fixing plate 34 may be more stable and reliable through the plurality of guiding devices 35.
In a specific example of the present invention, as shown in fig. 1 to 5, the fixing plate 34 is formed as a square plate, two electric push rods and two guide posts 351 are respectively disposed at the lower end of the fixing plate 34 and adjacent to four corners of the fixing plate 34, and the two electric push rods and the two guide posts 351 are respectively disposed at diagonal positions of the fixing plate 34, thereby facilitating not only the connection of the jacking device 3 to the frame 1 through the electric push rods, but also the stable jacking of the frame 1 and the mobile troweling device 2 by the jacking device 3, and having high reliability and good practical effect.
In some embodiments of the present invention, the steering device 4 includes a second driving device 41, a driving wheel 42 and a driven wheel 43, the second driving device 41 is disposed on the fixing plate 34, the driving wheel 42 is in transmission connection with the second driving device 41, the driven wheel 43 is engaged with the driving wheel 42, one end of the push rod 32 is connected with the driven wheel 43, the other end of the push rod 32 is connected with the top plate 33, and the driven wheel 43, the push rod 32 and the top plate 33 can rotate synchronously. That is, the second driving device 41 can be installed on the fixed plate 34 in a matching manner, the second driving device 41 can drive the driving wheel 42 to rotate, and the driving wheel 42 can be meshed with the driven wheel 43, so that the driving wheel 42 can drive the driven wheel 43 to rotate, in other words, the driving wheel 42 can rotate around the axis of the driven wheel 43, so that the second driving device 41 and the fixed plate 34 can rotate around the axis of the driven wheel 43.
In a specific jacking and steering process, when the top plate 33 is in contact with the surface of the base body, the top plate 33 can be fixed relative to the surface of the base body, so that the mandril 32 and the driven wheel 43 are fixed relative to the surface of the base body, as shown in fig. 1-5, the second driving device 41 is arranged at the lower end of the fixed plate 34, the driving wheel 42 is arranged at the upper end of the fixed plate 34, a shaft hole can be arranged on the fixed plate 34, a rotating shaft of the second driving device 41 can be matched with the driving wheel 42 through the shaft hole to drive the driving wheel 42 to rotate, the driving wheel 42 can run along the peripheral wall of the driven wheel 43 in a rotating manner, so that the rotating shaft and the second driving device 41 can rotate around the axis of the driven wheel 43, the second driving device 41 is fixedly connected with the fixed plate 34, therefore, the second driving device 41 can drive the fixed plate 34 to rotate around the axis of the driven wheel 43, so, thereby the walking direction of the frame 1 and the movable floating device 2 can be changed well.
In some embodiments of the present invention, the mobile troweling apparatus 2 includes a plurality of rollers 21, each roller 21 is rotatably provided below the frame 1, the outer wall surface of the roller 21 is configured to be trowelled on the surface of the substrate, and the rotation axes of the plurality of rollers 21 are parallel. In the example shown in fig. 1-5, two rollers 21 are provided below the frame 1, the two rollers 21 are spaced apart in the front-rear direction, the rotation axes of the two rollers 21 extend in the left-right direction, the rollers 21 can rotate around the rotation axes, and the rollers 21 can perform a leveling operation on the surface of the substrate through the outer wall surfaces of the rollers 21 during the rotation. Of course, it is understood that one roller 21 may be disposed below the frame 1, and three or more rollers 21 may be disposed, and may be specifically disposed according to the environment, model, size and other factors of the troweling robot 100, which is not limited herein.
In some examples of the present invention, the outer wall surface of the drum 21 may have a plurality of holes, and by providing the plurality of holes on the outer wall surface of the drum 21, gas in the surface of the substrate may be exhausted from the holes when the drum 21 smoothes the surface of the substrate, so that the surface of the substrate after the smoothing may be prevented from generating a pit or other undesirable phenomena.
Optionally, as shown in fig. 1 to 5, the mobile leveling device 2 further includes a third driving device 22, and the third driving device 22 is installed on the frame 1 to drive the plurality of rollers 21 to rotate, that is, the third driving device 22 may cooperate with the plurality of rollers 21 to drive the plurality of rollers 21 to rotate, and the plurality of rollers 21 rotate, so that the leveling robot 100 can walk and the leveling robot 100 can perform leveling operation on the surface of the substrate. In some examples of the present invention, there may be one third driving device 22, and one driving device may drive a plurality of rollers 21 to travel, and in other examples of the present invention, there may be a plurality of third driving devices 22, and a plurality of driving devices may be disposed in one-to-one correspondence with the plurality of rollers 21, however, it is understood that the third driving device 22 and the rollers 21 may have other matching manners, and the present invention is not limited thereto.
In some embodiments of the present invention, the moving and leveling device 2 further includes a plurality of first transmission devices 23, and the plurality of first transmission devices 23 may be respectively disposed corresponding to the plurality of rollers 21, that is, the first transmission devices 23 may be disposed in one-to-one correspondence with the rollers 21. Alternatively, the first transmission 23 may be disposed between the third driving device 22 and the plurality of rollers 21, and the third driving device 22 may be enabled to drive the plurality of rollers 21 to rotate well by disposing the first transmission 23 between the third driving device 22 and the plurality of rollers 21.
Specifically, the first transmission 23 includes a first pulley 231, a second pulley 232, and a chain 233.
More specifically, the first hinge pulley 231 is connected to the corresponding roller 21 and can rotate synchronously, that is, the first hinge pulley 231 can be matched with the rollers 21 in a one-to-one correspondence, and the roller 21 can be driven to rotate by the rotation of the first hinge pulley 231.
The second hinge wheel 232 is in transmission connection with the third driving device 22, that is, the second hinge wheel 232 can be matched with the third driving device 22, and the third driving device 22 can drive the second hinge wheel 232 to rotate.
The chain 233 is sleeved outside the first hinge pulley 231 and the second hinge pulley 232, and the second hinge pulley 232 drives the first hinge pulley 231 to rotate through the chain 233, that is, the chain 233 may be disposed between the first hinge pulley 231 and the second hinge pulley 232, and the chain 233 may be engaged with the first hinge pulley 231 and the second hinge pulley 232, respectively. Therefore, after the third driving device 22 drives the second hinge wheel 232 to rotate, the second hinge wheel 232 can transmit power to the first hinge wheel 231 through the hinge, so that the first hinge wheel 231 rotates, and the first hinge wheel 231 rotates to drive the roller 21 to rotate, so that the troweling robot 100 walks and performs troweling operation on the surface of the substrate.
In some embodiments of the present invention, as shown in fig. 1 to 5, the troweling robot 100 further includes a leveling device 5, the leveling device 5 is disposed on the frame 1, and the leveling device 5 can perform a troweling operation on the surface of the substrate.
Specifically, the screed device 5 includes a screed connecting plate 51, a fourth driving device 52, and a screed 53, one end of the fourth driving device 52 is pivotally connected to the frame 1, and the other end of the fourth driving device 52 is pivotally connected to the screed connecting plate 51, that is, the fourth driving device 52 may be provided between the frame 1 and the screed connecting plate 51, and the screed connecting plate 51 may be mounted on the frame 1 by the fourth driving device 52.
Further, the scraper 53 is disposed on the scraper connecting plate 51, the scraper 53 can be used for scraping the surface of the substrate, and the fourth driving device 52 can be used for adjusting the inclination angle of the scraper connecting plate 51, where the inclination angle can refer to the included angle between the plane of the connecting plate and the horizontal plane, and by controlling the inclination angle of the scraper connecting plate 51, the inclination angle of the scraper 53 can be controlled, so that the scraper 53 can better scrape the surface of the substrate.
Further, the scraper 53 is pivotally connected to the scraper connecting plate 51, that is, the scraper 53 can rotate relative to the scraper connecting plate 51, so that the scraper 53 can be made more flexible and the surface of the substrate can be scraped better by adjusting the inclination angle of the scraper connecting plate 51 and the angle between the scraper 53 and the scraper connecting plate 51.
In some examples of the present invention, the scraper 53 is provided with a protective layer (not shown in the drawings) for contacting the surface of the substrate, the protective layer can better contact with the surface of the substrate to better scrape the surface of the substrate, and the protective layer can also protect the scraper 53 to prevent the scraper 53 from being damaged. Optionally, the scraper 53 is detachably connected with the protective layer, so that the protective layer can be replaced conveniently to ensure the scraping effect on the surface of the substrate, and the scraper 53 can be well protected. Further, the protective layer may be made of rubber, plastic, etc., without limitation.
In a specific example as shown in fig. 1-5, the upper end of the fourth driving device 52 is hinged to the frame 1, and the lower end of the fourth driving device 52 is hinged to the scraper connecting plate 51, so that the fourth driving device 52 can drive the scraper connecting plate 51 well, and the scraper connecting plate 51 can move in the up-and-down direction, so that when the scraping device 5 is needed, the scraper connecting plate 51 can be driven by the fourth driving device 52 to move downwards to make the protective layer contact with the surface of the substrate, thereby scraping the surface of the substrate, and when the scraping device 5 is not needed, the scraper connecting plate 51 can be driven by the fourth driving device 52 to move upwards to make the protective layer separate from the surface of the substrate, so that the flexibility is good, the practicability is strong, and the service life of the protective layer can be prolonged.
Alternatively, as shown in fig. 1 to 5, the strickle device 5 further comprises a connecting device 55, the connecting device 55 comprises a fixing rod 551, a first connecting rod 552 and a second connecting rod 553, the fixing rod 551 is arranged on the frame 1, the first connecting rod 552 is connected to the frame 1, one end of the fourth driving device 52 is pivotally connected to the first connecting rod 552, and two ends of the second connecting rod 553 are pivotally connected to the fixing rod 551 and the scraper connecting plate 51, respectively.
For example, as shown in fig. 1 to 5, the fixing rod 551 may be fixedly engaged with the front end of the frame 1, the first connecting rod 552 may be fixedly engaged with the upper end of the fixing rod 551, one end of the second connecting rod 553 may be hinged to the lower end of the fixing rod 551, the other end of the second connecting rod 553 may be hinged to the scraper link plate 51, the upper end of the fourth driving device 52 may be hinged to the first connecting rod 552, and the lower end of the fourth driving device 52 may be hinged to the scraper link plate 51, so that the fourth driving device 52 may be driven to not only drive the scraper link plate 51 to move in the up-down direction, but also adjust the angle of the scraper link plate 51, thereby facilitating the scraper 53 to better scrape the surface of the substrate, and having a simple structure and strong.
Optionally, as shown in fig. 1 to 5, the troweling robot 100 further includes a detection device 6 and a control device 7, the detection device 6 is disposed on the frame 1, the detection device 6 is used for detecting the levelness of the surface of the substrate, the control device 7 is electrically connected to the detection device 6 and the fourth driving device 52, respectively, and the control device 7 controls the fourth driving device 52 to operate according to the detection result of the detection device 6. The levelness refers to an included angle between a plane of the substrate surface and a horizontal plane, so that the detection device 6 can transmit information of the detected included angle between the plane of the substrate surface and the horizontal plane to the control device 7, the control device 7 can drive the fourth driving device 52 after receiving the information, and the fourth driving device 52 can well scrape the substrate surface by controlling the distance between the scraper connecting plate 51 and the substrate surface and the angle between the plane of the scraper 53 and the substrate surface.
In some embodiments of the present invention, the detection device 6 may include a laser signal transmitter and a laser signal receiver, specifically, the laser signal transmitter may be disposed on the substrate surface, the laser signal transmitter may transmit a horizontal beam parallel to the horizontal plane, the laser signal receiver may be disposed on the troweling robot 100, and the laser signal receiver may receive a signal of the horizontal beam transmitted by the laser signal transmitter, so as to determine the levelness of the substrate surface, and then the control device 7 may drive the fourth driving device 52, so as to adjust the scraper connecting plate 51, so as to better scrape the substrate surface.
Further, the detecting device 6 can also detect the included angle between the plane of the scraper connecting plate 51 and the horizontal plane, so that the detecting device 6 can drive the fourth driving device 52 to keep the plane of the scraper connecting plate 51 parallel to the horizontal plane, thereby well scraping the surface of the base body and facilitating the assembly of the scraper 53 and the scraper connecting plate 51.
In some embodiments of the present invention, as shown in fig. 1 to 5, the troweling robot 100 further includes a vibration device 8, the vibration device 8 can vibrate the roller 21, so that when the roller 21 trowels the surface of the substrate, the roller 21 vibrates, and not only can hard-broken impurities in the surface of the substrate be broken better to trowel the surface of the substrate, but also gas in the surface of the substrate can be squeezed out, so that bad conditions such as pits can be prevented from occurring on the surface of the substrate after troweling, and therefore, by installing the vibration device 8 on the troweling robot 100, the troweling effect of the troweling robot 100 can be further improved.
Alternatively, the vibration device 8 may include a vibration motor 81, and the vibration motor 81 may be disposed on the frame 1, that is, the vibration motor 81 may be cooperatively mounted on the frame 1, the vibration motor 81 may generate relatively severe vibration after being started, and the vibration motor 81 may transmit the vibration to the drum 21 through the frame 1, so as to vibrate the drum 21, thereby better smoothing the surface of the substrate. Of course, it is understood that the vibration device 8 may be constructed in other configurations, and is not limited thereto.
Further, a vibration-damping shim may be provided between the frame 1 and the scraping device 5, by means of which the transmission of vibrations to the scraping device 5 may be reduced in a better manner, whereby the scraping device 5 may be made more stable in scraping the surface of the substrate. It is of course understood that other structures may be provided between the frame 1 and the scraping device 5 for damping vibrations, such as, without limitation, sponges, springs, etc.
Other configurations and operations of the troweling robot according to the embodiment of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "some embodiments," "optionally," "further," or "some examples," etc., 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 (10)
1. A troweling robot, characterized by comprising:
a frame;
the movable troweling device is arranged on the rack, can drive the rack to move and can be used for troweling the surface of the substrate;
the jacking device is arranged on the rack and can jack the rack and the movable troweling device upwards;
the steering device is arranged on the rack, and the moving direction of the rack can be changed after the jacking device jacks up the rack and the moving trowelling device.
2. The troweling robot according to claim 1, characterized in that the jacking device comprises:
the first driving device is arranged on the rack;
the first driving device can drive the ejector rod to move up and down relative to the rack.
3. The troweling robot according to claim 2, characterized in that the jacking device further comprises:
the upper end of the ejector rod is connected with the fixed plate, one end of the first driving device is connected with the rack, and the other end of the first driving device is connected with the fixed plate so as to drive the fixed plate to move up and down relative to the rack;
a guide device disposed between the frame and the fixing plate to define a moving direction of the fixing plate.
4. The troweling robot according to claim 3, characterized in that the steering device comprises:
the second driving device is arranged on the fixing plate;
the driving wheel is in transmission connection with the second driving device;
the driven wheel is meshed with the driving wheel, one end of the ejector rod is connected with the driven wheel, the other end of the ejector rod is connected with the top disc, and the driven wheel, the ejector rod and the top disc can rotate synchronously.
5. The troweling robot according to claim 1, characterized in that the mobile troweling device includes:
a plurality of rollers, each roller being rotatably disposed below the frame, an outer wall surface of the rollers being configured to be smoothed over the substrate surface, axes of rotation of the plurality of rollers being parallel;
the third driving device is arranged on the rack and used for driving the rollers to rotate.
6. The troweling robot according to claim 5, wherein the moving troweling device further includes a plurality of first transmission devices respectively provided corresponding to the plurality of rollers, each of the first transmission devices including:
the first hinge wheel is connected with the corresponding roller and can synchronously rotate;
the second hinge wheel is in transmission connection with the third driving device;
the chain is sleeved outside the first hinge wheel and the second hinge wheel, and the second hinge wheel drives the first hinge wheel to rotate through the chain.
7. The troweling robot according to claim 1, further comprising a scraping device provided on the frame, the scraping device comprising:
a scraper connecting plate;
one end of the fourth driving device is pivotally connected with the rack, the other end of the fourth driving device is pivotally connected with the scraper connecting plate, and the fourth driving device is used for adjusting the inclination angle of the scraper connecting plate;
the scraper blade, the scraper blade is established on the scraper blade connecting plate, just the scraper blade for but scraper blade connecting plate pivot links to each other, be equipped with the protective layer on the scraper blade, the protective layer is used for contacting the base member surface.
8. The troweling robot according to claim 7, characterized in that the screeding device further comprises a connecting device comprising:
the fixed rod is arranged on the rack;
the first connecting rod is connected to the rack, and one end of the fourth driving device is pivotally connected with the first connecting rod;
and two ends of the second connecting rod are respectively connected with the fixed rod and the scraper connecting plate in a pivoting manner.
9. The troweling robot according to claim 7, further comprising:
the detection device is arranged on the rack and is used for detecting the levelness of the surface of the base body;
and the control device is electrically connected with the detection device and the fourth driving device respectively, and controls the fourth driving device to act according to the detection result of the detection device.
10. The trowelling robot of any one of claims 1-9, further comprising a vibration device, wherein the vibration device comprises a vibration motor, and the vibration motor is disposed on the frame.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910791697.1A CN110593057B (en) | 2019-08-26 | 2019-08-26 | Floating robot |
| PCT/CN2020/107827 WO2021036749A1 (en) | 2019-08-26 | 2020-08-07 | Trowelling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910791697.1A CN110593057B (en) | 2019-08-26 | 2019-08-26 | Floating robot |
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| CN110593057A true CN110593057A (en) | 2019-12-20 |
| CN110593057B CN110593057B (en) | 2021-10-01 |
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| CN201910791697.1A Active CN110593057B (en) | 2019-08-26 | 2019-08-26 | Floating robot |
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| CN111395768A (en) * | 2020-04-09 | 2020-07-10 | 广东博智林机器人有限公司 | Slurry combing and trowelling device and trowelling robot |
| WO2021036749A1 (en) * | 2019-08-26 | 2021-03-04 | 广东博智林机器人有限公司 | Trowelling robot |
| WO2021129061A1 (en) * | 2019-12-25 | 2021-07-01 | 广东博智林机器人有限公司 | Ground screeding robot |
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| CN115467532A (en) * | 2022-08-24 | 2022-12-13 | 蓝城乐居建设管理集团有限公司 | Automatic concrete wall surface or ground surface scraping device and flatness control method thereof |
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| CN115467532B (en) * | 2022-08-24 | 2023-12-15 | 蓝城乐居建设管理集团有限公司 | Automatic concrete wall or ground scraping device and flatness control method thereof |
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