CN215484475U - Running gear and terrace robot - Google Patents

Abstract

The utility model discloses a walking mechanism and a terrace robot. The walking mechanism comprises a walking frame, a walking assembly and a lifting rotary assembly, wherein the walking assembly and the lifting rotary assembly are fixed on the walking frame, the walking assembly is used for driving the walking frame to walk on semi-dry mortar or concrete, the lifting rotary assembly is used for driving the walking frame to lift, and when the rotary assembly drives the walking frame to rise, the walking frame can rotate by taking the rotary assembly as a fulcrum. The walking mechanism and the terrace robot have simple operation of adjusting the direction, and are time-saving and labor-saving.

Description

Running gear and terrace robot

Technical Field

The utility model relates to the technical field of floor construction equipment, in particular to a walking mechanism and a floor robot.

Background

At present, when a concrete terrace is poured on a floor in a building, concrete mortar is usually poured into the floor manually, then the mortar is scraped to be level by a scraper, the whole process is time-consuming and labor-consuming, the level is influenced by the proficiency of workers, and the mortar scraping process needs frequent reversing.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a walking mechanism and a floor robot, which are convenient for adjusting directions.

In order to solve the problems, the utility model provides a travelling mechanism which comprises a travelling frame, a travelling assembly and a lifting rotary assembly, wherein the travelling assembly and the lifting rotary assembly are fixed on the travelling frame, the travelling assembly is used for driving the travelling frame to travel on semi-dry mortar or concrete, the lifting rotary assembly is used for driving the travelling frame to lift, and when the rotary assembly drives the travelling frame to lift, the travelling frame can rotate by taking the rotary assembly as a fulcrum.

Furthermore, the lifting and rotating assembly comprises a lifting cylinder, a rotating bearing and a supporting plate, and the lifting cylinder is fixed with the supporting plate through the rotating bearing.

Furthermore, the walking assembly comprises a walking motor and two crawler belts, the two crawler belts are symmetrically arranged on the walking frame and are connected through a transmission shaft, and the walking motor is connected with the transmission shaft through a transmission belt.

Furthermore, the walking frame further comprises a protective cover, and the protective cover is covered on the walking frame.

Furthermore, a handle is arranged on the walking frame.

Furthermore, the middle part of the walking frame is provided with an installation space, and the lifting and rotating assembly is positioned in the installation space.

In order to solve the above problems, the present invention provides a floor robot, which includes the above walking mechanism.

The walking mechanism of the utility model utilizes the lifting and rotating component to lift the walking frame, and the walking frame can be rotated at the moment, thereby adjusting the walking direction of the walking mechanism, being convenient to adjust, being unnecessary to put down the whole walking mechanism after being lifted, reducing the operation intensity and saving time and labor.

Drawings

Fig. 1 is a schematic structural diagram of a terrace robot according to a preferred embodiment of the present invention.

Fig. 2 is a schematic structural diagram of the interior of the terrace robot of the utility model.

Fig. 3 is a schematic structural view of the actuator.

Fig. 4 is a schematic structural view of an execution rack.

Fig. 5 is a schematic structural view of the second mounting plate.

Fig. 6 is a schematic structural view of the propeller shaft and the helical blade.

Fig. 7 is a schematic structural view of the height adjusting mechanism.

Fig. 8 is a schematic structural view of the connection plate.

Fig. 9 is a schematic structural view of the reciprocating mechanism.

Fig. 10 is a schematic view of the internal structure of the reciprocating mechanism.

Fig. 11 is a schematic structural view of the traveling mechanism.

Fig. 12 is a schematic view of the internal structure of the traveling mechanism.

Fig. 13 is a schematic view of the internal structure of the traveling mechanism in the other direction.

Detailed Description

The utility model will be further explained with reference to the drawings.

As shown in fig. 1 and 2, the floor robot according to the present invention includes a traveling mechanism 600, a reciprocating mechanism 500, a height adjusting mechanism 400, a protective cover 71, and an actuator 100, wherein the reciprocating mechanism 500 is disposed on the traveling mechanism 600, the height adjusting mechanism 400 is disposed on the reciprocating mechanism 500, the actuator 100 is disposed on the height adjusting mechanism 400, and the protective cover 71 is fixed on the height adjusting mechanism 400 and the actuator 100. The running mechanism 600 is used for driving the executing mechanism 100 to run in a construction site, the executing mechanism 100 is used for leveling semi-dry mortar or concrete to be leveled, and the reciprocating mechanism 500 is used for driving the executing mechanism 100 to reciprocate in the direction perpendicular to the running direction of the running mechanism 600 so as to increase the leveling area of the executing mechanism 100. The height adjusting mechanism 400 is used for adjusting the position of the actuating mechanism 100 at the horizontal height so as to keep the integrally leveled semi-dry mortar or concrete at the same horizontal height. The protective cover 71 wraps the height adjusting mechanism 400, so that the height adjusting mechanism 400 is prevented from being exposed outside, safety is improved, and dust is shielded. Be equipped with handle 65 on running gear 600, be convenient for carry whole terrace robot. In other embodiments, the reciprocating mechanism 500 and the height adjusting mechanism 400 may not be required, or only the reciprocating mechanism 500 or the height adjusting mechanism 400 may be used, so as to save cost.

As shown in fig. 3 to 6, the actuator 100 includes an actuator frame 1, a leveling device 2, and two slurry guides 3, wherein the leveling device 2 and the two slurry guides 3 are disposed on the actuator frame 1, and the actuator frame 1 is fixed on a height adjustment mechanism 400. The slurry guiding device 3 is used for guiding redundant semi-dry mortar or concrete to an area to be treated, and the leveling device 2 is used for flattening the semi-dry mortar or concrete treated by the slurry guiding device 3.

The slurry guiding device 3 comprises a spiral blade 31, a slurry guiding shaft 32, a baffle plate 33 and a slurry guiding motor 34, the output shafts of the slurry guiding shaft 32 and the slurry guiding motor 34 are fixed through a coupler, the spiral blade 31 is fixed on the slurry guiding shaft 32, and the spiral blade 31 and the slurry guiding shaft 32 are integrally formed, so that the process manufacturing is facilitated. The shielding plate 33 is fixed on the executive rack 1, and the shielding plate 33 is positioned above the helical blade 31 and used for shielding the semi-dry mortar or concrete brought by the helical blade 31. The slurry guiding motor 34 drives the slurry guiding shaft 32 to rotate, the slurry guiding shaft 32 drives the helical blade 31 to rotate, and the helical blade 31 rotates so as to guide the redundant semi-dry mortar or concrete to the area to be treated. The propeller shaft 32 comprises a first shaft body 321 and a second shaft body 322, wherein the first shaft body 321 is coaxially arranged on the second shaft body 322; the first shaft body 321 is used for fixing with a coupler, and the diameter of the first shaft body 321 is smaller than that of the second shaft body 322, so that the first shaft body is convenient to fix with the coupler; the second shaft 322 is used to fix the helical blade 31, and the second shaft 322 is barrel-shaped to reduce the weight of the second shaft 322.

The leveling device 2 comprises a leveling disk 21, a leveling shaft 22 and a leveling motor 23, an output shaft of the leveling motor 23 is fixed with the leveling shaft 22 through a coupler, and the leveling disk 21 is fixed on the leveling shaft 22. The leveling motor 23 drives the leveling shaft 22 to rotate, the leveling shaft 22 drives the leveling disc 21 to rotate, and the leveling disc 21 rotates to level the semi-dry mortar or concrete. The lower end face of the leveling disc 21 is in smooth transition with the surface of the outer side wall of the leveling disc 21, so that mortar higher than the lower end face of the leveling disc 21 can be flattened conveniently.

The executive rack 1 comprises a first mounting plate 11, a mounting seat 12, a second mounting plate 13 and a stabilizing component 14, wherein the first mounting plate 11 is fixed on a height adjusting mechanism 400 through the executive connecting plate 14, the mounting seat 12 and the stabilizing component 15 are both fixed on the height adjusting mechanism 400, and the second mounting plate 13 is fixed on the first mounting plate 11. The first mounting plate 11 is used for fixing the slurry guiding device 3, and the second mounting plate 13 is used for fixing the shielding plate 33 in the slurry guiding device 3.

The utility model discloses a mortar guiding device, including first mounting panel 11, be equipped with three rectangular hole 111 on the first mounting panel 11, it is fixed with height adjustment mechanism 400 to be equipped with the screw in each rectangular hole 111, the top of first mounting panel 11 is equipped with screw hole 112, height adjustment mechanism 400 is equipped with the screw, the lower extreme spiral shell of screw is established in this screw hole 112, it can conveniently adjust first mounting panel 11 for height adjustment mechanism 400 position to set up rectangular hole 111 and screw hole 112, conveniently adjust the position of leading thick liquid device 3 and height adjustment mechanism 400 promptly, and leveling device 2 is fixed with height adjustment device through mount pad 12, thereby realized leading the adjustment of the relative position of thick liquid device 3 and leveling device 2, make leading thick liquid device 3 and leveling device 2 produce certain difference in height, make leveling device 2 can press the mortar more closely reality. The first mounting plate 11 is further provided with a weight-reducing slot 113 to reduce weight.

The stabilizing component 14 is used for stabilizing the leveling shaft 22 in the leveling device 2, and effectively preventing the leveling shaft 22 from shaking; specifically, the stabilizing assembly 14 includes a connecting seat 141 and two stabilizing plates 142, the two stabilizing plates 142 are fixed on the connecting seat 141, the two stabilizing plates 142 are distributed vertically, bearing holes are formed in the stabilizing plates 142, bearings are arranged in the bearing holes, and the leveling shaft 22 is fixed in the bearing holes; the connecting seat 141 is provided with a lightening hole 1411 to lighten the weight.

As shown in fig. 7 and 8, the height adjusting mechanism 400 includes an adjusting motor 41, a lead screw 42, two guide posts 43, a sliding seat 44 and an adjusting seat 45, the adjusting motor 41 and the two guide posts 43 are both fixed on the adjusting seat 45, a screw of the lead screw 42 is rotatably disposed on the adjusting seat 45, an output shaft of the adjusting motor 41 is fixed with the lead screw 42 through a coupler, the sliding seat 44 is fixed on a nut of the lead screw 42, the sliding seat 44 is slidably disposed on the two guide posts 43, the guide posts 43 ensure that the sliding seat 44 vertically moves up and down, and the two guide posts 43 are located on two sides of the lead screw 42. The actuator housing 1 of the actuator 100 is fixed to the slide block 44. When the plane height processed by the executing mechanism 100 needs to be adjusted, the adjusting motor 41 drives the screw rod of the lead screw 42 to rotate, the screw rod of the lead screw 42 drives the nut arranged on the screw rod to rotate, the nut drives the sliding seat 44 to move up and down, and the sliding seat 44 drives the executing mechanism 100 to move up and down, so that the executing mechanism 100 is always at the same horizontal height in the whole leveling process.

The sliding seat 44 includes an adjusting mounting plate 441, a first connecting plate 442, a second connecting plate 444, and two adjusting sliders 443 disposed on each connecting plate 442, the two first connecting plates 442 are both fixed on the adjusting mounting plate 441, the two connecting plates 442 are symmetrically disposed on the adjusting mounting plate 441, the adjusting sliders 443 disposed on the same side of the adjusting mounting plate 441 are slidably disposed on the same guide post 43, one end of the second connecting plate 444 is fixed to the nut on the screw rod 42, and the other end of the second connecting plate 444 is fixed to the adjusting mounting plate 441. The actuating frame 1 of the actuating mechanism 100 is fixed on the adjusting mounting plate 441, and the adjusting mounting plate 441 is provided with a lightening hole 4411 to lighten the weight of the adjusting mounting plate 441. The connecting plate 442 is provided with a lightening hole 4421 for reducing the weight of the connecting plate 442, and the connecting plate 442 is further provided with a limit boss 4422, wherein the limit boss 4422 is used for limiting the adjusting slider 443. Two be equipped with the clearance between the regulation slider 443, impurity such as the dust in the slider of being convenient for is discharged into the clearance between two sliders, reduces the slider possibility of blocking to increase of service life and improvement user's experience sense.

As shown in fig. 9 and 10, the reciprocating mechanism 500 includes a reciprocating motor 51, a transmission assembly 52, a reciprocating slider 53, a reciprocating slide rail 54, a reciprocating connecting plate 55 and a reciprocating frame 57, the reciprocating motor 51 and the reciprocating frame 57 are fixed on the traveling mechanism 600, the reciprocating slide rail 54 and the transmission assembly 52 are fixed on the reciprocating frame 57, the reciprocating slider 53 is slidably disposed on the slide rail, and the reciprocating connecting plate 55 is fixed on the transmission assembly 52.

The reciprocating motor 51 is used for driving the transmission assembly 52, the transmission assembly 52 converts the rotary motion output by the reciprocating motor 51 into linear motion, the transmission assembly 52 drives the reciprocating connecting plate 55 to reciprocate, and the reciprocating connecting plate 55 is used for being fixed with the adjusting seat 45 of the height adjusting mechanism 400. The moving direction of the reciprocating connecting plate 55 is perpendicular to the moving direction of the running mechanism 600, the reciprocating connecting plate 55 drives the height adjusting mechanism 400 to reciprocate, and the height adjusting mechanism 400 drives the executing mechanism 100 to reciprocate, i.e. the reciprocating direction of the executing mechanism 100 is perpendicular to the moving direction of the running mechanism 600, so that the leveling area of the executing mechanism 100 is increased. The reciprocating slide block 53 is used for being fixed with the adjusting seat 45 of the height adjusting mechanism 400, and the reciprocating guide rail ensures that the reciprocating slide block 53 moves horizontally so as to improve the stability of the height adjusting mechanism 400 during horizontal movement.

When the height adjusting mechanism 400 is horizontally moved to the leftmost end or the rightmost end, the reciprocating motor 51 is reversely rotated, thereby realizing the control of the reciprocating motion. The reciprocating motor 51 is provided on the traveling mechanism 600 to reduce the height of the entire apparatus.

The transmission assembly 52 comprises a reciprocating transmission belt 521, two driven wheels 522, a driving wheel 523 and two tension wheels 534, two ends of the reciprocating transmission belt 521 are respectively sleeved on the two driven wheels 522, the driving wheel 523 and the two tension wheels 534 are all fixed in the reciprocating frame 57, the two tension wheels 534 are located on two sides of the driving wheel 523, the two tension wheels 534 are all attached to the outer side of the reciprocating transmission belt 521, the driving wheel 523 is attached to the inner side of the reciprocating transmission belt 521, and the driving wheel 523 is fixed with an output shaft of the reciprocating motor 51 through a universal joint 511. The reciprocating motor 51 drives the driving wheel 523 to rotate, the driving wheel 523 drives the reciprocating transmission belt 521 to rotate, and the reciprocating transmission belt 521 drives the reciprocating connecting plate 55 to move linearly.

As shown in fig. 9 and 10, the reciprocating frame 57 includes a hollow rectangular pipe 571, four first brackets 572 and four second brackets 573, wherein two of the first brackets 572 are fixed at two ends of the rectangular pipe 571, wherein two of the first brackets 572 and two of the second brackets 573 are fixed at a middle portion of the rectangular pipe 571, the two first brackets 572 are located at two sides of the second brackets 573, two of the driven pulleys 522 are respectively provided on the two first brackets 572 at the two ends of the rectangular pipe 571, two of the tension pulleys 534 are respectively provided on the two first brackets 572 at the middle portion of the rectangular pipe 571, and the driving pulley 523 is provided on the second bracket 573. The rectangular pipe 571 is hollow so as to reduce the weight of the rectangular pipe 571 and accommodate the transmission assembly 52.

As shown in fig. 11 to 13, the traveling mechanism 600 includes a protective cover 61, a traveling frame 62, a traveling unit 63, and a lifting/lowering/rotating unit 64, the traveling unit 63 and the lifting/lowering/rotating unit 64 are fixed to the traveling frame 62, and the protective cover 61 covers the traveling frame 62. The walking assembly 63 is used for driving the walking frame 62 to walk on the semi-dry mortar or the concrete, and the reciprocating mechanism 500 is fixed on the walking frame 62, that is, the walking assembly 63 drives the actuating mechanism 100 to walk on the semi-dry mortar or the concrete. The lifting and rotating assembly 64 is used for driving the walking frame 62 to lift, so that the actuating mechanism 100 and the walking mechanism 600 leave a plane formed by leveling the semi-dry mortar or the concrete, at the moment, the walking frame 62 can rotate by taking the lifting and rotating assembly 64 as a fulcrum, the orientation of the walking frame 62, namely the orientation of the walking mechanism 600, is adjusted, the whole body does not need to be carried to adjust the walking direction, and the operation intensity is reduced. The protective cover 61 is used for isolating and reducing impurities such as dust from entering the inside of the walking assembly 63 and the lifting revolving assembly 64 so as to protect the walking assembly 63 and the lifting revolving assembly 64.

The middle of the walking frame 62 has an installation space in which the elevating swivel assembly 64 is located to maintain the balance of the walking frame 62 during rotation. The walking frame 62 is provided with a handle seat 621, and the handle 65 is fixed on the handle seat 621; the partition 622 is disposed on the walking frame 62, the reciprocating motor 51 of the reciprocating mechanism 500 is disposed above the partition 622, and the partition 622 is disposed above the caterpillar band 632 to isolate heat generated by the reciprocating motor 51 from being transferred to the caterpillar band 632, and prevent the reciprocating motor 51 from falling onto the caterpillar band 632.

The elevating/lowering/pivoting assembly 64 includes an elevating cylinder 641, a pivoting bearing 642, and a support plate 643, and the elevating cylinder 641 is fixed to the support plate 643 through the pivoting bearing 642. The lifting cylinder 641 is fixed on the walking frame 62, the lifting cylinder 641 drives the support disc 643, the support disc 643 is supported on the dry mixed mortar, so that the walking frame 62 is pushed to move up and down reversely, when the walking frame 62 is separated from the surface of the semi-dry mortar or concrete, the walking frame 62 can rotate the support disc 643 by the action of the slewing bearing 642, namely, when the walking frame 62 is rotated, the walking frame 62 rotates, so that the reversing of the walking frame 62 is realized, namely, the walking direction of the walking mechanism 600 is changed.

The walking assembly 63 includes two walking motors 631 and two crawlers 632, the two crawlers 632 are symmetrically fixed on the walking frame 62, the two crawlers 632 are connected by a transmission shaft 633, and the two walking motors 631 are both connected with the transmission shaft 633 by a transmission belt 634. The two walking motors 631 drive the same transmission shaft 633 to rotate together, and the transmission shaft 633 drives the caterpillar band 632 to rotate, so as to drive the whole walking frame 62 to move, i.e. drive the actuating mechanism 100 to move; two walking motors 631 are provided to improve walking power. By adopting the structural form of the crawler 632, the pressure on the leveled semi-dry mortar or concrete can be reduced, and the leveling of the semi-dry mortar or concrete can be kept.

Firstly, manually leveling a reference plane on semi-dry mortar or concrete to be processed, then placing the utility model in the reference plane, simultaneously starting the reciprocating motor 51, the mortar guiding motor 34 and the leveling motor 23, when the reciprocating motor 51 drives the executing mechanism 100 to move for a reciprocating period, the walking motor 631 of the walking mechanism 600 rotates to enable the walking mechanism 600 to drive the executing mechanism 100 to walk forwards for a preset distance, then continuing to enable the executing mechanism 100 to do a periodic reciprocating motion, repeating the cycle, when the walking mechanism 600 cannot continue to move forwards, the walking motor 631, the reciprocating motor 51, the mortar guiding motor 34 and the leveling motor 23 stop rotating, the lifting cylinder 641 in the lifting and rotating assembly 64 starts lifting, the walking mechanism 600 is manually rotated to adjust the walking direction of the walking mechanism 600, the lifting 641 falls after the adjustment is completed, and then the reciprocating motor 51 is started again, The slurry guiding motor 34, the leveling motor 23 and the walking mechanism 600 until the whole treatment of the semi-dry mortar or the concrete is finished. One cycle of reciprocation is from the leftmost end to the rightmost end and then from the rightmost end to the leftmost end. Does not need to manually level the mortar, thereby reducing the labor intensity.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields, and are within the scope of the present invention.

Claims (7)

1. A running gear, its characterized in that: including walking frame, walking subassembly and lift gyration subassembly are all fixed on the walking frame, walking subassembly is used for driving the walking frame and walks on half dry mortar or concrete, the lift gyration subassembly is used for driving the walking frame and goes up and down, and after gyration subassembly drive walking frame rose, the walking frame can be turned round the subassembly and rotate as the fulcrum.

2. The travel mechanism of claim 1, wherein: the lifting rotary assembly comprises a lifting cylinder, a rotary bearing and a supporting plate, and the lifting cylinder is fixed with the supporting plate through the rotary bearing.

3. The travel mechanism of claim 1, wherein: the walking assembly comprises a walking motor and two crawler belts, the two crawler belts are symmetrically arranged on the walking frame and are connected through a transmission shaft, and the walking motor is connected with the transmission shaft through a transmission belt.

4. The travel mechanism of claim 1, wherein: the protective cover is covered on the walking frame.

5. The travel mechanism of claim 1, wherein: the walking frame is provided with a handle.

6. The travel mechanism of claim 1, wherein: the middle part of the walking frame is provided with an installation space, and the lifting and rotating assembly is positioned in the installation space.

7. A floor robot, characterized in that: comprising a running gear according to any one of claims 1 to 6.

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