WO2021093450A1 - Dispositif de direction et robot de lissage à la truelle doté de celui-ci - Google Patents

Dispositif de direction et robot de lissage à la truelle doté de celui-ci Download PDF

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Publication number
WO2021093450A1
WO2021093450A1 PCT/CN2020/115823 CN2020115823W WO2021093450A1 WO 2021093450 A1 WO2021093450 A1 WO 2021093450A1 CN 2020115823 W CN2020115823 W CN 2020115823W WO 2021093450 A1 WO2021093450 A1 WO 2021093450A1
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WO
WIPO (PCT)
Prior art keywords
transmission shaft
flange
drive
steering device
flange assembly
Prior art date
Application number
PCT/CN2020/115823
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English (en)
Chinese (zh)
Inventor
李盼
曲强
贺洋林
贺志武
Original Assignee
广东博智林机器人有限公司
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Publication date
Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2021093450A1 publication Critical patent/WO2021093450A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/022—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members consisting of members having both rotational and walking movements
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/42—Machines for imparting a smooth finish to freshly-laid paving courses other than by rolling, tamping or vibrating
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools

Definitions

  • This application belongs to the technical field of construction robots, and specifically relates to a steering device and a leveling robot having the same.
  • the present application aims to solve at least one of the technical problems existing in the prior art. For this reason, the present application proposes a steering device, which can perform multi-angle steering and in-situ steering, which solves the problem of inflexible steering due to the large overall size of the steering device provided with the existing smoothing robot.
  • This application also aims to propose a leveling robot including the above-mentioned steering device.
  • the steering device is used to realize body steering, and the steering device includes: a transmission shaft, and the surface of the transmission shaft is provided with a first spiral groove and a first linear groove , The first spiral groove is spirally wound on the transmission shaft, the first linear groove is parallel to the axis of the transmission shaft; a lifting flange assembly, the lifting flange assembly is sheathed On the transmission shaft, and the lifting flange assembly can move up and down relative to the transmission shaft, the lifting flange assembly includes a first ball matched with the first spiral groove; a rotating flange assembly, The rotating flange assembly is sheathed on the transmission shaft, the rotating flange assembly is rotatably arranged on the transmission shaft, and the rotating flange assembly includes a first linear groove
  • the second ball; turntable, the turntable is provided at one end of the drive shaft, the turntable has a landing position and a raised position, when the lifting flange assembly moves, the drive shaft drives the turntable in the landing
  • the turntable is connected to one end of the drive shaft.
  • the turntable serves as the center of rotation support
  • the drive shaft serves as the rotating shaft
  • the rotating flange assembly rotates relative to the drive shaft and drives the motor body to rotate relative to the turntable.
  • the lifting flange assembly moves, the lifting flange assembly and the drive shaft move up and down.
  • the drive shaft can drive the turntable to switch between the landing position and the raised position. After the turntable leaves the landing position, the body will stop turning. Since the lifting flange assembly, the rotating flange assembly, and the turntable of the present application are all arranged on the transmission shaft, the structure is compact and the rotation is stable, which is beneficial to the lightweight design of the steering device.
  • the transmission shaft includes a mating grooved rod section, the mating grooved rod section is matched with the lifting flange assembly and the rotating flange assembly, and the first straight line on the mating grooved rod section The linear groove and the first spiral groove are intersected.
  • the transmission shaft further includes a polished rod section, the polished rod section is connected to at least one end of the mating grooved rod section, and the turntable is connected with the polished rod section.
  • the lifting flange assembly further includes: a first outer flange, a first inner flange, and a first support bearing, a second spiral groove is provided on the inner side of the first inner flange, and The first ball is fitted between the second spiral groove and the first spiral groove, and the first support bearing is provided between the first inner flange and the first outer flange
  • the rotating flange assembly further includes: a second outer flange, a second inner flange and a second support bearing, the inner side of the second inner flange is provided with a second linear groove, the second ball Fitted between the second linear groove and the first linear groove, the second support bearing is provided between the second inner flange and the second outer flange.
  • the steering device further includes a connecting seat suitable for being arranged on the body, two ends of the connecting seat are respectively connected to the first outer flange and the second outer flange, and the first Both ends of the inner flange are respectively provided with a first sealing ring for sealing, and both ends of the second inner flange are respectively provided with a second sealing ring for sealing.
  • the steering device further includes: a first drive transmission mechanism, the first drive transmission mechanism includes a first drive motor, the first drive motor is used to drive the first inner flange to rotate; a second drive transmission The second drive transmission mechanism includes a second drive motor, and the second drive motor is used to drive the second inner flange to rotate.
  • the first drive transmission mechanism further includes a first pulley assembly, the first pulley assembly includes a first transmission belt, a first driving wheel and a first driven wheel, the first transmission belt and the first A driving wheel and the first driven wheel cooperate for transmission, the first driving wheel is connected to the first driving motor, and the first driven wheel is connected to the first inner flange;
  • the second driving transmission mechanism is also Including a second pulley assembly, the second pulley assembly includes a second transmission belt, a second driving wheel and a second driven wheel, the second transmission belt cooperates with the second driving wheel and the second driven wheel for transmission ,
  • the second driving wheel is connected to the second driving motor, and the second driven wheel is connected to the second inner flange;
  • the first driving motor and the second driving motor are both servo motors.
  • the steering device further includes: a fixed plate, the transmission shaft is arranged through the fixed plate, and the first drive transmission mechanism and the second drive transmission mechanism are arranged on the fixed plate at intervals around the transmission shaft.
  • the output ends of the first drive transmission mechanism and the second drive transmission mechanism are spaced apart along the axial direction of the transmission shaft; the rotating flange assembly and the lifting flange assembly are arranged along the axis of the transmission shaft Axial interval setting.
  • the steering device further includes a protective cover provided on the outer side of the transmission shaft, the lifting flange assembly, and the rotating flange assembly.
  • the leveling robot according to the embodiment of the present application includes: a body; a steering device, and the steering device is the aforementioned steering device.
  • the body when the leveling robot is performing the leveling operation, the body can be turned 360 degrees at any time when the turntable is in the landing position to switch the area that needs to be leveled, and the leveling operation coverage rate is high.
  • the smoothing robot can perform smooth smoothing according to the adjusted direction.
  • the whole machine of the smoothing robot is small in size, light in weight, easy to switch directions, and has a high coverage of the smoothing area.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a steering device according to an embodiment of the application.
  • Figure 2 is a longitudinal cross-sectional view of a steering device according to an embodiment of the application.
  • Fig. 3 is a partial structural diagram of a steering device according to an embodiment of the application.
  • Fig. 4 is a schematic diagram of the principle of the lifting motion of the steering device of the present application.
  • Fig. 5 is a schematic diagram of the principle of rotating movement of the steering device of the present application.
  • Fig. 6 is a schematic diagram of the principle of the spiral lifting movement of the steering device of the present application.
  • FIG. 7 is a schematic diagram of the internal structure of the transmission shaft, the lifting flange assembly, and the rotating flange assembly according to an embodiment of the application.
  • Fig. 8 is a bottom schematic diagram of a turntable according to an embodiment of the application.
  • Fig. 9 is a schematic structural diagram of a transmission shaft according to an embodiment of the application.
  • FIG. 10 is a schematic diagram of a three-dimensional structure of a leveling robot according to an embodiment of the application.
  • FIG. 11 is a schematic diagram of a smoothing robot in a smoothing working state according to an embodiment of the application.
  • Fig. 12 is a schematic diagram of a smoothing robot preparing to turn according to an embodiment of the application.
  • FIG. 13 is a schematic diagram of a smoothing robot rotating 90 degrees relative to FIG. 12 according to an embodiment of the application.
  • FIG. 14 is a schematic diagram of the smoothing robot returning to the smoothing working state according to an embodiment of the application.
  • the first drive transmission mechanism 6 is the first drive transmission mechanism 6,
  • the first drive motor 61 The first drive motor 61,
  • the first reducer 63 The first reducer 63,
  • the second drive transmission mechanism 7 is the second drive transmission mechanism 7,
  • the second drive motor 71 The second drive motor 71,
  • the body 200 The body 200, the smoothing mechanism 300, the walking mechanism 400, and the power assembly 500.
  • the steering device 100 is used to realize the steering of the body 200 (see FIG. 10 for the structure of the body 200).
  • the steering device 100 includes: a transmission shaft 1, a lifting flange assembly 2, a rotating flange assembly 3 and a turntable 4.
  • the surface of the transmission shaft 1 is provided with a first spiral groove 11a and a first linear groove 11b, and the first spiral groove 11a is spirally wound on the transmission shaft 1.
  • the linear groove 11b is parallel to the axis of the transmission shaft 1.
  • the lifting flange assembly 2 is sheathed on the drive shaft 1, and the lifting flange assembly 2 can move up and down relative to the drive shaft 1.
  • the lifting flange assembly 2 includes a first screw type The groove 11a is fitted with the first ball 24.
  • the rotating flange assembly 3 is sheathed on the drive shaft 1, and the rotating flange assembly 3 is rotatably arranged on the drive shaft 1.
  • the rotating flange assembly 3 includes a first straight line The second ball 34 fitted with the linear groove 11b (see FIG. 9 for the structure of the first linear groove 11b).
  • the turntable 4 is set at one end of the drive shaft 1.
  • the turntable 4 has a landing position and a raised position.
  • the drive shaft 1 drives the turntable 4 at Switch between landing position and raised position.
  • the rotating flange assembly 3 can move to make the body 200 rotate relative to the turntable 4.
  • the landing position refers to the position where the turntable 4 is in contact with the road surface or the surface to be treated and the body 200 is raised relative to the turntable 4 (the smoothing robot 1000 does not touch the ground or the surface to be treated except for the turntable 4).
  • the turntable 4 forms a gap with the road surface or the surface to be treated.
  • the turntable 4 is connected to one end of the transmission shaft 1.
  • the turntable 4 serves as the rotation support center
  • the transmission shaft 1 serves as the rotation axis.
  • the rotating flange assembly 3 rotates relative to the transmission shaft 1 and drives the motor body 200 to rotate relative to the turntable 4 to complete the in-situ steering and multi-angle steering of the machine body 200.
  • the body 200 can form flexible steering at any angle and at any place, and can quickly switch the working state.
  • the lifting flange assembly 2 moves, the lifting flange assembly 2 and the drive shaft 1 move up and down.
  • the drive shaft 1 can drive the turntable 4 to switch between the landing position and the raised position. After the turntable 4 leaves the landing position, the body The 200 will stop turning.
  • the transmission shaft 2 moves downward relative to the lifting flange assembly 2 until the turntable 4 touches the ground, the transmission shaft 2 continues to move downward, and the body 200 is lifted upward relative to the turntable 4 to enter Landing position.
  • the transmission shaft 2 moves upward relative to the lifting flange assembly 2 until other parts of the body 200 (such as the walking mechanism 400 described later) contact the ground or the surface to be treated, and the transmission shaft 2 continues to move upward , Make the turntable 4 out of the landing position and continue to move to the raised position. At this time, the steering of the body 200 has been completed, and subsequent construction operations can be continued.
  • the lifting flange assembly 2, the rotating flange assembly 3, and the turntable 4 of the present application are all arranged on the transmission shaft 1, the overall structure is compact and the rotation is stable, which is beneficial to the lightweight design of the steering device 100.
  • the steering device 100 of the present application has a simplified structure, flexible steering, can realize in-situ steering and omnidirectional steering, has good steering control effects, and can be adapted to a variety of Steering on the construction work surface.
  • the transmission shaft 1 includes a mating grooved rod section 11, and as shown in FIG. 3, the mating grooved rod section 11 is opposite to the lifting flange assembly 2 and the rotating flange assembly 3. Cooperate. It is necessary to ensure that the mating groove rod section 11 always cooperates with the lifting flange assembly 2 and the rotating flange assembly 3, and the lifting flange assembly 2 or the rotating flange assembly 3 will not be disengaged from the mating groove rod section due to the up and down movement or the rotating movement. 11. At the same time, the mating grooved rod section 11 here is distinguished from the polished rod section 12 described later.
  • the mating grooved rod section 11 is formed with a first spiral groove 11a and a first linear groove 11b, and the polished rod section 12 is formed with a first spiral groove 11a and a first linear groove 11b. Then, the first spiral groove 11a and the first linear groove 11b are not provided.
  • the first linear groove 11 b and the first spiral groove 11 a on the mating groove rod section 11 are arranged to cross each other.
  • the two groove cross designs can effectively shorten the total length of the mating grooved rod section 11, while continuously ensuring that the mating grooved rod section 11 cooperates with the lifting flange assembly 2 and the rotating flange assembly 3.
  • the first spiral groove 11a and The total design length of the first linear groove 11b along the axial direction of the transmission shaft 1 should not be less than the upper and lower transmission distance of the transmission shaft 1.
  • the length of the mating grooved rod section 11 is short while ensuring the fit, it is beneficial to the concentricity of the up and down rotation of the transmission shaft 1, reducing the eccentric distance of the end of the transmission shaft 1, and at the same time, the rigidity of the transmission shaft 1 is also better guaranteed. .
  • the first linear groove 11 b and the first spiral groove 11 a are intersectingly arranged on the entire mating groove rod section 11.
  • the lifting flange assembly 2 and the rotating flange assembly 3 can be arranged on the upper or lower part of the mating grooved rod section 11 as required, and it is beneficial to reduce the design length of the mating grooved rod section 11 to the shortest.
  • first linear groove 11b and the first spiral groove 11a on the cooperating groove rod section 11 may also be spaced apart, and the two grooves do not cross.
  • first linear groove 11b and the first spiral groove 11a are easier to process, do not affect each other during processing, and the processing accuracy is high.
  • the transmission shaft 1 further includes a polished rod section 12, the polished rod section 12 is connected to at least one end of the mating grooved rod section 11, and the turntable 4 is connected to the polished rod section 12.
  • the polished rod section 12 here is convenient for processing and quick assembly (for example, it is convenient for the polished rod section 12 to pass through the fixing plate 8 described later), and it is also beneficial to reduce the friction at the fitting position when the drive shaft 1 moves up and down, and facilitate lubrication.
  • two ends of the mating grooved rod section 11 are respectively provided with polished rod sections 12, as shown in FIG. 3, the upper polished rod section 12 is connected with a mechanical limit structure 14, which is effective It can prevent the upper part of the transmission shaft 1 from coming off the lifting flange assembly 2 and other components, and it can also effectively prevent the later first ball 24 from slipping out of the groove rod section 11 and the first inner flange 21 and falling off.
  • a sealing seat 13 is sleeved on the lower polished rod section 12 to protect the lower exposed part of the transmission shaft 1.
  • a sealing seat 13 is provided between the polished rod section 12 and the mating grooved rod section 11.
  • the lifting flange assembly 2 further includes: a first outer flange 23, a first inner flange 21 and a first support bearing 22, the first inner flange 21 and A first support bearing 22 is provided between the first outer flanges 23.
  • the first support bearing 22 By providing the first support bearing 22, the movement rigidity of the lifting flange assembly 2 can be improved, and the movement rigidity of the entire steering device 100 can be further improved.
  • the first inner flange 21 can rotate relative to the first outer flange 23.
  • the rotating flange assembly 3 further includes: a second outer flange 33, a second inner flange 31, and a second support bearing 32.
  • the second inner flange 31 and the second outer flange 33 are provided between the There is a second support bearing 32.
  • the motion rigidity of the rotating flange assembly 3 can be improved, and the motion rigidity of the entire steering device 100 can be further improved.
  • the second inner flange 31 can rotate relative to the second outer flange 33.
  • the inner side of the first inner flange 21 is provided with a second spiral groove 21a, the first ball 24 is fitted between the second spiral groove 21a and the first spiral groove 11a .
  • the first balls 24 located in the two spiral grooves 21a increase the transmission force and supporting force between the first inner flange 21 and the transmission shaft 1, reduce friction, and make the transmission shaft 1 relative to the first internal method.
  • the flange 21 is easier to move, and the service life of the first inner flange 21 and the transmission shaft 1 is prolonged.
  • the second spiral groove 21a here can match the shape of the first spiral groove 11a, and be arranged correspondingly, which facilitates the processing of the inner surface of the first inner flange 21 and also facilitates the installation of the first ball 24. It enters between the first spiral groove 11a and the second spiral groove 21a.
  • the second spiral groove 21a is not limited to the above-mentioned forming form. In other examples of the present application, the second spiral groove 21a may also be formed only as a groove body protruding on the first inner flange 21. A rollable first ball 24 is installed in the trough.
  • the inner side of the second inner flange 31 is provided with a second linear groove 31b, and the second ball 34 is fitted in the second linear groove 31b and Between the first linear grooves 11b.
  • the second balls 34 located in the two linear grooves increase the transmission and supporting force between the second inner flange 31 and the transmission shaft 1, making the second inner flange 31 easier to move relative to the transmission shaft 1. Also, the service life of the second inner flange 31 and the transmission shaft 1 is extended.
  • the second linear groove 31b can match the shape of the first linear groove 11b, and be arranged correspondingly, which facilitates the processing of the inner surface of the second inner flange 31 and also facilitates the installation of the second ball 34 It enters between the second linear groove 31b and the first linear groove 11b.
  • the second linear groove 31b may also be formed as a groove protruding on the second inner flange 31, and the second rolling ball 34 is installed in the groove.
  • the first ball 24 and the second ball 34 are steel balls, and the steel balls are filled in the second linear groove 31b and the second spiral groove 21a.
  • the steering device 100 further includes a connecting seat 5 suitable for being arranged on the body 200, and two ends of the connecting seat 5 are connected to the first outer flange 23 and the second outer flange respectively.
  • the flange 33 is connected.
  • the connecting seat 5 connects the first outer flange 23 and the second outer flange 33 to form a relatively stable connection relationship between the first outer flange 23 and the second outer flange 33.
  • the setting of the connecting seat 5 also makes The overall relative position of the lifting flange assembly 2 and the rotating flange assembly 3 remains unchanged, and the motion state of the body 200 and the first outer flange 23 and the second outer flange 33 are the same (or relative to the ground and to be processed).
  • the surfaces are at rest at the same time, either ascending and descending at the same time, or rotating at the same time).
  • connecting seat 5 and the two outer flanges are connected to the base 200 by means of bolts, rivets, or welding.
  • both ends of the first inner flange 21 are respectively provided with a first sealing ring seal
  • both ends of the second inner flange 31 are respectively provided with a second sealing ring seal (structure diagram of the first sealing ring and the second sealing ring) Not shown).
  • the first sealing ring can seal both ends of the first inner flange 21 to prevent foreign matter from entering the first spiral groove 11a and the second spiral groove 21a to damage the groove structure, or prevent foreign matter from entering
  • the groove causes the movement to jam, avoiding the reduction of transmission accuracy, and at the same time, it can also ensure that the aforementioned first ball 24 is always retained in the first inner flange 21 without falling out, ensuring normal operation between the lifting flange assembly 2 and the drive shaft 1 , Smooth operation.
  • the second sealing ring can seal both ends of the second inner flange 31 to prevent foreign matter from entering the first linear groove 11b and the second linear groove 31b.
  • the groove structure is destroyed, or foreign matter is prevented from entering the groove to cause movement jamming, avoiding the reduction of transmission accuracy, and at the same time, it can also ensure that the aforementioned second ball 34 is always retained in the second inner flange 31 without falling out, ensuring the rotating flange Component 3 and drive shaft 1 work normally and smoothly.
  • the first sealing ring and the second sealing ring are formed as rubber sealing rings.
  • the rubber seal ring is used to facilitate assembly, and the rubber seal ring is convenient to be sleeved on the transmission shaft 1, and it is also convenient to cooperate with the rotating flange assembly 3 and the lifting flange assembly 2.
  • the steering device 100 further includes: a first drive transmission mechanism 6, the first drive transmission mechanism 6 includes a first drive motor 61, the first drive The motor 61 is used to drive the first inner flange 21 to rotate.
  • the first drive motor 61 here makes the first inner flange 21 rotate. Since the first spiral groove 11a and the first ball 24 are provided between the first inner flange 21 and the transmission shaft 1, the transmission shaft 1 is relatively
  • the lifting flange assembly 2 rotates and forms an up-and-down movement, thereby driving the turntable 4 at the end of the transmission shaft 1 to complete the up-and-down lifting and enter the landing position.
  • the first ball 24 is filled between the first spiral groove 11a and the second spiral groove 21a.
  • the first drive motor 61 drives the first inner flange 21 to rotate
  • the first outer flange 21 The flange 23 remains stationary, and the driving force transmitted to the first ball 24 is decomposed into an axial force and a circumferential force along the drive shaft 1.
  • the axial force makes the drive shaft 1 move linearly relative to the lifting flange assembly 2
  • the circumferential force causes the transmission shaft 1 to rotate relative to the first inner flange 21 to a certain extent, but the body 200 remains stationary and does not turn.
  • the steering device 100 further includes a second drive transmission mechanism 7.
  • the second drive transmission mechanism 7 includes a second drive motor 71, which is used to drive the second inner flange 31 rotation.
  • the second drive motor 71 here makes the second inner flange 31 rotate. Since the first linear groove 11b and the second ball 34 are provided between the second inner flange 31 and the transmission shaft 1, the turntable 4 is already in place. Landing position, so the bottom of the turntable 4 is static by the static friction of the ground or the surface to be treated, and the transmission shaft 1 connected to the turntable 4 also remains stationary and does not rotate.
  • the second drive motor 71 will drive the second drive on the rotating flange assembly 3.
  • the second outer flange 33 rotates and makes the body rotate to complete the in-situ steering or the reversal of the required angle.
  • an absolute value encoder is also included, and the absolute value encoder cooperates with the control system to control the steering angle of the steering device 100.
  • the second ball 34 is filled between the first linear groove 11b and the second linear groove 31b.
  • the second drive motor 71 drives the second inner flange 31 to rotate
  • the second The ball 34 receives zero force in the axial direction, and the second ball 34 only transmits the tangential force perpendicular to the first linear groove 11b, so it can drive the transmission shaft 1 to rotate, and when the turntable 4 is in the landing position Due to the static friction force of the turntable 4, the transmission shaft 1 does not rotate so that the second outer flange 33 rotates relative to the transmission shaft 1, and finally the body 200 connected with the second outer flange 33 completes the steering.
  • the bottom of the turntable 4 is provided with a raised pattern 41 to increase the static friction after the turntable 4 contacts the ground and prevent the turntable 4 from being unstable and the steering of the steering device 100 cannot be realized.
  • first drive transmission mechanism 6 and second drive transmission mechanism 7 may not be provided, and a manual rocker is used to connect to the first inner flange 21 and the second inner flange 31, respectively.
  • the corresponding manual rocker is manually shaken, so that the transmission shaft 1 can be lifted or rotated.
  • This structure is suitable for use when the body 200 is not heavy.
  • the first driving transmission mechanism 6 further includes a first pulley assembly 62.
  • the first pulley assembly 62 includes a first transmission belt 621 and a first driving wheel. 622 and the first driven wheel 623, the first transmission belt 621 cooperates with the first driving wheel 622 and the first driven wheel 623 for transmission, the first driving wheel 622 is connected to the first driving motor 61, and the first driven wheel 623 is connected to the first inner flange twenty one.
  • the use of the first pulley assembly 62 can make the relative position and layout between the first drive motor 61 and the transmission shaft 1 more reasonable, so as to transmit the driving force of the first drive motor 61 to the first inner flange 21.
  • the second drive transmission mechanism 7 further includes a second pulley assembly 72, and the second pulley assembly 72 includes a second transmission belt 721 and a second driving wheel 722 And the second driven wheel 723, the second transmission belt 721 cooperates with the second driving wheel 722 and the second driven wheel 723 for transmission, the second driving wheel 722 is connected to the second driving motor 71, and the second driven wheel 723 is connected to the second inner flange 31 .
  • the use of the second pulley assembly 72 can make the relative position and layout between the second drive motor 71 and the transmission shaft 1 more reasonable, so as to transmit the driving force of the second drive motor 72 to the second inner flange 31.
  • the output ends of the first drive transmission mechanism 6 and the second drive transmission mechanism 7 are arranged at intervals along the axial direction of the transmission shaft 1, and the rotating flange assembly 3 and the lifting flange assembly 2 They are arranged at intervals along the axial direction of the transmission shaft 1.
  • the first The motor seat of the driving motor 61 and the motor seat of the second driving motor 71 are arranged oppositely, and the first driving motor 61 and the second driving motor 71 are parallel to each other, so that the overall structure of the steering device 100 is compact.
  • the first driving motor 61 and the second driving motor 71 are both servo motors, which increase the control accuracy of the power source and make the force output to the transmission shaft 1 more controllable.
  • a first reducer 63 is provided between the first drive motor 61 and the first driving wheel 622, and the output end of the first drive motor 61 is connected to the input end of the first reducer 63, and the output of the first reducer 63 The end is connected to the first driving wheel 622.
  • a second reducer 73 is provided between the second drive motor 71 and the second driving wheel 722, the output end of the second drive motor 71 is connected to the input end of the second reducer 73, and the output end of the second reducer 73 Connect the second driving wheel 722.
  • the first speed reducer 63 and the second speed reducer 73 adopt planetary speed reducers.
  • the first driving motor 61 and the second driving motor 71 rotate in the same direction at the same time (as if rotating counterclockwise) , Or the same clockwise rotation), when the rotation speeds of the first drive motor 61 and the second drive motor 71 are appropriate, the first ball 24 distributed on the first spiral groove 11a and the first ball 24 distributed on the first linear groove 11a
  • the second ball 34 on the groove 11b drives the transmission shaft 1 to rotate and lift at the same time, thereby forming a spiral lifting motion, so that the body 200 can complete the steering while being lifted off the ground, which shortens the working time required for the steering.
  • Improve construction efficiency when the turntable 4 contacts the ground and the body 200 is not lifted off the ground, the first driving motor 61 and the second driving motor 71 rotate in the same direction at the same time (as if rotating counterclockwise) , Or the same clockwise rotation), when the rotation speeds of the first drive motor 61 and the second drive motor 71 are appropriate, the first ball 24 distributed on the first spiral groove 11a and the first ball 24 distributed
  • the steering device 100 further includes a fixing plate 8.
  • the transmission shaft 1 is arranged through the fixed plate 8, the surface of the transmission shaft 1 and the fixed plate 8 are separated by a certain distance, and the first drive transmission mechanism 6 and the second drive transmission mechanism 7 are arranged on the fixed plate 8 at intervals around the transmission shaft 1.
  • the setting of the fixing plate 8 provides installation positions for the main components such as the transmission shaft 1, the first drive transmission mechanism 6, the second drive transmission mechanism 7, and makes the relative position of each component relatively fixed, which is beneficial to the working state of each component Maintaining stability can also effectively prevent dust and other debris from the lower part from contaminating the upper parts of the fixed plate 8, and also make the overall layout of the steering device 100 more compact.
  • it also provides convenience for the steering device 100 to be installed on the body 200 , It is also convenient to install the protective cover 9 below.
  • the steering device 100 further includes a protective cover 9, which is arranged on the outer side of the transmission shaft 1, the lifting flange assembly 2 and the rotating flange assembly 3. .
  • the protective cover 9 effectively isolates the external dust and other impurities from interfering with the work of the internal components, and can also shield the gaps between the components to ensure the transmission shaft 1, the first drive transmission mechanism 6, the second drive transmission mechanism 7, and other components. Transmission accuracy.
  • the protective cover 9 includes a plurality of separate protective covers, and the plurality of separate protective covers are detachably connected by clamping or buckling.
  • the plurality of separate protective covers includes a cover set in a fixed position.
  • the main shield on the board 8, the motor shield on the first drive motor 61, and the screw shield on the end of the drive shaft, the screw shield and the motor shield are connected to the main shield .
  • "plurality" means two or more.
  • the steering device 100 further includes a connecting frame 10, the connecting frame 10 is arranged on the fixing plate 8 and the connecting frame 10 is used to support multiple components on the fixing plate 8.
  • the connection frame 10 includes a first connection frame 10a, a second connection frame 10b, and a third connection frame 10c.
  • the first connection frame 10a is used to support the second drive motor 71 and/or the second connection frame 10c.
  • the speed reducer 73 enables the second drive transmission mechanism 7 to be stably fixed on the fixing plate 8;
  • the second connecting frame 10b is used to support the aforementioned connecting seat 5 (see Figure 2 for the structure of the connecting seat 5), so that the connecting seat 5 and The first outer flange 23 and the second outer flange 33 connected to the connecting seat 5 are both stably arranged relative to the fixed plate 8;
  • the third connecting frame 10c is used to support the first drive motor 61 and/or the second reducer 63 so that The first drive transmission mechanism 6 is stably fixed on the fixed plate 8.
  • the leveling robot 1000 includes: a body 200 and a steering device 100.
  • the steering device 100 is the aforementioned steering device 100, and the structure of the steering device 100 will not be repeated here.
  • the body 200 when the leveling robot 1000 is performing the leveling operation, the body 200 can be turned 360 degrees at any time when the turntable 4 is in the landing position to switch the area that needs to be leveled. Therefore, the coverage rate of the smoothing operation is high, and the dead angle of the smoothing operation is less.
  • the smoothing robot 1000 can perform smooth smoothing operations according to the adjusted direction.
  • the overall size of the smoothing robot 1000 is small, light in weight, and easy to switch directions.
  • the leveling robot 1000 of the present application does not require high-intensity manual operations, and the steering and leveling operations are easy to control. Adapt to a variety of construction work environments.
  • the smoothing robot 1000 further includes a smoothing mechanism 300, which is arranged on the front side or the rear side of the body 200 to perform smoothing operations on the surface to be treated.
  • the smoothing robot 1000 further includes a walking mechanism 400 which is arranged at the bottom of the body 200 to drive the body 200 to travel forward or backward.
  • the walking mechanism 400 is formed in a long cylindrical shape, and the walking mechanism 400 is respectively arranged at the front and rear ends of the bottom of the body 200, so that the entire body 200 remains stable during driving, and the surface to be treated can be smoothed during driving. .
  • the turntable 4 is in the raised position, as shown in FIG. 11, the body 200 falls on the ground and the traveling mechanism 400 is in contact with the surface to be treated.
  • the surface to be treated can be a concrete surface, or a construction work surface such as a cement surface or an asphalt surface, and there is no specific limitation here.
  • the turntable 4 When the turntable 4 is lowered to the landing position, as shown in FIG. 12, the body 200 is lifted away from the surface to be treated.
  • the steering device 100 can control the body 200 to turn to switch the area to be processed.
  • the turntable 4 of the steering device 100 is retracted to the raised position, so that the walking mechanism 400 falls to the ground.
  • the body 200 is lowered, and the smoothing mechanism 300 contacts the surface to be treated and smooths.
  • the robot 1000 continues the smoothing work.
  • a leveling robot 1000 as shown in FIG. 10, includes: a steering device 100, a body 200, a leveling mechanism 300, and a walking mechanism 400.
  • the body 200 is equipped with a power assembly 500, a steering device 100, an alarm system, a floor sweeping mechanism, a control system, a handling and hoisting mechanism, a double-drum differential correction mechanism, a vibrating pulp lifting mechanism, a walking mechanism 400, and a horizontal elevation adjustment mechanism.
  • the power component 500 and the control system 5 are installed inside the body 200.
  • the power component 500 mainly provides power for each servo motor, laser system, and traveling mechanism 400.
  • the control system and the laser system are controlled by a predetermined program according to a logical relationship to uniformly control the movement rhythm and drive of the whole machine.
  • the robot automatically navigates and runs in accordance with the pre-programmed planning program.
  • the alarm system is installed at the upper end of the machine body 200 to monitor and alarm the operation of the whole machine in real time.
  • the steering device 100 is installed at the center of mass position of the entire smoothing robot 1000, and controls the turning movement of the entire smoothing robot 1000.
  • the walking mechanism 400 is arranged at the bottom of the machine body 200 to drive the entire smoothing robot 1000 to travel on the surface to be processed.
  • the smoothing mechanism 300 performs smoothing operations on the inside of the treatment area at the same time.
  • the steering device 100 includes: a drive shaft 1, a lifting flange assembly 2, a rotating flange assembly 3, a turntable 4, a connecting seat 5, a first drive transmission mechanism 6, a second Drive transmission mechanism 7, fixed plate 8, protective cover 9, and connecting frame 10.
  • the transmission shaft 1 includes a mating grooved rod section 11 and a polished rod section 12.
  • the surface of the mating grooved rod section 11 is provided with a first spiral groove 11a and a first linear groove 11b.
  • a spiral groove 11a is spirally wound on the transmission shaft 1, the first linear groove 11b is parallel to the axis of the transmission shaft 1, and the first spiral groove 11a and the first linear groove 11b are matched throughout
  • the grooved rod section 11 is arranged crosswise.
  • the polished rod section 12 is connected to both ends of the mating grooved rod section 11, the upper polished rod section 12 is connected with a mechanical limit structure 14, and the lower polished rod section 12 passes through the fixed plate 8 and is connected to the turntable 4.
  • the lower polished rod section 12 is provided with a sealing seat 13 connected to the outer jacket, and the upper end of the sealing seat 13 is connected to the fixing plate 8.
  • a protective cover 9 is also covered on the fixed plate 8.
  • the rotating flange assembly 3 and the lifting flange assembly 2 are spaced apart along the axial direction of the transmission shaft 1, and both are sleeved on the transmission shaft 1.
  • the lifting flange assembly 2 further includes: a first outer flange 23, a first inner flange 21, a first support bearing 22 and a first ball 24, a first inner flange 21 and a first outer flange A first support bearing 22 is provided between the flanges 23.
  • the inner side of the first inner flange 21 is provided with a second spiral groove 21a, and the first ball 24 is fitted between the second spiral groove 21a and the first spiral groove 11a. .
  • the second spiral groove 21a matches the shape of the first spiral groove 11a and is arranged correspondingly. Both ends of the first inner flange 21 are provided with first seals.
  • the rotating flange assembly 3 further includes: a second outer flange 33, a second inner flange 31, a second support bearing 32 and a second ball 34, a second inner flange 31 and a second outer flange A second support bearing 32 is provided between the flanges 33.
  • the inner side of the second inner flange 31 is provided with a second linear groove 31b, and the second ball 34 is fitted between the second linear groove 31b and the first linear groove 11b. between.
  • the second linear groove 31b matches the shape of the first linear groove 11b.
  • Two ends of the second inner flange 31 are provided with second seals.
  • a connecting seat 5 is connected between the first outer flange 23 and the second outer flange 33.
  • the connecting base 5 and the body 200 are connected by bolts.
  • the first drive transmission mechanism 6 and the second drive transmission mechanism 7 are arranged on the fixed plate 8.
  • the first drive transmission mechanism 6 provides power for the lifting flange assembly 2, and the second drive transmission mechanism 7 Provide power for rotating flange assembly 3.
  • the first drive transmission mechanism 6 includes a first drive motor 61, a first pulley assembly 62 and a first reducer 63.
  • the first driving motor 61 adopts a servo motor, the output end of the servo motor is connected to the first reducer 63, and the output end of the first reducer 63 is connected to the first pulley assembly 62.
  • the first pulley assembly 62 includes a first transmission belt 621, a first driving wheel 622, and a first driven wheel 623.
  • the first transmission belt 621 cooperates with the first driving wheel 622 and the first driven wheel 623 for transmission.
  • a driving wheel 622 is connected to the first driving motor 61, and the first driven wheel 623 is connected to the first inner flange 21.
  • the second drive transmission mechanism 7 includes a second drive motor 71, a second pulley assembly 72 and a second reducer 73.
  • the second driving motor 71 is a servo motor, the output end of the second driving motor 71 is connected to the second reducer 73, and the output end of the second reducer 73 is connected to the second pulley assembly 72.
  • the second pulley assembly 72 includes a second transmission belt 721, a second driving wheel 722, and a second driven wheel 723, and the second transmission belt 721 cooperates with the second driving wheel 722 and the second driven wheel 723.
  • the second driving wheel 722 is connected to the second driving motor 71
  • the second driven wheel 723 is connected to the second inner flange 31.
  • the steering device 100 further includes a connecting frame 10, the connecting frame 10 includes a first connecting frame 10a, a second connecting frame 10b, and a third connecting frame 10c.
  • the first connecting frame 10a is used to support the second drive motor. 71 and the second speed reducer 73, the second driven wheel 723 is arranged under the first connecting frame 10a, and the second drive transmission mechanism 7 is relatively fixed on the fixed plate 8 stably.
  • the second connecting frame 10b is used to support the connecting seat 5 so that the connecting seat 5 and the first outer flange 23 and the second outer flange 33 connected to the connecting seat 5 are stably arranged relative to the fixed plate 8.
  • the third connecting frame 10c is used to support the first drive motor 61 and or the second reducer 63 so that the first drive transmission mechanism 6 is stably fixed on the fixed plate 8.
  • the entire working process of the smoothing robot 1000 is as follows:
  • the walking mechanism 400 falls to the ground and drives the whole machine to travel.
  • the laser system and the navigation system control the smoothing robot 1000, and the smoothing mechanism 300 smoothes the ground to be smoothed.
  • the smoothing robot 1000 stops moving, and the first drive transmission mechanism 6 operates, so that the first inner flange 21 is driven to rotate, thereby driving the transmission shaft 1 to fall downward relative to the body 200 until the end After the turntable 4 touches the ground, the first drive transmission mechanism 6 and the second drive transmission mechanism 7 work together to drive the first inner flange 21 and the second inner flange 31 to rotate, and make the body 200 turn while rising off the ground .
  • the smoothing robot 1000 Before turning, it is also possible to only turn on the first drive transmission mechanism 6 to make the body 200 off the ground.
  • the turntable 4 When the turntable 4 is in the landing position, turn off the first drive transmission mechanism 6 and then turn on the second drive transmission mechanism 7 to turn the body 200.
  • the friction force of the turntable 4 on the surface to be processed causes the smoothing robot 1000 to make a turning movement under the influence of its own weight, and the rotation angle is controlled by a servo motor and an absolute encoder until the smoothing robot 1000 reaches a desired position.
  • the selection operation can be carried out according to actual needs. After the smoothing robot 1000 turns, the smoothing operation can be performed again.
  • the first driving transmission mechanism 6 is operated in the reverse direction again, so that the chassis 4 is retracted from the landing position to the raised position, and the driving mechanism stops moving.
  • the smoothing robot 1000 re-enters the smoothing work mode.
  • the leveling robot 1000 of the present application is a miniaturized, lightweight, and intelligent robot with a turning radius of 0 (in-situ turning), and combined with a control system, it can achieve full coverage of construction sites such as concrete pouring sites.
  • the steering device 100 has a compact structure, high steering control accuracy, and accurate positioning.
  • the steering device 100 can realize multi-posture movements such as linear lifting, center steering, and spiral steering.
  • the integrated structure is compact, which reduces the space and load required for the overall structure of the smoothing robot 1000, and is beneficial to the lightweight design of the smoothing robot 1000 , Improve the motion response of the whole machine.
  • the smoothing robot 1000 of the present application combines a servo motor and a high-precision encoder to realize precise control of the steering and lifting of the smoothing robot 1000, and the construction coverage rate is increased.
  • connection should be understood in a broad sense, unless otherwise clearly specified and limited.
  • 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, and it can be the internal communication between two components.
  • connection should be understood in a broad sense, unless otherwise clearly specified and limited.
  • 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, and it can be the internal communication between two components.
  • the specific meanings of the above-mentioned terms in this application can be understood under specific circumstances.
  • the description with reference to the terms “embodiment”, “example”, etc. means that the specific feature, structure, material or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present application .
  • the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example.
  • the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

Dispositif de direction (100) et robot de lissage à la truelle (1000) doté de celui-ci. Le dispositif de direction (100) comprend : un arbre de transmission (1), un ensemble bride de levage (2), un ensemble bride rotative (3) et un disque rotatif (4) situé à une extrémité de l'arbre de transmission (1). Une première rainure en spirale (11a) enroulée en spirale sur l'arbre de transmission (1) et une première rainure linéaire (11b) parallèle à un axe de l'arbre de transmission (1) sont disposées dans une surface de l'arbre de transmission (1), une première bille (24) dans l'ensemble bride de levage (2) correspond à la première rainure en spirale (11a), et l'ensemble bride de levage (2) se déplace de haut en bas pour entraîner le disque rotatif (4) à commuter entre une position d'atterrissage et une position de levage. Une seconde bille (34) dans l'ensemble bride rotative (3) correspond à la première rainure linéaire (11b), et l'ensemble bride rotative (3) tourne par rapport à l'arbre de transmission (1) de façon à entraîner un corps de machine (200) à tourner par rapport au disque rotatif (4) au niveau de la position d'atterrissage.
PCT/CN2020/115823 2019-11-13 2020-09-17 Dispositif de direction et robot de lissage à la truelle doté de celui-ci WO2021093450A1 (fr)

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CN201911104546.0A CN110843949B (zh) 2019-11-13 2019-11-13 转向装置及具有其的抹平机器人

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WO2021036749A1 (fr) * 2019-08-26 2021-03-04 广东博智林机器人有限公司 Robot de lissage
CN110843949B (zh) * 2019-11-13 2021-03-09 广东博智林机器人有限公司 转向装置及具有其的抹平机器人

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CN104141757A (zh) * 2013-05-08 2014-11-12 罗伯特·博世有限公司 滚珠螺纹传动器
CN106428290A (zh) * 2016-12-09 2017-02-22 山东大学 一种柔性四足机器人
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