CN211817775U - Drive wheel and concrete floating robot - Google Patents

Abstract

The utility model provides a driving wheel and a concrete floating robot, wherein the driving wheel comprises a supporting component, a wheel sleeve, an outer hub, an inner hub and a driving part; the wheel sleeve is sleeved on the outer hub; the outer hub is sleeved on the inner hub and can rotate around the inner hub; the inner hub is fixedly arranged on the support component; the driving part is arranged in the inner hub and used for driving the outer hub to rotate; by adopting the scheme, the concrete floating robot realizes the simultaneous walking and floating of the floating plate, the ground floating precision is ensured, and the adaptation range of the driving wheel with the floating function to the floating plane is improved; the utility model provides a scheme, the structure is small and exquisite, simple, nimble, can effectively avoid appearing getting rid of thick liquid scheduling problem in the driving wheel robot work progress that has floating function.

Description

Drive wheel and concrete floating robot

Technical Field

The utility model relates to a drive wheel technical field especially relates to a floating robot of drive wheel and concrete.

Background

The ground concrete troweling machine mainly comprises a walking type troweling machine, an electric ground troweling machine, a driving type ground troweling machine and the like; the finishing process operation is mainly completed by manual operation, the labor intensity is high, the efficiency is extremely low, the flatness mainly depends on the experience of workers, the compactness of the ground after construction is poor under the condition of multi-person cooperation and joint operation, and the uniformity of the flatness is difficult to ensure.

The existing driving wheel with the floating function is not provided with a walking wheel train, and in order to realize the walking function, the bottom surface of the floating plate is designed into an arc surface so as to provide the walking power of the driving wheel with the floating function, but the driving wheel with the floating function is difficult to float the ground; in addition, if the ground has pits, the smearing plate falls into the pits, so that the robot cannot advance and throw mortar to one side.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving the problem that current concrete construction smears the unable walking of dish.

The main object of the utility model is to provide a driving wheel with floating function, which comprises a wheel sleeve, an outer hub, an inner hub and a driving part, wherein the wheel sleeve is sleeved on the wheel periphery of the outer hub and is used for contacting with the ground; the outer hub is sleeved on the inner hub and can rotate relative to the inner hub; and a driving part is arranged in the inner hub and is used for driving the outer hub and the wheel sleeve to rotate.

Further optionally, the driving wheel further comprises a support assembly, the support assembly comprises a left support plate, a right support plate and a steering connecting plate connected between the left support plate and the right support plate; the left support plate is fixedly arranged on the left side of the steering connecting plate along the vertical direction, the right support plate is fixedly arranged on the right side of the steering connecting plate along the vertical direction, one end of the outer hub is rotatably sleeved on the inner hub, and the other end of the outer hub is rotatably arranged on the left support plate; the inner hub is fixed to the right support plate.

Further optionally, the drive component comprises a servo motor and a reducer; the servo motor is fixed in the inner hub and is in transmission connection with the speed reducer through a motor shaft, one end of the speed reducer is arranged on the inner hub, and the other end of the speed reducer is in transmission connection with the outer hub to drive the outer hub to rotate.

Further optionally, the inner hub forms a middle partition plate in the middle part thereof, the speed reducer is located in the inner hub cavity on the left side of the middle partition plate, the servo motor is located in the inner hub cavity on the right side of the middle partition plate, a sealing plate is further fixed to the right side end of the inner hub facing the right support plate, and the sealing plate enables the inner hub cavity on the right side of the middle partition plate where the servo motor is located to form a closed space; one end of the servo motor is fixed on the middle partition plate along the horizontal direction, and the other end of the servo motor is fixed on the sealing plate; one end of the speed reducer is supported on the middle partition plate through a motor shaft, and the other end of the speed reducer is supported on the side wall of the outer hub and is in transmission connection with the outer hub; and the sealing plate is provided with a wiring port, and the wiring port is used for providing an interface for a power line and a communication line of the servo motor.

Further optionally, the support assembly is further provided with a sealing plate at the opening of the inner hub; the servo motor is fixedly arranged in the inner hub along the horizontal direction and extends to one side of the right supporting plate; the sealing plate is arranged on the right supporting plate and used for sealing the servo motor in the inner hub; the sealing plate is provided with a wiring port which is used for providing an interface for a power line and a communication line of the servo motor.

Further optionally, a steering shaft is also included; the steering shaft is fixedly arranged at the top of the steering connecting plate along the vertical direction and used for driving the steering connecting plate to rotate around the vertical axis.

Further optionally, the steering shaft is a hollow steering shaft, the hollow steering shaft is provided with a wiring hole along the axial direction, the steering connecting plate is provided with a wiring groove, the wiring groove is communicated with the wiring hole, and a power line and a communication line of the servo motor are led out from the wiring port, then enter the wiring hole of the hollow steering shaft along the wiring groove of the steering connecting plate and are led out at the end part.

Further optionally, the support assembly further comprises a sealing ring; the sealing ring is fixedly arranged on the outer hub through bolts and used for sealing a cavity of the outer hub.

Further optionally, the inner hub is fixedly arranged on the side surface of the right support plate through a bolt; the wheel sleeve is a rubber wheel.

Another object of the utility model is to provide a concrete floating robot with floating function specifically includes following scheme:

a concrete floating robot comprises a driving wheel, wherein the driving wheel is the driving wheel with the floating function.

Further optionally, the concrete floating robot further comprises a floating disc, a cavity is formed in the middle of the floating disc, and the driving wheel is contained in the cavity of the floating disc and can drive the floating disc to move.

By adopting the scheme, the concrete floating robot realizes the simultaneous walking and floating of the floating plate, the ground floating precision is ensured, and the adaptation range of the driving wheel with the floating function to the floating plane is improved; the utility model provides a scheme, the structure is small and exquisite, simple, nimble, can effectively avoid appearing getting rid of thick liquid scheduling problem in the floating robot work progress of concrete.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a perspective view of a driving wheel with a floating function provided in embodiment 1 of the present invention;

fig. 2 is a cross-sectional view of a driving wheel with a floating function according to embodiment 1 of the present invention.

In the figure: 1. a steering shaft; 2. a steering connecting plate; 21. a wiring groove; 3. a right support plate; 4. a left support plate; 5. closing the plate; 6. a rubber wheel; 7. a seal ring; 8. a speed reducer; 9. an outer hub; 10. a servo motor; 11. an inner hub; 101 a middle partition plate; 12. and (4) bolts.

Detailed Description

The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiment of the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or quantity or location.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

Example 1

As shown in fig. 1 to 2, the present invention provides a driving wheel with a floating function, which is mainly used for a concrete floating robot and can provide walking force for a floating plate of the concrete floating robot; the driving wheel specifically comprises a supporting assembly, a wheel sleeve, an outer hub 9, an inner hub 11 and a driving part; specifically, the wheel sleeve is a rubber wheel 6 which can provide friction force; the rubber wheel 6 is sleeved on the outer hub 9 and can rotate along with the outer hub 9; the outer hub 9 is sleeved on the inner hub 11 and can rotate around the inner hub 11; the inner hub 11 is fixedly arranged on the support component; the driving part is arranged in the inner hub 11 and is used for driving the outer hub 9 to rotate; by adopting the scheme, the driving part of the driving wheel is arranged in the inner hub and can drive the outer hub to rotate, so that the wheel type omnidirectional walking is realized, the driving wheel with the floating function can realize the simultaneous walking and floating of the floating plate, the ground floating precision is ensured, and the adaptation range of the driving wheel with the floating function to the floating plane is improved; the utility model provides a scheme, the structure is small and exquisite, simple.

Preferably, in combination with the above solution, as shown in fig. 1 to 2, in the present embodiment, the support assembly includes a steering link plate 2, a left support plate 4, and a right support plate 3; the left support plate 4 is fixedly arranged on the left side of the steering connecting plate 2 along the vertical direction and is mainly used for supporting a driving wheel; the right support plate 3 is fixedly arranged on the right side of the steering connecting plate 2 along the vertical direction and is mainly used for supporting an outer hub 9; specifically, the right support plate 3 is a perforated support plate for supporting the drive wheel and serving as a cable routing support.

Preferably, in combination with the above scheme, as shown in fig. 1 to 2, in the present embodiment, a driving cavity is formed in the outer hub 9, and the inner hub 11 is disposed in the driving cavity, so that the outer hub 9 can rotate around the inner hub 11; specifically, one end of the outer hub 9 is rotatably arranged on one side of the left support plate 4, and the other end of the outer hub 9 is rotatably sleeved on the inner hub 11, so that the driving stability can be effectively improved; further, the inner hub 11 is provided inside the outer hub 9; one end of the inner hub 11 is fixedly arranged at one side of the right support plate 3 to play a role of supporting connection.

Preferably, the inner hub 11 forms a middle partition plate 101 in the middle part thereof, the reducer is located in the left cavity of the inner hub on the left side of the middle partition plate, the servo motor is located in the right cavity of the inner hub on the right side of the middle partition plate, and a sealing plate is further fixed to the right end of the inner hub facing the right support plate, so that the inner hub cavity on the right side of the middle partition plate where the servo motor is located forms a closed space. Thus, one end of the servo motor is fixed on the middle partition plate along the horizontal direction, the other end of the servo motor is fixed on the sealing plate, one end of the speed reducer is supported on the middle partition plate through one end of the motor shaft, and the other end of the speed reducer is supported on the side wall of the outer hub and can be in transmission connection with the outer hub; in addition, the sealing plate is further optimized to be provided with a wiring port, and the wiring port is used for providing an interface for a power line and a communication line of the servo motor.

Preferably, in combination with the above solution, as shown in fig. 1 to 2, the present invention provides a driving wheel with a floating function, further comprising a steering shaft; the steering shaft is fixedly arranged at the top of the steering connecting plate 2 along the vertical direction and is used for driving the steering connecting plate 2 to rotate around the vertical axis; the steering shaft can provide required walking torque for the robot with the driving wheel with the floating function, and can effectively save space, reduce the driving power of the servo motor, improve the walking precision, control the walking precision more accurately and ensure that a driving system and a steering system are very simple; and the steering shaft has compact structure and can rotate 360 degrees.

Preferably, in combination with the above solutions, as shown in fig. 1 to 2, in this embodiment, the steering shaft is a hollow steering shaft 1, and a wire hole is axially formed in the hollow steering shaft 1, and the wire hole can provide a wire for the driving component; furthermore, a wiring groove 21 is arranged on the steering connecting plate 2, and the wiring groove 21 is communicated with the wiring hole so as to provide a line for wiring; a power line and a communication line of the servo motor are led out from the wiring port, enter a wiring hole of the hollow steering shaft along a wiring groove of the steering connecting plate 2 and then are led out from the end part; by adopting the scheme, the wiring groove 21 is arranged on the steering connecting plate, so that the steering connecting plate can be used for steering connection and cable wiring; the hollow steering shaft is internally provided with a through hole which can be used for steering of the wheel train, and routing of a power line and a control line, so that the design is small and reasonable.

Preferably, in combination with the above scheme, as shown in fig. 1 to 2, in the present embodiment, the driving part includes a servo motor 10 and a reducer 8; the reducer 8 is generally a high-speed-ratio reducer, for example, an RV reducer; the servo motor 10 is fixedly arranged in the inner hub 11 and is in transmission connection with the speed reducer 8 through a motor shaft; the speed reducer 8 is arranged on the inner hub 11 and is in transmission connection with the outer hub 9, so that the outer hub 9 is driven to rotate.

Preferably, in combination with the above solution, as shown in fig. 1 to 2, the driving wheel with floating function of the present invention further includes a sealing plate 5; the servo motor 10 is fixedly arranged in the inner hub 11 along the horizontal direction and extends to one side of the right support plate 3, so that the wiring of the servo motor 10 can be taken out from the opening of the right support plate 3; the closing plate 5 is arranged on the right support plate 3 and used for sealing the servo motor 10, namely, the opening of the right support plate 3 is sealed; further, a port is provided on the sealing plate 5, and the port is used for providing an interface for a power line and a communication line of the servo motor 10.

Preferably, in combination with the above solution, as shown in fig. 1 to 2, the present invention provides a driving wheel with a floating function, further comprising a sealing ring 7; the outer hub 9 is mainly used for bearing load and is used as an installation cavity of a motor reducer; the inner hub 11 is mainly used for connecting a support plate, a speed reducer and a fixing plate of a servo motor; sealing washer 7 sets up on outer hub 9 through the bolt fastening for sealed outer hub 9's drive chamber avoids debris such as muddy earth to get into the drive intracavity.

Preferably, in combination with the above solution, as shown in fig. 1 to 2, in the present embodiment, the inner hub 11 is fixedly disposed on the side surface of the right support plate 3 by the bolt 12; furthermore, the wheel sleeve is a rubber wheel 6 which can be used for increasing the friction force on the ground; by adopting the scheme, the rubber wheel 6 is hung outside the outer hub 9, so that the walking friction force can be increased, the hollow part in the outer hub 9 is connected with the speed reducer 8 and the servo motor 10, the servo motor 10 is fixed in the inner hub 11, and the outer hub 9 can rotate for the movable end to take charge of walking and provide power; a power line and a communication line of the servo motor enter the hollow steering shaft 1 along the right support 3 plate and the steering connecting plate 2 and then are led out from the end part without influencing the 360-degree rotation of the driving wheel.

Example 2

Correspondingly, in combination with the above scheme, the utility model also provides a concrete floating robot, which comprises a driving wheel and a floating disc, wherein the driving wheel is the driving wheel with the floating function; the driving wheel is arranged at the central position of the wiping disc and is used for providing walking force; adopt above-mentioned scheme, power supply and drive mechanism with concrete floating robot realize high-accuracy floating and carry thick liquid function through driving two large tracts of land plane floating plate and concrete ground contact in-process rotary motion, the function of compaction and floating is realized to the spatula device to under the effect of drive wheel, can realize the omnidirectional walking work at the time of the drive wheel floating that has floating function, can realize the autonomic walking of the drive wheel that has floating function, the turnover transportation of the drive wheel that conveniently has floating function.

By adopting the scheme, the concrete floating robot realizes the simultaneous walking and floating of the floating plate, the ground floating precision is ensured, and the adaptation range of the driving wheel to the floating plane is improved; the utility model provides a scheme, the structure is small and exquisite, simple, nimble, can effectively avoid appearing getting rid of thick liquid scheduling problem in the floating robot work progress of concrete.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the principles and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A driving wheel, characterized in that it comprises a wheel cover, an outer hub (9), an inner hub (11) and a driving part, wherein the wheel cover is arranged on the periphery of the outer hub (9) for contacting with the ground; the outer hub (9) is sleeved on the inner hub (11) and can rotate relative to the inner hub (11); the driving part is arranged in the inner hub (11) and is used for driving the outer hub (9) and the wheel sleeve to rotate.

2. A driving wheel according to claim 1, characterized in that it further comprises a support assembly comprising a left support plate (4), a right support plate (3) and a steering link plate (2) connected between the left and right support plates; the left support plate (4) is fixedly arranged on the left side of the steering connection plate (2) along the vertical direction, the right support plate (3) is fixedly arranged on the right side of the steering connection plate (2) along the vertical direction, one end of the outer hub (9) is rotatably sleeved on the inner hub (11), and the other end of the outer hub is rotatably arranged on the left support plate (4); the inner hub (11) is fixed on the right support plate (3).

3. A driving wheel according to claim 2, characterized in that said driving means comprise a servomotor (10) and a reducer (8); the servo motor (10) is fixed in the inner hub (11) and is in transmission connection with the speed reducer (8) through a motor shaft, one end of the speed reducer (8) is arranged on the inner hub (11), and the other end of the speed reducer is in transmission connection with the outer hub (9) to drive the outer hub (9) to rotate.

4. A driving wheel as claimed in claim 3, wherein said inner hub forms a median septum at its central portion, said reducer is located in the inner hub cavity on the left side of the median septum, said servo motor is located in the inner hub cavity on the right side of the median septum, said inner hub has a cover plate (5) fixed to its right end facing the right support plate, said cover plate forms a closed space for the inner hub cavity on the right side of the median septum where the servo motor is located; one end of the servo motor (10) is fixed on the middle partition plate along the horizontal direction, and the other end of the servo motor is fixed on the sealing plate (5); one end of the speed reducer is supported on the middle partition plate through a motor shaft, and the other end of the speed reducer is supported on the side wall of the outer hub and is in transmission connection with the outer hub; and a wiring port is arranged on the sealing plate (5), and is used for providing an interface for a power line and a communication line of the servo motor (10).

5. A driving wheel according to claim 4, characterized in that it further comprises a steering shaft (1); the steering shaft is fixedly arranged at the top of the steering connecting plate (2) along the vertical direction and used for driving the steering connecting plate (2) to rotate around the vertical axis.

6. A driving wheel as claimed in claim 5, characterized in that the steering shaft is a hollow steering shaft (1), the hollow steering shaft (1) is provided with a wiring hole along the axial direction, the steering connecting plate (2) is provided with a wiring groove (21), the wiring groove (21) is communicated with the wiring hole, and the power line and the communication line of the servo motor are led out from the wiring port, enter the wiring hole of the hollow steering shaft along the wiring groove of the steering connecting plate (2) and then are led out at the end part.

7. A drive wheel according to any one of claims 2-6, characterized in that the support assembly further comprises a sealing ring (7); and the sealing ring (7) is fixedly arranged on the outer hub (9) through bolts and is used for sealing a cavity between the outer hub (9) and the middle partition plate.

8. A driving wheel according to claim 3, characterized in that said inner hub (11) is fixedly arranged on the side of said right support plate (3) by means of bolts (12); the wheel sleeve is a rubber wheel (6).

9. A concrete troweling robot comprising a driving wheel, characterized in that the driving wheel is the driving wheel with troweling function according to any one of claims 1 to 8.

10. The concrete trowelling robot of claim 9, further comprising a trowelling disk, wherein a cavity is formed in the middle of the trowelling disk, and the driving wheel is accommodated in the cavity of the trowelling disk and can drive the trowelling disk to move.

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