CN111827642A - Transfer device of floating equipment and floating equipment - Google Patents
Transfer device of floating equipment and floating equipment Download PDFInfo
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- CN111827642A CN111827642A CN202010699867.6A CN202010699867A CN111827642A CN 111827642 A CN111827642 A CN 111827642A CN 202010699867 A CN202010699867 A CN 202010699867A CN 111827642 A CN111827642 A CN 111827642A
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- steering
- jacking
- transverse moving
- rollers
- transfer device
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
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Abstract
The invention discloses a transfer device of a floating device and the floating device, wherein the transfer device comprises: a jacking mechanism; the steering mechanism is connected with the jacking mechanism; the transverse moving mechanism is connected with the steering mechanism and comprises a transverse moving driving assembly and a plurality of rollers, and the transverse moving driving assembly is connected with at least one roller to drive the rollers to move; the jacking mechanism drives the transverse moving mechanism to ascend so as to enable the plurality of rollers to be far away from the ground; the jacking mechanism drives the transverse moving mechanism to descend so that the rollers contact the ground and the chassis is far away from the ground, the steering mechanism rotates relative to the transverse moving mechanism to steer the chassis, and the rollers are used for driving the chassis to walk. The invention can realize the operation of jacking, steering and traversing, and because the traversing mechanism comprises a plurality of rollers, the contact area of the traversing mechanism with the construction surface is larger, the pressure intensity of the unit area when the traversing mechanism is in contact with the construction surface can be reduced, obvious indentation can be avoided when the traversing mechanism is in steering and traversing operation, and the probability of slippage is reduced.
Description
Technical Field
The invention relates to the technical field of building construction equipment, in particular to a transfer device of floating equipment and the floating equipment.
Background
When the existing ground leveling robot walks forwards and backwards, a long-strip roller is adopted to drive the whole machine to walk, the concrete is initially set on the ground by rolling, a leveling plate is driven to perform ground leveling, the whole machine mainly adopts a ball spline screw to perform lifting and rotating motion, and the bottom of the whole machine performs transverse motion through a tire mechanism or a crawler mechanism.
However, when the bottom tire mechanism is jacked up, the pressure per unit area of the tire acted by the self weight of the machine body is overlarge, an unremovable indentation is generated on the ground, and the tire is easy to slip during transverse movement; secondly, the bottom crawler mechanism has high requirements on working environment and poor adaptability, and when the bottom crawler mechanism is applied to a concrete construction environment, the crawler is easy to disengage, break, slip and the like.
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 transfer device of a floating device, which aims to solve the problems that a bottom transverse moving mechanism and a construction surface are easy to generate large indentations when the existing ground floating robot turns and transversely moves, and the existing ground floating robot cannot be well adapted to severe construction environments.
The invention also aims to provide a floating device applying the transfer device.
According to the embodiment of the invention, the transfer device of the floating equipment comprises: the jacking mechanism is arranged on a chassis of the trowelling equipment; the steering mechanism is connected with the jacking mechanism and driven by the jacking mechanism to lift; the transverse moving mechanism is connected with the steering mechanism and driven by the steering mechanism to rotate around a vertical shaft, and comprises a transverse moving driving assembly and a plurality of rollers, and the transverse moving driving assembly is connected with at least one roller and drives the plurality of rollers to move; the jacking mechanism drives the transverse moving mechanism to ascend so as to enable the plurality of rollers to be far away from the ground; the jacking mechanism drives the transverse moving mechanism to descend so that the rollers contact the ground and the chassis is far away from the ground, the steering mechanism rotates relative to the transverse moving mechanism to steer the chassis, and the rollers are used for driving the chassis to walk.
According to the transfer device of the floating equipment, the jacking mechanism, the steering mechanism and the transverse moving mechanism are arranged, so that jacking, steering and transverse moving operations can be realized, and the transfer device is high in overall functionality and linkage. And because the sideslip mechanism includes a plurality of cylinders, consequently the area of contact with the construction face is great, can reduce the pressure on the unit area when contacting with the construction face, can avoid producing obvious indentation when turning to with the sideslip operation, reduces the probability that skids to appear, in addition, adopts the sideslip drive mode of a plurality of cylinders, and the motion is reliable and stable, and is not fragile, adaptable abominable construction environment.
In some embodiments, the rollers are arranged side by side, and the rollers are hollow rollers.
In some embodiments, the traversing mechanism further comprises: the transverse moving machine base comprises a transverse moving top plate and two transverse moving side plates, the two transverse moving side plates are arranged on the transverse moving top plate at intervals, the transverse moving top plate is connected with the steering mechanism, and two ends of each roller are arranged on the two transverse moving side plates in a pivoting mode.
In some embodiments, the traverse drive assembly comprises: the transverse moving motor is arranged on the transverse moving top plate; the first driving wheel is connected with an output shaft of the traversing motor; one end of at least one roller is provided with the second driving wheel; the first flexible piece is sleeved on the first driving wheel and the second driving wheel.
Optionally, the traverse drive assembly further comprises: the third driving wheels are correspondingly connected with the other ends of the rollers far away from the second driving wheels one by one; and the second flexible part is sleeved on part of the third driving wheel, and part of the third driving wheel comprises the third driving wheel which is positioned on the same roller as the second driving wheel.
In some embodiments, the jacking mechanism comprises: jacking the machine base; the jacking motor is arranged on the jacking machine base; the screw rod is pivotally arranged on the jacking machine base, and the jacking motor moves and is linked with the screw rod to drive the screw rod to rotate; the nut is arranged on the screw rod and connected with the steering mechanism to drive the steering mechanism to lift.
Optionally, the steering mechanism includes: the steering base is vertically movably arranged on the jacking base, the steering base is connected with the nut, and the lead screw penetrates through the steering base; the steering wheel is pivotally arranged on the steering base and connected with the transverse moving mechanism to drive the transverse moving mechanism to rotate; the steering motor is arranged on the steering base and is linked with the steering wheel in a motion mode so as to drive the steering wheel to rotate.
Optionally, the jacking machine base comprises a jacking top plate and a jacking side plate connected with the jacking top plate, the jacking side plate is used for being connected with the chassis, the screw rod and the jacking motor are both arranged on the jacking top plate, and a through hole is formed in the jacking top plate; the steering engine base comprises a steering bottom plate, a steering top plate and a guide piece, the steering top plate and the steering bottom plate are located on the upper side and the lower side of the jacking top plate, the steering bottom plate is connected with the nut, one end of the guide piece is connected with the steering bottom plate and the other end of the guide piece is connected with the steering top plate, and the guide piece is in sliding fit with the through hole.
In some embodiments, the lead screw has a passageway therethrough in an axial direction; the transfer device further comprises a wire passing cylinder, the wire passing cylinder is arranged in the passageway and in clearance fit with the passageway, and the wire passing cylinder is used for being arranged on the chassis to place a cable connected with the transverse moving mechanism.
In some embodiments, the steering mechanism is provided with a sensing member; the jacking mechanism further comprises a first detection piece and a second detection piece which are arranged at intervals along the jacking direction, and the first detection piece and the second detection piece detect the induction piece to control the lifting height of the steering mechanism.
A troweling apparatus according to an embodiment of the present invention includes: the chassis is used for driving the floating equipment to walk; the slurry lifting mechanism is arranged on the chassis and is used for trowelling and vibrating a construction surface; a transfer device according to any one of the preceding.
According to the floating equipment provided by the embodiment of the invention, the floating equipment can realize the operations of jacking, steering and transverse moving by arranging the transfer device, and the transfer device has strong functionality and strong linkage. And because the sideslip mechanism of transfer device includes a plurality of cylinders, consequently the area of contact with the construction face is great, can reduce the pressure on the unit area when contacting with the construction face, and the floating equipment can avoid producing obvious indentation on the construction face when turning to with the sideslip operation, reduces the probability of skidding appearing, in addition, adopts the sideslip drive mode of a plurality of cylinders, and the motion is reliable and stable, and is not fragile, adaptable abominable construction environment.
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 transfer device according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of a traversing mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a second embodiment of a transfer device according to the present invention;
FIG. 4 is a schematic perspective view of a jacking mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic perspective view of a steering mechanism according to an embodiment of the present invention;
FIG. 6 is a sectional view showing the internal structure of the transferring apparatus in the embodiment of the present invention;
fig. 7 is a schematic perspective view of a floating device in an embodiment of the present invention.
Reference numerals:
100. a transfer device;
10. a jacking mechanism;
11. jacking the machine base; 111. jacking a top plate; 1111. a through hole; 112. jacking the side plate; 1101. a circular flange lead screw support; 1102. a detection piece fixing seat;
12. a jacking motor; 13. a lead screw; 131. an aisle; 14. a nut; 15. a first detecting member; 16. a second detecting member; 17. a first flexible transmission mechanism; 18. a first speed reducer;
20. a steering mechanism;
21. a steering base; 211. a steering base plate; 212. a steering top plate; 213. a guide member;
22. a steering wheel; 23. a steering motor; 24. a sensing member; 25. a second flexible transmission mechanism; 26. angular contact ball bearings; 27. a connecting flange; 28. a second speed reducer;
30. a traversing mechanism;
31. a traverse driving assembly; 311. a traversing motor; 312. a first drive pulley; 313. a second transmission wheel; 314. a first flexure; 315. a third transmission wheel; 316. a second flexure; 317. a tension wheel; 318. a motor shield;
32. a drum; 33. transversely moving the machine base; 331. transversely moving the top plate; 3311. a flange plate; 332. transversely moving the side plates;
40. a wire passing cylinder; 50. a cable;
1000. leveling equipment; 200. a chassis; 300. a pulp extracting mechanism; 400. a control box; 500. and (5) installing the system.
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 "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate orientations and 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 device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered 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 transfer device 100 of the troweling apparatus according to the embodiment of the present invention is described below with reference to the drawings.
As shown in fig. 1, a transfer device 100 of a troweling apparatus according to an embodiment of the present invention includes: the device comprises a jacking mechanism 10, a steering mechanism 20 and a transverse moving mechanism 30.
The jacking mechanism 10 is used for being arranged on a chassis 200 of the troweling apparatus 1000. The steering mechanism 20 is connected with the jacking mechanism 10 to be driven by the jacking mechanism 10 to lift. The traversing mechanism 30 is coupled to the steering mechanism 20 to rotate about a vertical axis under the influence of the steering mechanism 20. The traversing mechanism 30 comprises a traversing driving assembly 31 and a plurality of rollers 32, the traversing driving assembly 31 is connected with at least one roller 32 to drive the plurality of rollers 32 to travel, that is, the traversing driving assembly 31 can be in driving connection with one roller 32, so that a single roller 32 drives the transferring device 100 to travel, and the rest rollers 32 follow the traveling, or the traversing driving assembly 31 is in driving connection with a plurality of rollers 32, so that a plurality of rollers 32 drive the transferring device 100 to travel, and the driving effect is better.
The jacking mechanism 10 drives the traversing mechanism 30 to ascend, so as to make the plurality of rollers 32 far away from the ground, that is, because the transferring device 100 is arranged on the chassis 200, the plurality of rollers 32 far away from the ground, that is, will not contact the construction surface, and at this moment, the traversing mechanism 30 is in the "retracting state", which will not affect the normal operation of the trowelling apparatus 1000. The jacking mechanism 10 drives the traversing mechanism 30 to descend so as to enable the plurality of rollers 32 to contact the ground and enable the chassis 200 to be far away from the ground, wherein the steering mechanism 20 rotates relative to the traversing mechanism 30 to steer the chassis 200, the plurality of rollers 32 are used for driving the chassis 200 to travel, that is, when the troweling equipment 1000 needs to be transferred, the jacking mechanism 10 drives the steering mechanism 20 to descend so as to enable the traversing mechanism 30 to descend, at the moment, the traversing mechanism 30 is in a 'release state', the plurality of rollers 32 contact the ground, as the jacking mechanism 10 continues to enable the steering mechanism 20 to descend, the chassis 200 is lifted to be far away from the construction surface, namely, the chassis 200 is located above the construction surface, at the moment, the steering mechanism 20 drives the traversing mechanism 30 to steer, as the traversing mechanism 30 contacts the construction surface and is static relative to the construction surface, the steering mechanism 20 rotates relative to the traversing mechanism 30 in turn, so as to enable the steering mechanism 20, the jacking mechanism 10 and, and the floating equipment 1000 is turned in place. The traverse drive assembly 31 then drives the rollers 32 to roll for lateral movement, thereby transferring the troweling apparatus 1000 in any direction.
According to the transfer device 100 of the floating equipment, the jacking mechanism 10, the steering mechanism 20 and the transverse moving mechanism 30 are arranged, so that jacking, steering and transverse moving operations can be realized, and the whole function and linkage are strong. And because the cross sliding mechanism 30 comprises a plurality of rollers 32, the contact area with the construction surface is larger, the pressure intensity of the unit area when the cross sliding mechanism is in contact with the construction surface can be reduced, obvious indentation can be avoided when steering and cross sliding are carried out, the probability of skidding is reduced, and in addition, the cross sliding driving mode of the plurality of rollers 32 is adopted, so that the movement is stable and reliable, the damage is not easy to damage, and the cross sliding mechanism is suitable for severe construction environments.
In some embodiments, as shown in fig. 1 and 6, the plurality of rollers 32 are arranged side-by-side. And a plurality of cylinders 32 are the fretwork cylinder, and when contacting the construction surface, compare in smooth cylinder, the fretwork cylinder can make the laitance can not remove along with sideslip mechanism 30, and in the in-process of walking forward and promoting the laitance promptly, the laitance goes out after advancing via the hole of fretwork on the cylinder 32, in time discharges the laitance that the roll extrusion produced to the rear end of cylinder 32. In addition, the hollow holes increase the associativity of the roller 32 and the construction surface, so that the ground grabbing force of the roller 32 is increased, and the slipping phenomenon is further avoided.
Alternatively, the plurality of rollers 32 may be helical rollers, that is, the surface of the roller 32 is provided with a spiral groove extending along the axis, which also has the effect of anti-slip discharge.
In some embodiments, as shown in fig. 2, the traverse mechanism 30 further includes a traverse base 33, the traverse base 33 includes a traverse top plate 331 and two traverse side plates 332, and the two traverse side plates 332 are spaced apart from each other and disposed on the traverse top plate 331, wherein the traverse top plate 331 is connected to the steering mechanism 20, and both ends of each roller 32 are pivotally disposed on the two traverse side plates 332.
Optionally, as shown in fig. 2, a flange 3311 is provided on the traverse top plate 331, and the traverse top plate 331 is connected to the steering mechanism 20 through the flange 3311.
In some embodiments, as shown in FIG. 2, the traverse drive assembly 31 comprises: a traverse motor 311, the traverse motor 311 being provided on the traverse top plate 331; a first driving wheel 312, the first driving wheel 312 being connected to an output shaft of the traverse motor 311; a second driving wheel 313, one end of at least one roller 32 is provided with the second driving wheel 313; a first flexible part 314, the first flexible part 314 is sleeved on the first driving wheel 312 and the second driving wheel 313. That is, the output shaft of the traverse motor 311 rotates the first driving wheel 312, and then rotates the second driving wheel 313 via the first flexible member 314, thereby driving the drum 32 to rotate. Specifically, the second transmission wheel 313 is arranged on one roller 32 among the plurality of rollers 32, so that the single roller 32 can drive the integral transverse movement. Certainly, the second transmission wheels 313 may be disposed on the plurality of rollers 32, so that the first flexible member 314 is sleeved on the first transmission wheel 312 and the plurality of second transmission wheels 313 to drive the plurality of rollers 32 to rotate and drive to move transversely integrally, for example, the second transmission wheels 313 are disposed on two adjacent rollers 32, and the first flexible member 314 is sleeved on the first transmission wheel 312 and the two second transmission wheels 313 to drive the two rollers 32 to rotate and drive to move transversely integrally, which brings better driving effect and stronger power.
Alternatively, as shown in fig. 2, the traverse motor 311 is disposed between the traverse top plate 331 and the traverse side plate 332, that is, the traverse motor 311 is disposed below the traverse top plate 331, and an output shaft of the traverse motor 311 passes through the traverse side plate 332 and is connected to the first driving wheel 312, so that the structure between the traverse motor 311 and the traverse base 33 is compact and the space can be saved.
Optionally, a motor shield 318 is disposed on the traverse top plate 331, and the motor shield 318 is disposed around the traverse motor 311 to protect the traverse motor 311.
Alternatively, as shown in fig. 2 and 3, the traverse driving assembly 31 further includes: a plurality of third driving wheels 315, wherein the plurality of third driving wheels 315 are correspondingly connected with the other ends of the plurality of rollers 32 far away from the second driving wheels 313 one by one; a second flexible member 316, the second flexible member 316 is disposed on a portion of the third driving wheel 315, and a portion of the third driving wheel 315 includes a third driving wheel 315 located on the same roller 32 as the second driving wheel 313. That is to say, when the second driving wheel 313 drives the corresponding roller 32 to rotate, the third driving wheel 315 on the other end of the roller 32 is made to rotate synchronously, and the second flexible component 316 drives the third driving wheels 315 on the other rollers 32 to rotate, so as to realize the rotation of the plurality of rollers 32, and in this way, the plurality of rollers 32 are driven by the traverse motor 311 to drive the whole device to realize traverse, so that the driving effect is better, and the power is stronger.
Optionally, as shown in fig. 3, the traverse driving assembly 31 further includes tension wheels 317, the tension wheels 317 are disposed on the second flexible members 316, and the position of the tension wheels 317 on the jacking side plates 112 is adjustable to tension the second flexible members 316.
Optionally, the first driving wheel 312, the second driving wheel 313, the third driving wheel 315, and the tension wheel 317 are any one of a sprocket and a pulley, and the first flexible member 314 and the second flexible member 316 are any one of a driving chain and a driving belt.
In some embodiments, as shown in fig. 4, the jacking mechanism 10 includes: a jacking machine base 11; the jacking motor 12, the jacking motor 12 is set up on the jacking bed 11; the screw 13 is pivotally arranged on the jacking machine base 11, and the jacking motor 12 moves to link the screw 13 so as to drive the screw 13 to rotate; the nut 14, the nut 14 is set on the lead screw 13, the nut 14 connects the steering mechanism 20 to drive the steering mechanism 20 to move up and down. That is to say, the jacking motor 12 drives the lead screw 13 to rotate, and since the lead screw 13 is mounted on the jacking base 11, the lead screw 13 rotates on the jacking base 11, and when the lead screw 13 rotates, the nut 14 on the lead screw 13 can be driven to move up and down along the lead screw 13, so as to drive the steering mechanism 20 to lift up and down.
Optionally, as shown in fig. 4, a first flexible transmission mechanism 17 is disposed between the jacking motor 12 and one end of the lead screw 13, that is, the jacking motor 12 transmits power to the lead screw 13 through the first flexible transmission mechanism 17, so that the lead screw 13 rotates. Wherein, the first flexible transmission mechanism 17 is any one of a belt transmission mechanism, a chain transmission mechanism and a rope transmission mechanism.
Optionally, as shown in fig. 4, a first speed reducer 18 is disposed between the jacking motor 12 and the driving wheel of the first flexible transmission mechanism 17, the first speed reducer 18 is a planetary speed reducer, an input end of the planetary speed reducer is connected to the output shaft of the jacking motor 12, and an output end of the planetary speed reducer is connected to the driving wheel of the first flexible transmission mechanism 17.
Optionally, the screw 13 is a ball screw, and the ball screw is adopted, so that the manufacturing cost can be reduced, and the economy is better. The jacking machine base 11 is provided with a circular flange screw support 1101, and the ball screw is arranged on the circular flange screw support 1101.
Alternatively, as shown in fig. 5, the steering mechanism 20 includes: a steering base 21, a steering wheel 22 and a steering motor 23. The steering base 21 is vertically movably arranged on the jacking base 11, the steering base 21 is connected with the nut 14, and the lead screw 13 penetrates through the steering base 21, namely, the lead screw is connected with the jacking base 11 in a matching way, so that the steering base 21 can only perform vertical steering, the steering base 21 is prevented from rotating under the driving of the nut 14, meanwhile, the reliable connection between the steering base 21 and the jacking base 11 can be realized, and the integral stability of the device is improved. The steering wheel 22 is pivotally arranged on the steering base 21, and the steering wheel 22 is connected to the traversing mechanism 30 to drive the traversing mechanism 30 to rotate, i.e. the steering wheel 22 drives the traversing mechanism 30 to rotate by rotating on the steering base 21. The steering motor 23 is arranged on the steering base 21, and the steering motor 23 moves to link the steering wheel 22 to drive the steering wheel 22 to rotate.
Alternatively, as shown in fig. 5, a second flexible transmission mechanism 25 is disposed between the steering motor 23 and the steering wheel 22, that is, the steering motor 23 transmits power to the steering wheel 22 through the second flexible transmission mechanism 25, so as to rotate the steering wheel 22. Wherein, the second flexible transmission mechanism 25 is any one of a belt transmission mechanism, a chain transmission mechanism and a rope transmission mechanism.
Specifically, as shown in fig. 5, the second flexible transmission mechanism 25 is a belt transmission mechanism, the steering wheel 22 is configured as a large-diameter belt wheel, the output shaft of the steering motor 23 is connected with a small belt wheel, and the small belt wheel is connected with the steering wheel 22 through a belt, so that the rotating speed of the steering wheel 22 can be reduced, and the steering angle can be conveniently controlled. The steering motor 23 drives the small belt pulley to rotate, and drives the steering wheel 22 to rotate through the small belt pulley, for example, the flange 3311 is connected to the steering wheel 22, so as to drive the traverse top plate 331 to rotate, thereby achieving the steering of the traverse mechanism 30. When the chassis 200 contacts with the construction surface, the floating device 1000 itself generates a large friction force between the traveling rollers on the chassis 200 and the construction surface, and drives the chassis 200 to travel. When the plurality of rollers 32 of the traversing mechanism 30 contact the construction surface, the chassis is jacked up by 200 times, the plurality of rollers 32 are static relative to the construction surface under the action of friction force, and the floating device 1000 performs corresponding rotary motion, so that the whole steering motion function is realized.
Optionally, as shown in fig. 5, a second speed reducer 28 is disposed between the steering motor 23 and the small belt pulley, an input end of the second speed reducer 28 is connected to an output shaft of the steering motor 23, and an output end of the second speed reducer 28 is connected to a shaft of the small belt pulley. Specifically, the second reducer 28 is a planetary reducer.
Alternatively, as shown in fig. 5 and 6, an angular contact ball bearing 26 is mounted on an inner ring of the steering wheel 22, a connecting flange 27 is axially fixed on the inner ring of the angular contact ball bearing 26, and the connecting flange 27 is fixed on the steering base 21.
Optionally, as shown in fig. 4 and 5, the jacking machine base 11 includes a jacking top plate 111 and a jacking side plate 112 connected to the jacking top plate 111, the jacking side plate 112 is used for connecting the chassis 200, the screw 13 and the jacking motor 12 are both arranged on the jacking top plate 111, and the jacking top plate 111 is provided with a through hole 1111. The steering base 21 includes a steering base plate 211, a steering top plate 212, and a guide 213. The steering top plate 212 and the steering bottom plate 211 are positioned at the upper side and the lower side of the jacking top plate 111, and the steering bottom plate 211 is connected with the nut 14, so that the space of the transfer device 100 in the vertical direction can be saved while the steering mechanism 20 is ensured to be lifted under the action of the jacking mechanism 10, and the structure of the whole device is more compact. The one end of guide 213 is connected and is turned to bottom plate 211 and the other end is connected and turns to roof 212, guide 213 and through-hole 1111 sliding fit, that is to say, the cooperation through guide 213 and through-hole 1111 realizes turning to the vertical removal of frame 21 on jacking frame 11, prevent that steering mechanism 20 from rotating relatively climbing mechanism 10, secondly, turn to bottom plate 211 and install on jacking roof 111 through guide 213, make the connectivity between jacking mechanism 10 and the steering mechanism 20 stronger, when jacking chassis 200, be favorable to reducing the fuselage vibration.
Alternatively, as shown in fig. 5, there are four through holes 1111, four guide members 213, and four guide members 213.
Optionally, as shown in fig. 4, there are two jacking side plates 112, the two jacking side plates 112 are spaced apart from each other and disposed on the jacking top plate 111, and both the jacking top plates 111 are used to be fixed on the chassis 200, that is, the two jacking side plates 112 are fixedly supported by the two jacking side plates 112.
In some embodiments, as shown in fig. 6, the screw 13 has a passageway 131 running through in the axial direction, i.e. the screw 13 constitutes a hollow structure; the transfer device 100 further comprises a wire passing cylinder 40, the wire passing cylinder 40 is arranged in the passageway 131 and is in clearance fit with the passageway 131, and the wire passing cylinder 40 is arranged on the chassis 200 to place the cable 50 connected with the traversing mechanism 30. The upper end of the wire passing cylinder 40 is mounted on the chassis 200 through a bearing, the lower end is mounted on the traverse machine base 33 through a bearing, the wire passing cylinder 40 is not in contact with the inner wall of the passageway 131 and can rotate freely, the cable 50 penetrates out from the center of the wire passing cylinder 40 and is connected to the traverse mechanism 30, and therefore the cable of the traverse mechanism 30 is static relative to the wire passing cylinder 40 when the cable turns, namely the rotating radius of the cable 50 is zero, the insulating layer of the cable 50 is prevented from being damaged, the fault problem that a motor signal is poor or the cable is broken due to friction is avoided, and the working reliability is improved.
Optionally, cross a line section of thick bamboo 40 and make for the plastics material, because cable 50 generally chooses for use the high flexible cable, have certain bending fatigue characteristic, and cross a line section of thick bamboo 40 and adopt special plastics material processing to form again, therefore cable 50 and cross a line section of thick bamboo 40 contact, two kinds of plastics material contact promptly all have certain resistance to wear, avoid cable 50 and lead to the problem of signal failure with appearing damaging cable 50 with lead screw 13 direct contact.
In some embodiments, as shown in fig. 1, 4, and 5, the steering mechanism 20 is provided with a sensor 24; the jacking mechanism 10 further comprises a first detection piece 15 and a second detection piece 16 which are arranged at intervals along the jacking direction, and the first detection piece 15 and the second detection piece 16 detect the sensing piece 24 so as to control the lifting height of the steering mechanism 20. Specifically, the first detecting piece 15 is arranged below, the second detecting piece 16 is arranged above, the sensing piece 24 ascends and descends along with the steering mechanism 20, and when the first detecting piece 15 located below detects the sensing piece 24, the steering mechanism 20 is controlled to stop descending, which indicates that the steering mechanism 20 reaches the lower limit position; when the second detecting member 16 detects the sensing member 24, the steering mechanism 20 is controlled to stop rising, which indicates that the steering mechanism 20 reaches the upper limit position.
Optionally, the first detecting piece 15 and the second detecting piece 16 are both photoelectric switches, the detecting piece fixing base 1102 is arranged on the jacking top plate 111, the detecting piece fixing base 1102 is long-strip-shaped, and the first detecting piece 15 and the second detecting piece 16 are arranged on the detecting piece fixing base 1102. Optionally, the sensing element 24 is a sensing strip.
One embodiment of the transfer device 100 of the present invention is described below with reference to the drawings.
As shown in fig. 1 to 6, a transfer device 100 of a troweling apparatus includes: the device comprises a jacking mechanism 10, a steering mechanism 20 and a transverse moving mechanism 30.
The jacking mechanism 10 is used for being arranged on a chassis 200 of the troweling apparatus 1000.
The jack mechanism 10 includes: a jacking machine base 11; the jacking motor 12, the jacking motor 12 is set up on the jacking bed 11; the screw 13 is pivotally arranged on the jacking machine base 11, and the jacking motor 12 moves to link the screw 13 so as to drive the screw 13 to rotate; the nut 14, the nut 14 is set on the lead screw 13, the nut 14 connects the steering mechanism 20 to drive the steering mechanism 20 to move up and down.
A first flexible transmission mechanism 17 is arranged between the jacking motor 12 and one end of the screw 13, that is, the jacking motor 12 transmits power to the screw 13 through the first flexible transmission mechanism 17, so that the screw 13 rotates. The first flexible transmission 17 is a belt transmission. A first speed reducer 18 is arranged between the jacking motor 12 and the driving wheel of the first flexible transmission mechanism 17, the first speed reducer 18 is a planetary speed reducer, the output end of the planetary speed reducer is connected with the output shaft of the jacking motor 12, and the output end of the planetary speed reducer is connected with the driving wheel of the first flexible transmission mechanism 17. The screw 13 is a ball screw, a circular flange screw support 1101 is arranged on the jacking machine base 11, and the ball screw is arranged on the circular flange screw support 1101.
The steering mechanism 20 is connected with the jacking mechanism 10 to be driven by the jacking mechanism 10 to lift.
The steering mechanism 20 includes: a steering base 21, a steering wheel 22 and a steering motor 23. The steering base 21 is vertically movably arranged on the jacking base 11, the steering base 21 is connected with the nut 14, the lead screw 13 penetrates through the steering base 21, the steering wheel 22 is pivotally arranged on the steering base 21, the steering wheel 22 is connected with the transverse moving mechanism 30 to drive the transverse moving mechanism 30 to rotate, the steering motor 23 is arranged on the steering base 21, and the steering motor 23 moves to link the steering wheel 22 to drive the steering wheel 22 to rotate.
A second flexible transmission mechanism 25 is arranged between the steering motor 23 and the steering wheel 22, namely, the steering motor 23 transmits power to the steering wheel 22 through the second flexible transmission mechanism 25 to rotate the steering wheel 22.
The second flexible transmission mechanism 25 is a belt transmission mechanism, the steering wheel 22 is constructed into a large-diameter belt wheel, the output shaft of the steering motor 23 is connected with a small belt wheel, and the small belt wheel is connected with the steering wheel 22 through a belt, so that the rotating speed of the steering wheel 22 can be reduced, and the steering angle can be conveniently controlled. A second speed reducer 28 is arranged between the steering motor 23 and the small belt wheel, the input end of the second speed reducer 28 is connected to the output shaft of the steering motor 23, and the output end of the second speed reducer is connected to the small belt wheel. The second reduction gear 28 is a planetary reduction gear.
An angular ball bearing 26 is mounted on the inner ring of the steering wheel 22, a connecting flange 27 is axially fixed on the inner ring of the angular ball bearing 26, and the connecting flange 27 is fixed on the steering base 21.
Jacking frame 11 includes jacking roof 111 and the jacking curb plate 112 of connecting jacking roof 111, and jacking curb plate 112 is used for connecting chassis 200, and lead screw 13 and jacking motor 12 all establish on jacking roof 111, are equipped with through-hole 1111 on jacking roof 111. The steering base 21 includes a steering base plate 211, a steering top plate 212, and a guide 213. The steering top plate 212 and the steering bottom plate 211 are positioned at the upper side and the lower side of the jacking top plate 111, the steering bottom plate 211 is connected with the nut 14, one end of the guide piece 213 is connected with the steering bottom plate 211, the other end of the guide piece 213 is connected with the steering top plate 212, and the guide piece 213 is in sliding fit with the through hole 1111. Four through holes 1111 are provided, four guide members 213 are provided, and the four guide members 213 are guide rods. The number of the jacking side plates 112 is two, the two jacking side plates 112 are arranged on the jacking top plate 111 at intervals, and the two jacking top plates 111 are both used for being fixed on the chassis 200.
The screw 13 has a passageway 131 running through in the axial direction, i.e. the screw 13 forms a hollow structure; the transfer device 100 further comprises a wire passing cylinder 40, the wire passing cylinder 40 is arranged in the passageway 131 and is in clearance fit with the passageway 131, and the wire passing cylinder 40 is arranged on the chassis 200 to place the cable 50 connected with the traversing mechanism 30. The thread passing cylinder 40 is made of plastic material.
The steering mechanism 20 is provided with a sensing piece 24; the jacking mechanism 10 comprises a first detection piece 15 and a second detection piece 16 which are arranged at intervals along the jacking direction, and the first detection piece 15 and the second detection piece 16 detect a sensing piece 24 to control the lifting height of the steering mechanism 20. First detection piece 15 establishes in the below, and second detection piece 16 establishes in the top, and first detection piece 15 and second detection piece 16 are photoelectric switch, are equipped with detection piece fixing base 1102 on jacking roof 111, and detection piece fixing base 1102 is rectangular shape, and first detection piece 15 and second detection piece 16 establish on detection piece fixing base 1102. The sensing member 24 is a sensing piece.
The traversing mechanism 30 is coupled to the steering mechanism 20 to rotate about a vertical axis under the influence of the steering mechanism 20. The traverse mechanism 30 includes a traverse driving assembly 31 and four rollers 32, and the traverse driving assembly 31 is connected to at least one roller 32 to drive the plurality of rollers 32 to travel. The jacking mechanism 10 drives the traversing mechanism 30 to ascend so as to enable the plurality of rollers 32 to be far away from the ground, the jacking mechanism 10 drives the traversing mechanism 30 to descend so as to enable the plurality of rollers 32 to be in contact with the ground and enable the chassis 200 to be far away from the ground, the steering mechanism 20 rotates relative to the traversing mechanism 30 so as to enable the chassis 200 to steer, and the plurality of rollers 32 are used for driving the chassis 200 to walk.
The four rollers 32 are arranged side by side, and all of the four rollers 32 are hollow rollers.
The traverse mechanism 30 further includes: the transverse moving machine base 33, the transverse moving machine base 33 comprises a transverse moving top plate 331 and two transverse moving side plates 332, the two transverse moving side plates 332 are arranged on the transverse moving top plate 331 at intervals, wherein the transverse moving top plate 331 is connected with the steering mechanism 20, and two ends of each roller 32 are arranged on the two transverse moving side plates 332 in a pivoting mode.
The traverse driving assembly 31 includes: a traverse motor 311, a first driving wheel 312, a second driving wheel 313 and a first flexible part 314, wherein the traverse motor 311 is arranged on a traverse top plate 331; the first driving wheel 312 is connected with the output shaft of the traverse motor 311; one end of each of the two middle rollers 32 is provided with a second driving wheel 313; the first flexible member 314 is disposed on the first driving wheel 312 and the two second driving wheels 313.
The traverse drive assembly 31 further includes: two second flexible members 316 and four third driving wheels 315, wherein the four third driving wheels 315 are correspondingly connected with the other ends of the four rollers 32 far away from the second driving wheels 313 one by one; the second flexible member 316 on the left side is sleeved on the two third transmission wheels 315 on the left side, and the second flexible member 316 on the right side is sleeved on the two third transmission wheels 315 on the right side. The traverse driving assembly 31 further comprises tension wheels 317, the tension wheels 317 are disposed on the two second flexible members 316, and the positions of the tension wheels 317 on the jacking side plates 112 can be adjusted to tension the second flexible members 316.
The first driving wheel 312, the second driving wheel 313, the third driving wheel 315, and the tension wheel 317 are chain wheels, and the first flexible element 314 and the second flexible element 316 are driving chains.
The traverse motor 311 is disposed between the traverse top plate 331 and the traverse side plate 332, the traverse motor 311 is disposed below the traverse top plate 331, and an output shaft of the traverse motor 311 passes through the traverse side plate 332 and is connected to the first drive pulley 312.
The traverse top plate 331 is provided with a motor shield 318, and the motor shield 318 is disposed around the traverse motor 311 for protection.
A troweling apparatus 1000 according to an embodiment of the present invention is described below with reference to the accompanying drawings.
As shown in fig. 7, a troweling apparatus 1000 according to an embodiment of the present invention includes: chassis 200, carry thick liquid mechanism 300, transfer device 100.
The chassis 200 is used for driving the floating device 1000 to walk; the slurry lifting mechanism 300 is arranged on the chassis 200 and used for screeding and vibrating a construction surface; the transfer device 100 is a transfer device 100 according to any of the preceding.
According to the floating equipment provided by the embodiment of the invention, the transferring device 100 is arranged, so that the operations of jacking, steering and transverse moving can be realized, and the transferring device 100 has strong functionality and strong linkage. Moreover, because the traversing mechanism 30 of the transferring device 100 comprises a plurality of rollers 32, the contact area with the construction surface is larger, the pressure intensity of the unit area when the transferring device is in contact with the construction surface can be reduced, obvious indentation can be avoided when the transferring device is turned and transversely moved, the probability of skidding is reduced, and in addition, the traversing driving mode of the plurality of rollers 32 is adopted, the movement is stable and reliable, the transferring device is not easy to damage, and the transferring device can adapt to severe construction environments.
In some embodiments, as shown in fig. 7, the troweling apparatus 1000 further includes: the control box 400 is arranged on the chassis 200 and used for controlling the running of the chassis 200 and the operation of the transfer device 100, and the loading system 500 is arranged on the chassis 200 and used for realizing navigation and positioning.
Other configurations of the troweling apparatus 1000 according to an embodiment of the present invention, such as the control box 400 and the loading system 500, etc., 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 (11)
1. A transfer device for a troweling apparatus, comprising:
the jacking mechanism is arranged on a chassis of the trowelling equipment;
the steering mechanism is connected with the jacking mechanism and driven by the jacking mechanism to lift;
the transverse moving mechanism is connected with the steering mechanism and driven by the steering mechanism to rotate around a vertical shaft, and comprises a transverse moving driving assembly and a plurality of rollers, and the transverse moving driving assembly is connected with at least one roller and drives the plurality of rollers to move; wherein the content of the first and second substances,
the jacking mechanism drives the transverse moving mechanism to ascend so as to enable the plurality of rollers to be far away from the ground; the jacking mechanism drives the transverse moving mechanism to descend so that the rollers contact the ground and the chassis is far away from the ground, the steering mechanism rotates relative to the transverse moving mechanism to steer the chassis, and the rollers are used for driving the chassis to walk.
2. The transfer device of a troweling apparatus according to claim 1,
the rollers are arranged side by side and are all hollow rollers.
3. The transfer device of the troweling apparatus according to claim 1, wherein the traverse mechanism further comprises:
the transverse moving machine base comprises a transverse moving top plate and two transverse moving side plates, the two transverse moving side plates are arranged on the transverse moving top plate at intervals, the transverse moving top plate is connected with the steering mechanism, and two ends of each roller are arranged on the two transverse moving side plates in a pivoting mode.
4. The transfer device of the troweling apparatus of claim 3, wherein the traverse drive assembly includes:
the transverse moving motor is arranged on the transverse moving top plate;
the first driving wheel is connected with an output shaft of the traversing motor;
one end of at least one roller is provided with the second driving wheel;
the first flexible piece is sleeved on the first driving wheel and the second driving wheel.
5. The transfer device of the troweling apparatus of claim 4, wherein the traverse drive assembly further comprises:
the third driving wheels are correspondingly connected with the other ends of the rollers far away from the second driving wheels one by one;
and the second flexible part is sleeved on part of the third driving wheel, and part of the third driving wheel comprises the third driving wheel which is positioned on the same roller as the second driving wheel.
6. The transfer device of the troweling apparatus according to claim 1, wherein the jacking mechanism includes:
jacking the machine base;
the jacking motor is arranged on the jacking machine base;
the screw rod is pivotally arranged on the jacking machine base, and the jacking motor moves and is linked with the screw rod to drive the screw rod to rotate;
the nut is arranged on the screw rod and connected with the steering mechanism to drive the steering mechanism to lift.
7. The transfer device of the troweling apparatus according to claim 6, wherein the steering mechanism includes:
the steering base is vertically movably arranged on the jacking base, the steering base is connected with the nut, and the lead screw penetrates through the steering base;
the steering wheel is pivotally arranged on the steering base and connected with the transverse moving mechanism to drive the transverse moving mechanism to rotate;
the steering motor is arranged on the steering base and is linked with the steering wheel in a motion mode so as to drive the steering wheel to rotate.
8. The transfer device of a troweling apparatus according to claim 7,
the jacking machine base comprises a jacking top plate and a jacking side plate connected with the jacking top plate, the jacking side plate is used for being connected with the chassis, the screw rod and the jacking motor are arranged on the jacking top plate, and a through hole is formed in the jacking top plate;
the steering engine base comprises a steering bottom plate, a steering top plate and a guide piece, the steering top plate and the steering bottom plate are located on the upper side and the lower side of the jacking top plate, the steering bottom plate is connected with the nut, one end of the guide piece is connected with the steering bottom plate and the other end of the guide piece is connected with the steering top plate, and the guide piece is in sliding fit with the through hole.
9. The transfer device of a troweling apparatus according to claim 6,
the screw rod is provided with a passage which is through along the axial direction;
the transfer device further comprises a wire passing cylinder, the wire passing cylinder is arranged in the passageway and in clearance fit with the passageway, and the wire passing cylinder is used for being arranged on the chassis to place a cable connected with the transverse moving mechanism.
10. The transfer device of a troweling apparatus according to claim 1,
the steering mechanism is provided with an induction piece;
the jacking mechanism further comprises a first detection piece and a second detection piece which are arranged at intervals along the jacking direction, and the first detection piece and the second detection piece detect the induction piece to control the lifting height of the steering mechanism.
11. A troweling apparatus, characterized by comprising:
the chassis is used for driving the floating equipment to walk;
the slurry lifting mechanism is arranged on the chassis and is used for trowelling and vibrating a construction surface;
a transfer device according to any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010699867.6A CN111827642A (en) | 2020-07-20 | 2020-07-20 | Transfer device of floating equipment and floating equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010699867.6A CN111827642A (en) | 2020-07-20 | 2020-07-20 | Transfer device of floating equipment and floating equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111827642A true CN111827642A (en) | 2020-10-27 |
Family
ID=72923924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010699867.6A Pending CN111827642A (en) | 2020-07-20 | 2020-07-20 | Transfer device of floating equipment and floating equipment |
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| Country | Link |
|---|---|
| CN (1) | CN111827642A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113279551A (en) * | 2021-05-06 | 2021-08-20 | 苏州方石科技有限公司 | Ground floating robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110528889A (en) * | 2019-08-26 | 2019-12-03 | 广东博智林机器人有限公司 | Strike off floating robot |
| CN110528888A (en) * | 2019-08-26 | 2019-12-03 | 广东博智林机器人有限公司 | Smooth out robot |
| CN110924686A (en) * | 2019-12-19 | 2020-03-27 | 广东博智林机器人有限公司 | Floating robot |
| CN111188496A (en) * | 2019-12-25 | 2020-05-22 | 广东博智林机器人有限公司 | Ground floating robot |
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2020
- 2020-07-20 CN CN202010699867.6A patent/CN111827642A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110528889A (en) * | 2019-08-26 | 2019-12-03 | 广东博智林机器人有限公司 | Strike off floating robot |
| CN110528888A (en) * | 2019-08-26 | 2019-12-03 | 广东博智林机器人有限公司 | Smooth out robot |
| CN110924686A (en) * | 2019-12-19 | 2020-03-27 | 广东博智林机器人有限公司 | Floating robot |
| CN111188496A (en) * | 2019-12-25 | 2020-05-22 | 广东博智林机器人有限公司 | Ground floating robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113279551A (en) * | 2021-05-06 | 2021-08-20 | 苏州方石科技有限公司 | Ground floating robot |
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