CN111058639A - Walking mechanism of floating robot and floating robot - Google Patents

Abstract

The invention discloses a walking mechanism of a floating robot and the floating robot, wherein the walking mechanism comprises: a chassis; the roller mechanism is connected to the chassis and comprises a pivotable roller, a plurality of salient points are distributed on the surface of the roller, at least part of the salient points are spirally distributed around the axis of the roller, the plurality of salient points distributed along the same spiral line form a spiral row, the spirally distributed salient points are distributed along a plurality of spiral lines to form a plurality of spiral rows, and a laitance flow channel is formed between two circumferentially adjacent spiral rows; and the driving mechanism is connected with the roller mechanism so as to drive the roller mechanism to travel. The invention can increase the adhesive force to the construction surface, avoid the roller from slipping, and can convey and laterally discharge the redundant floating slurry to the rear of the advancing direction, thereby avoiding the floating slurry from accumulating in the front of the advancing direction, and realizing the slurry supplementing treatment on the low point of the concrete construction surface or the collapsed position of the leveled construction surface.

Description

Walking mechanism of floating robot and floating robot

Technical Field

The invention relates to the technical field of construction equipment, in particular to a walking mechanism of a floating robot and the floating robot.

Background

When the floating robot is used for concrete pouring ground construction, a beach tire is generally adopted for the concrete pouring ground in the field construction environment. However, the contact area of the sand beach tire is small, the sand beach tire is easy to sink into, the acting point is on the reinforcing steel bar net, and the distance between the reinforcing steel bars is easy to cause the whole machine pitching problem of the floating machinery; the round roller travels on the concrete wetland surface and is stressed unevenly and easy to slip when encountering uneven ground, so that secondary damage is caused to the ground.

Secondly, the floating pulp generated by rolling of the roller due to the self weight of the floating robot is propelled to the advancing aspect of the floating robot by the roller, and the function of the floating scraper at the rear part of the floating robot for polishing the ground by utilizing the floating pulp cannot achieve the effect. The floating slurry in the front of the floating robot is accumulated more and more along with the increase of the movement distance of the floating robot, so that the construction surface is uneven when turning is caused, and the corner position is difficult to process.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a walking mechanism of a floating robot, which aims to solve the problems that the floating robot is easy to slip during floating operation, front floating pulp is easy to accumulate and the floating operation is not beneficial to the floating operation.

The invention also aims to provide a floating robot, which is applied to the walking mechanism of the floating robot.

According to the embodiment of the invention, the walking mechanism of the floating robot comprises: a chassis; the roller mechanism is connected to the chassis and comprises a pivotable roller, a plurality of salient points are distributed on the surface of the roller, at least part of the salient points are spirally distributed around the axis of the roller, a plurality of salient points distributed along the same spiral line form a spiral line, the spirally distributed salient points are distributed along a multi-head spiral line to form a plurality of spiral lines, and a laitance flow channel is formed between two circumferentially adjacent spiral lines; and the driving mechanism is connected with the roller mechanism so as to drive the roller mechanism to walk.

According to the walking mechanism of the floating robot, the distributed salient points are designed on the surface of the roller, so that the adhesive force to a construction surface can be increased, and the roller is prevented from slipping. Because the salient points are distributed on the surface of the roller in a cross spiral manner to form the laitance flow channel, redundant laitance can be conveyed to the rear of the advancing direction and discharged to the side direction, thereby avoiding the laitance from accumulating in the front of the advancing direction, realizing the grout supplementing treatment on the low point of the concrete construction surface or the construction surface collapse position after leveling, and greatly enhancing the floating effect of the construction surface.

In some embodiments, the plurality of protrusions includes two sets of protrusions on the drum, the two sets of protrusions form two sets of helical rows with opposite helical directions, and the two sets of helical rows are distributed on the drum along the axial direction.

Optionally, the plurality of salient points include separation salient points distributed around the circumference of the roller, two sets of the spiral rows are arranged on two opposite sides of the separation salient points, and the separation salient points are arranged on a central vertical line of the axis of the roller.

Optionally, it is two sets of the spiral row forms two sets of that spiral direction is opposite the laitance runner, every group the laitance runner is being crossed the both ends of projection on the plane of axis are first discharge end and second discharge end, first discharge end is located the cylinder is in the ascending front side of direction of travel and keep away from separate the bump setting, the second discharge end is located the cylinder is in the ascending rear side of direction of travel and is close to separate the bump setting.

In some embodiments, the roller mechanism further comprises: the roller comprises two bearing seats, wherein the two bearing seats are arranged on the chassis at intervals, and two shaft ends of the roller are respectively and pivotally arranged on the two bearing seats.

Optionally, a sealing ring and a dust ring are arranged between the shaft end of the roller and the bearing seat.

In some embodiments, the number of the roller mechanisms is two, and the two roller mechanisms are arranged under the chassis in a spaced manner.

Optionally, the number of the driving mechanisms is two, the two driving mechanisms are both arranged on the chassis, and the two driving mechanisms and the two roller mechanisms are arranged in one-to-one correspondence.

Optionally, the drive mechanism comprises: the motor is arranged on the chassis; one of the two chain wheels is arranged on an output shaft of the motor, and the other chain wheel is arranged on the roller; and the chain is sleeved on the two chain wheels.

A trowelling robot according to an embodiment of the present invention includes a walking mechanism of the trowelling robot according to any one of the preceding paragraphs.

According to the floating robot provided by the embodiment of the invention, the problems that the floating robot is easy to slip in the floating construction process and floating slurry is easy to accumulate in front of the advancing direction are solved through the walking mechanism, and the floating robot is beneficial to enhancing the floating effect.

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 perspective view of a floating robot according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of the walking mechanism with the chassis removed according to the embodiment of the present invention;

fig. 3 is a schematic structural diagram of a roller according to an embodiment of the present invention.

Reference numerals:

a traveling mechanism 100,

A chassis 10,

A roller mechanism 20,

A roller 21, a convex point 21a, a separating convex point 21b, a laitance flow channel 201, a first discharging end 201a, a second discharging end 201b, a bearing seat 22, a sealing cover 23,

A driving mechanism 30,

A motor 31, a chain wheel 32, a chain 33,

A floating robot 1000,

A vibration slurry extracting mechanism 200, a vibration motor 210, a vibration plate 220, a U-shaped groove 220a, an electric push rod 230,

A floating scraper mechanism 300, a scraper 310,

Case 400, automatic navigation control module 500.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", "axial", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The following describes a walking mechanism 100 of a troweling robot according to an embodiment of the present invention, with reference to the drawings.

As shown in fig. 1, a walking mechanism 100 of a troweling robot according to an embodiment of the present invention includes: chassis 10, at least one roller mechanism 20, drive mechanism 30.

As shown in fig. 2, a roller mechanism 20 is attached to the chassis 10, the roller mechanism 20 includes a pivotable roller 21, and a plurality of protrusions 21a are provided on a surface of the roller 21. Compared with the existing roller travelling mechanism, the roller 21 is provided with the salient points 21a, so that the adhesive force of the roller 21 to the concrete construction surface is increased, and the roller 21 is prevented from slipping.

As shown in fig. 3, at least some of the protruding points 21a are spirally distributed around the axis of the drum 21, wherein a plurality of protruding points 21a arranged along the same spiral line form a spiral row, the spirally distributed protruding points 21a are arranged along a multi-start spiral line to form a plurality of spiral rows, and a laitance channel 201 is formed between two circumferentially adjacent spiral rows. It should be noted that the roller 21 does not have the spiral line and the spiral row, and the spiral line and the spiral row are formed by connecting lines of the plurality of salient points 21a and are named as reference lines for convenience of description. The rotatory floating robot 1000 that drives of cylinder 21 walks, along with the gathering of cylinder 21 advancing direction front side laitance, can discharge the laitance to cylinder 21's tip one side through laitance runner 201, avoids causing the front end of floating robot 1000 to increase the resistance that advances because of the laitance is too much, has also avoided floating robot 1000 when the turn, causes the problem of construction surface height unevenness.

In addition, since the salient points 21a are formed in a plurality of spiral rows and one laitance channel 201 is formed between two adjacent spiral rows, the drum 21 has a plurality of laitance channels 201. The surface of the roller 21 is provided with the salient points 21a which are spirally and crossly distributed, the laitance flow channel 201 forms a spiral flow channel, the roller 21 rotates, most of laitance lifted by the vibration laitance lifting mechanism 200 to the concrete pouring construction surface is involved in the surface of the laitance flow channel 201 to form spiral fluid motion, and the rest part is pushed to the advancing direction of the travelling mechanism 100 by the roller 21. In the process, the laitance flows to different positions along the axial direction of the roller 21 through the laitance flow channel 201, so that grout is supplemented to the low point of the concrete construction surface or the construction surface collapse position after leveling, the integrity of the construction surface is improved, and the leveling effect is enhanced.

As shown in fig. 2, the driving mechanism 30 is connected to the roller mechanism 20 to drive the roller mechanism 20 to travel. That is, the driving mechanism 30 rotates the drum 21 of the drum mechanism 20, thereby driving the troweling robot 1000 to travel.

When the roller 21 pulls the floating robot 1000 to advance, the floating slurry is rolled by the roller 21, and spirally moves around the surface of the roller 21, and after the movement and decomposition, a part of the floating slurry is pressed to the concrete construction surface by the roller 21, and the salient points 21a on the surface of the roller 21 realize the function of self-adaptive flattening operation on the concrete pouring semi-dry and uneven construction surface together with a part of the floating slurry under the self-weight action of the floating robot 1000; the floating slurry pressed by the roller 21 is in a semi-solidified liquid state, so that the floating and finishing functions of the concrete construction surface are realized under the action of a floating scraper mechanism 300 arranged at the rear end of the floating robot 1000; a portion moves to both sides of the troweling robot 1000 around the spiral flow path of the drum 21. The floating slurry which is not rolled in can be pushed forward along with the roller 21, and the real-time slurry supplementing function can be realized for the construction surface collapse position caused by the evaporation of the water in the concrete after the operation of the floating robot 1000. Along with the trowelling robot 1000 forward motion, unnecessary laitance is constantly drawn into by cylinder 21 under the traction force effect of cylinder 21, is spiral motion round cylinder 21 surface, along with the gathering of the laitance in trowelling robot 1000 the place ahead, in time arrange in the both sides of trowelling robot 1000 movement track, avoid causing the front end laitance too much, reduce the resistance that advances, can also avoid the construction surface height that leads to the fact at the turning position uneven, realize the floating smoothing function of whole construction surface.

According to the walking mechanism 100 of the floating robot, the distributed salient points 21a are designed on the surface of the roller 21, so that the adhesion force to a construction surface can be increased, and the roller 21 is prevented from slipping. Because the salient points 21a are distributed on the surface of the roller 21 in a cross spiral manner to form the laitance flow channel 201, redundant laitance can be conveyed to the rear of the advancing direction and discharged to the side direction, thereby avoiding the laitance from accumulating in the front of the advancing direction, realizing the grout supplementing treatment on the low points of the concrete construction surface or the construction surface collapse position after leveling, and greatly enhancing the floating effect of the construction surface.

In some embodiments, as shown in fig. 3, the plurality of protrusions 21a includes two sets of protrusions 21a on the drum 21, the two sets of protrusions 21a forming two sets of helical rows with opposite helical directions, the two sets of helical rows being axially distributed on the drum 21. That is, the laitance can be discharged in two directions through the two sets of the protrusions 21a, so that the flow path of the laitance in front of the drum 21 in the laitance flow path 201 is reduced, and the discharging efficiency can be improved.

Alternatively, as shown in fig. 3, the plurality of salient points 21a include separating salient points 21b distributed around the circumference of the drum 21, two sets of spiral rows are arranged on two opposite sides of the separating salient points 21b, and the separating salient points 21b are arranged on a perpendicular bisector of the axis of the drum 21. It should be noted that the term "perpendicular bisector" as used herein refers to a reference line perpendicular to the axis and passing through the midpoint of the axis. It can be understood that two groups of spiral rows are equally distributed on the roller 21, namely the laitance flow channels 201 are also equally distributed, and the laitance flow channels 201 formed by the two groups of salient points 21a are discharged from the middle part of the roller 21 to two sides when the roller 21 rotates, so that the balanced pulp discharge is realized, and the floating effect is ensured.

Alternatively, as shown in fig. 3, two sets of the floating slurry flow channels 201 are formed in two sets of the spiral rows, the spiral directions of which are opposite, two ends of the projection of each set of the floating slurry flow channels 201 on the plane passing through the axis are a first discharging end 201a and a second discharging end 201b, the first discharging end 201a is located on the front side of the drum 21 in the traveling direction and is far away from the partition bump 21b, and the second discharging end 201b is located on the rear side of the drum 21 in the traveling direction and is close to the partition bump 21 b. It can be understood that when the drum 21 rotates, the laitance accumulated in front of the drum 21 enters the two sets of laitance flow channels 201, the laitance is discharged to the rear in the traveling direction of the drum 21 through the second discharge end 201b, and the laitance is discharged to the outside through the first discharge end 201a to both axial sides in the traveling direction of the drum 21, thereby avoiding the laitance accumulation.

In some embodiments, as shown in fig. 2, the roller mechanism 20 further includes: two bearing seats 22 are provided on the chassis 10, the two bearing seats 22 are spaced apart from each other, and two shaft ends of the drum 21 are respectively and pivotally provided on the two bearing seats 22.

Optionally, a sealing ring (not shown) and a dust ring (not shown) are provided between the shaft end of the roller 21 and the bearing seat 22. The sealing ring and the dust ring are used for sealing the bearing in the bearing seat 22, and concrete mortar is prevented from entering the inner side of the bearing, so that the transmission precision and the service life of the bearing are ensured.

Optionally, as shown in fig. 2, a sealing cover 23 is disposed on the bearing seat 22 corresponding to the bearing, so as to further prevent concrete mortar from entering the bearing, and ensure the transmission accuracy and the service life of the bearing.

Optionally, bearings (not shown) are installed at two end shaft heads of the drum 21, outer rings of the bearings are fixed by the bearing seats 22, upper end surfaces of the bearing seats 22 at two sides are fixed on the lower bottom surface of the chassis 400 in parallel, the driving mechanism 30 is arranged on the inner side of the bearing seat 22 at one end, and the drum 21 is driven to rotate under the driving action of the motor, so that the forward and backward functions of the drum 21 are realized.

Optionally, the bearing is a deep groove ball bearing, and of course, the bearing may also be another type of bearing, which is not described herein again.

In some embodiments, as shown in fig. 1, there are two roller mechanisms 20, and the two roller mechanisms 20 are spaced apart from each other and disposed below the chassis 10. That is, the whole traveling mechanism 100 can be pulled to travel by the two roller mechanisms 20 without providing traveling wheels, so that the structure of the traveling wheels is omitted, and the function of simplifying the whole structure is achieved.

In other embodiments, the roller mechanism 20 is one, and one or a group of road wheels are arranged below the chassis 10, which can also achieve the effect of traction walking.

Optionally, there are two driving mechanisms 30, two driving mechanisms 30 are both disposed on the chassis 10, and the two driving mechanisms 30 and the two roller mechanisms 20 are disposed in one-to-one correspondence. Namely, the two driving mechanisms 30 are respectively used for driving the rollers 21 of the two roller mechanisms 20 to rotate, so as to realize the running of the running mechanism 100.

In other embodiments, there may be one driving mechanism 30, and one driving mechanism 30 is connected to two roller mechanisms 20, so as to drive the two roller mechanisms 20 to travel.

Alternatively, as shown in fig. 2, the driving mechanism 30 includes: motor 31, two sprockets 32, chain 33. The motor 31 is arranged on the chassis 10; one of the two chain wheels 32 is arranged on the output shaft of the motor 31, and the other chain wheel is arranged on the roller 21; the chain 33 is fitted over the two sprockets 32. In this way, the motor 31 drives the chain wheel 32 thereon to rotate, and the chain 33 drives the other chain wheel 32 to rotate, so as to drive the roller 21 to rotate, and the driving mechanism 30 can drive the roller mechanism 20 to horizontally advance or retreat, thereby realizing the traction function of the whole machine.

One specific embodiment of a routine 100 embodying the present invention is described below with reference to the accompanying drawings.

As shown in fig. 1 and 3, a walking mechanism 100 of a troweling robot includes: chassis 10, roller mechanism 20, drive mechanism 30.

The two roller mechanisms 20 are arranged on the front side and the rear side of the chassis 10, the roller mechanism 20 comprises a roller 21 and two bearing seats 22, the two bearing seats 22 are arranged, and two ends of the roller 21 are respectively arranged on the two bearing seats 22. Wherein, be equipped with deep groove ball bearing, sealing washer and dust ring between the axle head of cylinder 21 and bearing frame 22, be equipped with sealed lid 23 on the bearing frame 22 corresponding bearing department.

The surface of the roller 21 is distributed with a plurality of salient points 21a, the salient points 21a are spirally distributed around the axis of the roller 21, the plurality of salient points 21a distributed along the same spiral line form a spiral row, the spirally distributed salient points 21a are distributed along a multi-head spiral line to form a plurality of spiral rows, and a laitance flow channel 201 is formed between two circumferentially adjacent spiral rows. The plurality of salient points 21a include two groups on the roller 21, the two groups of salient points 21a form two groups of spiral rows with opposite spiral directions, and the two groups of spiral rows are distributed on the roller 21 along the axial direction. The plurality of salient points 21a comprise separating salient points 21b distributed around the circumference of the roller 21, two groups of spiral rows are arranged on two opposite sides of the separating salient points 21b, and the separating salient points 21b are arranged on a perpendicular bisector of the axis of the roller 21. The two groups of spiral rows form two groups of floating slurry flow channels 201 with opposite spiral directions, two ends of the projection of each group of floating slurry flow channels 201 on a plane passing through the axis are a first discharging end 201a and a second discharging end 201b, the first discharging end 201a is positioned on the front side of the roller 21 in the traveling direction and is far away from the separation salient point 21b, and the second discharging end 201b is positioned on the rear side of the roller 21 in the traveling direction and is close to the separation salient point 21 b.

The number of the driving mechanisms 30 is two, and the two driving mechanisms 30 are arranged in one-to-one correspondence with the two roller mechanisms 20. The drive mechanism 30 includes: the motor 31, two chain wheels 32 and a chain 33, wherein the motor 31 is arranged on the chassis 10; one of the two chain wheels 32 is arranged on the output shaft of the motor 31, and the other chain wheel is arranged on the roller 21; the chain 33 is fitted over the two sprockets 32.

As described above, the traveling mechanism 100 of the troweling robot according to the present invention can perform work on a concrete pouring ground by a special roller mechanism design and has a multi-directional slurry discharging and pulling function.

As shown in fig. 1, a troweling robot 1000 according to an embodiment of the present invention includes a walking mechanism 100 of the troweling robot according to any one of the foregoing.

According to the floating robot 1000 provided by the embodiment of the invention, the problems that the floating robot 1000 is easy to slip in the floating construction process and floating slurry is easy to accumulate in front of the advancing direction are solved through the walking mechanism 100, and the floating robot is beneficial to enhancing the floating effect.

In some embodiments, as shown in fig. 1, the troweling robot 1000 further includes: the vibrating slurry-extracting mechanism 200 is arranged in front of the travelling mechanism 100 in the advancing direction so as to vibrate the concrete construction surface for primary slurry extraction; the floating scraper mechanism 300 is provided at the rear in the traveling direction to perform floating work on the concrete construction surface.

Optionally, the floating scraper mechanism 300 is a scraper mechanism with a laser automatic control level. The manual dragging of the plastering plate machine and the seat type trowelling machine have no automatic control function of the horizontal elevation, and the trowelling scraper mechanism 300 controls the scraper 310 at the lower end of the trowelling scraper mechanism 300 under the action of the laser transmitter and the laser receiver, so that the trowelling scraper mechanism is always kept at the set horizontal elevation surface to carry out trowelling and trowelling motion of the construction surface.

Optionally, the angle between the screed 310 and the construction surface is 15 degrees.

Optionally, the vibration pulp extracting mechanism 200 has a self-adaptive adjustment function, as shown in fig. 1, the vibration pulp extracting mechanism 200 includes a vibration motor 210, a vibration plate 220, and an electric push rod 230. The vibrating plate 220 is provided with a U-shaped groove 220a, the vibrating motor 210 is fixed in the middle of the U-shaped groove 220a, the U-shaped groove 220a is fixedly connected with an electric push rod 230 with an upper end automatically adjusted through a shock pad, the shock absorption and shock absorption functions are achieved, when the vibrating motor 210 works, the U-shaped groove 220a vibrates integrally, the bottom of the U-shaped groove 220a continuously strikes a concrete construction surface, concrete laitance is vibrated out of concrete, and the effect of vibration and grout lifting is achieved.

In some embodiments, as shown in fig. 1, the troweling robot 1000 further includes: the chassis 400 and the automatic navigation control module 500 arranged on the chassis 400, the motor 31 for driving the traveling mechanism 100, a power supply (not shown) of the power mechanism of the whole machine and other control modules are arranged in the chassis 400, and the power supply supplies the motion power of the whole machine; the motor 31 rotates forward and backward to drive the floating robot 1000 to move forward and backward respectively. The automatic navigation control module 500 is used for controlling the full-automatic floating operation of the whole machine on the concrete pouring construction surface.

Optionally, two automatic navigation control modules 500 are arranged on the top of the case 400, and are responsible for driving the trowelling machine to do ground trowelling actions according to the autonomous navigation of the construction site environment.

Optionally, the traveling mechanism 100 is disposed below the chassis 400, and the two sets of the roller mechanisms 20 are arranged in the traveling direction of the trowelling robot 1000 to form a front-drive roller mechanism and a rear-drive roller mechanism respectively, and mainly function to pull the whole trowelling machine to move back and forth, lift the slurry on the ground for the second time, and flatten the ground for the initial setting.

The following describes a troweling robot 1000 according to an embodiment of the present invention, which includes the following steps in operation:

1. the power supply is started and the floating robot 1000 starts to work.

2. The automatic navigation control module 500 is turned on to control the whole machine to do automatic navigation movement.

3. The vibration slurry lifting mechanism 200 starts to work, and the front end of the floating robot 1000 starts to vibrate and lift slurry.

4. The front drive traveling mechanism 100 and the rear drive traveling mechanism 100 operate simultaneously to drive the floating robot 1000 to advance.

5. The floating scraper mechanism 300 performs floating operation on a construction surface under the action of the traction force of the walking mechanism 100, and the laser receiver at the upper end automatically controls and adjusts the scraper 310 to move up and down in real time according to a laser transmitter outside a construction site, so that the scraper 310 is guaranteed to be floating at a position of a set horizontal elevation of concrete.

In the invention, the salient points 21a which are spirally and crossly distributed are designed on the outer circular surface of the roller 21, which is contacted with the construction surface, so that a spiral flow channel is formed on the surface of the roller 21. The drum 21 is driven by the motor 31 to rotate, and the troweling robot 1000 is pulled to move back and forth. The rotary drum 21 rotates, and the laitance lifted up by the vibration laitance lifting mechanism 200 with respect to the concrete pouring floor flows to different positions along the spiral-crossing-type salient point flow paths of the rotary drum 21. When the roller 21 pulls the floating robot 1000 to advance, the floating slurry spirally moves around the surface of the roller 21, and a part of the floating slurry is pressed to a concrete construction surface by the roller 21, and due to the spiral salient points on the surface of the roller 21, under the self-gravity action of the floating robot 1000, the semi-dry uneven ground can be poured on the concrete, so that the self-adaptive flattening operation function of the part of the floating slurry is realized, and the flattening function of the initial setting ground is realized. The two flattened laitances passing through the front-drive roller and the rear-drive roller are in a semi-solidified liquid state, so that the floating and troweling functions of the concrete construction surface are realized under the action of a floating scraper mechanism 300 which is arranged at the rear end of the floating robot 1000 and automatically controls the horizontal elevation; when the floating robot 1000 advances, the floating slurry which is not rolled in by the roller 21 is pushed forward by the roller 21, and the floating slurry can be supplemented to the ground collapse position caused by the evaporation of the water in the concrete in real time after the floating robot 1000 operates. Along with the trowelling robot 1000 impels forward, unnecessary laitance behind the mend pit is in the runner of cylinder 21 and is spiral motion round cylinder 21's runner under the traction force effect, along with the gathering of equipment place ahead laitance, can in time arrange in the both sides of trowelling robot 1000 movement tracks, avoids causing the equipment front end laitance too much, increases the resistance that equipment gos forward, has also avoided turning the position at the robot, causes the ground scheduling problem of being highly uneven.

In conclusion, the troweling robot 1000 of the present invention designs the distributed convex points 21a on the surface of the roller 21, and the convex points 21a adopt a spiral cross distribution design, so as to increase the adhesion force to the semi-dry concrete ground, avoid the roller 21 from slipping on the surface of the semi-dry concrete mortar, and increase the traction effect of the roller 21 under the driving force of the motor 31, so as to drive the whole machine to move forward. The front end of the floating robot 1000 is provided with a vibration slurry lifting mechanism 200, and a vibration motor 210 drives a vibration plate 220 to realize the slurry lifting function. The roller 21 pulls the floating robot 1000 to advance, part of the floating pulp is pushed forward by the roller 21, and part of the floating pulp is involved in the surface of the roller 21 to perform spiral fluid motion. The spiral salient points 21a of the roller 21 self-adaptively flatten the concrete laitance lifted by the vibrating plate 220 together with the concrete mortar, and the distributed salient points 21a on the surface of the roller 21 are distributed in a cross spiral manner to form a laitance flow channel 201, so that the laitance adheres to the surface of the roller 21 to make spiral motion. The roller 21 rotates the rolled floating slurry, a part of concrete floating slurry is discharged to the rear of the floating robot 1000, the included angle between the scraper 310 at the rear of the floating robot 1000 and the construction surface is 15 degrees, and when the floating robot 1000 moves forwards, the floating slurry increases the ground floating effect of the scraper 310; and the other part of concrete laitance is discharged to the two sides of the equipment along the spiral laitance runner 201, so that the problem that the more the laitance is accumulated in front of the equipment is solved.

It should be noted that the troweling robot 1000 according to the embodiment of the present invention may be used for troweling not only indoor concrete surfaces, but also outdoor concrete surfaces.

Other configurations of the troweling robot 1000 according to an embodiment of the present invention, such as the troweling flight mechanism 300 and the automatic navigation control module 500, and the like, and operations thereof 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 "embodiment," "example," 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 running gear of a floating robot, comprising:

a chassis;

the roller mechanism is connected to the chassis and comprises a pivotable roller, a plurality of salient points are distributed on the surface of the roller, at least part of the salient points are spirally distributed around the axis of the roller, a plurality of salient points distributed along the same spiral line form a spiral line, the spirally distributed salient points are distributed along a multi-head spiral line to form a plurality of spiral lines, and a laitance flow channel is formed between two circumferentially adjacent spiral lines;

and the driving mechanism is connected with the roller mechanism so as to drive the roller mechanism to walk.

2. The walking mechanism of the troweling robot according to claim 1, wherein the plurality of protrusions includes two sets of protrusions on the drum, the two sets of protrusions form two sets of spiral rows with opposite spiral directions, and the two sets of spiral rows are distributed on the drum along an axial direction.

3. The walking mechanism of the trowelling robot of claim 2, wherein the plurality of protrusions includes spaced protrusions distributed around the circumference of the drum, two sets of the spiral rows are disposed on opposite sides of the spaced protrusions, and the spaced protrusions are disposed on a perpendicular bisector of the axis of the drum.

4. The running gear of the trowelling robot according to claim 3, wherein two sets of the spiral rows form two sets of the laitance flow channels with opposite spiral directions, and two ends of a projection of each set of the laitance flow channels on a plane passing through the axis are a first discharging end and a second discharging end, the first discharging end is located on the front side of the roller in the traveling direction and is far away from the separation salient point, and the second discharging end is located on the rear side of the roller in the traveling direction and is close to the separation salient point.

5. The walking mechanism of the troweling robot according to claim 1, wherein the roller mechanism further comprises: the roller comprises two bearing seats, wherein the two bearing seats are arranged on the chassis at intervals, and two shaft ends of the roller are respectively and pivotally arranged on the two bearing seats.

6. The walking mechanism of the trowelling robot according to claim 5, wherein a sealing ring and a dust ring are arranged between the shaft end of the roller and the bearing seat.

7. The walking mechanism of the trowelling robot according to claim 1, wherein the number of the roller mechanisms is two, and the two roller mechanisms are spaced apart from each other below the chassis.

8. The walking mechanism of the trowelling robot according to claim 7, wherein the number of the driving mechanisms is two, the two driving mechanisms are both disposed on the chassis, and the two driving mechanisms and the two roller mechanisms are disposed in a one-to-one correspondence.

9. The walking mechanism of the troweling robot according to claim 8, characterized in that the driving mechanism includes:

the motor is arranged on the chassis;

one of the two chain wheels is arranged on an output shaft of the motor, and the other chain wheel is arranged on the roller;

and the chain is sleeved on the two chain wheels.

10. A troweling robot characterized by comprising the traveling mechanism of the troweling robot according to any one of claims 1 to 9.

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