CN114482494A

CN114482494A - Spatula angle adjusting device for wear-resisting floor plastering robot

Info

Publication number: CN114482494A
Application number: CN202210109881.5A
Authority: CN
Inventors: 张广明; 寇相杰; 邵敏; 尤兵; 丁松; 吕筱东
Original assignee: Jiangsu Yingtai Intelligent Construction Machinery Research Institute Co ltd; Nanjing Tech University
Current assignee: Jiangsu Yingtai Intelligent Construction Machinery Research Institute Co ltd; Nanjing Tech University
Priority date: 2022-01-29
Filing date: 2022-01-29
Publication date: 2022-05-13

Abstract

The invention discloses a trowel angle adjusting device for a wear-resistant floor polishing robot, which comprises an installation frame, two groups of angle adjusting assemblies and a transmission assembly, wherein a motor is arranged on the installation frame, the two groups of angle adjusting assemblies are symmetrically arranged by taking the central axis of the installation frame as the central axis, each angle adjusting assembly comprises a first swinging part and a second swinging part, the first swinging part is positioned at the lower part of the installation frame, the second swinging part is positioned at one side of the first swinging part, and the lower part of the first swinging part is connected with a trowel through a reduction box. The angle adjusting assembly and the troweling are adopted, so that the robot can walk automatically, procedures such as troweling and the like can be performed, the final troweling effect is improved, the forming quality of the wear-resistant floor can be improved, the first swing portion and the second swing portion can work in a coordinated mode, the manual adjustment of the operation direction of the robot is replaced, the labor force is reduced, and meanwhile the operation efficiency of the robot is improved greatly.

Description

Spatula angle adjusting device for wear-resisting floor plastering robot

Technical Field

The invention relates to the technical field of construction robots, in particular to a trowel angle adjusting device for a wear-resistant floor finishing robot.

Background

As a novel high-end ground building material product, the carborundum wear-resistant floor is formed by combining a concrete base layer and a carborundum surface layer, has the advantages of wear resistance and compression resistance, difficult dust generation, convenient cleaning and maintenance, economy, durability, multiple colors for selection and the like, and can meet the use requirements of factories, markets, parking lots, logistics warehouses, exhibition centers and the like on large-area ground.

Along with the continuous development of the construction industry, higher requirements are provided for the construction efficiency and the construction quality, although a laser leveling machine is born, the construction efficiency and the quality of a concrete terrace are improved, most of the operations of carborundum wear-resistant terraces are still manual operations, the construction quality completely depends on the construction experience, and early investigation finds that when workers drive a troweling machine to operate, the walking route of the driving troweling machine mostly depends on the personal operation habit of drivers, a standard driving route is not provided for following, and the troweling machine is only driven to repeatedly wipe the ground without purpose; and the planning of the length of the working section of the troweling machine and the control of the working time are generally based on experience, so that the troweling effect is poor, and the quality of the formed wear-resistant floor is low. The carborundum wear-resistant terrace is different from a cement terrace or a concrete terrace, and has higher requirements on the requirements on smoothness, flatness, wear resistance, cracking resistance and the like.

Based on the above, we propose a trowel angle adjusting device for a wear-resistant floor polishing robot to solve the above problems.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

The present invention has been made in view of the above and/or other problems occurring in the design of the existing troweling robot.

Therefore, an object of the present invention is to provide a trowel angle adjusting device for a wear-resistant floor-finishing robot, which performs coordinated operations through a first swing portion and a second swing portion, instead of manually adjusting the operation direction of the robot, so as to greatly improve the operation efficiency of the robot while reducing the labor force.

In order to achieve the effect, the invention provides the following technical scheme: the utility model provides a wear-resisting terrace trowel angle adjusting device for robot that polishes, includes mounting bracket, angle adjusting component and drive assembly, is equipped with the motor on the mounting bracket, and angle adjusting component is equipped with two sets ofly, and is two sets of angle adjusting component uses the central axis of mounting bracket sets up for the symmetry, and angle adjusting component is including being located the first swing portion of mounting bracket lower part and being located the second swing portion of first swing portion one side, first swing portion lower part is connected with the trowel through the reducing gear box, and is two sets of the opposite, the inclination of trowel direction of rotation is the same, drive assembly locates between two sets of reducing gear boxes, the motor passes through drive assembly and is connected with the reducing gear box.

As a preferable aspect of the present invention, wherein: the first swinging portion comprises a first supporting shaft, first bearing seats arranged at two ends of the first supporting shaft and a first side plate arranged on one side of the first bearing seats, the first side plate is fixedly connected with the mounting frame, a first swinging frame is sleeved on the outer side of the first supporting shaft, the lower portion of the first swinging frame is connected with the connecting box through a first connecting piece, and the lower portion of the connecting box is arranged on the reduction gearbox.

As a preferable aspect of the present invention, wherein: first swing frame includes first swing axle, first midbody and second swing axle, the inside cavity of first swing axle sets up, first swing axle sleeve rotates with first supporting shaft to be connected, first swing axle passes through midbody and second swing axle fixed connection, first swing axle sets up with second swing axle is perpendicular, second swing axle rotates with first connecting piece to be connected.

As a preferable aspect of the present invention, wherein: the first connecting piece comprises a vertical section and a horizontal section, the vertical section is provided with a round hole, the second swinging shaft is rotatably connected with the vertical section through the round hole, the horizontal section is fixedly connected with the top of the connecting box, the bottom of the connecting box is provided with a containing groove, the reduction gearbox is fixedly connected inside the containing groove, the output end of the reduction gearbox is fixedly connected with the middle of the cross shaft, and the cross shaft is provided with a trowel all around.

As a preferable aspect of the present invention, wherein: the second swing portion includes the second back shaft, locates the second bearing frame at second back shaft both ends and locates the second curb plate of second bearing frame one side, second curb plate and mounting bracket fixed connection, second back shaft outside cover is equipped with the third oscillating axle, third oscillating axle lower part has the fourth oscillating axle through the second midbody, the third oscillating axle sets up with the fourth oscillating axle is perpendicular, the fourth oscillating axle both ends are passed through the second connecting piece and are connected with electronic jar, electronic jar one side is equipped with third bearing frame, electronic jar top is equipped with the lug, lug and third bearing frame fixed connection.

As a preferable aspect of the present invention, wherein: one end of the electric cylinder is provided with a connecting plate, and the connecting plate is fixedly connected with one side of the reduction gearbox.

As a preferable aspect of the present invention, wherein: the mounting bracket is internally provided with a battery, the mounting bracket is provided with a groove, the groove is internally provided with a motor, the mounting bracket is further provided with a control module, and the control module is electrically connected with the motor and the electric cylinder.

As a preferable aspect of the present invention, wherein: the transmission assembly comprises a first belt pulley, a transmission belt and a second belt pulley, the first belt pulley is fixedly connected with the output end of the motor, the first belt pulley is in transmission connection with the second belt pulley through the transmission belt, the second belt pulley is fixedly connected with the transmission shaft, and the two ends of the transmission shaft are connected with the input end of the reduction gearbox through the coupler.

As a preferable aspect of the present invention, wherein: the mounting bracket outside is equipped with the bracing piece, fixedly connected with guard ring on the bracing piece.

As a preferable aspect of the present invention, wherein: a smearing plate is detachably connected below the spatula.

The invention has the beneficial effects that: the angle adjusting assembly and the troweling are adopted, so that the robot can walk automatically, procedures such as troweling and the like can be performed, the final troweling effect is improved, the forming quality of the wear-resistant floor can be improved, the first swing portion and the second swing portion can work in a coordinated mode, the manual adjustment of the operation direction of the robot is replaced, the labor force is reduced, and meanwhile the operation efficiency of the robot is improved greatly.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:

fig. 1 is a schematic structural view of the whole of the present invention.

Fig. 2 is a schematic structural view of the angle adjustment assembly of the present invention.

Fig. 3 is a schematic structural diagram of the first swing portion according to the present invention.

FIG. 4 is a schematic view of the position of the first swing frame of the present invention.

FIG. 5 is a schematic structural view of a first swing frame of the present invention.

Fig. 6 is a schematic structural view of a second swing portion of the present invention.

Fig. 7 is a schematic position diagram of the third and fourth swing shafts according to the present invention.

Fig. 8 is a schematic structural view of the electric cylinder and the bump according to the present invention.

Fig. 9 is a front view of the robot of the present invention as it advances.

Fig. 10 is a plan view of the robot of the present invention as it advances.

Fig. 11 is a front view of the robot of the present invention as it rotates.

Fig. 12 is a plan view of the robot according to the present invention when it is rotated.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Example 1

Referring to fig. 1 to 3, a first embodiment of the present invention provides a spatula angle adjusting device for a wear-resistant floor-finishing robot, including a mounting frame 100, an angle adjusting assembly 200, and a transmission assembly 500. The mounting rack 100 is used for mounting and fixing related components of the device, the angle adjusting component 200 is used for replacing the previous working mode of a worker driving the troweling machine, and the angle adjusting component 300 is used for realizing the walking of the troweling robot spatula 309.

Be equipped with motor 101 on the mounting bracket 100, angle adjusting component 200 is provided with two sets ofly to set up with the central axis symmetry of mounting bracket 100, angle adjusting component 200 is connected with spatula 309 through reducing gear box 307 including the first swing portion 300 that is located the mounting bracket 100 lower part and the second swing portion 400 of being connected with first swing portion 300, first swing portion 300 lower part, two sets of spatula 309 opposite direction of rotation, inclination are the same.

The motor 101 is used for driving the troweling robot to work, the first swing portion 300 and the second swing portion 400 are arranged on a beam frame at the bottom of the mounting frame 100, the first swing portion 300 and the second swing portion 400 are used for changing the inclination angle and the inclination direction of the spatula 309 and the ground, and the movement direction and the movement speed of the spatula 309 are changed by combining the reduction gearbox 307, and within a certain range, the larger the inclination angle between the spatula 309 and the ground is, the faster the working speed of the troweling robot is, the smaller the inclination angle between the spatula 309 and the ground is, and the slower the working speed of the troweling robot is.

The two sets of spatulas 309 refer to the left and right spatulas of the mounting rack, the rotation directions of the two sets of spatulas 309 are opposite, and the inclination angles of the spatulas 309 and the concrete ground are the same, i.e. the two sets of spatulas 309 are opposite and the same or the same movement pattern. When the troweling robot performs a translational motion, the inclination angles of the two sets of spatulas 309 are opposite, and when the troweling robot performs a rotational motion, the inclination angles of the two sets of spatulas 309 are the same. The resulting friction torque can be counteracted by the opposite direction of rotation of the two sets of spatulas 309. The first swing part 300 and the second swing part 400 work in coordination, the working direction of the robot is adjusted manually instead of manual work, labor force is reduced, and meanwhile the working efficiency of the robot is greatly improved.

The trowels 309 are in direct contact with the ground, the total weight of the trowelling robot is supported on the ground through the two sets of trowels 309, and the trowels 309 are combined with the angle adjusting assembly to achieve walking, steering, grout lifting and other operations.

The transmission assembly 500 is arranged between the two reduction boxes 307, and the motor 101 is connected with the reduction boxes 307 through the transmission assembly 500. The transmission assembly 500 is used for driving the reduction gearbox through the motor 101, the reduction gearbox 307 converts the horizontal rotation of the output end of the motor 101 along the shaft into the vertical rotation along the rotation of the driving spatula 309 through the transmission assembly 500, and meanwhile, the rotating speed of the output shaft of the reduction gearbox 307 can be further reduced, so that the rotating speed of the spatula 309 is ensured to be a proper rotating speed.

Example 2

Referring to fig. 1 to 12, a second embodiment of the present invention is shown, which is the same as the previous embodiment.

The first swinging portion 300 includes a first supporting shaft 301, a first bearing seat 302 disposed at two ends of the first supporting shaft 301, and a first side plate 303 disposed on one side of the first bearing seat 302, the first side plate 303 is fixedly connected to the mounting frame 100, a first swinging frame 304 is sleeved outside the first supporting shaft 301, a connecting box 306 is connected to the lower portion of the first swinging frame 304 through a first connecting piece 305, and a reduction box 307 is disposed on the lower portion of the connecting box 306.

The first side plate 303 is used for limiting a first bearing seat 302, the first side plate 303 is installed on a beam frame on the bottom surface of the installation frame 100, so that a first swinging part 304 is integrated with the installation frame 100, the first bearing seat 302 is fixed on the first side plate 303 through bolts, the first bearing seat 302 is used for limiting a first supporting shaft 301, the first supporting shaft 301 is used for limiting a first swinging frame 304, the first swinging frame 304 is used for realizing the inclination of the angle of the spatula 309,

the first swing frame 304 includes a first swing shaft 304a, a first intermediate body 304b, and a second swing shaft 304c, the first swing shaft 304a is disposed in a hollow manner, the first swing shaft 304a is rotatably connected to the first support shaft 301, the first swing shaft 304a is fixedly connected to the second swing shaft 304c through the first intermediate body 304b, the first swing shaft 304a is disposed perpendicular to the second swing shaft 304c, and the second swing shaft 304c is rotatably connected to the first connection member 305.

The first swing frame 304 is integrally formed by a first swing shaft 304a, a first intermediate body 304b, and a second swing shaft 304c, the first swing frame 304 is cross-shaped, and the first support shaft 301 penetrates the first swing shaft 304a, so that the first swing frame 304 can swing in a direction perpendicular to the direction penetrating the first support shaft 301.

First connecting piece 305 includes vertical section 305a and horizontal segment 305b, and the round hole has been seted up to vertical section 305a, and second swing axle 304c rotates with vertical section 305a through the round hole to be connected, horizontal segment 305b and connecting box 306 top fixed connection, and the storage tank has been seted up to connecting box 306 bottom, and reducing gear box 307 fixed connection is inside the storage tank, and the output of reducing gear box 307 and the middle part fixed connection of cross 308 all are equipped with spatula 309 all around cross 308.

The vertical section 305a and the horizontal section 305b are integrally formed, are L-shaped, and are two, and are located at two ends of the second swing shaft 304c, the circular holes are used for limiting the second swing shaft 304c, the first connecting piece 305 can swing around the second swing shaft 304c through the circular holes, the connecting box 306 is used for fixing the first connecting piece 305, that is, the first connecting piece 305 is used as a swing support piece of the connecting box 306, and the reduction box 307 integrates the first connecting piece and the accommodating groove through welding or bolt fixing, so that the reduction box 307 can realize angle adjustment under the action of the first swing part 300, that is, the reduction box 307 can swing around the first support shaft 301 through the first swing shaft 304a, and can swing around the second swing shaft 304 through the first connecting piece 305, so as to realize inclination of the trowel 309 and the ground.

When the construction robot does not work, the axis of the output shaft of the reduction gearbox 307 is a first swing axis, the plane where the two first swing axes are located is referred to as a first swing plane in this embodiment, and the plane perpendicular to the first swing plane is referred to as a second swing plane. When the first swing portion 300 swings in the first swing plane or the second swing plane in a small range, the reduction gearbox 307 below the first swing portion 300 can be driven to swing, and since the output shaft of the reduction gearbox 307 is directly fixed at the central hole of the cross shaft 308, the spatula 309 can also swing along with the swing of the reduction gearbox 307, so that the spatula 309 can incline to the ground.

The second swing portion 400 includes a second support shaft 401, a second bearing seat 402 disposed at two ends of the second support shaft 401, and a second side plate 403 disposed on one side of the second bearing seat 402, the second side plate 403 is fixedly connected to the mounting frame 100, a third swing shaft 404 is sleeved outside the second support shaft 401, the third swing shaft 404 is fixedly connected to a fourth swing shaft 406 through a second intermediate 405, the third swing shaft 404 is perpendicular to the fourth swing shaft 406, two ends of the fourth swing shaft 406 are fixedly connected to the electric cylinder 408 through a second connecting member 407, a third bearing seat 409 is disposed on one side of the electric cylinder 408, a protrusion 408a is disposed at a top end of the electric cylinder 408, and the protrusion 408a is fixedly connected to the third bearing seat 409.

The structure of the second side plate 403, the second bearing seat 402 and the second support shaft 401 is the same as the structure of the first side plate 303, the first bearing seat 302 and the first support shaft 301 of the first swing portion 300, the second side plate 403 is used for limiting the second bearing seat 402, the second side plate 403 is welded at the bottom of the mounting frame 100, the second support shaft 401 is used for limiting the third swing shaft 404, the second intermediate body 405 and the fourth swing shaft 406 are integrally formed into a second swing frame, the second swing frame is used for realizing the inclination of the angle of the electric cylinder 408, the second support shaft 401 penetrates through the third swing shaft 404, so that the second swing frame can swing along the direction perpendicular to the direction penetrating through the second support shaft 401, the second connecting piece 407 is used for fixing the fourth swing shaft 406, the electric cylinder 408 is provided with a on both sides, the electric cylinder 408 can rotate around the third bearing seat 409 through the bumps 408a, and, the electric cylinder 408 can swing about the second support shaft 401 via the third swing shaft 404, and can also swing about the third bearing block 409 via the projections 408a on both sides of the electric cylinder 408.

One end of the electric cylinder 408 is provided with a connecting plate 408b, and the connecting plate 408b is fixedly connected with one side of the reduction gearbox 307. The first swing portion 300 and the second swing portion 400 are connected through a connecting plate 408b, the connecting plate 408b is fixed on the reduction gearbox 307 through bolts, the electric cylinder 408 can control the reduction gearbox 307 to swing through stretching, the first swing portion 300 above the reduction gearbox 307 is driven to swing in a first swing plane or a second swing plane, an inclination angle between the trowel 309 and the ground is achieved, when the trowel 309 has a certain inclination angle with the ground, the trowel robot can carry out moving operation, and the first swing portion 300 and the second swing portion 400 swing simultaneously.

The inside battery 102 that is equipped with of mounting bracket 100, mounting bracket 100 is seted up flutedly, and motor 101 is installed and in the recess, still is equipped with control module 103 on the mounting bracket 100, control module 103 and motor 101, electronic jar 408 electric connection.

The two batteries 102 are arranged, the batteries 102 are symmetrically arranged on two sides above the mounting rack, the batteries 102 are used for storing and releasing electric energy, the batteries 102 supply power during operation of the motor 101, the control module 103 controls starting and stopping of the motor 101 and the electric cylinder 408, meanwhile, the electric cylinder is also used for realizing functions of walking, leveling, obstacle avoidance, navigation and the like of the troweling robot, so that the robot can smoothly perform construction operation, an environment map can be constructed through a laser scanning radar for positioning in the embodiment, the environment map is reconstructed through a laser radar copper drum SLAM technology, the position of the robot is positioned, then the control module performs path planning and obstacle avoidance according to the current position of the robot through an algorithm, and the hardware part of the control module is composed of an environment information acquisition device (used for environment scanning, distance detection, image acquisition and the like), a data processing device, a human-computer interaction device and a mechanical state acquisition device (used for detecting the power supply voltage, the power supply and the discharge of the electric energy of the detection device, the battery 102 is used for storing and releasing the electric energy, the electric cylinder and the electric cylinder 408 is symmetrically arranged above the electric cylinder, and the electric cylinder 102 is arranged above the electric cylinder, and the electric cylinder is arranged above the electric cylinder, and arranged in the electric cylinder, motor current, spatula tilt, etc.).

Example 3

Referring to fig. 1 to 12, a third embodiment of the present invention is shown, which is the previous embodiment.

The transmission assembly 500 comprises a first belt pulley 501, a transmission belt 502 and a second belt pulley 503, the first belt pulley 501 is fixedly connected with the output end of the motor 102, the first belt pulley 501 is in transmission connection with the second belt pulley 503 through the transmission belt 502, the second belt pulley 503 is fixedly connected with a transmission shaft 504, and two ends of the transmission shaft 504 are connected with the input end of the reduction gearbox 307 through a coupling 505.

The first belt pulley 501, the transmission belt 502 and the second belt pulley 503 are used for outputting the driving force of the motor 101 to the position of the reduction gearbox 307, the transmission belt 502 is vertically arranged, the transmission shaft 504 is horizontally arranged, and the two reduction gearboxes 307 are connected through the coupler 505.

A support rod 104 is arranged on the outer side of the mounting rack 100, and a protective ring 105 is fixedly connected to the support rod 104. The protective ring 105 can effectively protect the internal components of the troweling robot.

The operation process comprises the following steps:

the two groups of trowels 309 rotate in opposite directions and have the same inclination angle, which means that the four trowels 309 at the lower part of the cross shaft 308 rotate at high speed, and the initially set concrete surface is ground and broken by the high-speed rotating trowels 309 (the high-speed rotating trowels are similar to a plastering plate), and the grinding and breaking are repeated until the grout on the concrete surface is extracted;

after polishing, closing a discharge hole of the material scattering assembly, and filling the bin with wear-resistant aggregate;

the troweling robot starts to work on the surface of concrete, a control module determines the opening and closing of a discharge port of a storage bin, so that the troweling robot can move forward and spread carborundum wear-resistant aggregate, the spread wear-resistant aggregate can be leveled through a laser leveling assembly, and if the wear-resistant aggregate in the storage bin is spread, the troweling robot is refilled until the whole construction area is full;

after the wear-resistant aggregate is spread, the polishing robot polishes the carborundum wear-resistant aggregate spread on the surface of the concrete, and repeatedly polishes the wear-resistant ground by using the high-speed rotating trowel 309 until the surface of the wear-resistant floor is glossy.

The working principle is as follows:

when the troweling robot is constructed, a certain clear angle needs to be generated between the trowel and the ground, at this time, the control module 103 sends a command, the electric cylinder 408 push rod located below the second swing portion 400 starts to extend, the top of the electric cylinder 408 push rod is connected with the connecting plate 408b, after the electric cylinder 408 push rod extends, the connecting plate 408b is pressed downwards, so the reduction gearbox 307 is driven to swing in the first swing plane, it can be understood that the reduction gearbox 307 swings around the second swing axis in the first swing plane, that is, the trowel 309 swings around the axis of the cross shaft 308, that is, the first swing axis inclines by a certain angle in the first swing plane, meanwhile, as the connection box 306 of the first swing portion 300 is connected with the reduction gearbox 307, the first connection piece 305 is installed on the connection box 306, the first connection piece 305 is connected with the first swing shaft, the first swing shaft 304a penetrates through the first support shaft 301, at this time, the first connecting element 305 rotates around the first supporting shaft 301 by a certain angle correspondingly through the first swinging shaft 304a, so that the spatula 309 forms a certain angle with the ground, at this time, the output shaft of the reduction gearbox 307 does not coincide with the first swinging axis but forms a certain angle with the first swinging axis, because the electric cylinder 408 is connected with the reduction gearbox 307 through the connecting plate 408b, the electric cylinder 408 also swings at a certain angle in the first swinging plane, the electric cylinder 408 is connected with the third bearing seat 409 through the projection 408a on both sides of the cylinder body, the third bearing seat 409 is fixed on the second connecting element 407 of the second swinging part 40 through the bolt, the second connecting element 407 is fixedly connected with a second swinging frame, the second swinging frame penetrates through the second supporting shaft 401, so that the second connecting element 407 swings around the second supporting shaft 401 by a certain angle through the second swinging frame, and then the electric cylinder 408 makes a certain angle around the second swinging frame in the first swinging plane through the second connecting element 407 The angle swing, at the same time, the other side of the spatula 309 has correspondingly inclined, the tilting action of the spatula 309 is finished, the troweling robot starts moving, the second swing portion 400 can be provided with one or two trowels on the first swing portion, when the robot does translational motion, the trowels on the left side and the right side of the robot are equal in size and opposite in direction, and the inclination directions are opposite to each other, when the robot does rotational motion, the trowel rotation speeds on the left side and the right side of the robot are equal in size and opposite in direction, and the inclination directions are the same to each other.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims

1. The utility model provides a wear-resisting terrace trowel angle adjusting device for machine of polishing which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the mounting rack (100) is provided with a motor (101);

the angle adjusting assemblies (200) are symmetrically arranged in two groups by taking the central axis of the mounting rack (100) as a center, and comprise a first swinging part (300) positioned at the lower part of the mounting rack (100) and a second swinging part (400) connected with the first swinging part (300), the lower part of the first swinging part (300) is connected with a spatula (309) through a reduction box (307), and the two groups of spatulas (309) have opposite rotating directions and the same inclination angle; and the number of the first and second groups,

the transmission assembly (500) is arranged between the two reduction boxes (307), and the motor (101) is connected with the reduction boxes (307) through the transmission assembly (500).

2. The trowel angle adjusting device for wear-resistant floor finishing robot of claim 1, characterized in that: first swing portion (300) include first supporting shaft (301), locate first bearing frame (302) at first supporting shaft (301) both ends and locate first curb plate (303) of first bearing frame (302) one side, first curb plate (303) and mounting bracket (100) fixed connection, first supporting shaft (301) outside cover is equipped with first swing span (304), first swing span (304) lower part is connected with connecting box (306) through first connecting piece (305), connecting box (306) lower part is located in reducing gear box (307).

3. The trowel angle adjusting device for wear-resistant floor finishing robot of claim 2, characterized in that: the first swing frame (304) comprises a first swing shaft (304a), a first intermediate body (304b) and a second swing shaft (304c), the first swing shaft (304a) is arranged in a hollow mode, the first swing shaft (304a) is rotatably connected with the first supporting shaft (301), the first swing shaft (304a) is fixedly connected with the second swing shaft (304c) through the first intermediate body (304b), the first swing shaft (304a) is perpendicular to the second swing shaft (304c), and the second swing shaft (304c) is rotatably connected with the first connecting piece (305).

4. The trowel angle adjusting device for wear-resistant floor finishing robot of claim 3, characterized in that: the first connecting piece (305) comprises a vertical section (305a) and a horizontal section (305b), a round hole is formed in the vertical section (305a), the second swinging shaft (304c) is rotatably connected with the vertical section (305a) through the round hole, and the horizontal section (305b) is fixedly connected with the top of the connecting box (306).

5. The trowel angle adjusting device for wear-resistant floor finishing robot of claim 4, characterized in that: the connecting box is characterized in that a containing groove is formed in the bottom of the connecting box (306), the reduction gearbox (307) is fixedly connected to the inside of the containing groove, the output end of the reduction gearbox (307) is fixedly connected with the middle of the cross shaft (308), and the periphery of the cross shaft (308) is provided with the trowels (309).

6. The trowel angle adjusting device for wear-resistant floor finishing robot of claim 5, characterized in that: the second swinging part (400) comprises a second supporting shaft (401), a second bearing seat (402) arranged at two ends of the second supporting shaft (401) and a second side plate (403) arranged at one side of the second bearing seat (402), the second side plate (403) is fixedly connected with the mounting frame (100), a third swinging shaft (404) is sleeved on the outer side of the second supporting shaft (401), the third swing shaft (404) is fixedly connected with a fourth swing shaft (406) through a second intermediate body (405), the third swinging shaft (404) and a fourth swinging shaft (406) are vertically arranged, two ends of the fourth swinging shaft (406) are fixedly connected with an electric cylinder (408) through a second connecting piece (407), the electric cylinder (408) is provided with a third bearing seat (409) on one side, the top end of the electric cylinder (408) is provided with a convex block (408a), and the convex block (408a) is fixedly connected with the third bearing seat (409).

7. The trowel angle adjusting device for wear-resistant floor finishing robot of claim 6, characterized in that: one end of the electric cylinder (408) is provided with a connecting plate (408b), and the connecting plate (408b) is fixedly connected with one side of the reduction gearbox (307).

8. The trowel angle adjusting device for wear-resistant floor finishing robot of claim 7, characterized in that: the electric cylinder mounting structure is characterized in that a battery (102) is arranged inside the mounting frame (100), a groove is formed in the mounting frame (100), the motor (101) is installed in the groove, a control module (103) is further arranged on the mounting frame (100), and the control module (103) is electrically connected with the motor (101) and the electric cylinder (408).

9. The trowel angle adjusting device for wear-resistant floor finishing robot as claimed in any one of claims 1 to 8, wherein: the transmission assembly (500) comprises a first belt pulley (501), a transmission belt (502) and a second belt pulley (503), the first belt pulley (501) is fixedly connected with the output end of the motor (102), the first belt pulley (501) is in transmission connection with the second belt pulley (503) through the transmission belt (502), the second belt pulley (503) is fixedly connected with a transmission shaft (504), and two ends of the transmission shaft (504) are connected with the input end of the reduction gearbox (307) through a coupler (505).

10. The trowel angle adjusting device for wear-resistant floor finishing robot of claim 9, characterized in that: the outer side of the mounting rack (100) is provided with a supporting rod (104), and a protective ring (105) is fixedly connected to the supporting rod (104).