WO2022184022A1 - 振捣提浆装置和抹平机器人 - Google Patents

振捣提浆装置和抹平机器人 Download PDF

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Publication number
WO2022184022A1
WO2022184022A1 PCT/CN2022/078317 CN2022078317W WO2022184022A1 WO 2022184022 A1 WO2022184022 A1 WO 2022184022A1 CN 2022078317 W CN2022078317 W CN 2022078317W WO 2022184022 A1 WO2022184022 A1 WO 2022184022A1
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WO
WIPO (PCT)
Prior art keywords
vibrating
assembly
vibration
pulping device
troweling
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PCT/CN2022/078317
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English (en)
French (fr)
Inventor
何恒富
曲强
李盼
叶育兴
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广东博智林机器人有限公司
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Publication of WO2022184022A1 publication Critical patent/WO2022184022A1/zh

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    • 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
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/06—Solidifying concrete, e.g. by application of vacuum before hardening
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/10—Devices for levelling, e.g. templates or boards
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies
    • Y02W30/64—Paper recycling

Definitions

  • the present application relates to the technical field of construction machinery, such as a vibrating and pulping device and a troweling robot.
  • the troweling equipment in the related art adopts a vibrating and pulping device, which realizes the function of rolling pulp through a vibrating drum.
  • the vibrating and pulping device cannot adjust the height adaptively with the fluctuation of the ground, thereby affecting pulping and troweling. Effect.
  • the present application provides a vibrating and pulping device and a troweling robot, which can adjust the height adaptively with the fluctuation of the ground and improve the quality of pulping and troweling.
  • a vibrating and pulping device comprising: a vibrating assembly comprising a vibrating drum and a vibrating motor configured to drive the vibrating drum to vibrate, the vibrating drum being arranged to abut on a construction surface, And the slurry on the construction surface is lifted by vibration; and a connecting component, the connecting component has a first end and a second end arranged oppositely, the first end is connected with the vibrating component, and the connecting component is connected The first end of the assembly is arranged to move in a vertical plane relative to the second end of the connecting assembly away from the vibrating assembly, so as to allow the vibrating assembly to generate downward displacement under the action of its own gravity.
  • An embodiment provides a troweling robot, including: a driving chassis mechanism, provided with a walking roller, the walking roller is configured to roll on a construction surface to realize walking; and the above-mentioned vibrating and pulping device, the vibration
  • the tamping assembly is movably connected with the driving chassis mechanism in a vertical plane through the connecting assembly, and the vibrating assembly is configured to generate downward displacement relative to the driving chassis mechanism under the action of its own gravity.
  • FIG. 1 is a schematic structural diagram of a troweling robot provided by the present application.
  • Fig. 2 is the enlarged schematic diagram of A area in Fig. 1;
  • Fig. 3 is the structural representation of the vibrating and pulping device provided by the application.
  • FIG. 4 is a side view of the vibrating and pulping device provided by the present application.
  • FIG. 5 is a side view of the troweling robot provided by the present application.
  • FIG. 6 is an enlarged view at A of FIG. 3 provided in the present application.
  • Vibrating drum 1. Vibrating drum; 2. Vibrating motor; 3. Vibrating beam; 4. Rolling bearing; 5. Connecting plate; 6. Fixing part; 7. Longitudinal shock absorber; 8. Mounting plate; 9. Sliding plate; 10. Transverse Shock absorber; 11. Pin shaft.
  • this embodiment provides a troweling robot, which is used to carry out grouting and troweling operations on indoor or outdoor concrete construction surfaces.
  • the troweling robot includes a driving chassis mechanism 2000, a vibrating and pulping device 1000 set to vibrate and pulp, and a scraper troweling mechanism 3000 set to smooth a construction surface.
  • the vibrating and pulping device 1000 includes a vibrating assembly 100 and a connecting assembly 200.
  • the vibrating assembly 100 includes a vibrating drum 1 and a vibrating motor 2 configured to drive the vibrating drum 1 to vibrate.
  • the vibrating drum 1 can contact the construction surface.
  • the vibrating assembly 100 is connected to the first end of the connecting assembly 200, the second end of the connecting assembly 200 is connected to the driving chassis mechanism 2000, and the first end of the connecting assembly 200 The end can move up and down in a vertical plane relative to the second end of the connecting assembly 200 away from the vibrating assembly 100 , so as to allow the vibrating assembly 100 to generate downward displacement relative to the driving chassis mechanism 2000 under the action of its own gravity.
  • the vibrating and pulping device 1000 provided in this embodiment is provided with the connecting assembly 200, so that the vibrating assembly 100 can move up and down with the fluctuation of the construction surface, so as to achieve the effect of adapting to the ground, improve the pulping effect, and improve the quality of subsequent smoothing .
  • the connecting assembly 200 includes a connecting plate 5, the first end of the connecting plate 5 is connected to the vibrating assembly 100, the first end of the connecting plate 5 is connected to the vibrating assembly 100 through a movable connecting piece, and the connecting plate 5 is far away from the vibrating assembly 100.
  • the second end of the vibrating assembly 100 is provided with a movable connection.
  • the connecting assembly 200 includes a connecting plate 5 , and the first end of the connecting plate 5 is connected with the vibrating assembly 100 .
  • the first end of the connecting plate 5 is connected with the vibrating assembly 100 through a movable connecting piece or the second end of the connecting plate 5 which is away from the vibrating assembly 100 is provided with a movable connecting piece.
  • the above-mentioned movable connecting piece is a rotating connecting piece
  • the rotating shaft of the rotating connecting piece is arranged in the horizontal direction
  • the second end of the connecting plate 5 is provided with a rotating connecting piece, so that the vibrating assembly 100 can rotate around the rotating connecting piece in the horizontal direction. Rotate in the vertical plane.
  • a pin shaft 11 is used for the rotating connecting member, and the second end of the connecting plate 5 is rotatably connected with the driving chassis mechanism 2000 through the pin shaft 11 .
  • the vibrating assembly 100 further includes a vibrating beam 3, the vibrating beam 3 is arranged in a horizontal direction, and the vibrating drum 1 is rotatably connected to the lower part of the vibrating beam 3 through the rolling bearing 4 to realize the rotation of the vibrating drum 1; the vibrating motor 2 Installed on the vibrating beam 3, the vibrating motor 2 drives the vibrating beam 3 to vibrate, and the vibrating beam 3 drives the vibrating drum 1 to vibrate to realize vibrating and pulping.
  • a plurality of vibrating holes are provided on the peripheral surface of the vibrating drum 1 to alleviate the problem of rushing out the slurry when the troweling robot moves forward and improve the subsequent troweling quality.
  • the vibrating drum 1 adopts a hollow structure, and the vibrating hole is communicated with the central through hole of the vibrating drum 1 , thereby reducing the weight of the vibrating drum 1 .
  • the vibration beam 3 is provided with a plurality of weight-reducing holes to reduce the mass of the vibration beam 3 , reduce the load power of the vibration motor 2 , and reduce the impact of vibration on the connection assembly 200 .
  • the connecting assembly 200 further includes a fixing member 6 and a longitudinal shock absorber 7 , the first end of the fixing member 6 is connected with the first end of the connecting plate 5 , and the second end of the fixing member 6 is connected with the longitudinal shock absorber 7 .
  • the upper end of 7 is connected, and the lower end of the longitudinal shock absorber 7 is connected with the vibration beam 3 .
  • the fixing member 6 is configured as an L-shaped plate structure, and a reinforcing rib plate is arranged between the vertical plate and the transverse plate of the fixing member 6;
  • the longitudinal shock absorber 7 includes a plurality of longitudinal shock absorbing members, and the longitudinal shock Compression springs, rubber columns and other shock absorbing components can be used as the components to absorb vibration and prevent the vibration component 100 from transmitting longitudinal vibration to the driving chassis mechanism 2000 through the connecting component 200 .
  • connection assembly 200 further includes a lateral shock absorber
  • the lateral shock absorber includes a mounting plate 8, a sliding plate 9 and a lateral shock absorber 10, the mounting plate 8 is fixed on the vibration beam 3;
  • the direction sliding is arranged on the mounting plate 8, and the lower end of the longitudinal shock absorber 7 is connected with the sliding plate 9;
  • the transverse shock absorber 10 is arranged in the horizontal direction, the first end of the transverse shock absorber 10 is connected with the installation plate 8, and the transverse shock absorber 10 is connected to the mounting plate 8.
  • the second end of the piece 10 is connected to the sliding plate 9 .
  • the lateral shock absorber 10 may use a compression spring, a rubber column or other shock absorber to absorb vibration and prevent the vibration assembly 100 from transmitting lateral vibration to the driving chassis mechanism 2000 through the connection assembly 200 .
  • the connecting plate 5 is combined with the longitudinal shock absorber 7 and the transverse shock absorber, which can effectively reduce the ineffective loss of the vibration energy emitted by the vibration motor 2 .
  • the vibrating and pulping device 1000 includes two connecting assemblies 200, and the two connecting assemblies 200 are respectively disposed at two ends of the vibrating beam 3 in the horizontal direction.
  • a walking roller 300 is provided on the troweling robot, and the walking roller 300 can roll on the construction surface to realize walking.
  • the vibrating and pulping device 1000 and the scraper leveling mechanism 3000 can move up and down relative to the driving chassis mechanism 2000 together with the undulations of the construction surface, so as to achieve the effect of synchronizing self-adaptive ground and improve the quality of pulping and leveling of the construction surface.
  • the driving chassis mechanism 2000 includes a main body and a jack-up, steering-and-traverse assembly located at the bottom of the main body, and the jack-up, steering-and-traverse assembly can drive the body of the driving chassis mechanism 2000 to turn, move laterally, and lift vertically.
  • the walking, telescoping and rotating movements of the jacking-steering-traversing assembly can be achieved through the cooperation of driving components such as motors and electric push rods, and transmission mechanisms such as reducers and ball screws, which will not be repeated here.
  • a lift mechanism 4000 for adjusting the working height of the scraper troweling mechanism 3000 is provided on the scraper troweling mechanism 3000 .
  • the lifting mechanism 4000 adopts an electric push rod, the body of the electric push rod is rotatably connected with the driving chassis mechanism 2000, the output end of the electric push rod is rotatably connected with the scraper leveling mechanism 3000, and the electric The push rod drives the scraper leveling mechanism 3000 to move up and down relative to the driving chassis mechanism 2000 through the telescopic motion.
  • the lifting mechanism 4000 may also use other linear driving components such as air cylinders, oil cylinders, and the like.
  • the troweling robot further includes a suspension mechanism 5000 , the first end of the suspension mechanism 5000 is connected to the scraper troweling mechanism 3000 , and the second end of the suspension mechanism 5000 is connected Connected to the vibrating assembly 100 , the scraper leveling mechanism 3000 can drive the suspension mechanism 5000 to rotate and lift the vibrating assembly 100 when the scraper leveling mechanism 3000 is raised, so that the vibrating assembly 100 can be lifted together with the scraper leveling mechanism 3000 .
  • the suspension mechanism 5000 adopts any one of a spring, a wire rope or a suspension rope. In this embodiment, the suspension mechanism 5000 adopts a tension spring.
  • the working process of the troweling robot is as follows: connect the assembled vibrating and pulping device 1000 to the driving chassis mechanism 2000, so that the vibrating and pulping device 1000 and the scraper troweling mechanism 3000 move with the fluctuation of the construction surface. Move up and down relative to the drive chassis mechanism 2000 at the same time; place the leveling robot on the concrete work surface, adjust the scraper leveling mechanism 3000 to make the vibrating drum 1 fit the concrete floor; start the work after the preparation and debugging work is completed.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Manipulator (AREA)

Abstract

一种振捣提浆装置和抹平机器人，振捣提浆装置包括：振捣组件，所述振捣组件包括振捣滚筒以及设置为驱动所述振捣滚筒振动的震动电机，所述振捣滚筒设置为与施工面抵接，并且通过振动对施工面上的浆料进行提浆；以及连接组件，所述连接组件具有相对设置的第一端和第二端，所述第一端与所述振捣组件连接，连接组件的第一端设置为相对连接组件远离振捣组件的第二端在竖直平面内活动，以允许振捣组件在自身重力的作用下产生朝下方的位移。

Description

振捣提浆装置和抹平机器人
本申请要求申请日为2021年3月1日、申请号为202110227392.5的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及建筑机械技术领域，例如涉及一种振捣提浆装置和抹平机器人。
背景技术
在建筑领域中，对施工面进行抹平是不可或缺的工序之一。相关技术中的抹平设备采用振捣提浆装置，通过震动的滚筒实现滚压提浆的功能，但振捣提浆装置不能随地面的起伏而自适应调整高度，进而影响提浆和抹平的效果。
发明内容
本申请提供了一种振捣提浆装置和抹平机器人，能够随地面的起伏而自适应调整高度，提高提浆和抹平的质量。
一种振捣提浆装置，包括：振捣组件，所述振捣组件包括振捣滚筒以及设置为驱动所述振捣滚筒振动的震动电机，所述振捣滚筒设置为与施工面抵接，并且通过振动对施工面上的浆料进行提浆；以及连接组件，所述连接组件具有相对设置的第一端和第二端，所述第一端与所述振捣组件连接，所述连接组件的第一端设置为相对所述连接组件远离所述振捣组件的第二端在竖直平面内活动，以允许所述振捣组件在自身重力的作用下产生朝下方的位移。
一实施例提供一种抹平机器人，包括：驱动底盘机构，设置有行走滚轮，所述行走滚轮设置为在施工面上滚动以实现行走；及如上所述的振捣提浆装置，所述振捣组件通过所述连接组件与所述驱动底盘机构在竖直平面内活动连接，所述振捣组件设置为在自身重力的作用下相对所述驱动底盘机构产生朝下方的位移。
附图说明
图1是本申请提供的抹平机器人的结构示意图；
图2是图1中A区域的放大示意图；
图3是本申请提供的振捣提浆装置的结构示意图；
图4是本申请提供的振捣提浆装置的侧视图；
图5是本申请提供的抹平机器人的侧视图；
图6是本申请提供的图3在A处的放大图。
图中：
1000、振捣提浆装置；2000、驱动底盘机构；3000、刮板抹平机构；4000、升降机构；5000、悬拉机构；
100、振捣组件；200、连接组件；300、行走滚轮；
1、振捣滚筒；2、震动电机；3、振动梁；4、滚动轴承；5、连接板；6、固定件；7、纵向减震器；8、安装板；9、滑动板；10、横向减震件；11、销轴。
具体实施方式
如图1至图6所示，本实施例提供一种抹平机器人，用于对室内或室外的混凝土施工面进行提浆和抹平作业。该抹平机器人包括驱动底盘机构2000、设置为振捣提浆的振捣提浆装置1000和设置为抹平施工面的刮板抹平机构3000。其中，振捣提浆装置1000包括振捣组件100和连接组件200，振捣组件100包括振捣滚筒1以及设置为驱动振捣滚筒1振动的震动电机2，振捣滚筒1能够与施工面抵接，并且通过振动对施工面上的浆料进行提浆；振捣组件100连接于连接组件200的第一端，连接组件200的第二端与驱动底盘机构2000连接，连接组件200的第一端能够相对连接组件200远离振捣组件100的第二端在竖直平面内上下活动，以允许振捣组件100在自身重力的作用下产生相对驱动底盘机构2000朝下方的位移。
本实施例提供的振捣提浆装置1000通过设置连接组件200，使得振捣组件100能够随施工面的起伏而上下活动，达到自适应地面的效果，改善提浆效果，提高后续抹平的质量。
在一实施例中，连接组件200包括连接板5，连接板5的第一端与振捣组件100连接，连接板5的第一端通过活动连接件与振捣组件100连接，连接板5远离振捣组件100的第二端设有活动连接件。
在一实施例中，连接组件200包括连接板5，连接板5的第一端与振捣组件100连接。连接板5的第一端通过活动连接件与振捣组件100连接或连接板5远离振捣组件100的第二端设有活动连接件。
在本实施例中，上述的活动连接件为转动连接件，转动连接件的转轴沿水 平方向设置，连接板5的第二端设有转动连接件，使得振捣组件100可绕转动连接件在竖直平面内转动。
在本实施例中，转动连接件采用销轴11，连接板5的第二端通过销轴11与驱动底盘机构2000转动连接。
在一实施例中，振捣组件100还包括振动梁3，振动梁3沿水平方向设置，振捣滚筒1通过滚动轴承4转动连接于振动梁3的下方，实现振捣滚筒1旋转；震动电机2安装于振动梁3上，震动电机2驱动振动梁3振动，振动梁3再带动振捣滚筒1振动，以实现振捣提浆。
在一实施例中，振捣滚筒1的周面上设有多个振捣孔，以缓解抹平机器人前进时的赶浆问题，提高后续的抹平质量。本实施例中，振捣滚筒1采用镂空结构，振捣孔与振捣滚筒1的中心通孔连通，降低振捣滚筒1的重量。
在一实施例中，振动梁3上设有多个减重孔，以降低振动梁3的质量，降低震动电机2的负载功率，减小振动对连接组件200的冲击。
在一实施例中，连接组件200还包括固定件6和纵向减震器7，固定件6的第一端与连接板5的第一端连接，固定件6的第二端与纵向减震器7的上端连接，纵向减震器7的下端与振动梁3连接。在一实施例中，固定件6设置为L型板结构，固定件6的竖向板与横向板之间设有加强筋板；纵向减震器7包括多个纵向减震件，纵向减震件可以采用压缩弹簧、橡胶柱等减震件，用以吸收振震动，阻碍振捣组件100通过连接组件200向驱动底盘机构2000传递纵向震动。
在一实施例中，连接组件200还包括横向减震器，横向减震器包括安装板8、滑动板9和横向减震件10，安装板8固定于振动梁3上；滑动板9沿水平方向滑动设置于安装板8上，纵向减震器7的下端与滑动板9连接；横向减震件10沿水平方向设置，横向减震件10的第一端与安装板8连接，横向减震件10的第二端与滑动板9连接。在一实施例中，横向减震件10可以采用压缩弹簧、橡胶柱等减震件，用以吸收振震动，阻碍振捣组件100通过连接组件200向驱动底盘机构2000传递横向震动。连接板5结合纵向减震器7和横向减震器，能够有效地减少震动电机2所发出的振动能量的无效损耗。
在本实施例中，振捣提浆装置1000包括两个连接组件200，两个连接组件200分别设置于振动梁3在水平方向上的两端。
在一实施例中，抹平机器人上设置有行走滚轮300，行走滚轮300能够在施工面上滚动以实现行走，刮板抹平机构3000与振捣提浆装置1000连接。振捣提 浆装置1000与刮板抹平机构3000能够随施工面的起伏而一同相对驱动底盘机构2000上下活动，达到同步自适应地面的效果，提高提浆和抹平施工面的质量。
在一实施例中，驱动底盘机构2000包括本体以及设于本体的底部的顶升转向横移组件，顶升转向横移组件能够驱动驱动底盘机构2000的本体转向、横向移动以及沿竖直方向升降。顶升转向横移组件的行走、伸缩和旋转运动能够分别通过电机、电动推杆等驱动件和减速器、滚珠丝杠等传动机构配合实现，在此不再赘述。
在一实施例中，刮板抹平机构3000上设置有用于调整刮板抹平机构3000作业高度的升降机构4000。在一实施例中，如图1所示，升降机构4000采用电动推杆，电动推杆的本体与驱动底盘机构2000转动连接，电动推杆的输出端与刮板抹平机构3000转动连接，电动推杆通过伸缩运动带动刮板抹平机构3000相对驱动底盘机构2000升降。在其它实施例中，升降机构4000也可以采用气缸、油缸等其它直线驱动件。
在一实施例中，如图1和图2所示，抹平机器人还包括悬拉机构5000，悬拉机构5000的第一端与刮板抹平机构3000连接，悬拉机构5000的第二端与振捣组件100连接，刮板抹平机构3000升起时能够带动悬拉机构5000旋转并将振捣组件100带起，以使振捣组件100能够随刮板抹平机构3000一同升起。
在一实施例中，悬拉机构5000采用弹簧、钢丝绳或吊绳中的任一种，在本实施例中，悬拉机构5000采用拉伸弹簧。
在一实施例中，抹平机器人工作过程如下：将组装好的振捣提浆装置1000与驱动底盘机构2000连接，使振捣提浆装置1000与刮板抹平机构3000随施工面的起伏而一同相对驱动底盘机构2000上下活动；将抹平机器人放置在混凝土工作面上，调节刮板抹平机构3000，使振捣滚筒1贴合混凝土地面；准备调试工作完毕，开始工作。

Claims (13)

  1. 一种振捣提浆装置，包括：
    振捣组件，所述振捣组件包括振捣滚筒以及设置为驱动所述振捣滚筒振动的震动电机，所述振捣滚筒设置为与施工面抵接，并且通过振动对施工面上的浆料进行提浆；以及
    连接组件，所述连接组件具有相对设置的第一端和第二端，所述第一端与所述振捣组件连接，所述连接组件的第一端设置为相对远离所述振捣组件的所述第二端在竖直平面内上下活动，以允许所述振捣组件在自身重力的作用下产生朝下方的位移。
  2. 根据权利要求1所述的振捣提浆装置，其中，所述连接组件包括连接板，所述连接板的第一端与所述振捣组件连接，所述连接板采用以下形式中的至少一种：
    所述连接板的第一端通过活动连接件与所述振捣组件连接，及
    所述连接板远离所述振捣组件的第二端设有所述活动连接件。
  3. 根据权利要求2所述的振捣提浆装置，其中，所述活动连接件为转动连接件，所述转动连接件的转轴沿水平方向设置，所述连接板的第二端设有所述转动连接件。
  4. 根据权利要求3所述的振捣提浆装置，其中，所述转动连接件采用销轴。
  5. 根据权利要求1所述的振捣提浆装置，其中，所述振捣滚筒的周面上设有多个振捣孔。
  6. 根据权利要求1-5任一所述的振捣提浆装置，其中，所述振捣组件还包括：振动梁，所述振动梁沿水平方向设置，所述振捣滚筒转动连接于所述振动梁的下方，所述震动电机安装于所述振动梁上。
  7. 根据权利要求6所述的振捣提浆装置，其中，所述连接组件还包括固定件和纵向减震器，所述固定件的第一端与所述连接板的第一端连接，所述固定件的第二端与所述纵向减震器的上端连接，所述纵向减震器的下端与所述振动梁连接。
  8. 根据权利要求7所述的振捣提浆装置，其中，所述连接组件还包括横向减震器，所述横向减震器包括：
    安装板，固定于所述振动梁上；
    滑动板，沿水平方向滑动设置于所述安装板上，所述纵向减震器的下端与所述滑动板连接；以及
    横向减震件，沿水平方向设置，所述横向减震件的第一端与所述安装板连接，所述横向减震件的第二端与所述滑动板连接。
  9. 根据权利要求6所述的振捣提浆装置，还包括两个所述连接组件，两个所述连接组件分别设置于所述振动梁在水平方向上的两端。
  10. 一种抹平机器人，包括：
    驱动底盘机构，设置有行走滚轮，所述行走滚轮设置为在施工面上滚动以实现行走；及
    如权利要求1至9任一项所述的振捣提浆装置，所述振捣组件通过所述连接组件与所述驱动底盘机构在竖直平面内活动连接，所述振捣组件设置为在自身重力的作用下相对所述驱动底盘机构产生朝下方的位移。
  11. 根据权利要求10所述的抹平机器人，还包括设置为抹平施工面的刮板抹平机构，所述刮板抹平机构上设置有调整所述刮板抹平机构作业高度的升降机构。
  12. 根据权利要求11所述的抹平机器人，还包括：悬拉机构，所述悬拉机构的第一端与所述刮板抹平机构连接，所述悬拉机构的第二端与所述振捣组件连接，所述刮板抹平机构设置为升起时带动所述悬拉机构旋转并将所述振捣组件带起。
  13. 根据权利要求12所述的抹平机器人，其中，所述悬拉机构采用弹簧、钢丝绳或吊绳中的任一种。
PCT/CN2022/078317 2021-03-01 2022-02-28 振捣提浆装置和抹平机器人 WO2022184022A1 (zh)

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