WO2021036749A1 - Trowelling robot - Google Patents

Abstract

A trowelling robot (100), comprising: a rack (1), a movable trowelling device (2), a jacking device (3), and a steering device (4), wherein the movable trowelling device (2) is provided on the rack (1), drives the rack (1) to move and is used for trowelling the surface of a base body; the jacking device (3) is provided on the rack and upwards jacks the rack (1) and the movable trowelling device (2); the steering device (4) is provided on the rack (1) and changes the movement direction of the rack (1) after the jacking device (3) jacks the rack (1) and the movable trowelling device (2).

Description

Smoothing robot

Cross-references to related applications

This application is based on the application numbers: 201910791697.1, 201910791671.7, 201910791674.0. The earliest filing date is August 26, 2019. The Chinese patent application is filed. It also claims the priority of the above 3 Chinese patent applications and the entire contents of the above 3 Chinese patent applications. This application is hereby incorporated by reference.

Technical field

This application relates to the technical field of construction robots, and specifically to a levelling robot.

Background technique

At present, levelling robots are often used in the construction of concrete construction surfaces. The existing levelling robots have poor slurry lifting effect. When the construction operation is completed or the next construction area is turned to the next construction area, the robot’s movement flexibility is poor and the turning radius is poor. Larger, resulting in a smaller coverage rate of the robot's work, which is not conducive to the construction work of the smoothing robot.

Summary of the invention

In view of this, the embodiments of the present application expect to provide a leveling robot, which has a simple structure and can better change the walking direction of the leveling robot.

The leveling robot according to the present application includes: a frame, a mobile leveling device, a jacking device, and a steering device. The mobile leveling device is arranged on the frame, and the mobile leveling device can drive the frame Mobile and can be used to smooth the surface of the substrate; the lifting device is arranged on the frame, the lifting device can lift the frame and the mobile smoothing device upward; the steering device is arranged on the On the frame, the steering device can change the moving direction of the frame after the lifting device lifts the frame and the mobile leveling device.

According to the leveling robot of the embodiment of the present application, by setting a mobile leveling device on the leveling robot, the leveling robot can walk through the mobile leveling device, and can also perform leveling operations on the surface of the substrate through the mobile leveling device. The lifting device and the steering device are provided on the leveling robot, so that the leveling device can change the walking direction and the direction of the leveling operation of the leveling robot under the cooperation of the lifting device and the steering device. The operation is simple and the practicability is strong.

According to the leveling robot of the present application, the jacking device includes: a first driving device, a top rod and a top plate, the first driving device is installed on the frame; the top plate is arranged on the top rod At the lower end, the first driving device can drive the ejector rod to move up and down relative to the frame.

According to the leveling robot of the present application, the jacking device further includes a fixed plate and a guide device, the upper end of the ejector rod is connected to the fixed plate, one end of the first driving device is connected to the frame, and the The other end of the first driving device is connected to the fixed plate to drive the fixed plate to move up and down relative to the frame; the guide device is arranged between the frame and the fixed plate to define the fixed The direction of movement of the board.

According to the leveling robot of the present application, the steering device includes: a second driving device, a driving wheel and a driven wheel, the second driving device is provided on the fixed plate; the driving wheel and the second driving device Transmission connection; the driven wheel meshes with the driving wheel, and the driven wheel is fixedly connected with the top rod to drive the top rod to rotate synchronously with respect to the top plate.

According to the leveling robot of the present application, the mobile leveling device includes a plurality of rollers and a third driving device, each of the rollers is rotatably arranged under the frame, and the outer wall of the roller is configured The surface of the base body can be smoothed, and the rotation axes of the plurality of rollers are parallel; the third driving device is installed on the frame to drive the plurality of rollers to rotate.

According to the leveling robot of the present application, the mobile leveling device further includes a plurality of first transmission devices, and the plurality of first transmission devices are respectively arranged corresponding to a plurality of rollers, and each of the first transmission devices includes: A transmission wheel, a second transmission wheel and a flexible member, the first transmission wheel is connected to the corresponding drum and can rotate synchronously; the second transmission wheel is connected to the third driving device in transmission; the flexible The parts are sleeved outside the first transmission wheel and the second transmission wheel, and the second transmission wheel drives the first transmission wheel to rotate through the flexible part.

The leveling robot according to the present application further includes a leveling device provided on the frame, and the leveling device includes: a squeegee connecting plate, a fourth driving device and a squeegee, the fourth One end of the driving device is pivotally connected to the frame, the other end of the fourth driving device is pivotally connected to the scraper connecting plate, and the fourth driving device is used to adjust the scraper connecting plate The angle of inclination; the scraper is provided on the scraper connecting plate, and the scraper is pivotally connected to the scraper connecting plate, the scraper is provided with a protective layer, the protective layer Used to contact the surface of the substrate.

According to the leveling robot of the present application, the leveling device further includes a connecting device, and the connecting device includes a fixed rod, a first connecting rod, and a second connecting rod, and the fixed rod is provided on the frame; The first connecting rod is connected to the frame, the one end of the fourth driving device is pivotally connected to the first connecting rod; both ends of the second connecting rod are connected to the fixing rod respectively And the scraper connecting plate can be pivotally connected.

The leveling robot according to the present application further includes: a detection device, the detection device is provided on the frame, the detection device is used to detect the level of the surface of the substrate; a control device, the control device is respectively connected with the The detection device is electrically connected to the fourth driving device, and the control device controls the operation of the fourth driving device according to the detection result of the detection device.

The leveling robot according to the present application further includes a vibrating device, the vibrating device includes a vibrating motor, and the vibrating motor is provided on the frame.

According to the leveling robot of the present application, the frame includes a base frame and a mounting plate, the mounting plate is fixed on the base frame; the mobile leveling device includes a roller and a third driving device, and the roller is rotatable The ground is located at the bottom of the bottom frame, the third driving device is located on the mounting plate and is connected to the roller to drive the roller to rotate; the steering device includes a top plate, a jacking rod, and a rotating mechanism 1. The first lifting mechanism, the top plate is located above the mounting plate, the jacking rod passes through the mounting plate and is rotatably arranged on the top plate, and the rotating mechanism is arranged on the mounting plate The jacking rod is movably arranged on the output end of the rotating mechanism, one end of the first lifting mechanism is connected to the mounting plate and the other end is connected to the top plate; wherein, the The jacking rod can be raised and lowered between a first position and a second position relative to the top plate. When the jacking rod is in the first position, it contacts the ground. The rotating mechanism drives the top plate and the frame to face each other. The jacking rod rotates.

According to the leveling robot of the present application, the rollers and the third driving devices are both multiple, and the multiple third driving devices are arranged in a one-to-one correspondence with the multiple rollers; or, the number of rollers is more than one. One, the third driving device is one, and a first transmission device is provided between the plurality of rollers and one of the third driving devices to drive the plurality of rollers to rotate synchronously.

According to the leveling robot of the present application, the first transmission device includes: a first transmission wheel, a second transmission wheel and a flexible member, and the first transmission wheel is provided on the output shaft of the third drive device; The second transmission wheel is arranged on the corresponding shaft end of the drum; the flexible member is sleeved on the first transmission wheel and the second transmission wheel.

According to the leveling robot of the present application, the first transmission wheel and the second transmission wheel are at least one of a belt pulley, a sprocket, and a rope pulley; the flexible member is a corresponding transmission belt, transmission chain, and transmission At least one of the ropes.

According to the leveling robot of the present application, the mobile leveling device further includes a driven roller, which is provided on the bottom frame and located between two adjacent rollers.

According to the leveling robot of the present application, the rotating mechanism includes a rotating electric machine and a reducer, and the input end of the reducer is connected with the output shaft of the rotating electric machine.

According to the leveling robot of the present application, the jacking rod includes: a connecting shaft, the connecting shaft passing through the output end of the reducer, the connecting shaft is provided with an axial sliding groove; a sliding sleeve, the sliding The sleeve is slidably fitted with the connecting shaft, the sliding sleeve is provided with a limiting protrusion cooperating with the axial sliding groove, and the sliding sleeve is fixed on the output end of the reducer; the top plate, the The top plate is fixed on the connecting shaft and located below the bottom frame.

According to the leveling robot of the present application, the first lifting mechanism is at least one of an electric push rod, an air cylinder, and an oil cylinder, there are multiple first lifting mechanisms, and the multiple first lifting mechanisms are evenly distributed in the circumferential direction. The mounting board.

According to the leveling robot of the present application, the steering device further includes a guide-back mechanism, the guide-back mechanism includes a plurality of guide rods, one end of the plurality of guide rods is fixed on the top plate and the other end passes through the A mounting plate, linear bearings are arranged between the plurality of guide rods and the mounting plate.

The leveling robot according to the present application further includes a vibration device provided on the base frame so that the drum can vibrate up and down along with the base frame.

According to the leveling robot of the present application, the frame includes a base frame and a mounting plate, the mounting plate is fixed on the base frame; the mobile leveling device includes a roller, a first transmission device, and a third drive device, The drum is rotatably arranged at the bottom of the chassis, the third driving device is arranged on the mounting plate, and the first transmission device is arranged between the third driving device and the drum, To drive the drum to rotate; the steering device is located in the center of the mounting plate; the leveling robot also includes a leveling device, and the leveling device includes a support frame, a connecting rod, a scraper assembly, and a straight third A driving device, the support frame is connected to the bottom frame, the two ends of the connecting rod are respectively rotatably connected to one end of the support frame and one side of the scraper assembly, the linear third drive device The two ends are respectively rotatably connected to the other end of the support frame and the other side of the scraper assembly; wherein the linear third driving device is extended or shortened to drive the scraper assembly to move relative to the support frame , To adjust the posture of the scraper assembly.

According to the leveling robot of the present application, the connecting rods are in two groups spaced apart, the linear third driving device is two spaced apart, and the two groups of connecting rods are the same as the two linear third driving devices. One corresponding setting.

According to the leveling robot of the present application, the two sets of connecting rods each include a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are arranged parallel to each other.

According to the leveling robot of the present application, the scraper assembly includes: a connecting plate, a scraper, and a positioning mechanism; the connecting plate is connected to the connecting rod and the linear third driving device; the scraper is rotatably Connected to the connecting plate; the positioning mechanism is connected between the connecting plate and the scraper, so that the connecting plate and the scraper have an adjustable inclination angle.

According to the leveling robot of the present application, the positioning mechanism includes: a first meniscus and a second meniscus, the first meniscus is arranged on the connecting plate; the second meniscus is arranged on the The scraper is close to the first meniscus; wherein, the first meniscus or the second meniscus is provided with an arc-shaped groove, and the arc-shaped groove is fixed by matching bolts. The first meniscus and the second meniscus.

According to the leveling robot of the present application, the squeegee assembly further includes: a flexible pressure strip and a positioning strip, the flexible pressure strip is arranged on a side of the squeegee away from the connecting plate; the positioning strip is arranged on the The flexible bead is arranged on and along the length direction of the flexible bead to fix the flexible bead.

According to the leveling robot of the present application, a laser receiver is provided on the leveling device, and after receiving the laser, the laser receiver starts the linear third driving device to extend or retract.

According to the leveling robot of the present application, the roller includes a first roller and a second roller, the third driving device is a servo motor, between the first roller and the servo motor, and between the second roller and the second roller. A first transmission device is provided between the servo motors to drive the first roller and the second roller to rotate synchronously.

The leveling robot according to the present application further includes: a vibration device provided on the bottom frame so that the drum can vibrate up and down along with the bottom frame.

The additional aspects and advantages of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the present application.

Description of the drawings

Fig. 1 is a schematic structural view of a first angle of the leveling robot according to the first embodiment of the present application;

Fig. 2 is a schematic structural diagram of a second angle of the leveling robot according to the first embodiment of the present application;

3 is a schematic diagram of the structure of the removal detection device of the leveling robot according to the first embodiment of the present application;

Fig. 4 is a schematic structural diagram of a third angle of the leveling robot according to the first embodiment of the present application;

Fig. 5 is a schematic structural diagram of a fourth angle of the leveling robot according to the first embodiment of the present application.

FIG. 6 is a schematic diagram of the three-dimensional structure of the leveling robot in the second embodiment of this application;

Fig. 7 is a right side view of the smoothing robot in the second embodiment of the application;

Figure 8 is a cross-sectional view taken along the line A-A of Figure 7;

FIG. 9 is a schematic diagram of the three-dimensional structure of the jacking rod in the second embodiment of the application.

FIG. 10 is a schematic diagram of the three-dimensional structure of the smoothing robot in the third embodiment of the application;

11 is a schematic diagram of the three-dimensional structure of the leveling device in the third embodiment of the application;

Figure 12 is a right side view of the smoothing robot in the third embodiment of this application;

Figure 13 is a cross-sectional view taken along line B-B of Figure 12;

14 is a schematic diagram of the three-dimensional structure of the jacking rod in the third embodiment of this application.

100: Smoothing robot;

10: rack;

2: Mobile smoothing device; 21: drum; 22: third driving device; 23: first transmission device; 231: first transmission wheel; 232: second transmission wheel; 233: flexible member;

3: Lifting device; 31: first driving device; 32: ejector rod; 33: top plate; 34: fixed plate; 35: guide device; 351: guide column;

4: Steering device; 41: second driving device; 42: driving wheel; 43: driven wheel;

5: leveling device; 51: scraper connecting plate; 52: fourth driving device; 53: scraper; 55: connecting device; 551: fixed rod; 552: first connecting rod; 553: second connecting rod;

6: Detection device;

7: Control device;

8: Vibration device; 81: Vibration motor.

Smoothing robot 100,

Rack 10.

Base frame 11, mounting plate 12,

Mobile smoothing device 2,

The drum 21, the third driving device 22, the first transmission device 23, the first transmission wheel 231, the second transmission wheel 232, the flexible member 233, the driven drum 24,

Vibration device 8,

Steering device 4.

Top plate 41a, jacking rod 42a, connecting shaft 421, axial sliding groove 4211, sliding sleeve 422, top plate 423, connecting flange 424, bearing 425, rotating mechanism 43a, driving motor 431, gear transmission assembly 432, first lifting Mechanism 44, return mechanism 45, guide rod 451, linear bearing 452,

The bearing seat 50, the fixed plate 60, the battery 70, the electric control box 80, and the coupling 90.

Smoothing robot 100,

Rack 10.

Base frame 11, mounting plate 12,

Mobile smoothing device 2,

The roller 21, the first roller 211, the second roller 212, the third driving device 22, the first transmission device 23, the first transmission wheel 231, the second transmission wheel 232, the flexible member 233, the driven roller 24, the first Reducer 25,

Vibration device 8,

Steering device 4.

Top plate 41a, jacking rod 42a, connecting shaft 421, axial sliding groove 4211, sliding sleeve 422, top plate 423, connecting flange 424, bearing 425, rotating mechanism 43a, driving motor 431, gear transmission assembly 432, first lifting Mechanism 44, guide rod 451, linear bearing 452,

Scraping device 5.

Support frame 51a, connecting rod 52a, first connecting rod 521, second connecting rod 522, scraper assembly 53a, connecting plate 531, scraper 532, positioning mechanism 533, first meniscus 5331, second meniscus 5332 Arc groove 533a, flexible bead 534, positioning bar 535, linear drive 54, laser receiver 55a, connecting assembly 56, laser assembly connecting plate 561, reinforcing plate 562, tube socket 563, fixing rod 564, clamping block 565, U Type bolt 566, reinforcing plate 57,

Bearing seat 50, battery 70, electric control box 80, coupling 90.

detailed description

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are only used to explain the present application, and should not be understood as a limitation to the present application.

The smoothing robot 100 according to an embodiment of the present application will be described below with reference to FIGS. 1 to 5.

As shown in FIGS. 1 to 5, the leveling robot 100 according to the embodiment of the present application includes a frame 10, a mobile leveling device 2, a jacking device 3 and a steering device 4.

Specifically, the mobile smoothing device 2 is arranged on the frame 10, and the mobile smoothing device 2 can drive the frame 10 to move and can be used to smooth the surface of the substrate, that is, the mobile smoothing device 2 can be installed in the frame 10 in cooperation. After the mobile leveling device 2 is installed on the frame 10, the mobile leveling device 2 is driven. The mobile leveling device 2 can drive the frame 10 to walk. When the mobile leveling device 2 is walking, the mobile leveling device 2 is moved. The surface of the substrate can be smoothed. Optionally, the surface of the substrate may be a cement floor, a wall, etc., which is not limited here.

The lifting device 3 is arranged on the frame 10, and the lifting device 3 can lift the frame 10 and the mobile leveling device 2 upward, that is to say, the lifting device 3 can be installed on the frame 10 in cooperation, and the lifting device 3 After being fitted on the rack 10, the jacking device 3 can move relative to the rack 10. In the example shown in Figures 1 to 5, the jacking device 3 can move downwards, so that the jacking device 3 can move downwards. The device 3 can be in contact with the ground, and the jacking device 3 can continue to move downward relative to the frame 10 after abutting on the ground, so that the frame 10 is away from the surface of the base body. At the same time, the mobile leveling device 2 is installed on the frame 10 When the frame 10 is away from the surface of the base body, the mobile leveling device 2 can be driven away from the surface of the base body. Therefore, by setting the lifting device 3 on the frame 10, the lifting device 3 can move the frame 10 and the mobile leveling device 2 upwards. Lift up to stay away from the surface of the substrate.

The steering device 4 is arranged on the frame 10, and the steering device 4 can change the moving direction of the frame 10 after the jacking device 3 lifts the frame 10 and the mobile leveling device 2, that is, the steering device 4 can be installed in cooperation On the frame 10, when the lifting device 3 lifts the frame 10 and the mobile leveling device 2 upwards and separates from the surface of the base body, the steering device 4 is driven, and the steering device 4 can make the frame 10 and the lifting device 3 There is a relative rotation between the mobile smoothing device 2 and the frame 10, and the frame 10 can drive the mobile smoothing device 2 to rotate relative to the jacking device 3.

Further, when the frame 10 and the mobile leveling device 2 are rotated to the set position, the jacking device 3 can move upward relative to the frame 10, so that the frame 10 drives the mobile leveling device 2 to move toward the surface of the base. Optionally, after the mobile smoothing device 2 is in contact with the surface of the substrate, the jacking device 3 can continue to move upward relative to the frame 10 to separate from the surface of the substrate. At this time, the smoothing robot 100 can walk by moving the smoothing device 2 , The surface of the substrate can also be smoothed by moving the smoothing device 2. Therefore, through the cooperation of the jacking device 3 and the steering device 4, the walking direction and the direction of the smoothing operation of the smoothing robot 100 can be better changed, and the operation is simple and the practicability is strong.

Thus, according to the leveling robot 100 according to the embodiment of the present application, the mobile leveling device 2 is provided on the leveling robot 100, so that the leveling robot 100 can walk through the mobile leveling device 2 or move the leveling device 2 Perform smoothing operations on the surface of the substrate. By setting the lifting device 3 and the steering device 4 on the smoothing robot 100, the smoothing device can change the walking of the smoothing robot 100 under the cooperation of the lifting device 3 and the steering device 4 The direction and the direction of the smoothing operation are simple and practical.

In some embodiments of the present application, the jacking device 3 includes a first driving device 31, a top rod 32, and a top plate 33. The first driving device 31 is installed on the frame 10, and the top plate 33 is provided at the lower end of the top rod 32. , The first driving device 31 can drive the top rod 32 to move up and down relative to the frame 10, that is, the first driving device 31 can be installed on the frame 10 in cooperation. Further, as shown in FIGS. 1 to 5, the top The rod 32 is arranged in the up and down direction, and the first driving device 31 is arranged at the upper end of the top rod 32, and the top plate 33 is arranged at the lower end of the top rod 32. The first driving device 31 can drive the top rod 32 to move up and down, and the top rod 32 can The top plate 33 is driven to move in the up and down direction.

Specifically, when the walking direction of the leveling robot 100 needs to be changed, the first driving device 31 can drive the top rod 32 to move downward, and the top rod 32 can drive the top plate 33 to move downward. It can be in contact with the surface of the base body. At this time, the first driving device 31 can drive the top rod 32 to continue to move downwards. Under the support of the top rod 32 and the top plate 33, the frame 10 and the mobile smoothing device 2 can be moved away from each other. On the surface of the base body, in the example shown in FIGS. 1 to 5, the top plate 33 is generally formed in a disc shape. The leveling robot 100 abuts against the surface of the base body through the top plate 33, so that the pressure is lower, so that the base body surface It can support the smoothing robot 100 well. When the steering device 4 rotates the frame 10 and the mobile smoothing device 2 to a predetermined position, the first driving device 31 can drive the ejector rod 32 to move upward relative to the frame 10, so that The mobile smoothing device 2 is in contact with the surface of the base body, and the top plate 33 is out of contact with the surface of the base body.

Optionally, the jacking device 3 further includes a fixing plate 34, the upper end of the top rod 32 is connected to the fixing plate 34, one end of the first driving device 31 is connected to the frame 10, and the other end of the first driving device 31 is connected to the fixing plate 34. Connected to drive the fixed plate 34 to move up and down relative to the frame 10. In the example shown in Figures 1 to 5, in the vertical direction, the structure of the jacking device 3 from bottom to top is the top plate 33, the top rod 32, and the fixed plate 34. Furthermore, the first driving device 31 Extending in the up and down direction, the lower end of the first driving device 31 can be fitted on the frame 10, the fixing plate 34 can be fitted on the upper end of the first drive device 31, and the upper end of the top rod 32 can be fitted on the fixing plate 34, Thus, the fixed plate 34, the top rod 32 and the top plate 33 can be installed on the frame 10 through the first drive device 31, and the first drive device 31 can drive the fixed plate 34 to move up and down relative to the frame 10, thereby The top rod 32 and the top plate 33 move in the up and down direction relative to the frame 10, the structure is simple, and the operation is convenient.

Further, the jacking device 3 may further include a guiding device 35, which is arranged between the frame 10 and the fixing plate 34 to limit the moving direction of the fixing plate 34, that is, the process of moving the fixing plate 34 in the up and down direction The guide device 35 can limit the fixed plate 34 so that the fixed plate 34 moves in the up and down direction more stably, so that the top rod 32 and the top plate 33 can stabilize the frame 10 and the mobile leveling device. 2 Lift up.

Optionally, the first driving device 31 may be an electric push rod, through which the fixed plate 34 can be better driven to move up and down. The structure is simple and the operation is convenient. Of course, it is understandable that the first driving device 31 can also have other structures, which is not limited here. Further, there may be multiple first driving devices 31, where multiple refers to two or more than two. By arranging multiple first driving devices 31 between the frame 10 and the fixing plate 34, it can be compared. The fixed plate 34 is well driven to move in the vertical direction relative to the frame 10.

Optionally, as shown in FIGS. 1 to 5, the guide device 35 may be defined by a guide post 351 and a guide through hole (not shown in the figure). Specifically, the guide post 351 is formed at the lower end of the fixing plate 34, correspondingly Ground, the frame 10 is formed with a guide through hole that cooperates with the guide post 351. When the fixed plate 34 moves in the up and down direction, the guide post 351 can move along the guide through hole, so that the fixed plate 34 can move Relatively stable. Further, there may be multiple guiding devices 35. With multiple guiding devices 35, the movement of the fixed plate 34 can be made more stable and the reliability is high.

In a specific example of the present application, as shown in Figs. 1 to 5, the fixing plate 34 is formed as a square plate. The lower end of the fixing plate 34 and the positions adjacent to the four corners of the fixing plate 34 are respectively provided There are two electric push rods and two guide posts 351. The two electric push rods and two guide posts 351 are respectively arranged at the diagonal position of the fixed plate 34, which not only facilitates the passage of the jacking device 3 through electricity The push rod is connected to the frame 10, which also helps the jacking device 3 to stably lift the frame 10 and the mobile leveling device 2 upwards, with high reliability and good practical effect.

In some embodiments of the present application, the steering device 4 includes a second driving device 41, a driving wheel 42, and a driven wheel 43. The second driving device 41 is provided on the fixed plate 34, and the driving wheel 42 is connected to the second driving device 41 in transmission. , The driven wheel 43 meshes with the driving wheel 42, one end of the top rod 32 is connected with the driven wheel 43, the other end of the top rod 32 is connected with the top plate 33, and the driven wheel 43, the top rod 32 and the top plate 33 can rotate synchronously. In other words, the second driving device 41 can be fitted on the fixed plate 34, and the second driving device 41 can drive the driving wheel 42 to rotate, and the driving wheel 42 can mesh with the driven wheel 43, so that the driving wheel 42 can drive the driven wheel. 43 rotation, in other words, the driving wheel 42 can rotate around the axis of the driven wheel 43, so that the second driving device 41 and the fixed plate 34 can rotate around the axis of the driven wheel 43.

In the specific lifting and turning process, when the top plate 33 is in contact with the surface of the base body, the top plate 33 can be fixed relative to the surface of the base body, so that the top rod 32 and the driven wheel 43 are fixed relative to the surface of the base body, as shown in FIG. 1- Figure 5 shows, the second driving device 41 is provided at the lower end of the fixed plate 34, the driving wheel 42 is provided at the upper end of the fixed plate 34, the fixed plate 34 may be provided with a shaft hole, and the rotation axis of the second driving device 41 may be Pass through the shaft hole and cooperate with the driving wheel 42 to drive the driving wheel 42 to rotate. The rotation of the driving wheel 42 can walk along the outer peripheral wall of the driven wheel 43, so that the rotating shaft and the second driving device 41 can rotate around the axis of the driven wheel 43 , The second driving device 41 is fixedly connected to the fixed plate 34, whereby the second driving device 41 can drive the fixed plate 34 to rotate around the axis of the driven wheel 43, so that the frame 10 and the mobile smoothing device 2 follow the fixed plate 34 to surround The axis of the driven wheel 43 rotates, so that the traveling direction of the frame 10 and the mobile smoothing device 2 can be better changed.

In some embodiments of the present application, the mobile smoothing device 2 includes a plurality of rollers 21, each roller 21 is rotatably arranged under the frame 10, and the outer wall surface of the roller 21 is configured to be smoothed on the surface of the substrate. , The rotation axes of the plurality of rollers 21 are parallel. In the example shown in Figures 1 to 5, two rollers 21 are provided under the frame 10, and the two rollers 21 are spaced apart in the front-to-rear direction. The rotation axes of the two rollers 21 extend in the left-right direction. 21 can rotate around the axis of rotation. During the rotation of the drum 21, the outer wall of the drum 21 can face the surface of the substrate for smoothing operation. Of course, it is understandable that one roller 21 can also be provided under the frame 10, and three or more rollers 21 can also be provided. Specifically, it can be based on factors such as the application environment, model, and size of the smoothing robot 100. Set up, there are no restrictions here.

In some examples of the present application, the outer wall surface of the drum 21 may have a plurality of holes. By providing a plurality of holes on the outer wall surface of the drum 21, when the drum 21 is smoothing the surface of the substrate, the gas in the surface of the substrate can escape from the holes. In this way, it is possible to prevent pits and other undesirable phenomena on the surface of the smoothed substrate.

Optionally, as shown in FIGS. 1 to 5, the mobile smoothing device 2 further includes a third driving device 22, which is installed on the frame 10 to drive the plurality of rollers 21 to rotate, that is, the first The three-driving device 22 can cooperate with the multiple rollers 21 to drive the multiple rollers 21 to rotate, and the multiple rollers 21 to rotate, which can make the smoothing robot 100 walk, and can also make the smoothing robot 100 perform smoothing operations on the surface of the substrate. In some examples of the present application, one third driving device 22 may be provided, and multiple rollers 21 can be driven to walk through one driving device. In other examples of the present application, there may be multiple third driving devices 22. The plurality of driving devices can be arranged in one-to-one correspondence with the plurality of rollers 21. Of course, it is understandable that the third driving device 22 and the roller 21 can also have other cooperation modes, which are not limited here.

In some embodiments of the present application, the mobile smoothing device 2 further includes a plurality of first transmission devices 23, and the plurality of first transmission devices 23 may be respectively arranged corresponding to the plurality of rollers 21, that is, the first transmission device 23 may It is arranged in one-to-one correspondence with the drum 21. Optionally, the first transmission device 23 may be provided between the third driving device 22 and the plurality of rollers 21. By providing the first transmission device 23 between the third driving device 22 and the plurality of rollers 21, the third The driving device 22 preferably drives the plurality of rollers 21 to rotate.

Specifically, the first transmission device 23 includes a first transmission wheel 231, a second transmission wheel 232 and a flexible member 233.

More specifically, the first transmission wheel 231 is connected to the corresponding drum 21 and can rotate synchronously, that is, the first transmission wheel 231 can be matched with the drum 21 in a one-to-one correspondence, and the rotation of the first transmission wheel 231 can drive the drum 21 to rotate.

The second transmission wheel 232 is connected to the third driving device 22 in transmission, that is, the second transmission wheel 232 can cooperate with the third driving device 22, and the third driving device 22 can drive the second transmission wheel 232 to rotate.

The flexible member 233 is sleeved on the outside of the first transmission wheel 231 and the second transmission wheel 232, and the second transmission wheel 232 drives the first transmission wheel 231 to rotate through the flexible member 233, that is, the flexible member 233 can be arranged on Between the first transmission wheel 231 and the second transmission wheel 232, and the flexible member 233 can mesh with the first transmission wheel 231 and the second transmission wheel 232, respectively. Thus, after the third driving device 22 drives the second transmission wheel 232 to rotate, the second transmission wheel 232 can transmit power to the first transmission wheel 231 through the hinge, so that the first transmission wheel 231 rotates and the first transmission wheel 231 rotates. The drum 21 can be driven to rotate, so that the smoothing robot 100 can walk and smooth the surface of the substrate.

In some embodiments of the present application, as shown in FIGS. 1 to 5, the smoothing robot 100 further includes a smoothing device 5, which is arranged on the frame 10, and the smoothing device 5 can wipe the surface of the substrate. Ping homework.

Specifically, the squeegee 5 includes a squeegee connecting plate 51, a fourth driving device 52, and a squeegee 53, one end of the fourth driving device 52 is pivotally connected to the frame 10, and the other end of the fourth driving device 52 is connected to the squeegee. The board connecting plate 51 can be pivotally connected, that is, the fourth driving device 52 can be arranged between the frame 10 and the squeegee connecting plate 51, and the squeegee connecting plate 51 can be installed on the frame through the fourth driving device 52. 10 on.

Further, the squeegee 53 is provided on the squeegee connecting plate 51, the squeegee 53 can be used to flatten the surface of the substrate, and the fourth driving device 52 can be used to adjust the inclination angle of the squeegee connecting plate 51, where the inclination angle may refer to It is the angle between the plane where the connecting plate is located and the horizontal plane. By controlling the inclination angle of the connecting plate 51 of the squeegee, the angle of inclination of the squeegee 53 can be controlled, so that the squeegee 53 can smooth the surface of the substrate better.

Furthermore, the squeegee 53 is pivotally connected to the squeegee connecting plate 51, that is, the squeegee 53 can be relatively rotated relative to the squeegee connecting plate 51, thus, in order to smooth the surface of the base body better, By adjusting the inclination angle of the squeegee connecting plate 51, and also by adjusting the angle between the squeegee 53 and the squeegee connecting plate 51, the squeegee 53 can be made more flexible and can smooth the surface of the substrate better.

In some examples of the present application, the scraper 53 is provided with a protective layer (not shown in the figure). The protective layer is used to contact the surface of the substrate. The protective layer can better contact the surface of the substrate to smooth the substrate. The surface, at the same time, the protective layer can also protect the squeegee 53 to prevent the squeegee 53 from being damaged. Optionally, the scraper 53 is detachably connected to the protective layer, so that the protective layer can be easily replaced to ensure a smoothing effect on the surface of the substrate, and the scraper 53 can also be better protected. Further, the protective layer can be composed of materials such as rubber, plastic, etc., which is not limited here.

In a specific example shown in FIGS. 1 to 5, the upper end of the fourth driving device 52 is hinged to the frame 10, and the lower end of the fourth driving device 52 is hinged to the scraper connecting plate 51, so that the fourth driving device 52 can drive the squeegee connecting plate 51 better, and can make the squeegee connecting plate 51 move up and down. In this way, when the squeegee 5 is needed, the fourth driving device 52 can drive the squeegee connecting plate. 51 moves downwards to make the protective layer contact with the surface of the substrate, so that the surface of the substrate is leveled. When the squeegee device 5 is not required, the scraper connecting plate 51 can be driven to move upward through the fourth driving device 52 to make the protective layer It is separated from the surface of the substrate, has good flexibility and strong practicability, and can increase the service life of the protective layer.

Optionally, as shown in FIGS. 1 to 5, the leveling device 5 further includes a connecting device 55. The connecting device 55 includes a fixing rod 551, a first connecting rod 552, and a second connecting rod 553. The fixing rod 551 is arranged on the frame. 10, the first connecting rod 552 is connected to the frame 10, one end of the fourth driving device 52 is pivotally connected to the first connecting rod 552, and both ends of the second connecting rod 553 are respectively connected to the fixed rod 551 and the scraper. The plates 51 can be pivotally connected.

For example, as shown in FIGS. 1 to 5, the fixing rod 551 can be fixedly fitted to the front end of the frame 10, the first connecting rod 552 is fitted and fixed to the upper end of the fixing rod 551, and one end of the second connecting rod 553 can be hinged to the fixing rod 551. At the lower end, the other end of the second connecting rod 553 can be hinged to the scraper connecting plate 51, the upper end of the fourth driving device 52 can be hinged to the first connecting rod 552, and the lower end of the fourth driving device 52 can be hinged to the scraper connecting plate 51 Therefore, by driving the fourth driving device 52, not only the squeegee connecting plate 51 can be driven to move up and down, but also the angle of the squeegee connecting plate 51 can be adjusted, so that the squeegee 53 can smooth the surface of the substrate better. , Simple structure and strong practicability.

Optionally, as shown in FIGS. 1 to 5, the leveling robot 100 further includes a detection device 6 and a control device 7. The detection device 6 is arranged on the frame 10, and the detection device 6 is used to detect the levelness of the substrate surface and control The device 7 is electrically connected to the detection device 6 and the fourth drive device 52 respectively, and the control device 7 controls the operation of the fourth drive device 52 according to the detection result of the detection device 6. Among them, the levelness refers to the angle between the plane of the substrate surface and the horizontal plane. Therefore, the detection device 6 can transmit the detected information of the angle between the plane of the substrate surface and the horizontal plane to the control device 7, and control The device 7 can drive the fourth drive device 52 after receiving the information. The fourth drive device 52 can control the distance between the squeegee connecting plate 51 and the surface of the substrate and the angle between the plane of the squeegee 53 and the surface of the substrate to compare Scrape the surface of the substrate well.

In some embodiments of the present application, the detection device 6 may include a laser signal transmitter and a laser signal receiver. Specifically, the laser signal transmitter may be provided on the surface of the substrate, and the laser signal transmitter may emit a horizontal beam parallel to the horizontal plane, The laser signal receiver can be set on the leveling robot 100. The laser signal receiver can receive the signal of the horizontal beam emitted by the laser signal transmitter, so that the level of the substrate surface can be judged, and then the fourth can be driven by the control device 7. The driving device 52 adjusts the squeegee connecting plate 51 to better level the surface of the substrate.

Further, the detection device 6 can also detect the angle between the plane where the squeegee connecting plate 51 is located and the horizontal plane. Therefore, the fourth driving device 52 can be driven by the detection device 6 so that the plane where the squeegee connecting plate 51 is located is maintained with the horizontal plane. Parallel, so that the surface of the base body can be better flattened, and it is also beneficial to the assembly of the scraper 53 and the scraper connecting plate 51.

In some embodiments of the present application, as shown in FIGS. 1 to 5, the smoothing robot 100 further includes a vibrating device 8. The vibrating device 8 can vibrate the drum 21, so that the drum 21 can pass through the drum when smoothing the surface of the substrate. The vibration of 21 can not only break the hard and broken impurities in the surface of the substrate better to smooth the surface of the substrate, but also squeeze out the gas in the surface of the substrate to prevent the surface of the substrate after being smoothed. A bad condition such as a pit occurs. Therefore, by providing the vibrating device 8 on the leveling robot 100, the leveling effect of the leveling robot 100 can be further improved.

Optionally, the vibration device 8 may include a vibration motor 81, and the vibration motor 81 may be installed on the frame 10, that is, the vibration motor 81 may be installed on the frame 10 in cooperation, and the vibration motor 81 can produce more severe vibrations after being started. The vibration motor 81 can transmit the vibration to the drum 21 through the frame 10, so that the drum 21 vibrates, so as to smooth the surface of the substrate. Of course, it can be understood that the vibration device 8 can also be formed by other structures, which is not limited here.

Further, a vibration damping pad can be arranged between the frame 10 and the leveling device 5, and the transmission of vibration to the leveling device 5 can be better reduced by the damping pad, thereby making the leveling device 5 more effective. Scrape the surface of the substrate stably. Of course, it is understandable that other structures can be provided between the frame 10 and the leveling device 5 to reduce vibration, such as sponges, springs, etc., which are not limited here.

Hereinafter, the leveling robot 100 according to the embodiment of the present application will be described with reference to FIGS. 6 to 9.

As shown in FIG. 6, the leveling robot 100 according to the embodiment of the present application includes: a frame 10, a mobile leveling device 2, and a steering device 4.

The rack 10 includes a bottom frame 11 and a mounting plate 12, and the mounting plate 12 is fixed on the bottom frame 11. The mobile smoothing device 2 includes a drum 21 and a third driving device 22. The drum 21 is rotatably arranged at the bottom of the base frame 11. The third driving device 22 is arranged on the mounting plate 12 and connected with the drum 21 to drive the drum 21 to rotate. . During the smoothing operation, the robot walks on the construction surface through the rotation of the drum 21, and at the same time smoothes the concrete-containing construction surface with the help of the drum 21.

The steering device 4 includes a top plate 41a, a jacking rod 42a, a rotating mechanism 43a, and a first lifting mechanism 44. The top plate 41a is located above the mounting plate 12, and the jacking rod 42a passes through the mounting plate 12 and is rotatably provided on the top plate 41a. The rotating mechanism 43a is arranged on the mounting plate 12, and the jacking rod 42a is movably arranged on the output end of the rotating mechanism 43a. One end of the first lifting mechanism 44 is connected to the mounting plate 12 and the other end is connected to the top plate 41a. Wherein, the jacking rod 42a can be lifted and lowered between the first position and the second position relative to the top plate 41a. When the jacking rod 42a is in the first position, it contacts the construction surface, and the rotating mechanism 43a drives the top plate 41a and the frame 10 relative to the top. The lifting rod 42a rotates.

It can be understood that the jacking rod 42a does not contact the construction surface when in the second position, and does not affect the walking operation of the robot. When the robot needs to turn, the first lifting mechanism 44 first drives the top plate 41a to move downward so that the jacking rod 42a reaches the first position. At this time, the frame 10 is separated from the construction surface, and the entire robot only touches the construction surface through the jacking rod 42a, and then The rotating mechanism 43a is activated and rotates relative to the jacking rod 42a, the jacking rod 42a contacts the construction surface and is stationary relative to the construction surface, and the frame 10 rotates relative to the jacking rod 42a, thereby realizing the steering of the robot.

According to the leveling robot 100 of the embodiment of the present application, by setting the steering device 4, a steering mode of first lifting and then rotating is realized, so that the robot can turn 360 degrees in situ, achieving the effect of zero turning radius, and greatly improving the robot. The operation coverage rate of the robot is simpler and the flexibility is higher, which is conducive to the realization of fully automatic operation.

In some embodiments, there are multiple rollers 21 and third drive devices 22, and the multiple third drive devices 22 and the multiple rollers 21 are arranged in a one-to-one correspondence. A separate third driving device 22 is provided for each roller 21, and the power of the roller 21 is stronger, which is beneficial for the roller 21 to drive the robot to walk stably and reliably.

In some embodiments, as shown in FIG. 6, there are multiple rollers 21 and one third drive device 22. A first transmission device 23 is provided between the multiple rollers 21 and one third drive device 22 to drive The multiple rollers 21 rotate synchronously. In this way, that is to say that the number of first transmission devices 23 is also provided in multiple, the number of the first transmission devices 23 and the plurality of rollers 21 are equal and arranged in one-to-one correspondence, and a third drive device 22 can ensure multiple The rotation speed of the drum 21 is equal, the accuracy of controlling walking is higher, and the controllability is stronger. In addition, the number of the third driving device 22 is reduced, the structure is simple, and the overall structure of the walking device 22 is simplified, which is beneficial to cost saving.

In some embodiments, the third driving device 22 may be a servo motor, so as to provide precise rotation of the drum 21. A fixing plate 60 is provided between the servo motor and the mounting plate 12, and the servo motor is stably fixed on the base frame 11 through the fixing plate 60.

In some embodiments, the servo motor is connected with a reducer (not shown in the figure), the servo motor and the reducer are connected through a coupling 90, and the first transmission device 23 and the servo motor are connected through a reducer, and the reducer can be lowered. The speed of the servo motor can realize precise control during walking.

In some embodiments, the roller 21 may be a smooth roller that is not hollowed out. The smooth roller can increase the contact surface between the roller 21 and the concrete surface, and improve the ability to carry out the cement slurry during rotation and vibration. In other examples, the drum 21 may be a hollow drum, and the surface of the hollow drum is highly permeable, which ensures that the cement slurry will not stick to the drum 21 when it is taken out, thereby enhancing the smoothing effect. In other examples, the roller 21 may also be a patterned roller, and the patterned roller has the advantages of the above two types of rollers, which will not be repeated here.

Preferably, as shown in FIGS. 6 and 7, the first transmission device 23 includes: a first transmission wheel 231, a second transmission wheel 232, and a flexible member 233. The first transmission wheel 231 is arranged on the output shaft of the third driving device 22, the second transmission wheel 232 is arranged on the shaft end of the corresponding drum 21, and the flexible member 233 is sleeved on the first transmission wheel 231 and the second transmission wheel 232 on. For example, when the third driving device 22 is a servo motor, the servo motor drives the first transmission wheel 231 on the shaft to rotate, and the power is transmitted to the second transmission wheel 232 via the flexible member 233, and finally drives the drum 21 to rotate. In this way, the drum 21 is driven to rotate, the structure is simple, and the transmission is stable.

Preferably, the first transmission wheel 231 and the second transmission wheel 232 are at least one of a belt wheel, a sprocket, and a rope wheel; the flexible member 233 is at least one of a corresponding transmission belt, a transmission chain, and a transmission rope. For example, when the first transmission wheel 231, the second transmission wheel 232, and the flexible member 233 are configured as belt transmission, the structure is simple, the transmission is stable, the vibration is buffered, and the damage to the third driving device 22 can be reduced; When the first transmission wheel 231, the second transmission wheel 232, and the flexible member 233 constitute a chain transmission, there is no elastic sliding and slipping phenomenon in this structure, so the transmission ratio is accurate and the work is more reliable; when the first transmission wheel 231, the first transmission wheel 231, When the second transmission wheel 232 and the flexible member 233 are constituted by rope transmission, this structure is simple and is beneficial to cost saving.

In some embodiments, as shown in FIGS. 6 and 7, the mobile smoothing device 2 further includes a driven roller 24, which is provided on the bottom frame 11 and located between two adjacent rollers 21. For example, when the span between two adjacent rollers 21 is large, the load on each roller 21 is relatively large due to the gravity of the frame 10 and the device on it. By adding a driven roller 24 to assist walking, there is It is beneficial to reduce the load on the drum 21 and improve the stability of the robot's walking.

In a specific example, as shown in FIG. 6, the shaft ends of the roller 21 and the driven roller 24 are both provided with a bearing seat 50, and the bearing seat 50 is fixed on the bottom frame 11 to realize that the roller 21 and the driven roller 24 are on the bottom frame. On the 11 can be rotated.

In some embodiments, the rotating mechanism 43a includes a drive motor 431 and a gear transmission assembly 432. The gear transmission assembly 432 includes at least an input gear (not shown in the figure) and an output gear (not shown in the figure), and the input gear is transmitted with the drive motor 431. Connected. The driving motor 431 is fixed on the mounting plate 12, the input gear is connected to the output shaft of the driving motor 43, and the output gear is connected to the jacking rod 42a, so that when the jacking rod 42a contacts the construction surface, the jacking rod 42a is opposite to the construction surface When it is stationary and does not rotate, after starting the driving motor 431, the driving motor 431 and the output gear rotate around the output gear and the jacking rod 42a, so as to realize the steering of the robot to adjust the movement direction. In other examples, as shown in FIG. 8, the gear transmission assembly 432 can also be a reducer, such as a hollow reducer, the jacking rod 42a is connected to the output gear of the hollow reducer, and the drive motor 431 and the hollow reducer can also be reduced The input gear of the machine rotates around the output gear and the jacking rod 42a to realize steering. In other examples, the driving motor 431 can be replaced with a rotating cylinder or a rotating oil cylinder, which can also play a role of rotating drive, and will not be described in detail here.

Preferably, as shown in FIGS. 8 and 9, the jacking rod 42 a includes: a connecting shaft 421, a sliding sleeve 422, and a top plate 423. The connecting shaft 421 passes through the output gear of the gear transmission assembly 432, the connecting shaft 421 is provided with an axial sliding groove 4211; the sliding sleeve 422 is in sliding engagement with the connecting shaft 421, and the sliding sleeve 422 is provided with a limit for matching with the axial sliding groove 4211. The position protrusion (not shown in the figure), the sliding sleeve 422 is fixed on the output gear of the gear transmission assembly 432. In this way, when the connecting shaft 421 and the sliding sleeve 422 are matched, the connecting shaft 421 can move up and down relative to the sliding sleeve 422. The output gear of the gear transmission assembly 432 may be hollow, and the sliding sleeve 422 is fixed to the gear transmission assembly 432. Therefore, the connecting shaft 421 can move up and down relative to the output end of the gear transmission assembly 432, so that the lifting rod 42a can be lifted and lowered under the driving of the first lifting mechanism 44. The cooperation of the axial sliding groove 4211 and the limiting protrusion makes the connecting shaft 421 and the sliding sleeve 422 relatively fixed in the circumferential direction, and the two do not rotate with each other. Therefore, when rotating, the sliding sleeve 422 follows the connecting shaft 421 relative to the construction surface The output gear of the gear transmission assembly 432 does not rotate with the sliding sleeve 422, and the drive motor 431 and the input gear of the gear transmission assembly 432 rotate around the connecting shaft 421. The top plate 423 is fixed on the connecting shaft 421 and located below the bottom frame 11. The top plate 423 rotates with the connecting shaft 421. The top plate 423 increases the contact area between the jacking rod 42a and the construction surface, and increases the static friction. Therefore, it can be ensured that the jacking rod 42a is stationary and does not rotate relative to the construction surface.

In a specific example, as shown in FIG. 9, a connecting flange 424 is provided between the connecting shaft 421 and the top plate 423, and the connecting shaft 421 and the top plate 423 are fixedly connected to each other through the connecting flange 424.

In a specific example, as shown in FIG. 8, a bearing 425 is provided between the connecting shaft 421 and the top plate 41a, and the connecting shaft 421 and the top plate 41a are rotatably connected through the bearing 425.

In some embodiments, as shown in FIG. 9, the top plate 423 is circular, the circular top plate 423 has no sharp edges and has a larger area, and provides greater static friction. Of course, in other examples, the top plate 423 may also have other shapes, such as a square strip shape or a multi-row shape, which will not be described here.

In some embodiments, the first lifting mechanism 44 is at least one of an electric push rod, an air cylinder, and an oil cylinder. Of course, it may also be other electric or hydraulic devices, which will not be described here. There are multiple first lifting mechanisms 44, and the multiple first lifting mechanisms 44 are evenly distributed on the mounting plate 12 in the circumferential direction, so that a plurality of stable and uniform lifting forces can be provided to the top plate 41a, and the top plate 41a and the lifting rod 42a can be lifted and lowered. The process is stable and reliable.

Preferably, as shown in FIG. 6, the steering device 4 further includes a guiding mechanism 45. The guiding mechanism 45 includes a plurality of guide rods 451. One end of the plurality of guide rods 451 is fixed on the top plate 41a and the other end passes through the mounting plate 12. The use of the guide rod 451 can provide guidance for the ascending and descending process of the top plate 41a, and further improve the stability and safety of the movement of the top plate 41a. As shown in FIG. 8, linear bearings 452 are provided between the guide rods 451 and the mounting plate 12, so as to reduce the friction between the guide rods 451 and the mounting plate 12, which is beneficial to the relationship between the guide rods 451 and the mounting plate 12. The relative movement.

Preferably, the number of the plurality of guide rods 451 and the plurality of first lifting mechanisms 44 are equal and distributed in a staggered manner. For example, there are two guide rods 451, there are also two first lifting mechanisms 44, and there are two first lifting mechanisms 44. The ring is arranged on the top plate 41a, which not only increases the connectivity between the top plate 41a and the mounting plate 12, but also ensures that the top plate 41a is more stable during the lifting process.

In some embodiments, as shown in FIG. 6, the steering device 4 is arranged in the center of the underframe 11. Therefore, when the steering device 4 is in operation, the frame 10 can be rotated relative to the center of the jacking rod 42a. The rotation of the construction surface is beneficial to reduce the overall rotation range of the robot, reduce the difficulty of steering, and improve the stability of the steering process.

In some embodiments, the leveling robot 100 further includes a vibrating device 8, which is arranged on the base frame 11, so that the drum 21 can vibrate up and down with the base frame 11, so that when the drum 21 passes over the concrete surface, the drum 21 passes The vibration takes the cement slurry out of the backlog on the surface of the concrete base layer, so that the robot has the effect of lifting the slurry during the walking process.

In some embodiments, as shown in FIG. 8, the vibration device 8 is a vibration motor, and there are multiple vibration motors. The multiple vibration motors are spaced apart on both sides of the base frame 11, so that the base frame 11 and the drum 21 vibrate. .

In some embodiments, as shown in FIG. 6, a battery 70 and an electric control box 80 are provided on the chassis 11, and the battery 70 provides electrical energy for the third driving device 22, the rotating mechanism 43a, the first lifting mechanism 44, and the vibration device 8. In a specific example, the battery 70 may be a lithium battery, of course, it may also be another type of battery, which is not limited to this, and will not be described in detail here. The electric control box 80 is used to control the mobile smoothing device 2, the vibrating device 8, and the steering device 4 to perform corresponding work.

In the following, specific embodiments of the present application will be described with reference to the accompanying drawings.

As shown in FIGS. 6 to 9, a leveling robot 100 includes a frame 10, a mobile leveling device 2, a vibration device 8, and a steering device 4.

The rack 10 includes a bottom frame 11 and a mounting plate 12, and the mounting plate 12 is fixed on the bottom frame 11.

The mobile smoothing device 2 includes a roller 21 and a third driving device 22. The roller 21 is rotatably arranged at the bottom of the base frame 11. The third driving device 22 is a servo motor, which is arranged on the mounting plate 12 and connected to the roller 21. A fixing plate 60 is provided between the motor and the bottom frame 11. There are two rollers 21, and a first transmission device 23 is provided between the two rollers 21 and the third driving device 22. The first transmission device 23 includes a first transmission wheel 231, a second transmission wheel 232, and a flexible member 233. The first transmission wheel 231 is arranged on the output shaft of the third driving device 22, the second transmission wheel 232 is arranged on the shaft end of the corresponding drum 21, and the flexible member 233 is sleeved on the first transmission wheel 231 and the second transmission wheel 232 In the above, the first transmission wheel 231 and the second transmission wheel 232 are sprockets, and the flexible member 233 is a transmission chain. The servo motor is driven to the two rollers 21 through the sprockets, so that the rollers 21 can move accurately. The mobile smoothing device 2 further includes a driven roller 24 which is arranged on the bottom frame 11 and located between two adjacent rollers 21. The shaft ends of the roller 21 and the driven roller 24 are both provided with a bearing seat 50. The servo motor is connected with a reducer, the servo motor and the reducer are connected through a coupling 90, and the first transmission device 23 and the servo motor are connected through the reducer.

The vibration device 8 is arranged on the bottom frame 11 so that the drum 21 can vibrate up and down along with the bottom frame 11. Among them, the vibration device 8 is a vibration motor, there are two vibration motors, and the two vibration motors are arranged on the left and right sides of the base frame 11. The vibration motor provides stable vibration of the drum 21. Different types of drum 21 can be replaced and different amplitudes and frequencies of the vibration motor can be adjusted according to different conditions, which is suitable for a variety of working conditions.

The steering device 4 is located in the center of the underframe 11. The steering device 4 includes a top plate 41a, a jacking rod 42a, a rotating mechanism 43a, and a first lifting mechanism 44. The top plate 41a is located above the mounting plate 12, and the jacking rod 42a passes through the mounting plate. 12 and rotatably arranged on the top plate 41a, the rotating mechanism 43a is arranged on the mounting plate 12, the jacking rod 42a is movably arranged on the output end of the rotating mechanism 43a, and one end of the first lifting mechanism 44 is connected to the mounting plate 12 and the other end is connected to the top plate 41a. The rotating mechanism 43a includes a driving motor 431 and a gear transmission assembly 432, and the gear transmission assembly 432 may specifically be a hollow reducer. The first lifting mechanism 44 is an electric push rod. The jacking rod 42a includes a connecting shaft 421, a sliding sleeve 422, and a top plate 423. The connecting shaft 421 passes through the output gear of the gear transmission assembly 432, the connecting shaft 421 is provided with an axial sliding groove 4211; the sliding sleeve 422 is in sliding engagement with the connecting shaft 421, and the sliding sleeve 422 is provided with a limit for matching with the axial sliding groove 4211. The position protrusion and the sliding sleeve 422 are fixed on the output gear of the gear transmission assembly 432. A connecting flange 424 is provided between the connecting shaft 421 and the top plate 423, and a bearing 425 is provided between the connecting shaft 421 and the top plate 41a. The top plate 423 is configured in a circular shape. Among them, the steering device 4 further includes a guide mechanism 45, the guide mechanism 45 includes two guide rods 451, one end of the guide rod 451 is fixed on the top plate 41a and the other end passes through the mounting plate 12, the first lifting mechanism 44 is set to two One, the two first lifting mechanisms 44 and the two guide rods 451 are arranged along the circumferential direction of the top plate 41a and are arranged in a staggered manner. In addition, the bottom frame 11 is provided with a battery 70 and an electric control box 80. The battery 70 may be a lithium battery to provide electric energy for the third driving device 22, the rotating mechanism 43a, the first lifting mechanism 44 and the vibration device 8. The electric control box 80 It is used to control the mobile smoothing device 2, the vibrating device 8, and the steering device 4 to perform corresponding work.

The technical solution adopted by this patent application is to turn the smoothing robot, including the main moving smoothing device 2, the vibrating (smooth roller, the pattern roller, the hollow roller) roller, the jacking steering device 4, and the focus is on the structure principle and structure of the steering smoothing robot. Layout, steering mode. In addition, the above-mentioned leveling robot can also be equipped with a double-scraping and smoothing processing device, and the aluminum plate (which can be equipped with laser induction to control the elevation) and the height of the soft rubber can be controlled by the electric pusher. The soft rubber leather is smooth. The novel leveling robot in the embodiment of this application includes the following steps when working:

1. Turn on the power, and the new type of smoothing robot in the embodiment of the application starts to work.

2. According to the need to plan the route, the electric push rod shrinks to lower the top plate 423. The lifting frame 10 performs steering adjustment. After the steering is completed, the top plate 423 is lifted, the frame 10 is lowered, the servo motor works, and the drum 21 is driven. During the movement, the vibration motor is in working condition and is driven by the drum 21. The drum 21 works against the concrete. Pulp is lifted on the construction surface.

In summary, this application is a leveling robot that can be turned. Compared with the leveling machines on the market, this application can mainly realize fully automatic control. Its unique roller structure design can perform on the cement surface after initial setting. Pulp lift operation. Its steering device and lifting and rotating technology make the robot more flexible and work coverage. Compared with the market trowel, it is easier to realize fully automatic operation. Part of the robot's operating device is combined with the walking device to realize fully automatic smoothing and grout replenishment. The walking device uses a vibrating motor to drive the drum (a variety of drums can be replaced) and its own weight to achieve the effect of pulp lifting. Therefore, during the walking process, the pulp lifting effect is good, the walking accuracy is high, and the controllability is strong. The middle jacking steering device enables the robot to turn 360 degrees on the spot, achieving the effect of zero turning radius, and greatly improving the robot's operation Coverage. This application can be applied to various surface pulping treatments, and the construction surface will be less damaged when rotating. The walking steering structure can be applied to various operations with high coverage and high steering accuracy, such as unmanned control and full automation. It can also be used in conditions such as harsh construction surface environment and small area to realize steering.

The smoothing robot 100 according to the embodiment of the present application will be described below with reference to FIGS. 10-14.

As shown in FIG. 10, a leveling robot 100 according to an embodiment of the present application includes: a frame 10, a mobile leveling device 2, a steering device 4, and a leveling device 5.

The rack 10 includes a bottom frame 11 and a mounting plate 12, and the mounting plate 12 is fixed on the bottom frame 11. The mobile leveling device 2 includes a roller 21, a first transmission device 23, and a third drive device 22. The roller 21 is rotatably arranged at the bottom of the base frame 11, and the third drive device 22 is arranged on the mounting plate 12. The device 23 is arranged between the third driving device 22 and the drum 21 to drive the drum 21 to rotate. During the smoothing operation, the third driving device 22 transmits power to the drum 21 through the first transmission device 23, driving the drum 21 to rotate, so that the robot can walk on the construction surface through the rotation of the drum 21, and at the same time, the drum 21 is used to rotate the wiper. Flat concrete construction surface. The steering device 4 is arranged in the center of the frame 10 to turn the frame 10 to adjust the direction of the robot.

The leveling device 5 includes a supporting frame 51 a, a connecting rod 52 a, a scraper assembly 53 a, and a linear drive member 54, and the supporting frame 51 a is connected to the bottom frame 11. The two ends of the connecting rod 52a are respectively rotatably connected to one end of the support frame 51a and one side of the scraper assembly 53a, that is, one end of the connecting rod 52a is rotatably connected to one end of the support frame 51a, and the other end of the connecting rod 52a is connected to the scraper. One side of the plate assembly 53a is rotatably connected, and both ends of the connecting rod 52a can rotate relative to the support frame 51a and the scraper assembly 53a. The two ends of the linear drive member 54 are respectively rotatably connected to the other end of the support frame 51a and the other side of the scraper assembly 53a, that is, one end of the linear drive member 54 is rotatably connected to the other end of the support frame 51a, and the linear drive member The other end of 54 is rotatably connected with the other side of the scraper assembly 53a, and both ends of the linear drive member 54 can rotate relative to the support frame 51a and the scraper assembly 53a. The scraper assembly 53a is connected to the support frame 51a through the connecting rod 52a, and the position of the scraper assembly 53a can be adjusted through the connecting rod 52a, so that the scraper assembly 53a can better adapt to the construction surface and smooth the construction surface.

Wherein, the linear driving member 54 is extended or shortened, and the squeegee assembly 53a is driven to move relative to the support frame 51a to adjust the posture of the squeegee assembly 53a. It can be seen from the above that the connecting rod 52a and the linear driving member 54 are respectively connected to the two ends of the support frame 51a, and the connecting rod 52a and the linear driving member 54 are respectively connected to the two sides of the scraper assembly 53a. Therefore, when the linear driving When the member 54 is extended, the scraper assembly 53a is driven to descend; when the linear driving member 54 is shortened, the scraper assembly 53a is driven to rise. When the scraper assembly 53a descends and rises, the connecting rod 52a always maintains a reliable connection between the scraper assembly 53a and the support frame 51a. Through the descending and ascending of the scraper assembly 53a, the scraper assembly 53a can adapt to different working conditions. The lower construction surface is leveled, the operation is more flexible, the degree of automation is higher, and the adaptability is greatly enhanced.

According to the leveling robot 100 of the embodiment of the present application, by providing the leveling device 5, the leveling effect is achieved, and the posture of the scraper assembly 53a at the end can be adjusted, which is suitable for operations under different working conditions and has strong functionality. Flexible operation. The whole robot has the functions of smoothing, turning and scraping, which is conducive to the realization of fully automated construction operations.

In some embodiments, as shown in FIG. 10, the connecting rods 52a are two groups spaced apart, the linear driving members 54 are two spaced apart, and the two groups of connecting rods 52a and the two linear driving members 54 are arranged in a one-to-one correspondence. In this way, the connection and stability of the scraper assembly 53a and the support frame 51a are enhanced. Moreover, the two sets of connecting rods 52a and the two linear drive members 54 produce different effects. For example, when one linear drive member 54 is extended or shortened, the scraper assembly 53a rotates relative to the support frame 51a; when the two linear drive members 54 When simultaneously contracting or extending, the scraper assembly 53a moves up and down relative to the support frame 51a. In addition, the connecting rods 52a are not limited to two groups, and the linear driving members 54 are not limited to two. The connecting rods 52a and the linear driving members 54 can be in one-to-one correspondence with multiple groups, which can also achieve the above-mentioned effects.

In some embodiments, the linear driving member 54 is at least one of an electric push rod, an air cylinder, and an oil cylinder, so as to drive the scraper assembly 53a to move. Of course, the linear driving member 54 is not limited to this, and may also be other forms of electric or hydraulic devices, which will not be elaborated here.

Preferably, as shown in FIG. 11, the two sets of connecting rods 52a each include a first connecting rod 52a1 and a second connecting rod 52a2, and the first connecting rod 52a1 and the second connecting rod 52a2 are arranged parallel to each other. The first connecting rod 52a1, the second connecting rod 52a2, the scraper assembly 53a, and the support frame 51a form a parallelogram structure, the stability of the overall structure is stronger, and the connection is more reliable.

In some embodiments, as shown in FIG. 10, the squeegee assembly 53 a includes: a connecting plate 531, a squeegee 532, and a positioning mechanism 533. The connecting plate 531 is connected to the connecting rod 52 a and the linear driving member 54. The scraper 532 is rotatably connected to the connecting plate 531. For example, the scraper 532 is connected to the connecting plate 531 through a hinge, so that the angle between the scraper 532 and the connecting plate 531 is adjustable. The positioning mechanism 533 is connected between the connecting plate 531 and the scraper 532 so that the connecting plate 531 and the scraper 532 have an adjustable inclination angle. Therefore, when facing the construction surface under different working conditions, the angle between the connecting plate 531 and the scraper 532 can be precisely adjusted, and then fixed by the positioning mechanism 533 to adapt to the conditions of the construction site. This adjustment method is more convenient and easier to operate.

Preferably, as shown in FIG. 10, the positioning mechanism 533 includes: a first meniscus 5331 and a second meniscus 5332. The first meniscus 5331 is arranged on the connecting plate 531, and the second meniscus 5332 is arranged on the scraper 532 and abuts on the first meniscus 5331; among them, the first meniscus 5331 or the second meniscus 5332 An arc groove 533a is provided on the arc groove 533a, and the arc groove 533a fixes the first meniscus 5331 and the second meniscus 5332 by matching bolts. For example, when the arc groove 533a is provided on the first meniscus 5331, one end of the bolt is fixed on the second meniscus 5332, and the other end passes through the arc groove 533a. After adjusting the angle of the connecting plate 531 and the scraper 532 , The other end of the bolt is used to lock the first meniscus 5331 and the second meniscus 5332 through a matching nut, thereby fixing the angle between the connecting plate 531 and the scraper 532. For another example, when the second meniscus 5332 has the arc-shaped groove 533a, one end of the bolt is fixed on the first meniscus 5331, the other end passes through the arc-shaped groove 533a, and the other end of the bolt is used to lock the first meniscus with a matching nut. The plate 5331 and the second meniscus 5332 fix the angle between the connecting plate 531 and the squeegee 532. This method has simple positioning structure, convenient operation and strong practicability.

Specifically, as shown in FIG. 10, the positioning mechanism 533 can be arranged in multiple groups along the length direction of the connecting plate 531, thereby improving the reliability of positioning. For example, the positioning mechanism 533 is provided with two groups spaced apart, of course, it can also be three groups or four groups, which will not be described one by one here.

In some embodiments, as shown in FIG. 10, the squeegee assembly 53 a further includes: a flexible pressing bar 534 and a positioning bar 535. The flexible bead 534 is arranged on the side of the scraper 532 away from the connecting plate 531. After the scraper 532 smooths the construction surface, the flexible bead 534 can contact the construction surface for smooth surface, resulting in a better smoothing effect. The positioning bar 535 is arranged on the flexible bead 534 and arranged along the length direction of the flexible bead 534 to fix the flexible bead 534 to ensure that the flexible bead 534 and the scraper 532 fit tightly, and the fixing effect is better.

Preferably, the flexible bead 534 may be made of rubber material, which is flexible and not easy to be damaged, and can be better attached to the construction surface for smooth operation.

Preferably, the positioning strip 535 may be made of rubber material, and the flexible pressing strip 534 and the scraper 532 can be compressed. Of course, the positioning strip 535 can also be a plate, which has high strength and is not easy to be damaged, and can also have a pressing effect.

Preferably, the scraper 532 may be an aluminum plate, which is light in weight and high in strength, which is conducive to weight reduction.

In some embodiments, as shown in FIG. 10, a laser receiver 55a is provided on the leveling device 5, and the laser receiver 55a starts the linear driving member 54 to extend or retract after receiving the laser. The laser receiver 55a can adjust the scraper assembly 53a according to whether the linear drive member 54 is required to determine whether the working condition is required, and adjust the scraper assembly 53a in real time to ensure that the scraping surface is a required plane.

Specifically, as shown in FIG. 11, a connecting component 56 is provided between the connecting plate 531 and the laser receiver 55 a, and the laser receiver 55 a is provided on the connecting component 56. The connecting assembly 56 includes: a laser assembly connecting plate 561, a reinforcing plate 562, a pipe socket 563, and a fixing rod 564. The reinforcing plate 562 is fixed on the connecting plate 531, the laser assembly connecting plate 561 is connected to the reinforcing plate 562, the tube socket 563 is arranged on the laser assembly connecting plate 561, the fixing rod 564 is sleeved on the tube socket 563, and the laser receiver 55a is arranged on On the fixed rod 564, the laser receiver 55a can be installed and fixed. In this way, the position of the laser receiver 55a is open and there are no obstructions around, so that the laser receiver 55a is convenient for receiving signals.

Specifically, as shown in FIG. 11, a clamp block 565 is provided on the tube base 563, and a U-shaped bolt 566 sleeved on the tube base 563 is provided on the clamp block 565, so that the fixing rod 564 is tightened by tightening the U-shaped bolt 566. It is fastened in the tube socket 563 to improve the reliability of installation, and this method is easy to disassemble, which is beneficial to realize the maintenance and replacement of the laser receiver 55a.

In some embodiments, as shown in FIG. 11, a side of the connecting plate 531 close to the connecting rod 52 a is provided with a reinforcing plate 57 to improve the structural strength of the connecting plate 531.

In some embodiments, as shown in Figure 12, the roller 21 includes a first roller 211 and a second roller 212, the third driving device 22 is a servo motor, between the first roller 211 and the servo motor, the second roller 212 and the servo motor A first transmission device 23 is provided between the motors to drive the first roller 211 and the second roller 212 to rotate synchronously. A third driving device 22 connects the first roller 211 and the second roller 212 through the two first transmission devices 23, which can ensure that the rotation speeds of the first roller 211 and the second roller 212 are equal, and achieve higher control accuracy and controllability. Stronger. Since the number of the third driving device 22 is small, the overall structure is simple, which is beneficial to cost saving.

Preferably, as shown in FIGS. 10 and 12, the first transmission device 23 includes: a first transmission wheel 231, a second transmission wheel 232, and a flexible member 233. The first transmission wheel 231 is arranged on the output shaft of the servo motor; the second transmission wheel 232 is arranged on the shaft end of the first roller 211 or the second roller 212; the flexible member 233 is sleeved on the first transmission wheel 231 and the second transmission wheel 231 On round 232. The third driving device 22 drives the first transmission wheel 231 on the shaft to rotate, and transmits the power to the second transmission wheel 232 through the flexible member 233, and finally drives the drum 21 to rotate. This structure does not have elastic sliding and slipping phenomena, so The transmission ratio is accurate and the work is more reliable.

In some embodiments, the leveling robot 100 further includes a vibration device 8, which is provided on the base frame 11, so that the drum 21 can vibrate up and down along with the base frame 11. In this way, when the drum 21 passes over the concrete surface, the drum 21 takes out the cement slurry through vibration and accumulates it on the surface of the concrete base layer, so that the robot has a good slurry lifting effect during the walking process.

In some embodiments, as shown in FIG. 13, the vibration device 8 is a vibration motor, and there are multiple vibration motors. The multiple vibration motors are spaced apart on both sides of the base frame 11 to vibrate the base frame 11 and the drum 21. .

In some embodiments, as shown in FIG. 10 and FIG. 13, the servo motor is connected with a first reducer 25, the servo motor and the first reducer 25 are connected by a coupling 90, the first transmission device 23 and the servo motor It is connected through the first speed reducer 25. The first speed reducer 25 functions to adjust the speed of the servo motor, thereby making the walking process more controllable.

In some embodiments, the mobile smoothing device 2 further includes a driven roller 24 which is provided on the base frame 11 and located between the first roller 211 and the second roller 212. For example, when the span between two adjacent rollers 21 is large, due to the gravity of the frame 10, the load on each roller 21 is relatively large. By adding the driven roller 24 to assist walking, the mobile smoothing is increased. The contact surface between the device 2 and the construction surface can reduce the load on the drum 21 and improve the walking stability of the robot.

In a specific example, as shown in Figures 10 and 13, the shaft ends of the roller 21 and the driven roller 24 are both provided with a bearing seat 50, and the bearing seat 50 is fixed on the base frame 11 to realize the roller 21 and the driven roller 24 Rotatable on the bottom frame 11.

In some embodiments, as shown in FIGS. 10 and 13, the steering device 4 includes: a top plate 41 a, a lifting rod 42 a, a rotating mechanism 43 a, and a first lifting mechanism 44. The top plate 41a is located above the mounting plate 12; the jacking rod 42a passes through the mounting plate 12 and is rotatably connected to the top plate 41a; the rotating mechanism 43a is provided on the mounting plate 12, and the jacking rod 42a can be moved up and down on the rotating mechanism 43a on the output end; one end of the first lifting mechanism 44 is connected to the mounting plate 12 and the other end is connected to the top plate 41a; wherein the lifting rod 42a can be raised and lowered between the first position and the second position relative to the top plate 41a, When the jacking rod 42a is in contact with the construction surface when it is in the first position, the rotating mechanism 43a drives the top plate 41a and the frame 10 to rotate relative to the jacking rod 42a. The steering device 4 enables the robot to turn 360 degrees in situ to achieve the effect of zero turning radius, which can greatly improve the operation coverage of the robot, the steering of the robot is simpler, and the flexibility is higher, which is conducive to the realization of fully automatic operation.

In some embodiments, the rotating mechanism 43a includes a drive motor 431 and a gear transmission assembly 432. The gear transmission assembly 432 includes at least an input gear (not shown in the figure) and an output gear (not shown in the figure), and the input gear is transmitted with the drive motor 431. Connected. The driving motor 431 is fixed on the mounting plate 12, the input gear is connected to the output shaft of the driving motor 43, and the output gear is connected to the jacking rod 42a, so that when the jacking rod 42a contacts the construction surface, the jacking rod 42a is opposite to the construction surface When it is stationary and does not rotate, after starting the driving motor 431, the driving motor 431 and the output gear rotate around the output gear and the jacking rod 42a, so as to realize the steering of the robot to adjust the movement direction. In other examples, as shown in FIG. 13, the gear transmission assembly 432 can also be a reducer, such as a hollow reducer, the jacking rod 42a is connected to the output gear of the hollow reducer, and the drive motor 431 and the hollow reducer can also be reduced The input gear of the machine rotates around the output gear and the jacking rod 42a to realize steering. In other examples, the driving motor 431 can be replaced with a rotating cylinder or a rotating oil cylinder, which can also play a role of rotating drive, and will not be described in detail here.

Preferably, as shown in FIGS. 13 and 14, the jacking rod 42 a includes: a connecting shaft 421, a sliding sleeve 422, and a top plate 423. The connecting shaft 421 passes through the output gear of the gear transmission assembly 432, the connecting shaft 421 is provided with an axial sliding groove 4211; the sliding sleeve 422 is in sliding engagement with the connecting shaft 421, and the sliding sleeve 422 is provided with a limit for matching with the axial sliding groove 4211. The position protrusion (not shown in the figure), the sliding sleeve 422 is fixed on the output gear of the gear transmission assembly 432. In this way, when the connecting shaft 421 and the sliding sleeve 422 are matched, the connecting shaft 421 can move up and down relative to the sliding sleeve 422. The output gear of the gear transmission assembly 432 may be hollow, and the sliding sleeve 422 is fixed to the gear transmission assembly 432. Therefore, the connecting shaft 421 can move up and down relative to the output gear of the gear transmission assembly 432, so as to realize the lifting of the lifting rod 42a under the driving of the first lifting mechanism 44. The cooperation of the axial sliding groove 4211 and the limiting protrusion makes the connecting shaft 421 and the sliding sleeve 422 relatively fixed in the circumferential direction, and the two do not rotate with each other. Therefore, when rotating, the sliding sleeve 422 follows the connecting shaft 421 relative to the construction surface The output gear of the gear transmission assembly 432 does not rotate with the sliding sleeve 422, and the drive motor 431 and the input gear of the gear transmission assembly 432 rotate around the connecting shaft 421. The top plate 423 is fixed on the connecting shaft 421 and located below the bottom frame 11. The top plate 423 rotates with the connecting shaft 421. The top plate 423 increases the contact area between the jacking rod 42a and the construction surface, and increases the static friction. Therefore, it can be ensured that the jacking rod 42a is stationary and does not rotate relative to the construction surface.

In a specific example, as shown in FIG. 13, a connecting flange 424 is provided between the connecting shaft 421 and the top plate 423, and the connecting shaft 421 and the top plate 423 are fixedly connected to each other through the connecting flange 424.

In a specific example, a bearing 425 is provided between the connecting shaft 421 and the top plate 41a, and the connecting shaft 421 is rotatably connected with the top plate 41a through the bearing 425.

In some embodiments, as shown in FIG. 14, the top plate 423 is circular, the circular top plate 423 has no sharp edges and has a larger area, provides greater static friction, and avoids damage to the construction surface due to turning. Of course, in other examples, the top plate 423 may also have other shapes, such as a square strip shape or a multi-row shape, which will not be described here.

In some embodiments, the first lifting mechanism 44 is an electric push rod, of course, it can also be other electric or hydraulic devices, which will not be described here.

Preferably, as shown in FIG. 13, the steering device 4 further includes a plurality of guide rods 451. One end of the plurality of guide rods 451 is fixed on the top plate 41a and the other end passes through the mounting plate 12. The guide rods 451 can be used for the top plate 41a. The ascending and descending process provides guidance, and further improves the stability and safety of the movement of the top plate 41a. Linear bearings 452 are provided between the plurality of guide rods 451 and the mounting plate 12, so as to reduce the friction between the guide rods 451 and the mounting plate 12, and facilitate the relative movement between the guide rods 451 and the mounting plate 12.

In some embodiments, as shown in FIG. 10, a battery 70 and an electric control box 80 are provided on the bottom frame 11. The battery 70 is the third driving device 22, the rotating mechanism 43a, the first lifting mechanism 44, the vibration device 8 and the scraper. The leveling device 5 provides electrical energy. In a specific example, the battery 70 may be a lithium battery, of course, it may also be a battery of other types, which is not limited to this, and will not be described in detail here. The electric control box 80 is used to control the mobile leveling device 2, the vibrating device 8, the steering device 4, and the leveling device 5 to perform corresponding work.

The specific embodiments of the present application will be described below in conjunction with the drawings.

As shown in FIGS. 10 to 14, a leveling robot 100 includes: a frame 10, a mobile leveling device 2, a vibration device 8, a steering device 4, and a leveling device 5.

The rack 10 includes a bottom frame 11 and a mounting plate 12, and the mounting plate 12 is connected to the bottom frame 11. The mobile smoothing device 2 includes a roller 21 and a third driving device 22, the roller 21 is rotatably arranged at the bottom of the base frame 11, and the third driving device 22 is arranged on the mounting plate 12 and connected with the roller 21. The roller 21 includes a first roller 211 and a second roller 212, and a first transmission device 23 is provided between the first roller 211 and the third driving device 22, and between the second roller 212 and the third driving device 22. The first transmission device 23 includes a first transmission wheel 231, a second transmission wheel 232 and a flexible member 233. The first transmission wheel 231 is provided on the output shaft of the third driving device 22; the second transmission wheel 232 is provided on the shaft end of the first roller 211 or the second roller 212; the flexible member 233 is sleeved on the first transmission wheel 231 and On the second transmission wheel 232. The servo motor is driven by the sprocket to the two rollers 21, so that the rollers 21 can move accurately.

The mobile smoothing device 2 further includes a driven roller 24, which is located between the first roller 211 and the second roller 212. The third driving device 22 may be a servo motor. The servo motor is connected to the first reducer 25. The servo motor and the first reducer 25 are connected through a coupling 90 to adjust the speed of the servo motor and provide precise rotation of the drum 21 .

The vibration device 8 is arranged on the base frame 11, and the vibration device 8 is a vibration motor. There are two vibration motors and are arranged on the left and right sides of the base frame 11. The vibration motor stably provides the drum 21 to vibrate with the base frame 11 to lift the pulp. effect. Secondly, different types of rollers 21 can be replaced according to different situations and different amplitudes and frequencies of the vibration motors can be adjusted, which is suitable for a variety of working conditions.

The steering device 4 is provided in the center of the frame 10 to turn the frame 10. The steering device 4 includes a top plate 41a, a jacking rod 42a, a rotating mechanism 43a, and a first lifting mechanism 44. The top plate 41a is located above the mounting plate 12, and the jacking rod 42a passes through the mounting plate 12 and is rotatably provided on the top plate 41a. The rotating mechanism 43a is arranged on the mounting plate 12, and the jacking rod 42a is movably arranged on the output end of the rotating mechanism 43a. One end of the first lifting mechanism 44 is connected to the mounting plate 12 and the other end is connected to the top plate 41a. The jacking rod 42a includes a connecting shaft 421, a sliding sleeve 422, and a top plate 423. The connecting shaft 421 passes through the output end of the second reducer 432, the connecting shaft 421 is provided with an axial sliding groove 4211; the sliding sleeve 422 is slidingly fitted with the connecting shaft 421, and the sliding sleeve 422 is provided with an axial sliding groove 4211 The limiting protrusion (not shown in the figure), the sliding sleeve 422 is fixed on the output end of the second reducer 432. A connecting flange 424 is provided between the connecting shaft 421 and the top plate 423, a bearing 425 is provided between the connecting shaft 421 and the top plate 41a, and the top plate 423 is configured in a circular shape. The rotating mechanism 43a includes a driving motor 431 and a gear transmission assembly 432, and one end of the gear transmission assembly 432 is connected to the transmission of the driving motor 431. The first lifting mechanism 44 is an electric push rod, and the steering device 4 further includes two guide rods 451. One end of the two guide rods 451 is fixed on the top plate 41 a and the other end passes through the mounting plate 12.

The leveling device 5 includes a supporting frame 51 a, a connecting rod 52 a, a scraper assembly 53 a, and a linear drive member 54, and the supporting frame 51 a is connected to the bottom frame 11. The two ends of the connecting rod 52a are respectively rotatably connected to one end of the support frame 51a and one side of the scraper assembly 53a, and the two ends of the linear drive member 54 are respectively rotatably connected to the other end of the support frame 51a and the other side of the scraper assembly 53a. . Wherein, the linear driving member 54 is extended or shortened, and the squeegee assembly 53a is driven to move relative to the support frame 51a to adjust the posture of the squeegee assembly 53a. The connecting rods 52a are two groups spaced apart, the linear driving members 54 are two spaced apart, and the two groups of connecting rods 52a and the two linear driving members 54 are arranged in one-to-one correspondence.

The linear driving member 54 is an electric push rod. The two sets of connecting rods 52a each include a first connecting rod 52a1 and a second connecting rod 52a2, and the first connecting rod 52a1 and the second connecting rod 52a2 are arranged in parallel to each other.

The scraper assembly 53a includes a connecting plate 531, a scraper 532, and a positioning mechanism 533, and the connecting plate 531 is connected to the connecting rod 52a and the linear driving member 54. The squeegee 532 is rotatably connected to the connecting plate 531, and the positioning mechanism 533 is connected between the connecting plate 531 and the squeegee 532, so that the connecting plate 531 and the squeegee 532 have an adjustable inclination angle. A reinforcing plate 57 is provided on the side of the connecting plate 531 close to the connecting rod 52a to improve the structural strength of the connecting plate 531. The positioning mechanism 533 includes: a first meniscus 5331 and a second meniscus 5332. The first meniscus 5331 is arranged on the connecting plate 531, and the second meniscus 5332 is arranged on the scraper 532 and abuts on the first meniscus 5331; among them, the first meniscus 5331 or the second meniscus 5332 An arc groove 533a is provided on the arc groove 533a, and the arc groove 533a fixes the first meniscus 5331 and the second meniscus 5332 by matching bolts.

The squeegee assembly 53a further includes: a flexible pressing strip 534 and a positioning strip 535. The flexible bead 534 is provided on the side of the scraper 532 away from the connecting plate 531, and the positioning bar 535 is provided on the flexible bead 534 and is arranged along the length of the flexible bead 534 to fix the flexible bead 534. The flexible pressing strip 534 and the positioning strip 535 are both made of rubber material.

The leveling device 5 is provided with a laser receiver 55a, and a connecting assembly 56 is arranged between the connecting plate 531 and the laser receiver 55a. The laser receiver 55a is arranged on the connecting assembly 56, and the laser receiver 55a is activated after receiving the laser. The linear driving member 54 extends or retracts. The connecting assembly 56 includes: a laser assembly connecting plate 561, a reinforcing plate 562, a pipe socket 563, and a fixing rod 564. The reinforcing plate 562 is fixed on the connecting plate 531, the laser component connecting plate 561 is connected to the reinforcing plate 562, the tube socket 563 is arranged on the laser component connecting plate 561, the fixing rod 564 is sleeved on the tube socket 563, and the laser receiver 55a is arranged on On the fixing rod 564, the pipe seat 563 is provided with a clamping block 565, and the clamping block 565 is provided with a U-shaped bolt 566 sleeved on the pipe socket 563.

In addition, the bottom frame 11 is also provided with a battery 70 and an electric control box 80. The battery 70 can be a lithium battery, which is provided for the third driving device 22, the rotating mechanism 43a, the first lifting mechanism 44, the vibration device 8 and the leveling device 5. Electrical energy. The electric control box 80 is used to control the mobile leveling device 2, the vibrating device 8, the steering device 4, and the leveling device 5 to perform corresponding work.

This application is a new type of leveling robot. Compared with the leveling machines on the market, this application can mainly realize fully automatic control, can realize the leveling of the construction surface of the scraper, and the new type of operation device, movement and steering mode, which has the advantages of smoothing and scraping. The leveling effect is good, and the movement control precision is high. Through the unique lifting method rotation technology, the robot has higher flexibility, higher job coverage, and fully automatic operation than the market trowel.

This application is a new type of leveling robot, part of the robot's working device is combined with the walking device to realize fully automatic leveling, refilling and leveling. The leveling device and the electric push bar control both ends to realize the floating up and down of the scraper and the left and right height adjustment. Through the laser receiving, real-time control is used to ensure the horizontality of the scraper. At the same time, because of the special scraping structure design, the device also has a smooth surface effect after scraping. The walking device is driven by a vibration motor to the drum (a variety of drums can be replaced), so that it has high walking accuracy and strong controllability during the walking process. At the same time, it can achieve the function of smoothing and smoothing. The new smoothing device can perform Scrape and smooth surface function, middle jacking steering device, can make the robot turn 360 degrees in situ, greatly improving the robot's work coverage.

The present application can also be applied to various surface treatments. The mobile leveling device 2 and the steering device 4 can be applied to various working conditions that have a high coverage rate, high movement accuracy and need to be leveled.

In the description of this application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "Radial", "Circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the pointed device or The element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features. In the description of this application, unless otherwise specified, "plurality" means two or more.

In the description of this application, “first feature” and “second feature” may include one or more of these features, and “above” or “below” the second feature of the first feature may include the first and second features. The two features are in direct contact, and it may also include that the first and second features are not in direct contact but through another feature between them. The "above", "above" and "above" of the first feature on the second feature include the first feature directly above and obliquely above the second feature, or it simply means that the level of the first feature is higher than the second feature.

It should be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood under specific circumstances.

In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "specific embodiments", "examples" or "some examples" etc. mean specific features described in conjunction with the embodiments or examples. , The structure, materials, or characteristics are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and modifications can be made to these embodiments without departing from the principle and purpose of the present application. The scope of the application is defined by the claims and their equivalents.

Claims (30)

1. A leveling robot is characterized in that it comprises:

   frame;

   A mobile smoothing device, the mobile smoothing device is arranged on the frame, the mobile smoothing device can drive the frame to move and can be used to smooth the surface of the substrate;

   A lifting device, the lifting device is arranged on the frame, and the lifting device can lift the frame and the mobile leveling device upwards;

   A steering device, the steering device is arranged on the frame, and the steering device can change the moving direction of the frame after the lifting device lifts the frame and the mobile leveling device.
2. The leveling robot according to claim 1, wherein the jacking device comprises:

   A first driving device, the first driving device being installed on the rack;

   A top rod and a top plate, the top plate is arranged at the lower end of the top rod, and the first driving device can drive the top rod to move up and down relative to the frame.
3. The leveling robot according to claim 2, wherein the jacking device further comprises:

   A fixed plate, the upper end of the top rod is connected to the fixed plate, one end of the first driving device is connected to the frame, and the other end of the first driving device is connected to the fixed plate to drive the fixed plate Move up and down relative to the rack;

   The guiding device is arranged between the frame and the fixing plate to limit the moving direction of the fixing plate.
4. The leveling robot according to claim 3, wherein the steering device comprises:

   A second driving device, the second driving device is arranged on the fixed plate;

   A driving wheel, the driving wheel is connected to the second driving device in transmission;

   A driven wheel, the driven wheel meshes with the driving wheel, and the driven wheel is fixedly connected with the top rod to drive the top rod to rotate synchronously with respect to the top plate.
5. The smoothing robot according to claim 1, wherein the mobile smoothing device comprises:

   A plurality of rollers, each of the rollers is rotatably arranged under the frame, the outer wall surface of the roller is configured to be smoothed on the surface of the base body, and the rotation axes of the plurality of rollers are parallel;

   The third driving device is installed on the frame to drive a plurality of the rollers to rotate.
6. The smoothing robot according to claim 5, wherein the mobile smoothing device further comprises a plurality of first transmission devices, and the plurality of first transmission devices are respectively arranged corresponding to a plurality of rollers, and each of the first transmission devices A transmission device includes:

   A first transmission wheel, the first transmission wheel is connected to the corresponding drum and can rotate synchronously;

   A second transmission wheel, the second transmission wheel is in transmission connection with the third driving device;

   A flexible member, the flexible member is sleeved on the outside of the first transmission wheel and the second transmission wheel, and the second transmission wheel drives the first transmission wheel to rotate through the flexible member.
7. The leveling robot according to claim 1, further comprising a leveling device, the leveling device is provided on the frame, and the leveling device comprises:

   Scraper connecting plate;

   A fourth driving device, one end of the fourth driving device is pivotally connected to the frame, the other end of the fourth driving device is pivotally connected to the scraper connecting plate, the fourth driving device Used to adjust the inclination angle of the scraper connecting plate;

   A scraper, the scraper is arranged on the scraper connecting plate, and the scraper is pivotally connected to the scraper connecting plate, the scraper is provided with a protective layer, and the protective layer is used for To contact the surface of the substrate.
8. The leveling robot according to claim 7, wherein the leveling device further comprises a connecting device, and the connecting device comprises:

   A fixed rod, the fixed rod is arranged on the frame;

   A first connecting rod, the first connecting rod is connected to the frame, and the one end of the fourth driving device is pivotally connected to the first connecting rod;

   A second connecting rod, the two ends of the second connecting rod are respectively pivotally connected to the fixed rod and the scraper connecting plate.
9. The leveling robot according to claim 7, further comprising:

   A detection device, the detection device is arranged on the frame, and the detection device is used to detect the levelness of the surface of the substrate;

   The control device is electrically connected to the detection device and the fourth driving device, and the control device controls the operation of the fourth driving device according to the detection result of the detection device.
10. The leveling robot according to any one of claims 1-9, further comprising a vibrating device, the vibrating device includes a vibrating motor, and the vibrating motor is arranged on the frame.
11. The leveling robot according to claim 1, wherein the frame comprises a base frame and a mounting plate, and the mounting plate is fixed on the base frame;

    The mobile smoothing device includes a roller and a third driving device, the roller is rotatably arranged at the bottom of the chassis, and the third driving device is arranged on the mounting plate and connected with the roller to Driving the roller to rotate;

    The steering device includes a top plate, a jacking rod, a rotating mechanism, and a first lifting mechanism. The top plate is located above the mounting plate. The jacking rod passes through the mounting plate and is rotatably provided on the top plate. The rotating mechanism is arranged on the mounting plate, the jacking rod is movably arranged on the output end of the rotating mechanism, and one end of the first lifting mechanism is connected to the mounting plate and The other end is connected to the top plate; wherein,

    The jacking rod can be raised and lowered between a first position and a second position relative to the top plate. When the jacking rod is in the first position, it contacts the ground. The rotating mechanism drives the top plate and the machine. The frame rotates relative to the jacking rod.
12. The leveling robot according to claim 11, wherein the rollers and the third driving devices are both multiple, and the multiple third driving devices are arranged in a one-to-one correspondence with the multiple rollers; or,

    There are multiple rollers, one third drive device, and a first transmission device is provided between the multiple rollers and one third drive device to drive the multiple rollers to rotate synchronously.
13. The leveling robot according to claim 12, wherein the first transmission device comprises:

    A first transmission wheel, the first transmission wheel is arranged on the output shaft of the third driving device;

    A second transmission wheel, the second transmission wheel is arranged at the shaft end of the corresponding roller;

    A flexible piece, the flexible piece is sleeved on the first transmission wheel and the second transmission wheel.
14. The leveling robot according to claim 13, wherein:

    The first transmission wheel and the second transmission wheel are at least one of a belt wheel, a sprocket, and a rope wheel;

    The flexible member is at least one of a corresponding transmission belt, a transmission chain, and a transmission rope.
15. The smoothing robot according to claim 12, wherein the mobile smoothing device further comprises a driven roller, the driven roller being arranged on the base frame and located between two adjacent rollers .
16. The leveling robot according to claim 11, wherein the rotating mechanism comprises a rotating electric machine and a reducer, and the input end of the reducer is connected with the output shaft of the rotating electric machine.
17. The leveling robot according to claim 16, wherein the jacking rod comprises:

    A connecting shaft, the connecting shaft passing through the output end of the reducer, and an axial sliding groove is provided on the connecting shaft;

    A sliding sleeve, the sliding sleeve is slidingly fitted with the connecting shaft, the sliding sleeve is provided with a limiting protrusion cooperating with the axial sliding groove, and the sliding sleeve is fixed on the output end of the reducer ；

    The top plate is fixed on the connecting shaft and located below the bottom frame.
18. The smoothing robot according to claim 11, wherein the first lifting mechanism is at least one of an electric push rod, an air cylinder, and an oil cylinder, and there are multiple first lifting mechanisms, and a plurality of the first lifting mechanisms A lifting mechanism is evenly distributed on the mounting plate along the circumferential direction.
19. The smoothing robot according to claim 11, wherein the steering device further comprises a guide back mechanism, the guide back mechanism comprises a plurality of guide rods, one end of the plurality of guide rods is fixed on the top plate And the other end passes through the mounting plate, and linear bearings are arranged between the plurality of guide rods and the mounting plate.
20. The leveling robot according to claim 11, further comprising a vibrating device, the vibrating device is provided on the base frame, so that the drum can vibrate up and down along with the base frame.
21. The leveling robot according to claim 1, wherein the frame comprises a base frame and a mounting plate, and the mounting plate is fixed on the base frame;

    The mobile smoothing device includes a roller, a first transmission device, and a third driving device. The roller is rotatably arranged on the bottom of the chassis, and the third driving device is arranged on the mounting plate. The first transmission device is arranged between the third driving device and the drum to drive the drum to rotate;

    The steering device is arranged in the center of the mounting plate;

    It also includes a leveling device. The leveling device includes a support frame, a connecting rod, a scraper assembly, and a linear drive. The support frame is connected to the bottom frame, and the two ends of the connecting rod are respectively rotatably connected to the bottom frame. One end of the support frame and one side of the scraper assembly, two ends of the linear drive member are respectively rotatably connected to the other end of the support frame and the other side of the scraper assembly; wherein, the straight line The driving member is extended or shortened to drive the scraper assembly to move relative to the support frame to adjust the posture of the scraper assembly.
22. The leveling robot according to claim 21, wherein the connecting rods are two groups spaced apart, the linear driving members are two spaced apart, and the two groups of the connecting rods are connected to the two straight lines. The drivers are set in one-to-one correspondence.
23. The smoothing robot according to claim 22, wherein the two sets of connecting rods each include a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are arranged in parallel to each other .
24. The leveling robot according to claim 21, wherein the scraper assembly comprises:

    A connecting plate, the connecting plate is connected with the connecting rod and the linear drive member;

    A scraper, the scraper is rotatably connected to the connecting plate;

    The positioning mechanism is connected between the connecting plate and the scraper, so that the connecting plate and the scraper have an adjustable inclination angle.
25. The leveling robot according to claim 24, wherein the positioning mechanism comprises:

    The first meniscus, the first meniscus is arranged on the connecting plate;

    The second meniscus, the second meniscus is arranged on the scraper and close to the first meniscus; wherein, the first meniscus or the second meniscus is provided with An arc-shaped groove, the arc-shaped groove fixes the first meniscus and the second meniscus by matching bolts.
26. The leveling robot according to claim 24, wherein the scraper assembly further comprises:

    A flexible bead, the flexible bead is provided on a side of the scraper away from the connecting plate;

    A positioning bar is provided on the flexible bead and arranged along the length direction of the flexible bead to fix the flexible bead.
27. The leveling robot according to claim 21, wherein a laser receiver is provided on the leveling device, and after receiving the laser, the laser receiver activates the linear driving member to extend or retract.
28. The leveling robot according to claim 21, wherein the roller includes a first roller and a second roller, the third driving device is a servo motor, and between the first roller and the servo motor, A first transmission device is provided between the second roller and the servo motor to drive the first roller and the second roller to rotate synchronously.
29. The leveling robot according to claim 21, further comprising: a vibrating device, the vibrating device is provided on the bottom frame, so that the drum can vibrate up and down along with the bottom frame.
30. The leveling robot according to claim 21, wherein the steering device comprises:

    A top plate, the top plate is located above the mounting plate;

    A jacking rod, the jacking rod passes through the mounting plate and is rotatably connected to the top plate;

    A rotating mechanism, the rotating mechanism is arranged on the mounting plate, and the jacking rod is arranged on the output end of the rotating mechanism so as to be movable up and down;

    A first lifting mechanism, one end of the first lifting mechanism is connected to the mounting plate and the other end is connected to the top plate; wherein the lifting rod can be in a first position and a second position relative to the top plate When the jacking rod is in the first position, it is in contact with the ground, and the rotating mechanism drives the top plate and the frame to rotate relative to the jacking rod.

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