CN113431308A - Troweling robot - Google Patents
Troweling robot Download PDFInfo
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- CN113431308A CN113431308A CN202110806121.5A CN202110806121A CN113431308A CN 113431308 A CN113431308 A CN 113431308A CN 202110806121 A CN202110806121 A CN 202110806121A CN 113431308 A CN113431308 A CN 113431308A
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- 230000007246 mechanism Effects 0.000 claims abstract description 150
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 21
- 238000005498 polishing Methods 0.000 abstract description 6
- 238000009499 grossing Methods 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 16
- 230000000712 assembly Effects 0.000 description 15
- 238000000429 assembly Methods 0.000 description 15
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
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- 239000003638 chemical reducing agent Substances 0.000 description 1
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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
- E04F21/245—Rotary power trowels, i.e. helicopter trowels
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Abstract
The application provides a robot of polishing relates to construction robot technical field. The robot of smoothing includes: a chassis and two spindles. The top end of each main shaft is provided with a universal connector which is rotatably connected with the chassis along the axial direction of the chassis, the bottom end of each main shaft is used for connecting the blade assembly, the two main shafts are respectively provided with a first reversing mechanism, and at least one main shaft is provided with a second reversing mechanism; the first reversing mechanism is connected with the chassis and used for driving the spindles to swing around the Y-axis direction, the second reversing mechanism is connected with the first reversing mechanism and used for driving the corresponding spindles to swing around the X-axis direction, and the axes of the two spindles are arranged along the X-axis direction. Can drive the robot translation of finishing, turn to and pivot through above-mentioned setting, the flexibility ratio of operation is high, and enables the robot of finishing and realize omnidirectional movement at the in-process of finishing, effectively improves its corner throughput to the operation face.
Description
Technical Field
The application relates to the technical field of construction robots, in particular to a troweling robot.
Background
The troweling robot is suitable for troweling cement ground after pouring, and the existing troweling robot has the defect of insufficient processing capacity of corners of a working face due to the fact that the structure is complex.
Disclosure of Invention
An object of the embodiments of the present application is to provide a troweling robot, which can improve the technical problem of insufficient processing capability of the working face corners.
In a first aspect, an embodiment of the present application provides a troweling robot, which includes: a chassis and two spindles.
Wherein, two main shafts set up along Z axle direction respectively, the top of every main shaft be equipped with chassis rotatable coupling's universal joint ware, the bottom of every main shaft is used for connecting the blade subassembly.
The first reversing mechanism is connected with the chassis and used for driving the spindles to swing around the Y-axis direction, the second reversing mechanism is connected with the first reversing mechanism and used for driving the corresponding spindles to swing around the X-axis direction, and the axes of the two spindles are arranged along the X-axis direction.
In the implementation process, because the two main shafts are arranged along the Z-axis direction, the first reversing mechanism is used for driving each main shaft to swing around the X-axis direction, so that the blade mechanism inclines relative to the working surface in the X-axis direction and generates an inclination angle, the second reversing mechanism is used for driving each main shaft to swing around the Y-axis direction, so that the blade mechanism inclines relative to the working surface in the Y-axis direction and generates an inclination angle, and meanwhile, the first reversing mechanism and the second reversing mechanism are integrated together, so that the structure is effectively simplified, and the space occupied by the main shafts below the chassis is reduced.
That is, because the top of main shaft is equipped with the universal joint ware rather than axial rotatable coupling with the chassis, consequently through the cooperation of two main shafts and first reversing mechanism and second reversing mechanism, the inclination direction of every blade subassembly and operation face, inclination angle and the rotational speed of blade subassembly, and then obtain different frictional force as the translation of drive finishing robot, turn to and each drive power of pivot rotation, not only the flexibility of operation is high, but also can make finishing robot realize omnidirectional movement at the finishing in-process, effectively improve its throughput to the operation face corner.
In one possible embodiment, the first reversing mechanism includes a first swing bracket and a first tilt drive assembly.
The first swing support is connected with the chassis and configured to swing around the Y-axis direction, and the main shaft is connected with the first swing support and can swing synchronously.
The first inclination angle driving assembly is connected with the first swing support to drive the first swing support and drive the main shaft to swing around the Y-axis direction relative to the universal connector.
In the implementation process, the main shaft can independently swing around the Y-axis direction relative to the universal connector by utilizing the matching of the first swing bracket and the first inclination angle driving component.
In one possible embodiment, the second reversing mechanism includes a second swing bracket and a second pitch drive assembly.
The second swing bracket is connected with the first swing bracket and configured to swing around the X-axis direction, and the main shaft rotatably penetrates through the second swing bracket and can swing synchronously with the second swing bracket.
The second inclination angle driving assembly is connected with the second swing support to drive the second swing support and drive the main shaft to swing around the X-axis direction relative to the universal connector.
In the implementation process, the second swing support and the first swing support are integrated together, so that the structure is more compact, meanwhile, when the second swing support swings around the Y axis direction, the second tilt angle driving assembly and the first swing support are equivalent to a whole, the main shaft is driven to swing around the Y axis direction, and the second swing support can independently drive the main shaft to independently swing around the X axis direction relative to the universal connector.
In a possible embodiment, the main shaft is connected to the second wobble carrier in an axially fixed and circumferentially rotatable manner.
In the implementation process, the stability between the second swing bracket and the main shaft is improved, and the adjustment accuracy is guaranteed.
In a possible embodiment, the main shaft provided with the first reversing mechanism and the second reversing mechanism swings around the Y-axis direction with the first axis as the axis, and swings around the X-axis direction with the second axis as the axis, and the first axis and the second axis intersect on the same plane.
In the implementation process, the first axis and the second axis are in the same horizontal plane at all times in the swinging process, and motion decoupling around the X-axis direction and the Y-axis direction in the motion process can be avoided to a certain extent.
In a possible embodiment, the main axis is arranged vertically at the intersection of the first axis and the second axis.
The axis of the main shaft can coincide with the intersection point of the first axis and the second axis all the time in the swinging process, the freedom decoupling of the movement in the X-axis direction and the Y-axis direction in the movement process is further avoided, the difficulty of angle adjustment is reduced, and the precision of angle adjustment can be guaranteed.
In a possible embodiment, the first oscillating support comprises: the first support, second support and third support.
Wherein, the first bracket is connected with the chassis; the second support is provided with a first rotating shaft arranged along the Y-axis direction and a second rotating shaft arranged along the X-axis direction, and the first rotating shaft is rotatably connected with the first support; the third support is rotatably connected with the second rotating shaft and is in transmission connection with the first inclination angle driving assembly so as to drive the second support to swing around the first rotating shaft.
In the implementation process, the first rotating shaft and the second rotating shaft are arranged by the second support, so that the function of swinging the first swinging support along the first rotating shaft can be realized, the function of swinging the second swinging support along the second rotating shaft is also facilitated, the structure is compact, and the mutual interference during movement is avoided.
In a possible embodiment, the third support includes two fixing members spaced apart from each other in the X-axis direction, the main shaft is located between the two fixing members, one end of each fixing member is connected to the second swing support, and the other end of each fixing member is rotatably connected to the second rotating shaft, and the second support is suspended above the second swing support.
In the above-mentioned realization process, the aforesaid sets up compact structure, utilizes unsettled setting to guarantee that the second support can not interfere with second swing support when the swing of first pivot, guarantees the smooth and easy nature of swing regulation, and the stability when two mountings simultaneously improve second swing support swing.
In one possible embodiment, the first pitch drive assembly comprises: a first driving mechanism and a first link mechanism.
The first driving mechanism is positioned on the side of the second bracket. The first connecting rod mechanism and the first driving mechanism are located on the same side of the second support, one end of the first connecting rod mechanism is connected with the side wall of the third support in the X-axis direction, and the other end of the first connecting rod mechanism is connected with the first driving mechanism so as to switch the rotary motion of the first driving mechanism into driving force for driving the third support and driving the second support to swing around the Y-axis direction.
In the above-mentioned realization process, the utilization sets up first actuating mechanism in the side of second support to do not increase the height on chassis in vertical space, avoid the focus to increase the operation unstability that leads to, simultaneously, because the swing in-process, the edge of second support is the arc around the swing route of first pivot, consequently utilize first link mechanism can adjust the height of drive power in upper and lower direction in real time, in order to provide required drive power when swinging, simple structure and flexible operation.
In one possible embodiment, the second pitch drive assembly comprises: the fixing seat, the second driving mechanism and the second connecting rod mechanism.
The fixing seat is connected with the second bracket. The second driving mechanism is positioned on the side of the second swing bracket. The second connecting rod mechanism and the second driving mechanism are located on the same side of the second swing support, one end of the second connecting rod mechanism is connected with the side wall of the second swing support in the Y-axis direction, and the other end of the second connecting rod mechanism is connected with the second driving mechanism so as to switch the rotary motion of the second driving mechanism into driving force for driving the second swing support to swing around the X-axis direction.
In the implementation process, the second driving mechanism is located on the side of the second swing support to reduce the vertical occupied space, so that the gravity center is reduced, the fixing seat is connected to the second support in a setting mode, the second driving mechanism can move synchronously along with the first swing support, and meanwhile, the effect of driving the second swing support to swing around the second axis can be achieved independently.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is an assembly view of a finishing robot;
FIG. 2 is a schematic structural view of the power mechanism;
FIG. 3 is a schematic view of the assembly of a spindle and blade arrangement with two degrees of freedom;
FIG. 4 is a schematic view of the assembly of a spindle and blade arrangement with a single degree of freedom;
FIG. 5 is a schematic view of the assembly of the first swing frame and the second swing frame;
FIG. 6 is a schematic structural diagram of a first tilt driving assembly;
FIG. 7 is a schematic structural diagram of a second tilt driving assembly;
FIG. 8 shows the inclination directions and the stress conditions of the two main shafts when the troweling robot moves forward;
FIG. 9 shows the tilting directions and the stress conditions of the two spindles when the troweling robot moves backward;
FIG. 10 shows the inclination directions and the stress conditions of the two main shafts when the troweling robot turns right;
FIG. 11 shows the inclination directions and the stress conditions of the two main shafts when the troweling robot turns left;
FIG. 12 shows the inclination directions and the stress conditions of the two main shafts when the troweling robot moves to the right;
FIG. 13 shows the inclination directions and the stress conditions of the two main shafts when the troweling robot moves left;
fig. 14 shows the inclination directions and the stress conditions of the two main shafts when the troweling robot trowels.
Icon: 10-a finishing robot; 100-a chassis; 101-an anti-collision frame; 103-a mounting frame; 110-a power mechanism; 111-a first gear; 113-a second gear; 114-a third gear; 115-a main drive mechanism; 117-drive belt; 118-a tensioning member; 120-a main shaft; 121-a universal connector; 130-a blade assembly; 133-a spatula; 134-a linker arm; 140-a swabbing disc; 141-a snap-in part; 151-first swing mount; 1511-first bracket; 1513-second bracket; 1514-first axis of rotation; 1515-second rotating shaft; 1518-a fixing member; 153-a second swing bracket; 155-a first pitch drive assembly; 1551-first drive mechanism; 1552-connecting piece; 1553-first link; 1554-second connecting rod; 1555-third connecting rod; 1556-first axle pin; 1557-second axis pin; 156-a second pitch drive assembly; 1561-U-shaped fixing plate; 1562-fixed arm; 1564-a second drive mechanism; 1565-a fourth link; 1566-fifth connecting rod; 1567-a sixth link; 1568-third axle pin; 1569-fourth axle pin.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
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, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally arranged when products of the application are used, and are used only for convenience in describing the application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
A troweling robot 10 has an X-axis direction, a Y-axis direction, and a Z-axis direction, wherein the X-axis direction is shown in the left-right direction, the Y-axis direction is shown in the front-back direction, and the Z-axis direction is shown in the up-down direction, wherein the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other.
Referring to fig. 1, a troweling robot 10 includes: chassis 100, power mechanism 110, two spindles 120, and two sets of blade assemblies 130.
The chassis 100 may be provided along its outer circumference with a collision prevention frame 101 for collision prevention to protect the troweling robot 10.
Referring to fig. 1 and fig. 2, the power mechanism 110 is disposed on the chassis 100, for example, on an upper surface of the chassis 100. The power mechanism 110 is in transmission connection with the two main shafts 120, and the power mechanism 110 drives the two main shafts 120 to synchronously and reversely rotate around respective axes.
As shown in fig. 1, the power mechanism 110 includes: a first gear 111, a second gear 113, a third gear 114, and a main drive mechanism 115.
The upper surface of the chassis 100 is provided with a mounting frame 103, the first gear 111, the second gear 113 and the third gear 114 are rotatably mounted in the mounting frame 103, and the first gear 111, the second gear 113 and the third gear 114 are substantially located on the same horizontal plane, wherein the first gear 111 is in transmission connection with one of the spindles 120, the second gear 113 is in transmission connection with the other spindle 120, and the second gear 113 is in meshing connection with the first gear 111; the third gear 114 is meshed with the second gear 113; the main driving mechanism 115 is disposed on the mounting frame 103 and is in transmission connection with the third gear 114, and is configured to drive the third gear 114 to rotate and drive the two main shafts 120 to synchronously and reversely rotate, for example, one main shaft 120 rotates clockwise, and the other main shaft 120 rotates counterclockwise.
In order to avoid the problem that the two spindles 120 have different rotation speeds due to the different tension of the belt 117, the power mechanism 110 further includes a tension member 118 corresponding to each spindle 120, each tension member 118 is fixed to the chassis 100 and used for adjusting the tension of the corresponding belt 117, and specifically, for example, the tension member 118 is an idler fixed to the chassis 100 and used for pressing the belt 117.
The two main shafts are respectively arranged along the Z-axis direction, and the axes of the two main shafts 120 are arranged along the X-axis direction, that is, the two main shafts 120 are arranged on the chassis 100 at intervals along the X-axis direction, that is, the plane formed by the two main shafts 120 is parallel to or coincident with the XZ plane, and the two main shafts 120 are symmetrically arranged along the power mechanism 110, so that the two main shafts 120 rotate stably.
Wherein, each main shaft 120 has opposite top and bottom ends, wherein the bottom end of the main shaft 120 is used for connecting the blade assembly 130, the top end of the main shaft 120 is provided with a universal connector 121 connected with the chassis 100, the universal connector 121 is, for example, a universal coupling, the universal connector 121 is rotatably connected with the chassis 100 in a manner of being capable of rotating along the axis thereof, thereby realizing that the main shaft 120 rotates around the axis thereof, and the main shaft 120 can synchronously swing around the X-axis direction and the Y-axis direction with the universal connector 121 relative to the chassis 100.
The two spindles 120 are respectively provided with a first reversing mechanism, and at least one spindle 120 is provided with a second reversing mechanism, and the first reversing mechanism and the second reversing mechanism are both located below the chassis 100.
Referring to fig. 1, 3 and 4, in the present embodiment, of the two spindles 120, the spindle 120 located at the left end of the chassis is provided with a second reversing mechanism having two degrees of freedom (swinging around the X-axis direction and the Y-axis direction, respectively) as shown in fig. 3, and the other spindle 120 is provided with no second reversing mechanism and only has one degree of freedom swinging around the Y-axis direction as shown in fig. 4.
The following description will be given only by taking the spindle 120 with two degrees of freedom as an example, and the description of the structure of the spindle 120 with one degree of freedom will be omitted.
The first reversing mechanism is connected with the chassis 100 and used for driving the spindle 120 to swing around the Y-axis direction, and the second reversing mechanism is connected with the first reversing mechanism and used for driving the spindle 120 to swing around the X-axis direction.
Referring to fig. 3 and 5, the first reversing mechanism includes a first swing frame 151 and a first tilt driving assembly 155.
The first swing frame 151 is connected to the chassis 100 and configured to be able to swing about the Y-axis direction, and the main shaft 120 is connected to the first swing frame 151 and able to swing in synchronization. The first tilt driving assembly 155 is connected to the first swing frame 151 to drive the first swing frame 151 and drive the spindle 120 to swing around the Y-axis direction relative to the universal connector.
The second reversing mechanism includes a second swing bracket 153 and a second tilt drive assembly 156.
The second swing bracket 153 is connected to the first swing bracket 151 and configured to be capable of swinging around the X-axis direction, and the main shaft 120 rotatably passes through the second swing bracket 153 and is capable of swinging synchronously with the second swing bracket 153, that is, the first swing bracket 151 is connected to the main shaft 120 through the second swing bracket 153. The second tilt driving assembly 156 is connected to the second swing bracket 153 to drive the second swing bracket 153 and drive the spindle 120 to swing around the X-axis direction relative to the universal connector.
Since the main shaft 120 rotatably passes through the second swing bracket 153, the main shaft 120 can rotate and swing independently or simultaneously.
The main shaft 120 with two degrees of freedom (i.e., the main shaft 120 provided with the first direction changing mechanism and the second direction changing mechanism) swings around the Y-axis direction with the first axis as the axis, and swings around the X-axis direction with the second axis as the axis.
The first axis and the second axis may have a certain height difference in the Z-axis direction, but under the above conditions, the main shaft 120 swings around the X-axis direction and the Y-axis direction to generate a certain interference, that is, the swings in the X-axis direction and the swings in the Y-axis direction are decoupled.
Therefore, in the embodiment, the first axis and the second axis intersect and are located on the same plane, so that motion decoupling caused by a height difference between the first axis and the second axis is effectively avoided.
In some optional embodiments, the main shaft 120 may also be offset from the intersection point of the first axis and the second axis, and there is a problem of motion decoupling in the X-axis direction and the Y-axis direction during the swing process, and meanwhile, compared to this embodiment, when the same large swing angle is obtained, the main shaft 120 must be capable of generating a certain displacement or expansion and contraction in the Z-axis direction with respect to the second swing bracket 153, that is, at this time, the main shaft 120 and the second swing bracket 153 can only be axially slidably and circumferentially rotatably connected, but even if so arranged, the problem of motion decoupling cannot be avoided.
In this embodiment, the main shaft 120 is vertically disposed at the intersection point of the first axis and the second axis. Thereby guarantee that main shaft 120 coincides with the intersect of first axis and second axis all the time in the motion process, it should be noted that, in the main shaft 120 of each side of robot 10 of finishing, main shaft 120 all coincides with the Z axle, and first axis coincides with the Y axle, and the second axis coincides with the X axle, avoids the motion decoupling of each main shaft 120 in X axle direction and Y axle direction from this, easy operation, and can accurate regulation blade subassembly 130's inclination.
In this case, the main shaft 120 and the second swing bracket 153 may be axially fixed relative to each other, or may not be limited to these, and the movement coupling in the X-axis direction and the Y-axis direction is not affected.
In this embodiment, the main shaft 120 and the second swing bracket 153 are axially immovably and circumferentially rotatably connected, and the swing stability can be improved by fixing the main shaft 120 and the second swing bracket 153.
As shown in fig. 5, the first swing bracket 151 includes: a first bracket 1511, a second bracket 1513, and a third bracket.
Wherein the first bracket 1511 is connected with the chassis 100. The number of the first supports 1511 is two and the first supports 1511 are arranged at intervals along the Y-axis direction, on one hand, the two first supports 1511 are arranged to improve stability, and on the other hand, the interval arrangement mode can avoid interference with the swing of the spindle 120 while accommodating the spindle 120 between the first supports 1511.
The second bracket 1513 is disposed around the spindle 120 with a gap therebetween, for example, the second bracket 1513 is annular or square frame-shaped, wherein the second bracket 1513 is provided with a first rotating shaft 1514 disposed along the Y-axis direction and a second rotating shaft 1515 disposed along the X-axis direction, an axis of the first rotating shaft 1514 is the first axis, and an axis of the second rotating shaft 1515 is the second axis. The first rotating shaft 1514, the second rotating shaft 1515 and the second bracket 1513 may be integrally formed.
The third bracket is rotatably coupled to the second shaft 1515, and the third bracket is drivingly coupled to the first tilt drive assembly 155 for driving the second bracket 1513 to oscillate about the first shaft 1514.
Optionally, the third bracket includes two fixing parts 1518 arranged at intervals along the X-axis direction, the main shaft 120 is located between the two fixing parts 1518, one end of each fixing part 1518 is connected to the second swing bracket 153, and the other end of each fixing part 1518 may be provided with a bearing matched with the second rotating shaft 1515, so that one end of each fixing part 1518 far away from the second swing bracket 153 is rotatably connected to the second rotating shaft 1515, and meanwhile, the second bracket 1513 may be suspended above the second swing bracket 153 by the above arrangement.
The second swing bracket 153 is plate-shaped, for example.
The first tilt driving assembly 155 is connected to the first swing frame 151 to drive the first swing frame 151 and drive the spindle 120 to swing around the Y-axis direction relative to the universal connector 121.
As shown in fig. 3 and 6, the first tilt driving assembly 155 includes: a first drive mechanism 1551 and a first linkage.
The first driving mechanism 1551 is located at a side of the second support 1513, where the side is a side away from the second support 1513 in the X-axis direction or the Y-axis direction, and the first driving mechanism 1551 is connected to the chassis 100 via a connection member 1552.
The first link mechanism and the first driving mechanism 1551 are located on the same side of the second support 1513, one end of the first link mechanism is connected to the side wall of the third support 1518 in the X-axis direction, and the other end of the first link mechanism is connected to the first driving mechanism 1551, so that the rotational motion of the first driving mechanism 1551 is switched to a driving force for driving the third support 1518 and driving the second support 1513 to swing around the first rotating shaft 1514.
As shown in fig. 6, the first link mechanism is, for example, a three-link mechanism, and includes a first link 1553, a second link 1554, and a third link 1555, wherein the first link 1553 is connected to the first driving mechanism 1551, one end of the second link 1554 is hinged to one end of the first link 1553 away from the first driving mechanism 1551 via a first axis pin 1556, the other end is hinged to one end of the third link 1555 via a second axis pin 1557, the second axis pin 1557 and the first axis pin 1556 are arranged in parallel and are both arranged along the Y-axis direction, and one end of the third link 1555 away from the second link 1554 is fixedly connected to a side wall of the second bracket 1513 in the X-axis direction.
As shown in fig. 3 and 7, the second tilt driving assembly 156 is connected to the second swing bracket 153 to drive the second swing bracket 153 and drive the spindle 120 to swing around the X-axis direction relative to the universal connector 121.
The second pitch drive assembly 156 includes: a fixed seat, a second driving mechanism 1564, and a second linkage mechanism.
The fixing base is connected with a second bracket 1513.
In order to ensure the stability of the installation, optionally, the fixing base includes, for example, a U-shaped fixing plate 1561 and a fixing arm 1562 connected to each other, wherein the fixing arm 1562 extends in the Y-axis direction, an opening of the U-shaped fixing plate 1561 faces away from the fixing arm 1562, the U-shaped fixing plate 1561 is connected to both ends of the second bracket 1513 in the X-axis direction, and one end of the U-shaped fixing plate 1561, which is far away from the opening, is disposed outside the first bracket 1511 and has a gap.
The second driving mechanism 1564 is located at a side of the second swing bracket 153. Wherein the second driving mechanism 1564 is connected with the fixed seat.
The second link mechanism and the second driving mechanism 1564 are located on the same side of the second swing bracket 153, one end of the second link mechanism is connected to the side wall of the second swing bracket 153 in the Y-axis direction, and the other end is connected to the second driving mechanism 1564, so that the rotational motion of the second driving mechanism 1564 is switched to a driving force for driving the second swing bracket 153 to swing around the second axis.
The second linkage mechanism is also a three-link mechanism, and includes a fourth link 1565, a fifth link 1566, and a sixth link 1567, wherein the fourth link 1565 is connected to the second driving mechanism 1564 in a transmission manner, one end of the fifth link 1566 is hinged to one end of the fourth link 1565 away from the second driving mechanism 1564 through a third axis pin 1568, the other end of the fifth link 1566 is hinged to one end of the sixth link 1567 through a fourth axis pin 1569, the third axis pin 1568 and the fourth axis pin 1569 are both arranged along the X axis direction, and one end of the sixth link 1567 away from the fifth link 1566 is fixedly connected to the side wall of the second swing bracket 153 in the Y axis direction.
Under the above setting conditions, when the blade assembly 130 needs to swing around the Y axis direction, so that any end of the blade assembly 130 in the X axis direction contacts with the ground, and the other end of the blade assembly 130 is separated from the ground, the first driving mechanism 1551 can be opened to provide power for the first link mechanism, the first link mechanism drives the third bracket to swing around the first rotating shaft 1514, and the second swing bracket 153 and the second tilt angle driving assembly 156 arranged on the second bracket 1513 are connected together based on the third bracket, so that the second swing bracket 153 and the second tilt angle driving assembly 156 can be driven to synchronously swing around the first rotating shaft 1514, and based on the existence of the universal connector 121, the swinging second swing bracket 153 can drive the main shaft 120 to synchronously swing in the same direction relative to the chassis, so that the blade assembly 130 tilts relative to the ground in the X axis direction.
When the blade assembly 130 swings around the X axis direction as required, so that any end of the blade assembly 130 in the Y axis direction contacts with the ground, and the other end of the blade assembly 130 is separated from the ground, the second driving mechanism 1564 can be opened to provide power for the second link mechanism, because the second swing bracket 153 and the third bracket 1518 are fixedly connected and the third bracket 1518 is hinged to the second rotating shaft 1515, the second link mechanism can drive the second swing bracket 153 to swing around the second rotating shaft 1515, and the swinging second swing bracket 153 can drive the main shaft 120 to synchronously swing in the same direction, so that the blade assembly 130 tilts relative to the ground in the Y axis direction.
It should be noted that the main driving mechanism 115, the first driving mechanism 1551 and the second driving mechanism 1564 may all be dc servo motors connected with a right-angle speed reducer, and the chassis 100 may be provided with batteries for respectively supplying power to the main driving mechanism 115, the first driving mechanism 1551 and the second driving mechanism 1564, where the batteries may be lithium batteries, so as to provide a long endurance.
The number of the blade mechanisms is two, the two blade mechanisms respectively correspond to the two main shafts 120, and each blade mechanism is connected with the bottom end of the corresponding main shaft 120, so that the swing of the main shafts 120 drives the change of the inclination angle and the inclination direction of the two blade mechanisms relative to the ground.
Referring to fig. 1 and 3, each blade mechanism includes a central shaft connected to the corresponding main shaft 120, and a plurality of spatulas 133 arranged at intervals along the circumferential direction of the central shaft, each spatula 133 is provided with a connecting arm 134, wherein the spatula 133 can be fixedly connected to the main shaft 120 through the connecting arm 134, at this time, the inclination angle of each spatula 133 cannot be adjusted, or each spatula 133 can be connected to the central shaft in a manner of rotating around the axial direction of the connecting arm 134, so as to adjust the inclination angle of the spatula 133 according to actual requirements, which is not limited herein.
Optionally, the troweling robot 10 further includes a troweling tray 140 in one-to-one correspondence with the blade assemblies 130, and the troweling tray 140 is detachably connected with the blade assemblies 130 and is located at the bottom ends of the blade assemblies 130.
In this embodiment, the spatula 140 is provided with a clamping portion 141, such as a clamping plate, and the clamping portion 141 and the upper surface of the spatula 140 together form a clamping opening for matching with the edge of each spatula 133, that is, the spatula 140 is clamped at the bottom end of the blade assembly 130. By being compatible with the trowelling disc 140, the window period of the trowelling robot 10 on the scene can be prolonged, the polishing and pulp lifting effects are improved, and two functions of trowelling disc 140 smoothing and trowelling knife 133 smoothing are realized. Specifically, for example, the troweling tray 140 is connected with the blade assembly, the contact area between the troweling robot 10 and the working surface is increased by the arrangement of the troweling tray 140, the pressure is reduced, the troweling robot 10 can effectively trowel the ground at the moment, and the troweling tray 140 can be removed when the troweling robot 10 needs to trowel the ground subsequently, so that the trowel 133 directly contacts the working surface, the pressure of the troweling robot 10 on the working surface is increased, and the troweling effect is good.
Optionally, the troweling robot 10 further includes a navigation system (not shown), the navigation system has a controller, the controller is electrically connected to the main driving mechanism 115, the first driving mechanism 1551, and the second driving mechanism 1564, respectively, and further the troweling robot 10 can move along a preset path by controlling the rotation direction, the rotation speed, and the like of the main driving mechanism 115, the first driving mechanism 1551, and the second driving mechanism 1564, so as to effectively improve the corner processing capability of the working surface.
In an actual use process of the troweling robot 10 provided in this embodiment, the tilting directions and the stress conditions of the two main shafts 120 are respectively shown in fig. 8 to 14, wherein in fig. 8 to 14, the left sides are respectively schematic diagrams showing the tilting directions of the main shafts 120, the right sides are respectively stress diagrams corresponding to the two blade assemblies, wherein small circles in each blade assembly show the acting points of the blade assembly 130 and the working surface, and mark the conditions of the driving force F applied thereto. In fig. 11 to 13, since the blade assembly 130 corresponding to the main shaft 120 with one-directional degree of freedom is kept horizontal, the blade assembly 130 is uniformly stressed as a whole, and there is no driving force F for driving the troweling robot 10 to move or rotate, and fig. 14 can be obtained by the same method.
As shown in fig. 1 and 8, when the troweling robot 10 needs to move forward, the two main shafts 120 are distributed in a splayed shape in the X-axis direction by using the two first reversing mechanisms, so that the two blade assemblies 130 are respectively in contact with the ground only at the inner ends opposite to each other in the X-axis direction, and at this time, the two blade assemblies 130 are controlled to rotate in the reverse direction, so that a driving force for moving the troweling robot 10 forward in the Y-axis direction is generated.
As shown in fig. 1 and 9, when the troweling robot 10 needs to move backward, the two first reversing mechanisms drive the two main shafts 120 to be in inverted-splayed distribution in the X-axis direction, so that the outer ends of the two blade assemblies 130, which are relatively far away from each other only in the X-axis direction, are respectively in contact with the ground, and at this time, the two blade assemblies 130 rotate in opposite directions, so as to generate a driving force for moving the troweling robot 10 backward in the Y-axis direction.
As shown in fig. 1 and 10, when the troweling robot 10 needs to rotate to the right, the two main shafts 120 are driven to swing by the two first reversing mechanisms, so that the right end of each blade assembly 130 in the X-axis direction is respectively contacted with the ground, and the left end is separated from the ground, at this time, because the two blade assemblies 130 rotate in opposite directions and the moment of the moment arm is different from the moment of the center of gravity, a driving force for the troweling robot 10 to rotate to the right is generated.
As shown in fig. 1 and 11, when the troweling robot 10 needs to rotate to the left, the operations different from the right rotation are only: the left ends of the blade assemblies 130 in the X-axis direction are driven to contact the ground and the right ends are driven to separate from the ground by two first reversing mechanisms.
As shown in fig. 1 and 12, when the troweling robot 10 needs to traverse rightward, the blade assembly 130 corresponding to the main shaft 120 with one-directional degree of freedom is kept horizontal, and the main shaft with two-directional degree of freedom is driven by the second reversing mechanism provided in the main shaft to contact the rear end of the corresponding blade assembly 130 with the ground and separate the front end from the ground, and at this time, the two blade assemblies 130 rotate in opposite directions, thereby generating a driving force to cause the troweling robot 10 to traverse rightward.
As shown in fig. 1 and 13, when the troweling robot 10 needs to traverse leftward, the blade assembly 130 corresponding to the main shaft 120 having one-directional freedom degree is kept horizontal, and the main shaft having two-directional freedom degrees is driven by the second reversing mechanism provided therein such that the front end of the corresponding blade assembly 130 is in contact with the ground and the rear end is separated from the ground, and at this time, the two blade assemblies 130 rotate in opposite directions, thereby generating a driving force to cause the troweling robot 10 to traverse leftward.
Referring to fig. 14, when the movement is not required, only the troweling operation or the troweling operation is required, the first reversing mechanism and the second reversing mechanism do not work, so that the two blade assemblies 130 are horizontally arranged and fully contact with the ground, and meanwhile, the two blade assemblies 130 rotate in opposite directions.
In conclusion, the application provides a robot of polishing, with first reversing mechanism and the integration of second reversing mechanism together, effectively retrench the structure, reduce its shared space in chassis below, through the inclination direction of controlling every blade subassembly and operation face, inclination angle and the rotational speed of blade subassembly, obtain the drive power that drives the robot of polishing translation, turn to and pivot, the flexibility of operation is high, and enable the robot of polishing and can realize omnidirectional movement at the polishing in-process, effectively improve operation face corner throughput.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A troweling robot, characterized by comprising:
a chassis;
the two main shafts are arranged along the Z-axis direction, the top end of each main shaft is provided with a universal connector which is rotatably connected with the chassis along the axial direction of the chassis, the bottom end of each main shaft is used for connecting a blade assembly, the two main shafts are respectively provided with a first reversing mechanism, and at least one main shaft is provided with a second reversing mechanism;
the first reversing mechanism is connected with the chassis and used for driving the spindles to swing around the Y-axis direction, the second reversing mechanism is connected with the first reversing mechanism and used for driving the corresponding spindles to swing around the X-axis direction, and the axes of the two spindles are arranged along the X-axis direction.
2. The troweling robot according to claim 1, wherein the first reversing mechanism comprises a first swing bracket and a first tilt angle driving assembly;
the first swing bracket is connected with the chassis and is configured to swing around a Y-axis direction, and the main shaft is connected with the first swing bracket and can swing synchronously;
the first inclination angle driving assembly is connected with the first swinging support to drive the first swinging support and drive the main shaft to swing around the Y-axis direction relative to the universal connector.
3. The troweling robot according to claim 2, wherein the second reversing mechanism comprises a second swing bracket and a second tilt angle driving assembly;
the second swing bracket is connected with the first swing bracket and is configured to swing around the X-axis direction, and the main shaft rotatably penetrates through the second swing bracket and can swing synchronously with the second swing bracket;
the second inclination angle driving assembly is connected with the second swing support to drive the second swing support and drive the main shaft to swing around the X-axis direction relative to the universal connector.
4. The troweling robot according to claim 3, wherein the main shaft is axially immovably and circumferentially rotatably connected with the second swing bracket.
5. The troweling robot according to any one of claims 1 to 4, wherein the main shaft on which the first and second reversing mechanisms are arranged swings about a Y-axis direction with a first axis as an axis, and swings about an X-axis direction with a second axis as an axis, and the first axis and the second axis intersect on the same plane.
6. The troweling robot according to claim 5, wherein the main shaft is vertically disposed at an intersection of the first axis and the second axis.
7. The troweling robot according to claim 3, characterized in that the first swing bracket includes:
the first bracket is connected with the chassis;
the second support is arranged around the main shaft, a gap is reserved between the second support and the main shaft, the second support is provided with a first rotating shaft arranged along the Y-axis direction and a second rotating shaft arranged along the X-axis direction, and the first rotating shaft is rotatably connected with the first support; and
and the third support is in transmission connection with the first inclination angle driving assembly so as to drive the second support to swing around the first rotating shaft.
8. The troweling robot according to claim 7, wherein the third support includes two fixing members spaced apart from each other in the X-axis direction, the main shaft is located between the two fixing members, one end of each fixing member is connected to the second swing support, and the other end of each fixing member is rotatably connected to the second rotating shaft, and the second support is suspended above the second swing support.
9. The troweling robot according to claim 7, characterized in that the first tilt angle driving assembly includes:
the first driving mechanism is positioned on the side of the second bracket; and
and the first connecting rod mechanism and the first driving mechanism are positioned at the same side of the second support, one end of the first connecting rod mechanism is connected with the side wall of the third support in the X-axis direction, and the other end of the first connecting rod mechanism is connected with the first driving mechanism so as to switch the rotary motion of the first driving mechanism into driving force for driving the third support and driving the second support to swing around the Y-axis direction.
10. The troweling robot according to claim 7, characterized in that the second tilt angle driving assembly includes:
the fixed seat is connected with the second bracket;
the second driving mechanism is positioned on the side of the second swing bracket and connected with the fixed seat; and
and the second connecting rod mechanism and the second driving mechanism are positioned at the same side of the second swinging support, one end of the second connecting rod mechanism is connected with the side wall of the second swinging support in the Y-axis direction, and the other end of the second connecting rod mechanism is connected with the second driving mechanism so as to switch the rotary motion of the second driving mechanism into driving force for driving the second swinging support to swing around the X-axis direction.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110806121.5A CN113431308B (en) | 2021-07-16 | 2021-07-16 | Troweling robot |
| PCT/CN2022/105979 WO2023284858A1 (en) | 2021-07-16 | 2022-07-15 | Troweling robot |
| GB2300295.9A GB2622652A (en) | 2021-07-16 | 2022-07-15 | Troweling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110806121.5A CN113431308B (en) | 2021-07-16 | 2021-07-16 | Troweling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113431308A true CN113431308A (en) | 2021-09-24 |
| CN113431308B CN113431308B (en) | 2022-12-23 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110806121.5A Active CN113431308B (en) | 2021-07-16 | 2021-07-16 | Troweling robot |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN113431308B (en) |
| GB (1) | GB2622652A (en) |
| WO (1) | WO2023284858A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114482494A (en) * | 2022-01-29 | 2022-05-13 | 南京工业大学 | Spatula angle adjusting device for wear-resisting floor plastering robot |
| CN114541713A (en) * | 2022-01-29 | 2022-05-27 | 江苏应泰智能建设机械研究院有限公司 | Material scattering device for wear-resistant floor finishing robot |
| WO2023284858A1 (en) * | 2021-07-16 | 2023-01-19 | 广东博智林机器人有限公司 | Troweling robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116949898A (en) * | 2023-09-19 | 2023-10-27 | 德州市德城区安艺装饰工程有限公司 | Ground leveling machine for building construction |
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| KR20030012201A (en) * | 2001-07-31 | 2003-02-12 | 한국생산기술연구원 | High performance robot for concrete floor finishing |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2023284858A1 (en) | 2023-01-19 |
| GB2622652A (en) | 2024-03-27 |
| CN113431308B (en) | 2022-12-23 |
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