CN111021734B

CN111021734B - Floating robot

Info

Publication number: CN111021734B
Application number: CN201911166343.4A
Authority: CN
Inventors: 商希亮; 刘晓姣
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-11-25
Filing date: 2019-11-25
Publication date: 2021-10-08
Anticipated expiration: 2039-11-25
Also published as: CN111021734A

Abstract

The invention relates to a floating robot, comprising: a body; the trowelling mechanism is arranged on the machine body and comprises a trowelling disc for rotationally trowelling the concrete surface, and the middle of a trowelling plane of the trowelling disc is inwards concave to form an accommodating cavity; and the travelling mechanism is arranged on the floating mechanism and comprises a travelling wheel and a driving assembly, the travelling wheel is arranged in the containing cavity, part of the travelling wheel extends out of the containing cavity, and the driving assembly is arranged in the travelling wheel and used for driving the travelling wheel to rotate. Even if the walking wheel rolls on the concrete surface and drives floating robot walking and can leave the indentation, the floating plate can be leveled the indentation in step, and the ground that makes floating robot walk can not have the vestige, guarantees floating precision and the roughness on concrete ground and avoids drive assembly direct exposure to by the foul pollution in the environment, does benefit to the performance that promotes floating robot.

Description

Floating robot

Technical Field

The invention relates to the technical field of construction robots, in particular to a floating robot.

Background

Conventionally, after a building is built, cement or lime mortar and the like are used for covering and strickling the ground, so that the ground is attractive and convenient to use. Currently, most applications still rely on manually operated machines or tools for ground smoothing work. However, the work efficiency of manual trowelling operation is very low, the flatness, the pressing degree and the smoothness are difficult to guarantee, and particularly, the consistency with the surrounding mortar surface is difficult to guarantee at the position where mortar leaks after trowelling, and the consistency with the surrounding mortar surface is difficult to guarantee after the mortar is supplemented, so that the engineering quality and the user satisfaction are directly influenced.

Based on this, some machines and equipment capable of automatically finishing cement trowelling instead of manpower appear in the market. However, when the existing floating device realizes the walking function, the driving mechanism is controlled to drive the two floating disc mechanisms to swing to a position forming a certain angle with the ground, that is, the local friction force between the floating disc mechanisms and the ground is changed, and the floating device walks by means of the resultant force of the two floating disc mechanisms. Just because smearing a set mechanism and ground have the slope contained angle, the ground that leads to smearing a set mechanism to smear can have inclined plane or pit, causes the ground roughness poor, because need rely on the differential of two smearing a set mechanisms to turn to simultaneously to the ground height is uneven, leads to floating the unable accurate control walking of equipment and turns to.

On this basis, some troweling apparatuses are designed to run with wheels, that is, the wheels are arranged on the machine body and arranged outside the troweling plate mechanism. Therefore, the wheels and the power mechanism thereof not only increase the whole body of the floating robot, which results in large floor area, inconvenient storage and transportation, but also has high requirement on the working site; in addition, the wheel can have the indentation when walking through ground, and this indentation can't be covered by floating mechanism, and the cover area of floating mechanism has been reduced in the diversion, and floating quality and effect are poor simultaneously.

Disclosure of Invention

Based on this, it is necessary to provide a floating robot, and the problem that concrete surface floating accuracy is poor and occupied space is large in the prior art is solved.

The technical scheme is as follows:

a troweling robot, comprising:

a body;

the trowelling mechanism is arranged on the machine body and comprises a trowelling disc for rotationally trowelling the concrete surface, and the middle of a trowelling plane of the trowelling disc is inwards concave to form an accommodating cavity; and

the walking mechanism is arranged on the floating mechanism and comprises walking wheels and a driving assembly, the walking wheels are arranged in the containing cavities, part of the walking wheels extends out of the containing cavities, and the driving assembly is arranged in the walking wheels and used for driving the walking wheels to rotate.

The floating robot of above-mentioned scheme is applied to the building and pours the construction and accomplish the back, carries out the occasion of floating the operation to the concrete ground, can replace traditional manpower and floating equipment, improves the floating precision in ground. Particularly, the floating mechanism is designed and installed on the robot body, and the walking mechanism is designed and installed on the floating mechanism, so that the whole structure of the floating robot is more compact and stable. In addition, because the middle part of the floating surface of the floating plate of the floating mechanism is concave, a containing cavity is formed, the walking wheel of the walking mechanism can be arranged in the containing cavity, and part of the walking wheel extends out of the containing cavity. Therefore, the walking wheels are not arranged outside the frame, so that additional space is not occupied, the floor area of the floating robot is small, and the floating robot is suitable for more construction occasions with narrow space; in addition, the walking wheels are positioned in the middle of the troweling disc, so that even if the walking wheels roll on the concrete surface to drive the troweling robot to walk and an indentation is left, the troweling disc can synchronously trowel the indentation, so that the ground where the troweling robot walks does not have any trace, and the troweling precision and the flatness of the concrete ground are ensured; finally, because the driving assembly for driving the rotation of the walking wheels is arranged in the walking wheels, the walking wheels can protect the driving assembly, avoid the driving assembly from being directly exposed in the environment and being polluted by dirt, and are favorable for improving the service performance of the floating robot.

The technical solution of the present application is further described below:

in one embodiment, the body comprises a frame, a power system arranged on the frame and a transmission system arranged on the frame, wherein the transmission system is electrically connected with the power system; the floating mechanism and the walking mechanism are connected in a one-to-one correspondence mode, and the floating mechanisms are symmetrically arranged on the rack and are respectively connected with the transmission system and used for enabling the two floating discs to rotate oppositely.

In one embodiment, one of the wiping plates comprises a first plate body and a first fin plate arranged on the first plate body, and the first fin plate extends out of the outer edge of the first plate body; the other wiping plate comprises a second plate body and a second fin plate arranged on the second plate body, the second fin plate extends out of the outer edge of the second plate body and is positioned in the same plane with the first fin plate, and an interference preventing gap is formed between the first plate body and the second plate body; the first fin plate and the second fin plate can alternately rotate to enter the anti-interference gap, and the first fin plate and the second fin plate are used for covering the anti-interference gap.

In one embodiment, one of the wiping plates comprises a first plate body and a first fin plate arranged on the first plate body, and the first fin plate extends out of the outer edge of the first plate body; the other wiping plate comprises a second plate body and a second fin plate arranged on the second plate body, the second fin plate extends out of the outer edge of the second plate body, and the second fin plate can be intersected with the first fin plate and longitudinally overlapped.

In one embodiment, one of the wiping plates comprises a first plate body and a first fin plate arranged on the first plate body, and the first fin plate extends out of the outer edge of the first plate body; the other wiping disc comprises a second disc body and a second fin plate arranged on the second disc body, the second fin plate extends out of the outer edge of the second disc body, and the first fin plate can be intersected with the second disc body and longitudinally overlapped; alternatively, the second fin can meet and longitudinally overlap the first disc body.

In one embodiment, the power system comprises an engine, the transmission system comprises two driving wheels, two driven wheels and a gearbox arranged on the frame, the gearbox is in transmission connection with the engine and comprises two driving shafts which are oppositely arranged and synchronously rotate, and the driving wheels are correspondingly arranged on the driving shafts one by one; the two floating mechanisms further comprise floating disc shafts, one ends of the floating disc shafts are connected with the floating discs, and the driven wheels are correspondingly arranged on the floating disc shafts one to one and are in one-to-one corresponding transmission fit with the driving wheels.

In one embodiment, the floating mechanism further comprises a fixing sleeve and a first radial supporting piece, the fixing sleeve is arranged on the rack and sleeved outside the swabbing shaft, and the first radial supporting piece is sleeved between the swabbing shaft and the fixing sleeve.

In one embodiment, the trowelling mechanism further comprises a first shaft end fixing piece, and the first shaft end fixing piece is fixedly arranged at one end, far away from the trowelling disc, of the trowelling disc shaft.

In one embodiment, the swabbing shaft is provided with a hollow cavity along the axial direction, the travelling mechanism further comprises a travelling wheel shaft and a second radial supporting piece, one end of the travelling wheel shaft is connected with the travelling wheel, and the second radial supporting piece is sleeved between the travelling wheel shaft and the swabbing shaft.

In one embodiment, the travelling mechanism further comprises a second shaft end fixing piece, and the second shaft end fixing piece is fixedly arranged at one end, far away from the travelling wheel, of the travelling wheel shaft.

In one embodiment, the floating robot further comprises a steering mechanism, the steering mechanism comprises a fixed seat arranged on the rack, a telescopic driving piece arranged on the fixed seat, a push-pull rod hinged with the telescopic driving piece, and two connecting seats respectively hinged at two ends of the push-pull rod, and the connecting seats are connected with the walking wheel shafts in a one-to-one correspondence manner.

In one embodiment, the connecting seat comprises a first half hoop body connected with the push-pull rod, a second half hoop body hinged with the first half hoop body, and a fastening screw for locking or unlocking the first half hoop body and the second half hoop body, and the walking wheel shaft is clamped between the first half hoop body and the second half hoop body.

In one embodiment, the power system further comprises a generator electrically connected to the battery, and a battery electrically connected to the engine, the battery being further electrically connected to the drive assembly.

In one embodiment, the troweling plate comprises a flange connected with the troweling plate shaft, a base cylinder connected with the flange, a troweling plate connected with the base cylinder, and a reinforcing rib connected between the base cylinder and the troweling plate, wherein a through hole identical to an inner cylinder cavity of the base cylinder is formed in the middle of the troweling plate, and the through hole and the inner cylinder cavity of the base cylinder jointly form the accommodating cavity.

Drawings

Fig. 1 is a schematic structural diagram of a floating robot according to an embodiment of the present invention;

FIG. 2 is a schematic top view of the structure of FIG. 1;

FIG. 3 is a schematic structural diagram of a leveling mechanism according to an embodiment of the present invention;

fig. 4 is a schematic cross-sectional view taken along line a-a in fig. 3.

Description of reference numerals:

10. a frame; 20. a troweling mechanism; 21. smearing a plate; 211. a flange; 212. a seat cylinder; 213. smearing the plate; 214. reinforcing ribs; 215. a first fin plate; 216. a second fin plate; 22. an accommodating cavity; 23. fixing the sleeve; 24. a first radial support; 25. a first shaft end fixing member; 26. a swabbing shaft; 30. a traveling mechanism; 31. a traveling wheel; 32. a drive assembly; 33. a running wheel axle; 34. a second radial support; 35. a second shaft end retainer; 40. an engine; 50. a driving wheel; 60. a driven wheel; 70. a gearbox; 80. a steering mechanism; 81. a fixed seat; 82. a telescopic driving member; 83. a push-pull rod; 84. a connecting seat; 90. an electric generator.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

It will be understood that when an element is referred to as being "secured to," "disposed on" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; the specific manner of fixedly connecting one element to another element can be implemented by the prior art, and will not be described herein, and preferably, a screw-threaded connection is used.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The terms "first" and "second" used herein do not denote any particular order or quantity, but rather are used to distinguish one element from another.

As shown in fig. 1, a floating robot for an embodiment of the present application includes: the machine body, the floating mechanism 20 and the traveling mechanism 30. The body is the main structure of the floating robot and is used for bearing and fixing the floating mechanism 20 and the walking mechanism 30. The troweling mechanism 20 is a direct actuator that performs troweling work on a concrete floor. The traveling mechanism 30 is an execution mechanism that the floating robot can move, and the mobility of the floating robot is improved.

In the scheme, the fuselage is an integrated structure, that is, the fuselage comprises three parts, namely a rack 10, a power system arranged on the rack 10 and a transmission system arranged on the rack 10. The frame 10 is a carrying frame of the whole floating robot, and is used for supporting and fixing various mechanisms and systems. The transmission system is electrically connected with the power system. As can be appreciated, the power system is used to power the troweling robot. Specifically, the power system is composed of three parts, namely an engine 40, a generator 90 and a battery. The generator 90 is electrically connected to the battery, which is electrically connected to the engine 40. The generator 90 is used for generating electric energy, and the electric energy is transmitted to a battery for storage or directly transmitted to the engine 40 for use; or in special cases, when the engine 40 cannot work normally, the electric energy stored in the battery can be supplied to the engine 40 for use, so that the engine 40 can output driving force reliably.

Of course, in other embodiments, the power system may have other structures and compositions, which may be selected according to the actual needs of those skilled in the art.

With reference to fig. 1 and fig. 4, in the present embodiment, the troweling mechanism 20 is disposed on the machine body, and the troweling mechanism 20 includes a troweling plate 21 for rotationally troweling a concrete surface, and a containing cavity 22 is formed in a concave manner in the middle of a troweling surface of the troweling plate 21; running gear 30 set up in wipe a set 21 mechanism is last, just running gear 30 includes walking wheel 31 and drive assembly 32, walking wheel 31 set up in just part stretches out in holding chamber 22, drive assembly 32 set up in the walking wheel 31 and be used for the drive walking wheel 31 is rotatory, the battery still with drive assembly 32 electricity is connected, can supply with the electric energy for drive assembly 32, makes drive assembly 32 can the driven walking wheel 31 remove.

To sum up, the implementation of the technical scheme of the application has the following beneficial effects: the floating robot of above-mentioned scheme is applied to the building and pours the construction and accomplish the back, carries out the occasion of floating the operation to the concrete ground, can replace traditional manpower and floating equipment, improves the floating precision in ground. Specifically, the floating mechanism 20 is designed and installed on the robot body, and the traveling mechanism 30 is designed and installed on the floating mechanism 20, so that the whole structure of the floating robot is more compact and stable. In addition, because the containing cavity 22 is formed in the concave middle of the troweling surface of the troweling tray 21 of the troweling mechanism 20, the traveling wheels 31 of the traveling mechanism 30 can be arranged in the containing cavity 22 and partially extend out of the containing cavity 22. Therefore, the travelling wheels 31 are not arranged outside the frame 10, so that additional space is not occupied, the land occupation area of the floating robot is small, and the floating robot is suitable for more construction occasions with narrow space; in addition, just because the walking wheels 31 are positioned in the middle of the trowelling disc 21, even if the walking wheels 31 roll on the concrete surface to drive the trowelling robot to walk and indentation is left, the trowelling disc 21 can synchronously trowel the indentation, so that the ground where the trowelling robot walks does not have traces, and the trowelling precision and the flatness of the concrete ground are ensured; finally, because the driving assembly 32 for driving the traveling wheels 31 to rotate is arranged in the traveling wheels 31, the traveling wheels 31 can protect the driving assembly 32, prevent the driving assembly 32 from being directly exposed in the environment and being polluted by dirt, and are favorable for improving the service performance of the floating robot.

Referring to fig. 1, in order to preferably increase the coverage area of the troweling robot on the concrete ground and further increase the troweling efficiency, in an embodiment, the troweling mechanism 20 and the traveling mechanism 30 are two and are connected in a one-to-one correspondence manner, and the two troweling mechanisms 20 are symmetrically disposed on the frame 10 and are respectively connected to the transmission system, so as to enable the two troweling trays 21 to rotate in opposite directions. So, driving system output power gives transmission system for transmission system can rotate the floating operation to concrete ground simultaneously to two floating plate 21 of synchronous drive, can promote floating efficiency greatly. And at this moment, because need not provide walking power through smearing dish 21 and ground slope, therefore two smearing planes of smearing dish 21 can parallel arrangement, can further improve the roughness to concrete ground, guarantee roughness and the smoothness after the floating operation.

In addition, in order to reduce the manufacturing difficulty and cost, the two floating mechanisms 20 have the same structural composition, and the two traveling mechanisms 30 also have the same structural composition.

In practice, in order to avoid the two trowels 21 from interfering with each other, the two trowels 21 are designed and manufactured to maintain a small gap with a certain width, but the existence of the gap brings another problem: when two trowelling disks 21 carry out the floating operation to the concrete ground contact, the clearance has formed non-action area, and the concrete in this non-action area not only can't receive the extrusion operation of trowelling disks 21 to the concrete that this non-action area both sides and trowelling disks 21 contact still can remove to the clearance is regional owing to receiving the extrusion, and the part that leads to the concrete surface that the floating robot walk to correspond the clearance forms the bar concrete arch, makes the concrete ground unevenness after the floating, greatly influences floating quality and precision.

With reference to fig. 1, for convenience of description, in another embodiment of the present application, one of the wiping plates 21 is defined to include a first plate body and a first fin plate 215 disposed on the first plate body, wherein the first fin plate 215 extends out of an outer edge of the first plate body; the other swabbing disc 21 comprises a second disc body and a second fin plate 216 arranged on the second disc body, the second fin plate 216 extends out of the outer edge of the second disc body and is in the same plane with the first fin plate 215, and an interference preventing gap is formed between the first disc body and the second disc body; the first fin 215 and the second fin 216 can be alternately rotated into the interference preventing gap, and the first fin 215 and the second fin 216 are used for covering the interference preventing gap. The first fin plate 215 on the two first disc bodies and the second fin plate 216 on the second disc body can alternately rotate to enter the interference preventing gap, and the length of the two fin plates extending out of the disc bodies is just equal to the width of the interference preventing gap, so that the two fin plates can completely cover the interference preventing gap. Two fin boards can form the filling effect to preventing interference clearance this moment, will be originally the concrete ground in the clearance region floating to prevent that the protruding shaping of bar concrete from influencing floating precision and quality.

As an alternative embodiment, in another embodiment, the swabbing disc 21 includes a first disc body and a first fin plate 215 disposed on the first disc body, and the first fin plate 215 extends out of the outer edge of the first disc body; the other swabbing disc 21 comprises a second disc body and a second fin plate 216 disposed on the second disc body, the second fin plate 216 extends out of the outer edge of the second disc body, and the second fin plate 216 can meet and longitudinally overlap with the first fin plate 215 (in essence, the structure of the two swabbing discs 21 is identical). As can be appreciated, the first disc body and the second disc body are direct execution components for implementing the floating, when the first disc body and the second disc body rotate in opposite directions, the first fin 215 and the second fin 216 can meet at a certain time, and the meeting is directly characterized in that the first fin 215 and the second fin 216 can form a longitudinal overlapping arrangement, for example, the first fin 215 is located below the second fin 216, and at this time, the first fin 215 and the second fin 216 can fill up a gap formed between the first disc body and the second disc body, and the concrete ground in the gap region originally formed by the first fin 215 is floating, so as to prevent the strip-shaped concrete from being formed to affect the floating precision and quality.

Of course, the second fin 216 may be located below the first fin 215, and the above technical effects and objectives can also be achieved, which are not described herein.

It should be noted that, in the preferred embodiment, the number of the first fin 215 and the second fin 216 is plural, and the first fin and the second fin are respectively and evenly spaced and externally disposed on the outer periphery of the first disk body and the second disk body. Therefore, the first fin plate 215 and the second fin plate 216 which are different in unit time can form multiple intersection and overlapping, the advancing speed of the floating robot can be adapted, and filling and floating operation can be continuously and reliably carried out in a line area formed by the gap.

Alternatively, as an alternative embodiment of the above embodiment, one of the swabbing discs 21 may also include a first disc body and a first fin plate 215 disposed on the first disc body, where the first fin plate 215 extends out of an outer edge of the first disc body; the other swabbing disc 21 comprises a second disc body and a second fin plate 216 arranged on the second disc body, the second fin plate 216 extends out of the outer edge of the second disc body, and the first fin plate 215 can meet and longitudinally overlap with the second disc body; alternatively, the second fin 216 can meet and longitudinally overlap the first disk body. This scheme can reach equally and fill the clearance region between first dish body and the second dish body through first fin 215 or second fin 217 to prevent the bar convex body, influence the technological effect of floating the quality.

With reference to fig. 1 and fig. 3, in the present embodiment, the transmission system includes two driving wheels 50, two driven wheels 60 and a transmission case 70 disposed on the frame 10, the transmission case 70 is in transmission connection with the engine 40, the transmission case 70 includes two driving shafts disposed oppositely and rotating synchronously, and the driving wheels 50 are mounted on the driving shafts in a one-to-one correspondence manner; the two leveling mechanisms 20 further each include a swabbing plate shaft 26 having one end connected to the swabbing plate 21, and the driven wheels 60 are correspondingly mounted on the swabbing plate shafts 26 one by one and are correspondingly in transmission fit with the driving wheels 50 one by one. Thus, after the output power of the engine 40 is adjusted in speed by the gearbox 70, the output power can be output to the driving wheels 50 through the two driving shafts, so that the two driving wheels 50 synchronously rotate; the driving wheel 50 can further synchronously drive the two driven wheels 60 and the corresponding swabbing disc shafts 26 to synchronously rotate, and finally, the purpose of synchronously driving the two swabbing discs 21 to oppositely rotate is achieved. The structure is simple, the power transmission links are few, so that the power transmission is stable and reliable, and the trowelling disc 21 can be ensured to continuously obtain the rotary driving force to finish high-quality and high-efficiency trowelling operation on the concrete surface.

Considering that the friction resistance is large when the trowelling disc 21 is contacted with the concrete in a non-complete solidification state, which easily causes the driving force of the trowelling disc 21 to be insufficient, so that the driving wheel 50 and the driven wheel 60 have a transmission slip problem, and the normal work and efficiency of the trowelling robot are affected. Preferably, the driving wheel 50 and the driven wheel 60 are both gears, and the above problems can be well solved by adopting gear meshing transmission. Further, the driving wheel 50 and the driven wheel 60 are both bevel gears, so that the gearbox 70 can be horizontally arranged and adapted to the longitudinal arrangement structure of the troweling mechanism 20, and meanwhile, the overall height of the troweling robot can be reduced, and the purposes of reducing the volume of the troweling robot and occupying the space of the field are achieved. Further, the driving wheel 50 is a small bevel gear, and the driven wheel 60 is a large bevel gear; so, through bevel pinion and big bevel gear meshing for when bevel pinion rotated with less rotational speed, swabbing dish 21 can obtain great rotational speed, thereby does benefit to further promotion and screeds precision and efficiency.

With continued reference to fig. 1 and 3, the structure of the scrub pad 21 is redesigned. Specifically, the swabbing plate 21 includes a flange 211 connected to the swabbing plate shaft 26, a seat cylinder 212 connected to the flange 211, a troweling plate 213 connected to the seat cylinder 212, and a reinforcing rib 214 connected between the seat cylinder 212 and the troweling plate 213. It is understood that the troweling plate 213 is the first and second disk bodies described above. The middle part of the troweling plate 213 is provided with a through hole which is the same as the inner cylinder cavity of the seat cylinder 212, and the through hole and the inner cylinder cavity of the seat cylinder 212 jointly form the accommodating cavity 22. Therefore, the inner cylinder cavity of the seat cylinder 212 provides a space for installing the walking wheel 31, and the through hole allows the walking wheel 31 to extend out of the floating plane to be in contact with the ground, so that the floating robot can walk and move smoothly. In addition, since the whole of the spatula 21 is connected to the spatula shaft 26 through the flange 211, the spatula 21 can be easily attached and detached, and the worn spatula 21 can be easily repaired or replaced after being detached. In addition, a plurality of reinforcing ribs 214 are designed and manufactured between the troweling plates 213 at intervals, so that the strength and rigidity of the whole structure of the troweling plate 21 can be effectively improved, and the troweling plate 213 is prevented from deforming and warping at the edge part due to the ground reaction force, so that the contact coverage area of the ground is reduced, and the troweling efficiency of the troweling robot is affected.

With reference to fig. 4, the troweling mechanism 20 further includes a fixing sleeve 23, a first radial support member 24, and a first shaft end fixing member 25, wherein the fixing sleeve 23 is disposed on the frame 10 and is sleeved outside the troweling shaft 26, so that the troweling shaft 26 is prevented from being directly exposed to the environment, and the troweling shaft is protected by the fixing sleeve 23, which is beneficial to prolonging the service life. The first radial support member 24 is fitted between the swabbing shaft 26 and the fixing sleeve 23. Optionally, the first radial support 24 is a bearing, which not only can fix the swabbing plate shaft 26 in the radial direction, and prevent the swabbing plate 21 from shaking radially to affect the swabbing quality and precision, but also can effectively support the swabbing plate shaft 26 to perform stable rotation motion. The first shaft end fixing piece 25 is fixedly arranged at one end of the swabbing disc shaft 26 far away from the swabbing disc 21. Optionally, the first shaft end fixing member 25 is a lock nut, and at this time, under the constraint and limitation of the lock nut, the swabbing shaft 26 can be fixed in the axial direction, so that the axial loosening is prevented.

With reference to fig. 4, in addition, in the present embodiment, the swabbing axle 26 is provided with a hollow cavity along the axial direction, the traveling mechanism 30 further includes a traveling axle 33 having one end connected to the traveling wheel 31, a second radial support member 34, and a second axle end fixing member 35, the second radial support member 34 is sleeved between the traveling axle 33 and the swabbing axle 26, and the second axle end fixing member 35 is fixedly disposed at one end of the traveling axle 33 away from the traveling wheel 31. It is easy to understand that the hollow cavity formed by the troweling disc shaft 26 provides a space required by the installation of the walking wheel shaft 33, and at the moment, the walking wheel shaft 33, the troweling disc shaft 26 and the fixing sleeve 23 form an installation structure nested inside and outside, so that the structure is more compact, and the whole volume of the troweling robot can be more effectively reduced. Optionally, the second radial support 34 is a bearing, and not only can fix the traveling wheel shaft 33 in the radial direction, so as to prevent the traveling wheel 31 from shaking radially to cause unstable walking of the floating robot, but also can effectively support the traveling wheel shaft 33 to perform stable rotation motion. Furthermore, optionally, the second shaft end fixing element 35 is a lock nut, and at this time, under the constraint and limitation of the lock nut, the traveling wheel shaft 33 can be fixed in the axial direction, and the axial loosening is prevented.

In this embodiment, the drive unit 32 built in the traveling wheels 31 is composed of a motor and a speed reducer. The running wheel shaft 33 is a hollow shaft structure, and the purpose of the running wheel shaft is that the cable of the motor can pass through the running wheel shaft 33 and then extend into a power system and is connected with a battery, so that the motor can obtain electric energy and work reliably.

With reference to fig. 1 and fig. 2, in addition, on the basis of any of the above embodiments, the troweling robot further includes a steering mechanism 80, and the steering mechanism 80 is used for enabling the troweling robot to adjust the traveling direction, so as to avoid obstacles and simultaneously achieve the purpose of troweling concrete floors in different areas. Specifically, the steering mechanism 80 includes a fixed seat 81 disposed on the frame 10, a telescopic driving member 82 disposed on the fixed seat 81, a push-pull rod 83 hinged to the telescopic driving member 82, and two connecting seats 84 respectively hinged to two ends of the push-pull rod 83, where the connecting seats 84 are connected to the traveling wheel shafts 33 in a one-to-one correspondence manner. Thus, the telescopic driving member 82 can be stably mounted on the frame 10 by means of the fixing seat 81; when the floating robot needs to steer, the telescopic driving piece 82 can output push-pull power so as to drive the push-pull rod 83 to move; because the push-pull rod 83 is fixedly connected with the traveling wheel shafts 33 through the connecting seat 84, the two traveling wheel shafts 33 can be synchronously driven to synchronously rotate in the same direction by the moving edge of the push-pull rod 83, and finally the purpose of steering is achieved. The steering mechanism 80 is simple in structure, reliable in steering driving and high in response speed, and ensures that the floating robot can steer quickly and has high directivity.

It will be appreciated that the telescopic drive 82 is a device or apparatus capable of outputting linear reciprocating power, such as, but not limited to, an air cylinder, an electric cylinder, a linear motor, and the like. In this embodiment, the telescopic driving member 82 is an electric cylinder. When the electric push rod of the electric cylinder extends out, the two walking wheel shafts 33 synchronously rotate clockwise, and the walking wheels 31 can drive the floating robot to turn right; when the electric push rod of the electric cylinder retracts, the two walking wheel shafts 33 synchronously rotate towards the counterclockwise direction, and the walking wheels 31 can drive the floating robot to turn towards the left direction at the moment.

In particular, the maximum steering angle of the two directions can reach 90 degrees or more, and can be set according to actual needs.

In order to facilitate the assembly and disassembly of the connecting seat 84 and the traveling wheel shaft 33, the connecting seat 84 comprises a first half hoop body connected with the push-pull rod 83, a second half hoop body hinged with the first half hoop body, and a fastening screw for locking or unlocking the first half hoop body and the second half hoop body, and the traveling wheel shaft 33 is clamped between the first half hoop body and the second half hoop body. Moreover, the connecting seat 84 adopts the hoop structure, and can be applied to traveling wheel shafts 33 with different diameters, so that the steering mechanism 80 has wider applicability.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A troweling robot, characterized by comprising:

a body;

the walking mechanism is arranged on the floating mechanism and comprises walking wheels and a driving assembly, the walking wheels are arranged in the accommodating cavity, part of the walking wheels extend out of the accommodating cavity, and the driving assembly is arranged in the walking wheels and is used for driving the walking wheels to rotate; the number of the troweling mechanisms is two, one troweling plate comprises a first plate body and a first fin plate arranged on the first plate body, and the first fin plate extends out of the outer edge of the first plate body; the other wiping plate comprises a second plate body and a second fin plate arranged on the second plate body, the second fin plate extends out of the outer edge of the second plate body and is positioned in the same plane with the first fin plate, and an interference preventing gap is formed between the first plate body and the second plate body; the first fin plate and the second fin plate can alternately rotate to enter the anti-interference gap, and the first fin plate and the second fin plate are used for covering the anti-interference gap.

2. The trowelling robot of claim 1, wherein the body includes a frame, a power system disposed on the frame, and a transmission system disposed on the frame, the transmission system being electrically connected to the power system; the two walking mechanisms are connected with the floating mechanisms in a one-to-one correspondence mode, and the two floating mechanisms are symmetrically arranged on the rack and are respectively connected with the transmission system and used for enabling the two floating discs to rotate oppositely.

3. The troweling robot according to claim 2, wherein one of the troweling plates comprises a first plate body and a first fin plate disposed on the first plate body, the first fin plate protruding from an outer edge of the first plate body; the other wiping plate comprises a second plate body and a second fin plate arranged on the second plate body, the second fin plate extends out of the outer edge of the second plate body, and the second fin plate can be intersected with the first fin plate and longitudinally overlapped.

4. The troweling robot according to claim 2, wherein one of the troweling plates comprises a first plate body and a first fin plate disposed on the first plate body, the first fin plate protruding from an outer edge of the first plate body; the other wiping disc comprises a second disc body and a second fin plate arranged on the second disc body, the second fin plate extends out of the outer edge of the second disc body, and the first fin plate can be intersected with the second disc body and longitudinally overlapped; alternatively, the second fin can meet and longitudinally overlap the first disc body.

5. The trowelling robot of claim 2, wherein the power system includes an engine, the transmission system includes two driving wheels, two driven wheels, and a gearbox disposed on the frame, the gearbox is in transmission connection with the engine, and the gearbox includes two driving shafts disposed oppositely and rotating synchronously, the driving wheels are mounted on the driving shafts in a one-to-one correspondence; the two floating mechanisms further comprise floating disc shafts, one ends of the floating disc shafts are connected with the floating discs, and the driven wheels are correspondingly arranged on the floating disc shafts one to one and are in one-to-one corresponding transmission fit with the driving wheels.

6. The trowelling robot of claim 5, wherein the trowelling mechanism further includes a fixed sleeve and a first radial support member, the fixed sleeve is disposed on the frame and sleeved outside the trowel shaft, and the first radial support member is sleeved between the trowel shaft and the fixed sleeve.

7. The troweling robot of claim 6 wherein the troweling mechanism further comprises a first shaft end fixing piece that is fixedly arranged at an end of the troweling plate shaft away from the troweling plate.

8. The trowelling robot of claim 5, wherein the trowel shaft is axially provided with a hollow cavity, the traveling mechanism further comprises a traveling wheel shaft with one end connected with the traveling wheel and a second radial support member, and the second radial support member is sleeved between the traveling wheel shaft and the trowel shaft.

9. The troweling robot according to claim 8, wherein the traveling mechanism further comprises a second shaft end fixing member that is fixedly disposed at an end of the traveling wheel shaft away from the traveling wheel.

10. The trowelling robot of claim 2, further comprising a steering mechanism, wherein the steering mechanism comprises a fixed seat disposed on the frame, a telescopic driving member disposed on the fixed seat, a push-pull rod hinged to the telescopic driving member, and two connecting seats hinged to two ends of the push-pull rod, respectively, and the connecting seats are connected to the walking shafts in a one-to-one correspondence manner.

11. The troweling robot according to claim 10, wherein the connecting seat comprises a first half hoop body connected with the push-pull rod, a second half hoop body hinged with the first half hoop body, and a fastening screw for locking or unlocking the first half hoop body and the second half hoop body, and the traveling wheel shaft is tightened between the first half hoop body and the second half hoop body.

12. The troweling robot of claim 5, wherein the power system further comprises a generator and a battery, the generator being electrically connected with the battery, the battery being electrically connected with the engine, the battery also being electrically connected with the drive assembly.

13. The trowelling robot of claim 5, wherein the trowelling plate comprises a flange connected with the trowelling plate shaft, a base cylinder connected with the flange, a trowelling plate connected with the base cylinder, and a reinforcing rib connected between the base cylinder and the trowelling plate, wherein a through hole identical to an inner cylinder cavity of the base cylinder is formed in the middle of the trowelling plate, and the through hole and the inner cylinder cavity of the base cylinder jointly form the accommodating cavity.