CN111287433A

CN111287433A - Connecting support and ground leveling robot

Info

Publication number: CN111287433A
Application number: CN202010251946.0A
Authority: CN
Inventors: 王堃; 冯文龙; 李思桥; 宗晓; 胡伟; 徐振伟; 肖南平
Original assignee: Zhushi Technology Huzhou Co Ltd
Current assignee: Suzhou Fangshi Technology Co.,Ltd.
Priority date: 2020-04-01
Filing date: 2020-04-01
Publication date: 2020-06-16

Abstract

The invention provides a connecting bracket and a ground leveling robot. The connecting support comprises a fixing frame, a driving frame, a four-bar linkage mechanism consisting of a main connecting rod and an auxiliary connecting rod, the main connecting rod is connected with the fixing frame through a revolute pair, the auxiliary connecting rod is connected with the fixing frame through a ball pair, and the main connecting rod and the auxiliary connecting rod are respectively connected with the driving frame through the ball pair. Therefore, the four-bar mechanism formed by the fixed frame, the driving frame, the main connecting bar and the auxiliary connecting bar can keep the motion characteristic of the parallelogram mechanism, has spatial flexibility, and avoids the driving vehicle from inclining left and right to link the ground treatment mechanism to incline left and right, thereby ensuring the construction effect of uniformly treating the concrete ground and ensuring the construction quality.

Description

Connecting support and ground leveling robot

Technical Field

The invention relates to the technical field of construction equipment, in particular to a connecting support and a ground leveling robot.

Background

With the increasing requirements on building quality, the quality of ground forming is particularly important, and the method is directly related to the realizable degree of a subsequent new process and method, such as a new floor tile thin-pasting process, a wood floor installation secondary-leveling-free technology and the like. The existing high-precision ground is continuously corrected mainly in a mode of manual polishing and retesting until the target requirement is met, the efficiency is low, the whole construction period is seriously influenced, the labor cost is high, and due to the fact that the technical levels of different workers are different, the effects of the high-precision ground are also different in level, and the difference is large.

The construction of high-precision concrete ground is divided into three important processes, namely ground leveling, floating, slurry lifting, surface collecting and polishing. The ground leveling process refers to elevation control and secondary vibration of the concrete ground after concrete pouring and paving, and a common constructor at the present stage comprises a wood trowel, a vibration leveling ruler, a vibration leveling beam and the like. The vibrating ruler is additionally provided with a vibrating motor on the basis of a wooden trowel, so that the compacting effect is further improved, the vibrating ruler also has the defects that the elevation is difficult to control and the construction efficiency is low, meanwhile, workers cannot work for a long time, and the physical strength of the workers is greatly tested by using the vibrating ruler. The vibrating beam then indicates to arrange the guide rail in concrete both sides, arranges the crossbeam between two guide rails to and at vibrating motor, drive the crossbeam simultaneously and move along the guide rail, thereby a concrete plane is gone out in the flattening, and the vibrating beam can guarantee better elevation face, and simultaneously, the effect of compaction is also better, but, the vibrating beam is established on the spot more troublesome, and is independent between every concrete plane, needs the later stage to do the seam, and efficiency is not high.

After the concrete is initially set, the concrete ground needs to be screeded and subjected to a grout lifting construction process, the screeding of the ground is an important process in the forming process of the concrete ground, and the implementation quality of the process directly influences the problems of whether the concrete is cracked in the later stage, the levelness of the ground and the like. The ground surface floating work mainly has three modes, the first mode is that a trowel is manually used for floating the ground surface, the efficiency is low, and the floating quality is not high; the second type is to use a hand-held trowelling machine, which needs to be supported by hands to operate, the trowelling plate is driven by a gasoline engine in a rotating way by walking through manual driving, and compared with manual trowelling, the hand-held trowelling machine is relatively labor-saving, but the efficiency is not high due to manual driving, the gasoline engine vibrates violently, the manual operation time cannot be too long, and the trowelling efficiency is general; the third is to use the driving trowelling machine, and the people can sit on the trowelling machine, operates the trowelling machine motion, compares in above-mentioned two kinds of modes, and this method is laborsaving, and efficiency is higher, but because its own characteristic problem, this equipment quality is great, when carrying out the ground floating work after the initial set, equipment often can leave great floating mark, and the effect of floating and receipts face is not good, and is better to the concrete ground polishing effect after the final set.

At present, automatic eveners are also available on the market to improve the construction effect of concrete floors. The existing automatic trowelling machine basically comprises a driving vehicle, a connecting support and a levelling mechanism, wherein the levelling mechanism is connected with the driving vehicle through the connecting support, and the connecting support can drive the levelling mechanism to move in the vertical direction. In the moving process of the leveling machine, if the driving vehicle meets the problem of uneven ground, the driving vehicle can incline left and right in the driving direction, and then the leveling mechanism is driven by the connecting support to incline left and right, so that uneven treatment on the concrete ground is caused, and the construction quality is influenced.

Disclosure of Invention

The invention mainly aims to provide a connecting bracket and a ground leveling robot, so as to solve the technical problem of uneven treatment of a concrete ground caused by the problem of uneven ground of a leveling machine in the prior art.

In order to achieve the above object, according to one aspect of the present invention, there is provided an attachment bracket including: the driving frame is used for being connected with the ground processing mechanism; the four-bar mechanism comprises a main connecting bar and an auxiliary connecting bar, wherein one of the main connecting bar and the auxiliary connecting bar is connected with a fixed frame through a revolute pair, the other of the main connecting bar and the auxiliary connecting bar is connected with the fixed frame through a ball pair, the main connecting bar and the auxiliary connecting bar are respectively connected with a driving frame through the ball pair, and the fixed frame, the driving frame, the main connecting bar and the auxiliary connecting bar form a four-bar mechanism.

In one embodiment, the ball pair is comprised of at least two revolute pairs.

In one embodiment, the connecting bracket further comprises a movable hinge rod, a first end of the movable hinge rod is pivotally connected with one of the main connecting rod and the auxiliary connecting rod along a direction perpendicular to a plane of the connecting bracket, a second end of the movable hinge rod is connected with the driving frame along a pivot on the plane of the connecting bracket, and the movable hinge rod and the pivot connection structures at two ends of the movable hinge rod form a ball pair.

In one embodiment, the first end of the living hinge rod is pivotally connected to the main link in a direction perpendicular to the plane of the connecting bracket.

In one embodiment, the connecting bracket further comprises: the first end of the telescopic driving piece is hinged with the fixing frame, and the second end of the telescopic driving piece is hinged with the main connecting rod or the auxiliary connecting rod.

In one embodiment, the telescopic drive is an electric push rod or an electric cylinder.

In order to achieve the above object, according to one aspect of the present invention, there is provided a ground treatment robot comprising: the driving vehicle comprises a vehicle body and a movable driving piece arranged on the vehicle body; the connecting bracket is connected between the vehicle body and the ground processing mechanism; the connecting bracket is the connecting bracket.

In one embodiment, the first end of the connecting bracket is connected to the vehicle body by a first quick release structure.

In one embodiment, the first quick release structure includes a snap groove provided on the vehicle body and a snap block provided at a first end of the link bracket, the first end of the link bracket being rotatably coupled to the snap block along a vertical axis.

In one embodiment, the second end of the linking bracket is connected to the surface treating mechanism by a second quick release structure.

In one embodiment, the ground processing mechanism includes a leveling mechanism and a troweling mechanism, and the connecting bracket is selectively connected with the leveling mechanism or the troweling mechanism through a second quick release structure.

By applying the technical scheme of the invention, the ground processing mechanism can be driven to lift and adjust the height through the connecting support, when the driving vehicle is inclined due to uneven ground, the fixing frame tilts left and right along with the driving vehicle, and the fixing frame connected with the driving vehicle can drive the main connecting rod and the auxiliary connecting rod to relatively twist due to the fact that the auxiliary connecting rod is connected with the fixing frame through the ball pair and the main connecting rod and the auxiliary connecting rod are respectively connected with the driving frame through the ball pair, so that the driving frame is still in the original vertical position under the action of the weight of the ground processing mechanism, the ground processing mechanism is prevented from being linked to tilt left and right due to the left and right tilting of the driving vehicle, the construction effect of uniformly processing the concrete ground is ensured, and the construction quality.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary 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 overall structural view of an embodiment of a connecting bracket according to the invention;

FIG. 2 is a schematic structural view showing a twisted state of the connecting bracket of FIG. 1;

FIG. 3 shows a left side view of the connecting bracket of FIG. 2;

figure 4 shows a schematic structural view of a ground handling robot mounted levelling mechanism according to the invention;

FIG. 5 is an exploded view of the connecting bracket and the vehicle body of the floor treating robot of FIG. 4;

FIG. 6 shows a front schematic view of the ground handling robot of FIG. 4;

fig. 7 shows a schematic structural diagram of a ground handling robot mounting and floating mechanism according to the invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments 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.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

As shown in fig. 1, 2 and 3, in the technical solution of the present invention, the connecting bracket 20 includes a four-bar linkage mechanism composed of a fixed frame 21, a driving frame 22, a main link 23 and an auxiliary link 24, the fixed frame 21 is used for connecting with the driving vehicle 10, the driving frame 22 is used for connecting with the ground processing mechanism, the main link 23 is connected with the fixed frame 21 through a revolute pair, the auxiliary link 24 is connected with the fixed frame 21 through a ball pair, and the main link 23 and the auxiliary link 24 are respectively connected with the driving frame 22 through a ball pair. Therefore, the fixed frame 21, the driving frame 22, the main link 23 and the auxiliary link 24 form a four-link mechanism, which maintains the motion characteristics of the parallelogram mechanism and has flexibility in space.

By applying the technical scheme of the invention, the connecting bracket 20 can drive the ground processing mechanism to lift and adjust the height, when the driving vehicle 10 is inclined due to uneven ground, the fixing frame 21 inclines left and right along with the driving vehicle 10, and because the auxiliary connecting rod 24 is connected with the fixing frame 21 through the ball pair and the main connecting rod 23 and the auxiliary connecting rod 24 are respectively connected with the driving frame 22 through the ball pair, the fixing frame 21 connected with the driving vehicle 10 can drive the main connecting rod 23 and the auxiliary connecting rod 24 to twist relatively, so that the driving frame 22 is still at the original vertical position under the action of the weight of the ground processing mechanism, the driving vehicle 10 is prevented from inclining left and right to link the ground processing mechanism to incline left and right, thereby ensuring the construction effect of uniformly processing the concrete ground and ensuring the construction quality.

It should be noted that, in the technical solution of the present invention, the concept of ball pair connection refers to a movement mode of ball pair connection based on mechanical principle, and specifically, at least two rotating pairs may be connected to form a ball pair movement structure. In particular, the universal joint connector or the fisheye bearing can be used. In the technical solution of the present invention, as shown in fig. 3, the ball pair is a fisheye bearing.

As another alternative embodiment, the auxiliary link 24 is connected with the fixed frame 21 through a revolute pair, the main link 23 is connected with the fixed frame 21 through a ball pair, the main link 23 and the auxiliary link 24 are respectively connected with the driving frame 22 through a ball pair, the fixed frame 21, the driving frame 22, the main link 23 and the auxiliary link 24 form a four-link mechanism, and the effect of relatively twisting the fixed frame 21, the main link 23 and the auxiliary link 24 and keeping the driving frame 22 at the original vertical position can also be achieved.

As a preferred embodiment, as shown in fig. 1 and 2, the connecting bracket 20 further includes a movable hinge rod 26, a first end of the movable hinge rod 26 is pivotally connected to the main link 23 along a direction perpendicular to the plane of the connecting bracket 20, a second end of the movable hinge rod 26 is pivotally connected to the driving frame 22 along the plane of the connecting bracket 20, and the movable hinge rod 26 and the pivotal connection structures at the two ends thereof form a ball pair. When the ground processing mechanism can be driven to lift and adjust the height through the connecting bracket 20, the main connecting rod 23 and the auxiliary connecting rod 24 swing along the axial direction which is vertical to the plane of the connecting bracket 20, and the driving frame 22 is driven to lift and lower together with the movable hinge rod 26. When the driving cart 10 is inclined due to the unevenness of the ground, the fixed frame 21 is inclined left and right following the driving cart 10, and the driving frame 22 is rotated relative to the movable hinge rod 26 along the axis of the plane of the connecting bracket 20, so that the driving frame 22 can maintain the original vertical position, and thus, the connecting bracket 20 can be given higher flexibility by the movable hinge rod 26. As another alternative, a first end of the living hinge lever 26 is pivotally connected to the secondary link 24 in a direction perpendicular to the plane of the link bracket 20, and a second end of the living hinge lever 26 is pivotally connected to the driving frame 22 in the plane of the link bracket 20.

As shown in fig. 1, the connecting bracket 20 further includes: and a first end of the telescopic driving member 25 is hinged with the fixed frame 21, and a second end of the telescopic driving member 25 is hinged with the main connecting rod 23. When in use, the telescopic driving member 25 extends or retracts to drive the four-bar linkage mechanism consisting of the fixed frame 21, the driving frame 22, the main connecting rod 23 and the auxiliary connecting rod 24 to deform, so as to drive the driving frame 22 to lift. As other alternative embodiments, it is also possible that the second end of the telescopic driving member 25 is hinged with the secondary link 24, and the function of moving the driving frame 22 up and down, and thus the ground processing mechanism, can also be realized.

It should be noted that, in the technical solution of the present invention, the telescopic driving member 25 is an electric push rod, and as another alternative embodiment, the telescopic driving member 25 may also be an electric cylinder or a pneumatic or hydraulic cylinder in another form.

As shown in fig. 4, the present invention also provides a ground-handling robot including a driving cart 10, a connecting bracket 20, and a ground-handling mechanism. The driving vehicle 10 comprises a vehicle body 11 and a movable driving member 12 mounted on the vehicle body 11, wherein a connecting bracket 20 is connected between the vehicle body 11 and the ground processing mechanism, and the connecting bracket 20 is the connecting bracket 20. By adopting the connecting bracket 20, the driving vehicle 10 can be prevented from inclining left and right through the connecting bracket 20 and the ground processing mechanism, so that the construction effect of uniformly processing the concrete ground is ensured, and the construction quality is ensured.

In the solution of the invention, the mobile driving element 12 is a wheel, as an alternative embodiment, the mobile driving element 12 may be a track.

As shown in fig. 5, as a preferred embodiment, the first end of the connecting bracket 20 is connected to the vehicle body 11 through a first quick release structure 30 for transportation and hoisting, and is assembled on site before construction for construction. Preferably, in the solution of the present embodiment, the first quick release structure 30 includes a clamping groove 31 disposed on the vehicle body 11 and a clamping block 32 disposed at the first end of the connecting bracket 20, and the first end of the connecting bracket 20 is rotatably connected to the clamping block 32 along a vertical axis. As an alternative embodiment, the locking groove 31 is a dovetail groove, and the locking block 32 is a T-shaped block matched with the dovetail groove. As an alternative embodiment not shown in the drawings, the first quick release structure 30 may also be a bayonet type quick release mating structure.

As shown in fig. 6 and 7, in the solution of the present embodiment, the ground processing mechanism includes a leveling mechanism 50 and a leveling mechanism 60, and the connecting bracket 20 is selectively connected to the leveling mechanism 50 or the leveling mechanism 60 through the second quick release structure 40. Therefore, the corresponding ground processing mechanism can be selected according to different working condition requirements, and when the ground needs to be leveled at the beginning, the driving vehicle 10 is connected with the leveling mechanism 50, so that the leveling mechanism 50 can realize the primary leveling work on the ground; then, the vehicle 10 can be selectively driven to connect with the floating mechanism 60, so that the floating mechanism 60 can perform a floating or smoothing process on the ground. Therefore, the construction requirements of different procedures of concrete ground construction can be met only by one set of product of the invention, and the construction cost of the concrete ground is controlled. Preferably, there are a plurality of flattening mechanisms 50, and the connecting bracket 20 is selectively connectable to one of the plurality of flattening mechanisms 50 via the second quick release structure 40. More preferably, the troweling mechanism 60 is a plurality of types, and the connecting bracket 20 is selectively connected to one of the plurality of troweling mechanisms 50 through the second quick release structure 40. In this way, different leveling mechanisms 50 and leveling mechanisms 60 can be replaced, and replacement after wear is facilitated, so that the universality and maintainability of the product are improved. The particular flattening mechanism 50 may be of different sizes with a range of lengths that may be changed to achieve different operating ranges. Can use longer vibrating plate and scraper blade to improve the operating speed in open place, can use the flexibility that shorter vibrating plate and scraper blade guaranteed to travel in narrow place and the more complex environment of barrier to the commonality of evener has been improved. In the technical solution of this embodiment, the second quick release structure 40 is a torx screw, which can realize the quick replacement of the leveling mechanism 50. As other alternative embodiments, the second quick release structure 40 may also be a quick release screw, a quick release pin or other structures, and may be packaged for transportation or lifted for transportation and lifting, respectively.

Optionally, as shown in fig. 4, there are 2 laser receivers and an upright rod, the laser receivers are mounted on the upright rod, and the lower end of the upright rod is fixedly mounted on the scraper. The laser receiver receives the laser with fixed height emitted by the laser emitter, and can measure the relative height of the laser receiver to the laser, so that the relative height of the scraper can be converted. The relative height is compared with a set value, and the height and the posture adjustment amount of the scraper can be calculated according to the deviation.

It should be noted that, in the technical solution of the present invention, the driving vehicle 10 further includes a remote control module, and the remote control module can perform remote control operation, so as to prevent an operator from entering the concrete being poured, greatly improve the working environment, and reduce the interference to the surface quality of the concrete. The remote control module consists of a control handle and a receiver mounted on the vehicle body 11. The user can send control commands of advancing, retreating, left turning, right turning, accelerating, decelerating and the like through the control handle. The control handle and the receiver are communicated in a wireless mode. And after receiving the instruction, the receiver sends the instruction to the whole machine control system to make corresponding action.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by 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. An attachment bracket, comprising:

the device comprises a fixed frame (21) and a driving frame (22), wherein the fixed frame (21) is used for being connected with a driving vehicle (10), and the driving frame (22) is used for being connected with a ground processing mechanism;

main connecting rod (23) and vice connecting rod (24), main connecting rod (23) with in vice connecting rod (24) with mount (21) are connected through the revolute pair, main connecting rod (23) with in vice connecting rod (24) another with mount (21) are connected through the ball pair, main connecting rod (23) with vice connecting rod (24) respectively with driving frame (22) are connected through the ball pair, mount (21) driving frame (22) main connecting rod (23) with vice connecting rod (24) constitute four-bar linkage.

2. The attachment bracket of claim 1 wherein said ball set is comprised of at least two revolute sets.

3. The connecting bracket according to claim 2, characterized in that the connecting bracket further comprises a movable hinge rod (26), a first end of the movable hinge rod (26) is pivotally connected with one of the main link (23) and the auxiliary link (24) along a direction perpendicular to the plane of the connecting bracket (20), a second end of the movable hinge rod (26) is pivotally connected with the driving frame (22) along the plane of the connecting bracket (20), and the movable hinge rod (26) and the pivotal connection structures at the two ends form a ball pair.

4. A connecting bracket according to claim 3, characterised in that the first end of the living hinge lever (26) is pivotally connected to the main link (23) in a direction perpendicular to the plane of the connecting bracket (20).

5. The attachment bracket of claim 1, further comprising: the first end of the telescopic driving piece (25) is hinged to the fixing frame (21), and the second end of the telescopic driving piece (25) is hinged to the main connecting rod (23) or the auxiliary connecting rod (24).

6. A ground handling robot, comprising:

a drive vehicle (10), the drive vehicle (10) comprising a vehicle body (11) and a mobile drive member (12) mounted on the vehicle body (11);

the connecting bracket (20) is connected between the vehicle body (11) and the ground processing mechanism;

-the connecting bracket (20) being according to any of claims 1 to 5.

7. A ground handling robot according to claim 6, characterized in that the first end of the connecting bracket (20) is connected to the vehicle body (11) by means of a first quick release structure (30).

8. The ground handling robot according to claim 7, characterized in that the first quick release structure (30) comprises a snap groove (31) provided on the vehicle body (11) and a snap block (32) provided at a first end of the connecting bracket (20), the first end of the connecting bracket (20) being rotatably connected to the snap block (32) along a vertical axis.

9. A ground handling robot according to claim 6, characterized in that the second end of the connecting bracket (20) is connected to the ground handling mechanism by means of a second quick release structure (40).

10. A ground handling robot according to claim 9, characterized in that the ground handling mechanism comprises a levelling mechanism (50) and a troweling mechanism (60), the connecting bracket (20) being selectively connectable to the levelling mechanism (50) or to the troweling mechanism (60) by means of the second quick release structure (40).