CN111075172B

CN111075172B - Floating robot

Info

Publication number: CN111075172B
Application number: CN201911405018.9A
Authority: CN
Inventors: 商希亮; 刘晓姣; 张少东
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2021-11-05
Anticipated expiration: 2039-12-30
Also published as: CN111075172A

Abstract

The invention provides a floating robot, comprising: a frame; the device comprises a rack, a plate wiping mechanism, a grinding mechanism and a grinding mechanism, wherein at least part of the plate wiping mechanism is arranged below the rack so as to grind the ground through a plate of the plate wiping mechanism; at least part of the travelling mechanism is arranged on the rack and positioned on the inner side of the plate wiping mechanism so as to drive the plate wiping mechanism to move; the steering mechanism is connected with the travelling mechanism so as to push the travelling mechanism to rotate through the steering mechanism; the driving mechanism is connected with the plastering plate mechanism to drive the plastering plate mechanism to rotate, so that the problem of low plastering work efficiency in the prior art is solved.

Description

Floating robot

Technical Field

The invention relates to the field of ground floating, in particular to a floating robot.

Background

In the field of building decoration, mortar (such as cement mortar or lime mortar) is mostly paved on the ground for covering and leveling, so that the ground is attractive and convenient to use.

At present, concrete covering and leveling of the ground are performed by heavy physical labor operation of workers, namely, after the cement can support people after distribution, the ground is manually leveled. The manual operation machine is used for strickling, the working efficiency is low, the flatness, the pressing degree and the smooth finish are difficult to ensure in quality, and particularly, the consistency with the surrounding mortar surface is difficult to ensure at the position of the mortar leakage generated after strickling after the mortar is supplemented.

In the prior art, ground concrete troweling machines mainly comprise a walking type troweling machine, an electric ground troweling machine, a driving type ground troweling machine and the like, the leveling degree mainly depends on the experience of workers, under the condition of cooperative and joint operation of multiple persons, the ground compactness after construction is poor, the leveling degree is difficult to ensure to be consistent, the troweling work is mainly completed by manual operation, the labor intensity is high, and the efficiency is extremely low.

Disclosure of Invention

The invention mainly aims to provide a floating robot to solve the problem of low floating work efficiency in the prior art.

In order to achieve the above object, the present invention provides a troweling robot comprising: a frame; the device comprises a rack, a plate wiping mechanism, a grinding mechanism and a grinding mechanism, wherein at least part of the plate wiping mechanism is arranged below the rack so as to grind the ground through a plate of the plate wiping mechanism; at least part of the travelling mechanism is arranged on the rack and positioned on the inner side of the plate wiping mechanism so as to drive the plate wiping mechanism to move; the steering mechanism is connected with the travelling mechanism so as to push the travelling mechanism to rotate through the steering mechanism; and the driving mechanism is connected with the wiping disc mechanism so as to drive the wiping disc mechanism to rotate.

Further, the troweling robot further includes: and the caster mechanism is arranged on the rack and positioned on the outer side of the rack so as to drive the rack to move through the caster mechanism.

Further, the troweling robot further includes: and at least part of the protective cover is arranged on the rack and positioned outside the plate wiping mechanism.

Further, the swabbing mechanism includes: the smearing plate frame is provided with a smearing plate; one end of the swabbing plate rotating shaft is connected with the swabbing plate frame, and the second end of the swabbing plate rotating shaft penetrates through the rack and then is connected with the driving mechanism.

Further, the spatula frame comprises: the wiping disc is arranged on the retaining ring; the supporting component is arranged on the inner side of the check ring and is connected with the check ring through a supporting frame; wherein, the support plane of the support frame is connected with the support plane of the support component through a transition surface.

Furthermore, the supporting component is of a cylindrical structure, an accommodating cavity is formed in the supporting component, and at least part of the travelling mechanism is installed in the accommodating cavity.

Further, the traveling mechanism includes: a traveling wheel; first promotion part, first promotion part have a catch bar, and a catch bar telescopically sets up, and the catch end and the walking wheel of catch bar are connected to drive the walking wheel through a catch bar and remove along vertical direction.

Further, the running gear still includes: first pressure sensor, first pressure sensor set up between the promotion end of first catch bar and walking wheel to be used for responding to the pressure between walking wheel and the ground.

Further, be provided with the installation cavity in the walking wheel, running gear still includes: and the driving shaft of the driving part is connected with the wheel body of the travelling wheel so as to drive the travelling wheel to rotate through the driving part.

Further, the steering mechanism includes: the second pushing component is provided with a second pushing rod which is arranged in a telescopic way; the pushing end of the second pushing rod is connected with the first connecting rod, and the connecting end of the first connecting rod is connected with the traveling mechanism.

Further, the steering mechanism further includes: a first joint bearing; the locking part is fixedly connected with the travelling mechanism and provided with a connecting arm, and the first connecting rod is connected with the connecting arm through a first joint bearing.

Further, the drive mechanism includes: a power component; the output shaft of the power component is connected with the input shaft of the speed reducing component; the output shaft of the speed reduction part is connected with the driving assembly, and the driving assembly is in driving connection with the wiping disc mechanism to drive the wiping disc mechanism to rotate.

Further, the drive mechanism further includes: the transmission belt is sleeved on the output shaft of the power component and the input shaft of the speed reducing component; and the input shaft of the electric component is connected with the transmission belt, so that the transmission belt does work on the electric component in the transmission process.

Further, swabbing mechanism includes swabbing pivot axis, and drive assembly includes: the driven gear is sleeved on the rotating shaft of the wiping disc and is fixedly connected with the rotating shaft of the wiping disc; the driving gear, driving gear and driven gear intermeshing, the output shaft and the driving gear of reduction part are connected to make the driving gear drive driven gear and rotate.

Further, the caster mechanism includes: a caster wheel; the fourth pushing component is at least partially arranged on the rack and is provided with a telescopic fourth pushing rod, and the caster wheel is connected with the fourth pushing rod through a guide shaft; and the second pressure sensor is arranged between the pushing end of the fourth pushing rod and the guide shaft.

According to the technical scheme, the floating robot comprises a rack, a wiping disc mechanism, a traveling mechanism, a steering mechanism and a driving mechanism, wherein at least part of the wiping disc mechanism is arranged below the rack so as to polish the ground through a wiping disc of the wiping disc mechanism, at least part of the traveling mechanism is arranged on the rack and positioned on the inner side of the wiping disc mechanism so as to drive the wiping disc mechanism to move, the steering mechanism is connected with the traveling mechanism so as to push the traveling mechanism to rotate through the steering mechanism, and the driving mechanism is connected with the wiping disc mechanism so as to drive the wiping disc mechanism to rotate; can realize automated control, trowel concrete ground, need not to utilize manual operation to mutually support each above-mentioned mechanism, can realize the working method that the robot walked while troweling ground, improved the efficiency to the troweling work on ground greatly.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural view of an embodiment of a troweling robot according to the present invention;

fig. 2 shows a front view of the troweling robot according to fig. 1;

fig. 3 shows a top view of the troweling robot according to fig. 1;

fig. 4 shows a schematic structural view of an embodiment of the walking mechanism of the troweling robot according to the present invention;

fig. 5 shows a schematic cross-sectional view a-a of the running gear according to fig. 4;

fig. 6 shows an enlarged view of part B of the running gear according to fig. 5;

fig. 7 shows a schematic structural view of an embodiment of a road wheel of the walking mechanism according to fig. 4;

fig. 8 shows a cross-sectional view of the road wheel according to fig. 7;

fig. 9 is a first schematic structural diagram of an embodiment of a steering mechanism of the troweling robot according to the present invention;

FIG. 10 is a second schematic structural diagram illustrating an embodiment of a steering mechanism of the troweling robot according to the present invention;

fig. 11 shows a schematic structural view of an embodiment of the troweling mechanism of the troweling robot according to the present invention;

FIG. 12 shows a top view of the troweling mechanism according to FIG. 10;

FIG. 13 shows a schematic structural view of an embodiment of a hold-down assembly of the troweling mechanism according to FIG. 11;

fig. 14 shows a schematic view of a first perspective of a trowel carriage of the trowel mechanism according to fig. 11;

fig. 15 shows a schematic view of a second perspective of the trowel stand of the trowel mechanism according to fig. 11;

fig. 16 shows a schematic structural view of an embodiment of the caster mechanism of the troweling robot according to the present invention.

Wherein the figures include the following reference numerals:

1. a frame;

2. a plate wiping mechanism; 21. smearing a plate; 22. an accommodating chamber; 23. a rotating shaft of the wiping plate; 24. a squeegee; 25. a scraper blade rotating shaft; 26. a transmission member; 27. pressing the component; 270. a first tooth-shaped member; 271. a second toothed member; 272. pressing the movable plate; 273. a connecting rod; 28. a thrust bearing; 211. a support member; 20. an elastic member; 201. a sleeve; 200. a plate cleaning frame; 210. a retainer ring; 212. a support frame;

3. a traveling mechanism; 30. a traveling wheel; 31. a first urging member; 32. a running wheel axle; 33. a first pressure sensor; 301. a mounting cavity; 34. a drive member; 35. a connecting plate; 36. a support plate; 37. closing the plate; 38. a seal ring; 341. a hub; 342. a drive motor; 343. a speed reducer;

4. a steering mechanism; 41. a transition shaft; 42. a second urging member; 420. a second push rod; 43. a first link; 44. a first joint bearing; 45. a locking member; 450. a connecting arm;

5. a drive mechanism; 51. a power component; 52. a speed reduction part; 53. a drive assembly; 54. a transmission belt; 530. a driven gear; 531. a driving gear; 55. an electric component;

7. a third urging member; 71. a second link; 8. a protective cover; 9. a caster mechanism; 90. a caster wheel; 91. a fourth urging member; 92. a second pressure sensor.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

The present invention provides a floating robot, please refer to fig. 1 to 16, including: a frame 1; at least part of the plastering mechanism 2 is arranged below the frame 1 so as to polish the ground through a plastering plate 21 of the plastering mechanism 2; at least part of the travelling mechanism 3 is arranged on the frame 1 and is positioned at the inner side of the disc wiping mechanism 2 so as to drive the disc wiping mechanism 2 to move; the steering mechanism 4 is connected with the travelling mechanism 3, so that the travelling mechanism 3 is pushed to rotate through the steering mechanism 4; and the driving mechanism 5 is connected with the plastering plate mechanism 2 so as to drive the plastering plate mechanism 2 to rotate.

The floating robot comprises a rack 1, a floating disc mechanism 2, a traveling mechanism 3, a steering mechanism 4 and a driving mechanism 5, wherein at least part of the floating disc mechanism 2 is arranged below the rack 1 so as to polish the ground through a floating disc 21 of the floating disc mechanism 2, at least part of the traveling mechanism 3 is arranged on the rack 1 and positioned on the inner side of the floating disc mechanism 2 so as to drive the floating disc mechanism 2 to move, the steering mechanism 4 is connected with the traveling mechanism 3 so as to push the traveling mechanism 3 to rotate through the steering mechanism 4, and the driving mechanism 5 is connected with the floating disc mechanism 2 so as to drive the floating disc mechanism 2 to rotate; can realize automated control, trowel concrete ground, need not to utilize manual operation to mutually support each above-mentioned mechanism, can realize the working method that the robot walked while troweling ground, improved the efficiency to the troweling work on ground greatly.

Specifically, the trowelling robot further includes: and the caster mechanism 9 is installed on the rack 1 and located on the outer side of the rack 1, so that the rack 1 is driven to move through the caster mechanism 9. In the process of specific work, the walking of the robot is realized through the combined action of the caster mechanisms 9 and the walking mechanisms 3, and the caster mechanisms 9 can also be utilized to support the rack 1 when the ground is not required to be leveled or the wiping tray is required to be replaced.

In the implementation process, since there may be obstacles around the concrete ground, the troweling robot further includes: and the protective cover 8, at least part of the protective cover 8 is arranged on the frame 1 and is positioned outside the plate wiping mechanism 2. The protection cover 8 can be used for protecting the plate wiping mechanism 2, and preferably, an infrared sensor is arranged on the protection cover 8, so that the robot can be controlled to stop when an obstacle is encountered.

As shown in fig. 11 to 15, the wiper mechanism 2 includes: a smearing plate frame 200, wherein a smearing plate 21 is arranged on the smearing plate frame 200; one end of the swabbing plate rotating shaft 23 is connected with the swabbing plate frame 200, and the second end of the swabbing plate rotating shaft 23 passes through the machine frame 1 and then is connected with the driving mechanism 5.

Specifically, the trowel tray frame 200 includes: the retainer ring 210, the swabbing disc 21 is installed on the retainer ring 210; the supporting component 211 is arranged on the inner side of the retainer ring 210, and the supporting component 211 is connected with the retainer ring 210 through a supporting frame 212; wherein, the supporting plane of the supporting frame 212 is connected with the supporting plane of the supporting component 211 through a transition surface. Preferably, the transition surface is a plane, and a preset included angle is formed between the transition surface and the horizontal plane, so that when the trowelling disc performs trowelling, slurry or stones in the concrete floor are effectively pressed into the floor, and the inner stones or slurry is prevented from being accumulated.

In the embodiment of the present invention, the supporting member 211 has a cylindrical structure, the accommodating chamber 22 is provided in the supporting member 211, and at least a part of the traveling mechanism 3 is installed in the accommodating chamber 22. This arrangement can protect the traveling mechanism 3 from the support member 211, save the installation space, and make the entire structure of the robot more compact.

In order to further polish the floor, the plastering mechanism 2 further comprises: the scraper 24 is arranged on the scraper frame 200, the scraper disc 21 is detachably arranged below the scraper 24, the scraper 24 is provided with a working plane contacting with the ground, and the plate body of the scraper 24 is rotatably arranged around a third preset axis so as to adjust the included angle between the working plane and the ground. When the ground needs to be wiped, the caster wheel mechanism and the travelling mechanism are pressed towards the direction of the ground, so that a preset distance is reserved between the wiping disc mechanism 2 and the ground, and then the wiping disc 21 is arranged below the scraper 24; when the ground needs to be polished, the plastering plate 21 is detached from the plastering plate frame, preferably, the plastering plate frame 200 is provided with a mounting groove, and the plastering plate 21 is clamped in the mounting groove so as to be convenient for mounting and detaching the plastering plate.

In order to realize the rotation of the scraper 24, the swabbing mechanism 2 further comprises: the scraper rotating shaft 25 is connected with the scraper 24, and the scraper rotating shaft 25 is rotatably arranged so as to drive the scraper 24 to rotate through the scraper rotating shaft 25; the transmission piece 26 is arranged at one end of the scraper rotating shaft 25 far away from the scraper 24; and the pressing component 27, at least part of the pressing component 27 is movably arranged in the direction towards the direction close to or away from the transmission piece 26, and the pressing component 27 is opposite to the transmission piece 26 so as to press or release the transmission piece 26, so that the transmission piece 26 drives the scraper rotating shaft 25 to rotate.

In the embodiment provided by the present invention, the pressing assembly 27 comprises: a first toothed member 270, at least part of the first toothed member 270 being mounted on the frame 1; a second tooth-shaped member 271, the second tooth-shaped member 271 being disposed below the first tooth-shaped member 270 and engaging with the first tooth-shaped member 270, the second tooth-shaped member 271 being rotatably disposed with respect to the first tooth-shaped member 270; the pressing plate 272 is connected with the second tooth-shaped member 271, so that the second tooth-shaped member 271 drives the pressing plate 272 to move towards the transmission member 26 in the rotating process; and a connecting rod 273, a first end of the connecting rod 273 being connected to the transmission member 26, and a second end of the connecting rod 273 being connected to the pressing plate 272, so that the connecting rod 273 drives the transmission member 26 to rotate. Preferably, the pressing assembly 27 further includes a guide shaft, and the first tooth-shaped member 270 and the second tooth-shaped member 271 are sleeved on the guide shaft. The first tooth-shaped member 270 is provided with a tooth socket, the tooth socket has a first socket wall surface and a second socket wall surface, and a predetermined included angle is formed between the first socket wall surface and the second socket wall surface, so that the tooth socket can move downwards along the inner wall surface of the tooth socket in the process of rotating the second tooth-shaped member 271. The plurality of connecting links 273 is provided, the plurality of connecting links 273 is provided around the supporting member 211, the plurality of squeegees 24 is provided, and the plurality of squeegees 24 and the plurality of connecting links 273 are provided in one-to-one correspondence.

Further, a thrust bearing 28 is disposed between the second toothed member 271 and the pressing plate 272, so that the torsional motion of the second toothed member 271 is converted into a linear motion by the thrust bearing 28, and the pressing plate 272 is pressed down. When the pressing plate 272 needs to be returned to the initial position, the elastic member 20 is disposed between the pressing plate 272 and the supporting member 211, and the pressing plate 272 is pushed to move upward by the elastic force of the elastic member 20.

As shown in fig. 11, the troweling robot further includes: a third pushing member 7, the third pushing member 7 having a third pushing rod, the third pushing rod being telescopically arranged; a first end of the second link 71 is connected to a pushing end of the third pushing rod, and a second end of the second link 71 is connected to the second toothed member 271 through a second joint bearing, so that the second link 71 drives the second toothed member 271 to rotate when the third pushing rod pushes the second link 71 to move. The structure thus arranged is simple and convenient to implement, and preferably, the two swabbing mechanisms 2 are provided, in this case, the first end of the second link 71 is connected with one second toothed member 271 of the two swabbing mechanisms 2, and the second end of the second link 71 is connected with the other second toothed member 271 of the two swabbing mechanisms 2, so as to ensure the working synchronism of the two swabbing mechanisms.

As shown in fig. 4 to 8, the traveling mechanism 3 includes: a traveling wheel 30; first push component 31, first push component 31 has a first catch bar, and first catch bar sets up telescopically, and the promotion end of first catch bar is connected with walking wheel 30 to drive walking wheel 30 through first catch bar and remove along vertical direction. Set up like this when smearing the relative altitude between dish and the ground and change, the pressure change that smears the dish and receive can lead to walking wheel 30's pressure to change, and walking wheel 30 is through following the movably setting of vertical direction, can guarantee all the time that the dish is smeared and the height on ground is unanimous.

In the embodiment provided by the present invention, the traveling mechanism 3 further includes: the first pressure sensor 33 is arranged between the pushing end of the first pushing rod and the walking wheel 30, and the first pressure sensor 33 is used for sensing the pressure between the walking wheel 30 and the ground. In the specific implementation process, a first pressure threshold value is set in the control system, the pressure value detected by the first pressure sensor 33 is compared with the first pressure threshold value, when the detected pressure value exceeds the first pressure threshold value, the travelling wheels 30 are controlled to move upwards, and when the detected pressure value is smaller than the first pressure threshold value, the travelling wheels 30 are controlled to move downwards until the detected pressure value is within the range of the first pressure threshold value.

Specifically, as shown in fig. 7 and 8, a mounting cavity 301 is provided in the traveling wheel 30, and the traveling mechanism 3 further includes: and a driving part 34, wherein a driving shaft of the driving part 34 is connected with the wheel body of the road wheel 30 so as to drive the road wheel 30 to rotate through the driving part 34. The driving member 34 includes a driving motor 342 and a speed reducer 343, and the driving motor 342 is connected to the speed reducer 343. An output shaft of the speed reducer 343 is connected with the hub 341, sealing plates 37 are arranged on two sides of the traveling wheel 30, the output shaft of the speed reducer 343 is shielded by the sealing plates 37, supporting plates 36 are arranged between the sealing plates 37 and the wheel body, the two supporting plates 36 are connected through a connecting plate 35, a first end of the traveling wheel shaft 32 is connected with the connecting plate 35, and a second end of the traveling wheel shaft 32 is connected with the first pushing part. Preferably, a sealing ring 38 is also arranged between the wheel body and the output shaft of the speed reducer.

As shown in fig. 9 and 10, the steering mechanism 4 includes: a second push member 42, the second push member 42 having a second push rod 420, the second push rod 420 being telescopically arranged; the pushing ends of the first connecting rod 43 and the second pushing rod 420 are connected with the first connecting rod 43, and the connecting end of the first connecting rod 43 is connected with the traveling mechanism 3. In the embodiment of the present invention, there are two traveling mechanisms 3, two ends of the first link 43 are respectively connected to the two traveling mechanisms 3 to ensure the synchronism of the two traveling mechanisms 3, and the second push rod 420 is connected to the middle portion of the first link 43.

The steering mechanism 4 further includes: a first joint bearing 44; the locking piece 45 and the locking piece 45 are fixedly connected with the walking mechanism 3, the locking piece 45 is provided with a connecting arm 450, and the first connecting rod 43 is connected with the connecting arm 450 through the first joint bearing 44. Torque is transmitted to the locking member 45 through the connecting arm 450.

Specifically, the steering mechanism 4 further includes: the transition shaft 41 is provided with a first hollow chamber in the shaft body of the transition shaft 41, the first hollow chamber extends along the extending direction of the transition shaft 41, at least part of the traveling wheel shaft 32 penetrates through the first hollow chamber, and the body of the first pushing component 31 is connected with the transition shaft 41. Retaining member 45 cover is established on transition axle 41 and with transition axle 41 fixed connection, sets up like this and to make walking wheel 30 realize moving along vertical direction through walking wheel axle 32 and first promotion part 31, and through setting up transition axle 41, transition axle 41 drives first promotion part 31 and rotates, and then drives walking wheel 30 and rotates, realizes turning to of robot. In the specific operation process, the walking wheels 30 are firstly lifted, the rack 1 is supported by the caster mechanisms and the smearing plate, and then the steering mechanism 4 works to realize the rotation of the walking wheels 30.

In the specific implementation process, a second hollow chamber is arranged on the shaft body of the swabbing plate rotating shaft 23, the second hollow chamber extends along the extending direction of the swabbing plate rotating shaft 23, at least part of the walking wheel shaft 32 penetrates through the second hollow chamber, and a first bearing is arranged between the walking wheel shaft 32 and the swabbing plate rotating shaft 23. Preferably, a sleeve 201 is arranged outside the swabbing serving shaft 23, the sleeve 201 is connected with the frame 1, and the swabbing serving shaft 23 is connected with the sleeve 201 through a second bearing.

As shown in fig. 2, the drive mechanism 5 includes: a power unit 51; a speed reducing member 52, an output shaft of the power member 51 being connected to an input shaft of the speed reducing member 52; the driving assembly 53 and the output shaft of the speed reducing part 52 are connected with the driving assembly 53, and the driving assembly 53 is in driving connection with the swabbing mechanism 2 so as to drive the swabbing mechanism 2 to rotate.

The drive mechanism 5 further includes: the transmission belt 54 is sleeved on the output shaft of the power component 51 and the input shaft of the speed reducing component 52; and an electric power component 55, wherein an input shaft of the electric power component 55 is connected with the transmission belt 54, so that the transmission belt 54 does work on the electric power component 55 in the transmission process. Preferably, the power component 55 is a generator, an input shaft of the generator and the transmission belt 54 rotate to generate power by mutual friction, so that the electric power can be provided for the floating robot, a storage battery is not required to be additionally arranged to serve as power of an electric control system and an execution system (such as a pressure sensor or a pushing component) so that the structure of the whole robot is more compact and simple, the robot can continuously provide power for normal work of the robot through mutual matching of the transmission belt 54 and the input shaft of the generator in the running process, the problem that the running of the robot is stopped due to insufficient power in the working process to influence the working efficiency is avoided, meanwhile, the robot is not limited by the length of a power line, and the working range of the robot is expanded.

The swabbing mechanism 2 includes a swabbing rotating shaft 23, and the driving assembly 53 includes: the driven gear 530 is sleeved on the swabbing rotating shaft 23, and the driven gear 530 is fixedly connected with the swabbing rotating shaft 23; the driving gear 531, the driving gear 531 and the driven gear 530 are engaged with each other, and the output shaft of the speed reduction unit 52 is connected to the driving gear 531, so that the driving gear 531 rotates the driven gear 530. Preferably, the driven gear 530 and the driving gear 531 are bevel gears. The reduction gearbox plays a role in reducing the speed and increasing the torque, and transmits the force of the power part 51 to the gears on two sides respectively, and the swabbing discs rotate respectively through gear transmission.

Specifically, the speed reduction component 52 is a speed reduction box, a clutch is arranged in the speed reduction box, a power component drives an input belt wheel of the speed reduction component to rotate, an electric push rod is utilized to push a separation claw in the speed reduction box to rotate and a separation claw support fixed on a speed reduction box body to generate axial movement to push a pressing claw of the clutch to enable the clutch to be attracted to drive a transmission input shaft and a gear to rotate, the transmission input gear can slide on the transmission input shaft, a gear shifting connecting shaft is pushed through a gear shifting push rod to enable the gear shifting connecting shaft to drive an internal gear shifting connecting shaft and a gear shifting ring to shift the gear together and enable a gear shifting deflector rod to slide in a deflector rod mounting seat, the gear is meshed with two gears of a transmission intermediate gear set respectively to realize speed change, power is transmitted to a transmission output shaft through a transmission output shaft gear, and the transmission output shaft is the output shaft of the speed reduction component 52.

As shown in fig. 16, the caster mechanism 9 includes: a caster 90; a fourth pushing member 91, at least part of the fourth pushing member 91 is mounted on the frame 1, the fourth pushing member 91 has a telescopic fourth pushing rod, and the caster 90 is connected with the fourth pushing rod through a guide shaft; and a second pressure sensor 92, the second pressure sensor 92 being disposed between the pushing end of the fourth pushing rod and the guide shaft. When the floating robot is used for floating the ground, the trundles 90 extend out, the second pressure sensor 92 detects the pressure between the trundles and the ground, a second pressure threshold value is arranged in the control system, the detected pressure value between the trundles and the ground is compared with the second pressure threshold value, if the detected pressure value is greater than the second pressure threshold value, the trundles are lifted upwards until the detected pressure value is within the range of the second pressure threshold value, and if the detected pressure value is less than the second pressure threshold value, the trundles are moved downwards until the detected pressure value is within the range of the second pressure threshold value. When the work site needs to be changed, the walking wheels 30 and/or the caster wheels 90 extend out until an interval is reserved between the plastering plate and the ground, the walking wheels 30 and/or the caster wheels 90 are utilized to drive the rack 1 to move, in the plastering process of the plastering robot, the height of the caster wheels 90 is adjusted by detecting the pressure between the caster wheels and the ground, the caster wheels 90 of the plastering robot are always kept at a fixed angle for lifting the plastering plate 21 in the moving process, the edge of the plastering plate can avoid obstacles such as stones and the like when the plastering robot works, the stones can not be pushed away or thrown away to leave traces, the stones are pressed into the concrete, and for the convex part of the concrete ground, the plastering plate is lifted to flatten the convex part, and the concrete of the convex part is prevented from being scraped onto the plastering plate.

When the floating robot needs to change the place, the truckle mechanism can descend together with the walking wheel, lifts the smearing plate, and the floating robot can drive the walking by the walking wheel, or can push the floating robot to next place, and the truckle mechanism can play and prevent that the robot from toppling, keeps the balanced effect of robot to play the effect of sharing walking wheel atress. When the wiping disc needs to be replaced, the height adjusting devices on the two sides are lowered, so that the wiping disc on one side falls to the ground, the wiping disc on the other side is lifted, and a maintenance worker can replace the lifted wiping disc.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A troweling robot, characterized by comprising:

a frame (1);

the polishing machine comprises a rack (1), a plate wiping mechanism (2), a polishing mechanism and a polishing mechanism, wherein at least part of the plate wiping mechanism (2) is arranged below the rack (1) so as to polish the ground through a plate wiping (21) of the plate wiping mechanism (2);

at least part of the travelling mechanism (3) is arranged on the rack (1) and is positioned on the inner side of the plate wiping mechanism (2) so as to drive the plate wiping mechanism (2) to move;

the steering mechanism (4), the steering mechanism (4) is connected with the travelling mechanism (3) so as to push the travelling mechanism (3) to rotate through the steering mechanism (4);

the driving mechanism (5) is connected with the wiping disc mechanism (2) to drive the wiping disc mechanism (2) to rotate;

the plate wiping mechanism (2) comprises: the cleaning disc rack (200), wherein a cleaning disc (21) is arranged on the cleaning disc rack (200); the scraping plate (24) is arranged on the scraping plate frame (200), the scraping plate (21) is detachably arranged below the scraping plate (24), the scraping plate (24) is provided with a working plane contacted with the ground, and the plate body of the scraping plate (24) is rotatably arranged around a third preset axis so as to adjust the included angle between the working plane and the ground;

the smearing plate frame (200) is provided with an installation groove, and the smearing plate (21) is clamped in the installation groove;

the plate wiping mechanism (2) further comprises: the scraper rotating shaft (25), the scraper rotating shaft (25) is connected with the scraper (24), and the scraper rotating shaft (25) is rotatably arranged; the transmission piece (26), the transmission piece (26) is installed at one end, far away from the scraper (24), of the scraper rotating shaft (25); a pressing component (27), at least part of the pressing component (27) is movably arranged along the direction close to or far away from the transmission piece (26), and the pressing component (27) is opposite to the transmission piece (26) to press or release the transmission piece (26).

2. The troweling robot according to claim 1, further comprising:

the caster mechanism (9) is installed on the rack (1) and located on the outer side of the rack (1), so that the rack (1) is driven to move through the caster mechanism (9).

3. The troweling robot according to claim 1, further comprising:

the protective cover (8), at least part of the protective cover (8) is installed on the rack (1) and is positioned on the outer side of the plate wiping mechanism (2).

4. The troweling robot according to claim 1, characterized in that said troweling pan mechanism (2) further comprises:

one end of the swabbing plate rotating shaft (23) is connected with the swabbing plate frame (200), and the second end of the swabbing plate rotating shaft (23) penetrates through the rack (1) and then is connected with the driving mechanism (5).

5. Troweling robot according to claim 4, characterized in that the troweling tray frame (200) comprises:

a retainer ring (210), the swabbing disc (21) being mounted on the retainer ring (210);

the supporting component (211) is arranged on the inner side of the retainer ring (210), and the supporting component (211) is connected with the retainer ring (210) through a supporting frame (212);

wherein, the supporting plane of the supporting frame (212) is connected with the supporting plane of the supporting component (211) through a transition surface.

6. The trowelling robot according to claim 5, characterized in that the support member (211) is a cylindrical structure, a housing cavity (22) is provided in the support member (211), and at least part of the traveling mechanism (3) is installed in the housing cavity (22).

7. The troweling robot according to any one of claims 1 to 6, characterized in that said walking mechanism (3) comprises:

a traveling wheel (30);

first promotion part (31), first promotion part (31) have a catch bar, first catch bar telescopically sets up, the promotion end of first catch bar with walking wheel (30) are connected to drive through first catch bar walking wheel (30) move along vertical direction.

8. Troweling robot according to claim 7, characterized in that said walking mechanism (3) further comprises:

the first pressure sensor (33) is arranged between the pushing end of the first pushing rod and the walking wheel (30) and used for sensing the pressure between the walking wheel (30) and the ground.

9. The trowelling robot according to claim 7, characterized in that a mounting cavity (301) is provided in the walking wheel (30), and the walking mechanism (3) further comprises:

a driving part (34), wherein a driving shaft of the driving part (34) is connected with the wheel body of the walking wheel (30) so as to drive the walking wheel (30) to rotate through the driving part (34).

10. Troweling robot according to claim 1, characterized in that said steering mechanism (4) comprises:

a second pushing member (42), the second pushing member (42) having a second pushing rod (420), the second pushing rod (420) being telescopically arranged;

the pushing end of the second pushing rod (420) is connected with the first connecting rod (43), and the connecting end of the first connecting rod (43) is connected with the traveling mechanism (3).

11. Troweling robot according to claim 10, characterized in that said steering mechanism (4) further comprises:

a first spherical plain bearing (44);

retaining member (45), retaining member (45) with running gear (3) fixed connection, retaining member (45) have connecting arm (450), first connecting rod (43) pass through first joint bearing (44) with connecting arm (450) are connected.

12. The troweling robot according to any one of claims 1 to 6, characterized in that said driving mechanism (5) comprises:

a power member (51);

a speed reduction member (52), an output shaft of the power member (51) being connected to an input shaft of the speed reduction member (52);

the output shaft of the speed reducing part (52) is connected with the driving assembly (53), and the driving assembly (53) is in driving connection with the swabbing mechanism (2) to drive the swabbing mechanism (2) to rotate.

13. Troweling robot according to claim 12, characterized in that said driving mechanism (5) further comprises:

the transmission belt (54), the said transmission belt (54) is fitted over the output shaft of the said power part (51) and input shaft of the said deceleration part (52);

an electric power component (55), wherein an input shaft of the electric power component (55) is connected with the transmission belt (54) so that the transmission belt (54) does work on the electric power component (55) in the transmission process.

14. The trowelling robot according to claim 12, characterized in that said trowel mechanism (2) comprises a trowel rotation shaft (23), said drive assembly (53) comprising:

the driven gear (530), the driven gear (530) is sleeved on the swabbing rotating shaft (23) and is fixedly connected with the swabbing rotating shaft (23);

the driving gear (531), the driving gear (531) and the driven gear (530) are meshed with each other, and an output shaft of the speed reducing part (52) is connected with the driving gear (531), so that the driving gear (531) drives the driven gear (530) to rotate.

15. Troweling robot according to claim 2, characterized in that said caster mechanism (9) comprises:

a caster (90);

a fourth pushing component (91), at least part of the fourth pushing component (91) is installed on the frame (1), the fourth pushing component (91) is provided with a telescopic fourth pushing rod, and the caster (90) is connected with the fourth pushing rod through a guide shaft;

a second pressure sensor (92), the second pressure sensor (92) being disposed between a pushing end of the fourth pusher arm and the guide shaft.