阅读说明：本技术 抹平机器人 (Floating robot ) 是由 贺洋林 曲强 贺志武 于 2019-09-11 设计创作，主要内容包括：本申请提供一种抹平机器人,涉及建筑机器人领域。抹平机器人包括：行走机构和抹平执行机构。行走机构包括第一基座、多个导向轴和多个行走轮,每个导向轴的上端连接于第一基座,下端设置有行走轮。抹平执行机构包括第二基座、抹盘驱动装置和多个抹盘单元,抹盘驱动装置和多个抹盘单元安装于第二基座,抹盘驱动装置用于驱动抹盘单元相对于第二基座旋转,第二基座可滑动地套设于导向轴,多个抹盘单元和多个导向轴一一对应,每个抹盘单元同轴地套设于对应的导向轴。在行走机构与抹平执行机构、抹平压下力控制机构的安装配合之下,抹平机器人结构紧凑,整体性好,并且能够灵活转向,抹平时的覆盖区域全,对压下力也能控制。(The application provides a floating robot, relates to the construction robot field. The floating robot includes: a walking mechanism and a floating executing mechanism. The walking mechanism comprises a first base, a plurality of guide shafts and a plurality of walking wheels, the upper end of each guide shaft is connected to the first base, and the walking wheels are arranged at the lower ends of the guide shafts. The floating executing mechanism comprises a second base, a floating disc driving device and a plurality of floating disc units, the floating disc driving device and the plurality of floating disc units are installed on the second base, the floating disc driving device is used for driving the floating disc units to rotate relative to the second base, the second base is slidably sleeved on the guide shafts, the plurality of floating disc units correspond to the plurality of guide shafts one to one, and each floating disc unit is coaxially sleeved on the corresponding guide shaft. Under the installation cooperation of the traveling mechanism, the floating executing mechanism and the floating pressing force control mechanism, the floating robot has compact structure, good integrity and flexible steering, has complete coverage area during floating and can control the pressing force.)

1. A troweling robot, characterized by comprising:

The travelling mechanism comprises a first base, a plurality of guide shafts and a plurality of travelling wheels, the upper end of each guide shaft is connected to the first base, and the travelling wheels are arranged at the lower ends of the guide shafts;

Troweling actuating mechanism, troweling actuating mechanism includes second base, swabbing drive arrangement and a plurality of swabbing units, swabbing drive arrangement with a plurality of swabbing units install in the second base, swabbing drive arrangement is used for the drive swabbing unit for the second base is rotatory, second base slidable ground cover is located the guiding axle, a plurality of swabbing units with a plurality of guiding axle one-to-one, every the swabbing unit is coaxially overlapped and is located the correspondence the guiding axle.

2. The troweling robot according to claim 1, further comprising a troweling-down-pressure control mechanism by which the first base and the second base are connected, the troweling-down-pressure control mechanism being configured to control a troweling-down force of the troweling-down actuator.

3. The troweling robot according to claim 2, wherein the troweling pressing force control mechanism includes a linear driving device and a pulling and pressing sensor;

The main body of the linear driving device is fixed on the second base, and the telescopic end of the linear driving device is connected to the first base through the tension and compression sensor;

Or the main body of the linear driving device is fixed on the first base, and the telescopic end of the linear driving device is connected to the second base through the tension and compression sensor.

4. The trowelling robot of claim 3, wherein the trowelling pressure control mechanism further comprises a mounting plate and a support post, the linear driving device is disposed on one side of the mounting plate, one end of the support post is connected to the other side of the mounting plate away from the linear driving device, the support post movably passes through the first base, the other end of the support post is connected to the second base, and the telescopic end of the linear driving device passes through the mounting plate and is connected to the first base through the tension and compression sensor.

5. The troweling robot according to claim 1, wherein the traveling mechanism further comprises a steering driving device and a linkage mechanism, the steering driving device is in transmission connection with one of the guide shafts to drive the guide shaft to rotate around the central axis of the guide shaft, and the guide shaft drives the other guide shafts to rotate synchronously through the linkage mechanism.

6. The troweling robot of claim 1, wherein the road wheel is a hub servo motor.

7. the trowelling robot of claim 1, wherein the trowel unit comprises a cylindrical support member and a plurality of trowels that are connected to the cylindrical support member and are evenly distributed at a lower end of the cylindrical support member, and the traveling wheels are disposed in an inner cavity of the corresponding cylindrical support member.

8. The trowelling robot of claim 1, wherein the trowel driving device drives the trowel unit to rotate synchronously through a transmission system, the transmission system includes an input bevel gear, a first output bevel gear, a second output bevel gear, a third output bevel gear, and a fourth output bevel gear, the trowel driving device is rotatably mounted on the second base, the trowel driving device is in transmission connection with the input bevel gear, the first output bevel gear, the second output bevel gear, the third output bevel gear, and the fourth output bevel gear are respectively connected with the corresponding trowel unit, the first output bevel gear and the third output bevel gear are in diagonal positions, the input bevel gear is connected with the first output bevel gear through a first transmission assembly, the input bevel gear is connected with the third output bevel gear through a second transmission assembly, the first output bevel gear is connected with the fourth output bevel gear through a third transmission assembly, and the third output bevel gear is connected with the second output bevel gear through a fourth transmission assembly;

Each transmission assembly comprises a transmission shaft and transmission bevel gears arranged at two ends of the transmission shaft.

9. the troweling robot according to claim 8, wherein the troweling actuator further comprises a linear bearing and a rotary bearing, the second base is provided with a plurality of mounting holes, the linear bearing is fixedly arranged in the corresponding mounting hole, the linear bearing is in sliding fit with the guide shaft, and each output bevel gear is mounted on the corresponding linear bearing through the rotary bearing.

10. The troweling robot according to claim 1, wherein the troweling disc driving device is configured to drive the plurality of troweling disc units to rotate synchronously through a transmission system, the troweling coverage areas of two adjacent troweling disc units partially coincide, and the rotation directions of two adjacent troweling disc units are opposite.

Technical Field

The application relates to the field of construction robots, in particular to a floating robot.

background

The existing ground trowelling machine adopts a walking type single trowelling disc or a sitting type double trowelling disc to trowel the ground. The disadvantages are that:

Firstly, when the automatic control device works, manual guide or operation is needed, the automation degree is not high, and the manual labor intensity is high; secondly, the floating area is difficult to be fully covered; thirdly, the pressure of the wiper on the ground is not controllable when the wiper works; fourthly, the structure between the walking mechanism and the floating mechanism is complex and not compact, and the integrity is poor.

disclosure of Invention

the application aims to provide a floating robot which is compact in structure and small in occupied space.

The embodiment of the application is realized as follows:

An embodiment of the present application provides a floating robot, including:

The travelling mechanism comprises a first base, a plurality of guide shafts and a plurality of travelling wheels, the upper end of each guide shaft is connected to the first base, and the travelling wheels are arranged at the lower ends of the guide shafts;

Troweling actuating mechanism, troweling actuating mechanism includes second base, swabbing drive arrangement and a plurality of swabbing units, swabbing drive arrangement with a plurality of swabbing units install in the second base, swabbing drive arrangement is used for the drive swabbing unit for the second base is rotatory, second base slidable ground cover is located the guiding axle, a plurality of swabbing units with a plurality of guiding axle one-to-one, every the swabbing unit is coaxially overlapped and is located the correspondence the guiding axle.

The second base of the floating actuating mechanism is slidably arranged on the guide shaft of the travelling mechanism, and the floating disc unit is coaxially arranged with the guide shaft, so that the travelling mechanism and the floating actuating mechanism are compactly combined together, and the occupied space of the whole machine is reduced.

In addition, the floating robot provided by the embodiment of the application can also have the following additional technical characteristics:

In an optional embodiment of the present application, the troweling robot further includes a troweling-pressing-force control mechanism, and the first base and the second base are connected by the troweling-pressing-force control mechanism, and the troweling-pressing-force control mechanism is configured to control a troweling-pressing force of the troweling actuator.

The floating pressing force control mechanism can adjust the floating pressing force of the floating executing mechanism, so that the pressure on the ground is more suitable during floating, and the floating effect is guaranteed.

In an alternative embodiment of the present application, the troweling press-down force control mechanism includes a linear driving device and a pull-press sensor;

The main body of the linear driving device is fixed on the second base, and the telescopic end of the linear driving device is connected to the first base through the tension and compression sensor;

Or the main body of the linear driving device is fixed on the first base, and the telescopic end of the linear driving device is connected to the second base through the tension and compression sensor.

With linear drive device with draw pressure sensor combination for the data of pushing down the power is more directly perceived, conveniently carries out the regulation of pushing down the power according to this data, and no matter which kind of setting mode can be used for making the second base compare in first base and produce the displacement, thereby can implement the regulation to pushing down the power.

In an optional embodiment of the present application, the floating pressing force control mechanism further includes a mounting plate and a support column, the linear driving device is disposed on one side of the mounting plate, one end of the support column is connected to the other side of the mounting plate, which is far away from the linear driving device, the support column movably passes through the first base, the other end of the support column is connected to the second base, and the telescopic end of the linear driving device passes through the mounting plate and is connected to the first base through the tension and compression sensor.

mounting panel and support column provide the basis for being connected the installation between linear drive device and the second base, and the two provides stable support for linear drive device on the one hand, and on the other hand, support column can also lead when the second base removes for first base, is of value to the accurate regulation of pushing down the power.

in an optional embodiment of the application, the traveling mechanism further includes a steering driving device and a linkage mechanism, the steering driving device is in transmission connection with one of the guide shafts to drive the guide shaft to rotate around the central axis of the guide shaft, and the guide shaft drives the rest of the guide shafts to synchronously rotate through the linkage mechanism.

The steering driving device can provide power for steering of the walking wheels, each guide shaft is linked by adopting a linkage mechanism, and the synchronous steering control of the walking wheels is realized by enabling the guide shafts to rotate synchronously, so that the steering is flexible and accurate.

In an alternative embodiment of the present application, the road wheel is a hub servo motor.

adopt wheel hub servo motor as the walking wheel for walking wheel self can walk, need not external power device and regard as whole floating robot's walking power supply, make floating robot structure more retrench, compact.

In an optional embodiment of the present application, the swabbing unit includes a cylinder type supporting member and a plurality of spatulas, the plurality of spatulas are connected with the cylinder type supporting member and are uniformly distributed at the lower end of the cylinder type supporting member, and the traveling wheels are arranged in the inner cavity of the corresponding cylinder type supporting member.

arrange the walking wheel in the inner chamber of the cylindrical support piece that corresponds, improved the utilization ratio in space, further deepened the cooperation between running gear and the floating actuating mechanism, it is beneficial to improving floating robot wholeness.

In an optional embodiment of the present application, the swabbing disc driving device drives the swabbing disc units to rotate synchronously through a transmission system, the transmission system includes an input bevel gear, a first output bevel gear, a second output bevel gear, a third output bevel gear and a fourth output bevel gear which are rotatably mounted on the second base, the swabbing disc driving device is in transmission connection with the input bevel gear, the first output bevel gear, the second output bevel gear, the third output bevel gear and the fourth output bevel gear are respectively connected with the corresponding cylinder-type supporting members of the swabbing disc units, the first output bevel gear and the third output bevel gear are in diagonal positions, the input bevel gear is connected with the first output bevel gear through a first transmission assembly, the input bevel gear is connected with the third output bevel gear through a second transmission assembly, the first output bevel gear is connected with the fourth output bevel gear through a third transmission assembly, and the third output bevel gear is connected with the second output bevel gear through a fourth transmission assembly;

each transmission assembly comprises a transmission shaft and transmission bevel gears arranged at two ends of the transmission shaft.

Adopt bevel gear drive's mode, can make the floating plate unit driven smoothly, this transmission system has realized a plurality of floating plate units of power drive moreover, need not to set up drive arrangement alone for every floating plate unit, has reduced the installation space who occupies for floating actuating mechanism and running gear's cooperation installation is more compact.

in an optional embodiment of the present application, the floating actuator further includes a linear bearing and a rotary bearing, the second base is provided with a plurality of mounting holes, the linear bearing is fixedly disposed in the corresponding mounting hole, the linear bearing is slidably fitted to the guide shaft, and each output bevel gear is mounted on the corresponding linear bearing through the rotary bearing.

The linear bearing and the rotary bearing are matched for use, the sliding function of the second base along the guide shaft is met, the movement of the smearing plate unit with the guide shaft as the axis is realized, the guide shaft is rotated and drives the travelling wheels to rotate, the smearing plate unit and the output bevel gear are not interfered, and the structure is reasonable and ingenious.

In an optional embodiment of the present application, the spatula driving device is configured to drive the spatula units to rotate synchronously through the transmission system, the troweling coverage areas of two adjacent spatula units partially overlap, and the rotation directions of two adjacent spatula units are opposite.

The adjacent trowelling disc units can rotate at the same speed and rotate in opposite directions when rotating through the transmission system, and the trowelling coverage areas of the two trowelling disc units are partially overlapped without interference. Therefore, a non-troweling area can not be left on the walking path of the troweling robot, full-coverage troweling of the walking path is achieved, and troweling efficiency is improved.

drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a perspective view of a troweling robot provided in an embodiment of the present application.

Fig. 2 is a front view of the troweling robot according to the embodiment of the present application.

Fig. 3 is a top view of a troweling robot according to an embodiment of the present application.

Fig. 4 is a bottom view of the troweling robot according to the embodiment of the present application.

Fig. 5 is a schematic diagram of a coverage area of a trowel unit of a troweling robot according to an embodiment of the present application.

fig. 6 is a perspective view of a floating robot traveling mechanism according to an embodiment of the present application.

Fig. 7 is a plan view of a walking mechanism of the floating robot according to the embodiment of the present application.

Fig. 8 is a perspective cross-sectional view of a troweling robot pan unit of the embodiment of the present application.

fig. 9 is a plan view of a troweling robot pan unit of the present embodiment.

fig. 10 is a perspective view of a troweling robot transmission system according to an embodiment of the present application.

FIG. 11 is a top view of a troweling robot drive system according to an embodiment of the present application.

fig. 12 is a rotation direction schematic diagram of a bevel gear of a troweling robot transmission system according to an embodiment of the application.

Fig. 13 is a perspective view of a floating pressing force control mechanism of the floating robot according to the embodiment of the present application.

Fig. 14 is a schematic view of a floating coverage area of a floating robot according to an embodiment of the present application.

Fig. 15 is a schematic view of a prior art double trowel coverage area of a floor trowel.

Icon: 1000-a troweling robot; 100-a traveling mechanism; 200-a swabbing unit; 201-a spatula; 202-a cartridge-type support; 203-outer connecting sleeve; 204-a slew bearing; 205-output bevel gear; 206-inner connecting sleeve; 207-linear bearings; 210-a second base; 211-a main mounting plate; 212-side reinforcing rib plate;

300-floating the actuator;

301-a troweling motor; 302-input bevel gear; 303-a speed reducer; 304-a fourth synchronizing wheel; 305-a motor mounting plate; 306-a third synchronous belt; 307-a fifth synchronizing wheel; 308-a bearing seat; 309-fourth drive bevel gear; 310-a fourth bearing support; 311-a second drive shaft; 312-a third bearing support; 313-a third drive bevel gear; 314-a second drive bevel gear; 315-second bearing support; 316-first transmission shaft; 317-first bearing support; 318-first drive bevel gear; 319-eighth drive bevel gear; 320-an eighth bearing support; 321-a fourth transmission shaft; 322-seventh bearing support; 323-a seventh drive bevel gear; 324-a sixth drive bevel gear; 325-sixth bearing mount; 326-third drive shaft; 327-fifth bearing support; 328-fifth drive bevel gear; 330 — first output bevel gear; 340-a second output bevel gear; 350-third output bevel gear; 360-a fourth output bevel gear;

400-a guard; 4001-four-side guard bar; 4002-connecting pieces;

501-a hub servo motor; 502-a hub support; 503-a guide shaft; 504-a third synchronizing wheel; 505-guide bearing support; 506-a second synchronizing wheel; 507-a first synchronization belt; 508-a steering motor; 509-first synchronizing wheel; 510-a motor mount; 511-a first susceptor; 512-a tension wheel; 513-a second synchronous belt; 550-body attitude direction; 560-direction of travel;

600-troweling pressing force control mechanism; 601-servo electric cylinder; 602-a mounting plate; 603-a tension and compression sensor; 604-support columns;

800-a wiping tray unit coverage area; 801-floating the coverage area; 802-temporarily uncovered area; 803-overlap region;

701-work coverage area; 702 — non-covered area.

Detailed Description

in order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

In the description of the present application, it is noted that the terms "first", "second", and the like are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Referring to fig. 1 to 13, the present embodiment provides a floating robot 1000, including:

the travelling mechanism 100 comprises a first base 511, a plurality of guide shafts 503 and a plurality of travelling wheels, wherein the upper end of each guide shaft 503 is connected to the first base 511, and the travelling wheels are arranged at the lower end of each guide shaft 503;

The floating executing mechanism 300 comprises a second base 210, a floating disc driving device and a plurality of floating disc units 200, wherein the floating disc driving device and the plurality of floating disc units 200 are mounted on the second base 210, the floating disc driving device is used for driving the floating disc units 200 to rotate relative to the second base 210, the second base 210 is slidably sleeved on a guide shaft 503, the plurality of floating disc units 200 are in one-to-one correspondence with the guide shafts 503, and each floating disc unit 200 is coaxially sleeved on the corresponding guide shaft 503.

The troweling robot 1000 further includes a guard 400, and the guard 400 is connected to the second base 210 and covers the troweling tray unit 200. The guard 400 may provide safety protection for moving parts. As shown in fig. 2, except for the covered trowel unit 200, the horizontal width of the traveling mechanism 100 and the troweling press force control mechanism 600 described below is within the horizontal width of the guard 400, and during normal troweling operations, obstacles on the ground generally first hit the guard 400, and thus avoid hitting other mechanisms. As shown in fig. 1, the guard device 400 includes a four-side guard bar 4001 and a connector 4002, the second base 210 includes a main mounting plate 211 and a side reinforcing rib plate 212, and the four-side guard bar 4001 is connected to the side reinforcing rib plate 212 through the connector 4002.

By slidably arranging the second base 210 of the troweling actuator 300 on the guide shaft 503 of the traveling mechanism 100 and arranging the troweling tray unit 200 corresponding to the guide shaft 503, the traveling mechanism 100 and the troweling actuator 300 form a compact structure, and the integrity of the troweling robot 1000 is better.

Referring to fig. 6 and fig. 7, in particular, in the embodiment, the traveling mechanism 100 further includes a steering driving device and a linkage mechanism, the steering driving device is in transmission connection with one of the guide shafts 503 to drive the guide shaft 503 to rotate around its central axis, and the guide shaft 503 drives the other guide shafts 503 to rotate synchronously through the linkage mechanism. The steering driving device can provide power for steering of the walking wheels, and the guide shafts 503 are linked by adopting a linkage mechanism, so that synchronous steering control of the walking wheels is realized by synchronously rotating the guide shafts 503, and the steering is flexible and accurate.

In this embodiment, the road wheel is a hub servo motor 501. The lower end of each guide shaft 503 is connected to a hub servo motor 501 through a hub support 502. The hub servo motor 501 can rotate forwards and backwards, and is flexible to walk. It is contemplated that in alternative embodiments, other types of drive sources are contemplated for driving movement of the road wheels. In this embodiment, the wheel hub servo motor 501 is adopted as a walking wheel, so that the walking wheel can walk without an external power device as a walking power source of the whole floating robot 1000, and the floating robot 1000 has a more simplified and compact structure.

In detail, the steering driving device includes a steering motor 508 and a first synchronizing assembly including a first synchronizing wheel 509, a second synchronizing wheel 506, and a first synchronizing belt 507. The steering motor 508 is disposed on the first base 511 through a motor mount 510. The output of the steering motor 508 is connected to a first synchronizing wheel 509, the first synchronizing wheel 509 is connected to a second synchronizing wheel 506 via a first synchronizing belt 507, and the second synchronizing wheel 506 is connected to a guide shaft 503.

The first base 511 of this embodiment is shaped as a four-pointed star-shaped plate, and the upper end shaft segment of the single guide shaft 503 is connected to one corner of the first base 511 via a guide bearing support 505. The linkage mechanism comprises a third synchronous wheel 504 and a second synchronous belt 513, wherein each guide shaft 503 is sleeved with the third synchronous wheel 504, and the third synchronous wheels 504 are in transmission connection through the second synchronous belt 513. A tension pulley 512 is further provided between the corners of the first base 511, and a second timing belt 513 is also provided around the tension pulley 512.

When the steering motor 508 works, one guide shaft 503 is driven to rotate, and the guide shaft 503 transmits power to the other three guide shafts 503 through the second synchronous belt 513 and the third synchronous wheel 504, so that the synchronous rotation of the four guide shafts 503 is realized. And the rotation direction and the rotation amplitude of the guide shaft 503 can be flexibly controlled by the forward rotation and the reverse rotation of the steering motor 508, so that the hub servo motor 501 connected with the lower end of the guide shaft 503 can steer.

As shown in fig. 7, for example, when the troweling robot 1000 travels, the rotating motor may drive the guide shaft 503 to rotate, so that the body posture direction 550 forms an angle a with the traveling direction 560, and since the guide shaft 503 can rotate 360 ° in all directions, the angle a may be any value, and thus the steering is very flexible. When the angle a is 90 °, the direction of travel 560 may be converted from the longitudinal direction in fig. 7 to the lateral direction. In addition, the hub servo motor 501 rotates forward and backward, so that the whole floating robot 1000 can move forward, backward, and turn on the working plane flexibly, and the whole posture of the floating robot 1000 can be kept stable during turning.

Referring to fig. 8 to 12, regarding the floating actuator 300, more specifically:

The swabbing unit 200 comprises a cylinder type supporting piece 202 and a plurality of spatulas 201, the spatulas 201 are connected with the cylinder type supporting piece 202 and are evenly distributed at the lower end of the cylinder type supporting piece 202, and the travelling wheels are arranged in the inner cavity of the corresponding cylinder type supporting piece 202. The walking wheels are arranged in the inner cavities of the corresponding cylindrical supporting pieces 202, so that the space utilization rate is improved, the cooperation between the walking mechanism 100 and the floating executing mechanism 300 is further deepened, and the floating robot 1000 is beneficial to improvement of integrity.

Referring to fig. 4, 5 and 14, when the cylindrical support member 202 rotates, the range covered by the plurality of trowels 201 is the floating coverage area 801, the number of the trowel units 200 is four, the trowels 201 of two adjacent trowel units 200 are staggered, and the floating coverage areas 801 of two adjacent trowel units 200 are partially overlapped.

In detail, when the swabbing units 200 are not rotated, the spatulas 201 among the four swabbing units 200 are distributed as shown in fig. 4, and the spatulas 201 are staggered; when the troweling unit 200 rotates, the troweling unit coverage area 800 is shown in fig. 5, the rotation tracks of the trowels 201 are partially overlapped, and the formed troweling coverage area 801 has an overlapping area 803 as shown in fig. 14. The fan-shaped spatula 201 of trilobal has been adopted to this embodiment, can carry out floating, can make things convenient for the crisscross laying of spatula 201 between two adjacent set units 200 of smearing again, can not too much occupation space.

in order to simultaneously drive four spatula units 200 and make the trowel coverage areas 801 of two adjacent spatula units 200 partially coincide, and the spatula units 200 do not interfere with each other, the spatula driving device of the embodiment drives the spatula units 200 to synchronously rotate through a transmission system.

Referring to fig. 10 to 12, in particular, the transmission system includes an input bevel gear 302, a first output bevel gear 330, a second output bevel gear 340, a third output bevel gear 350 and a fourth output bevel gear 360 rotatably mounted on the second base 210. The first output bevel gear 330, the second output bevel gear 340, the third output bevel gear 350, and the fourth output bevel gear 360 are arranged in a matrix. The swabbing disc driving device is in transmission connection with the input bevel gear 302, the first output bevel gear 330, the second output bevel gear 340, the third output bevel gear 350 and the fourth output bevel gear 360 are respectively connected with the cylinder-shaped supporting member 202 of the corresponding swabbing disc unit 200, the first output bevel gear 330 and the third output bevel gear 350 are in diagonal positions, the input bevel gear 302 is connected with the first output bevel gear 330 through a first transmission assembly, the input bevel gear 302 is connected with the third output bevel gear 350 through a second transmission assembly, the first output bevel gear 330 is connected with the fourth output bevel gear 360 through a third transmission assembly, and the third output bevel gear 350 is connected with the second output bevel gear 340 through a fourth transmission assembly; each transmission assembly comprises a transmission shaft and transmission bevel gears arranged at two ends of the transmission shaft.

Referring to fig. 11, in detail, the first transmission assembly includes a first transmission bevel gear 318, a first bearing support 317, a first transmission shaft 316, a second bearing support 315, and a second transmission bevel gear 314. A first transmission bevel gear 318 and a second transmission bevel gear 314 are respectively fixed at both ends of the first transmission shaft 316, the first transmission shaft 316 is disposed below the second base 210 through a first bearing support 317 and a second bearing support 315, the first transmission bevel gear 318 is in mesh transmission with the input bevel gear 302, and the second transmission bevel gear 314 is in mesh transmission with the first output bevel gear 330.

The second drive assembly includes a fifth drive bevel gear 328, a fifth bearing mount 327, a third drive shaft 326, a sixth bearing mount 325, and a sixth drive bevel gear 324. A fifth transmission bevel gear 328 and a sixth transmission bevel gear 324 are respectively fixed at both ends of a third transmission shaft 326, the third transmission shaft 326 is arranged below the second base 210 through a fifth bearing support 327 and a sixth bearing support 325, the fifth transmission bevel gear 328 is in mesh transmission with the input bevel gear 302, and the sixth transmission bevel gear 324 is in mesh transmission with the third output bevel gear 350.

The third transmission assembly comprises a third transmission bevel gear 313, a third bearing support 312, a second transmission shaft 311, a fourth bearing support 310 and a fourth transmission bevel gear 309. The third bevel gear 313 and the fourth bevel gear 309 are respectively fixed at two ends of the second transmission shaft 311, the second transmission shaft 311 is arranged below the second base 210 through the third bearing support 312 and the fourth bearing support 310, the third bevel gear 313 is in mesh transmission with the first output bevel gear 330, and the fourth bevel gear 309 is in mesh transmission with the fourth output bevel gear 360.

The fourth transmission assembly includes a seventh transmission bevel gear 323, a seventh bearing support 322, a fourth transmission shaft 321, an eighth bearing support 320, and an eighth transmission bevel gear 319. A seventh transmission bevel gear 323 and an eighth transmission bevel gear 319 are respectively fixed at both ends of the fourth transmission shaft 321, the fourth transmission shaft 321 is arranged below the second base 210 through a seventh bearing support 322 and an eighth bearing support 320, the seventh transmission bevel gear 323 is in mesh transmission with the third output bevel gear 350, and the eighth transmission bevel gear 319 is in mesh transmission with the second output bevel gear 340.

Referring to fig. 10, in detail, the troweling tray driving device includes a troweling motor 301 and a speed reducer 303, wherein the troweling motor 301 is connected to the speed reducer 303 and is mounted on the second base 210 through a motor mounting plate 305. The transmission system further comprises a second synchronous assembly, the second synchronous assembly comprises a fourth synchronous wheel 304, a fifth synchronous wheel 307 and a third synchronous belt 306, the rotating speed of the troweling motor 301 is reduced by a speed reducer 303 and then is output to the fourth synchronous wheel 304, and the fourth synchronous wheel 304 is in transmission connection with the fifth synchronous wheel 307 through the third synchronous belt 306. The input bevel gear 302 is disposed on the second base 210 through a bearing housing 308, and a fifth synchronizing wheel 307 is coaxially connected with the input bevel gear 302.

By adopting the bevel gear transmission mode, the trowelling disc unit 200 can be driven smoothly, and the transmission system realizes that one power source drives a plurality of trowelling disc units 200, so that a driving device is not required to be arranged for each trowelling disc unit 200 independently, the occupied installation space is reduced, and the matched installation of the trowelling executing mechanism 300 and the walking mechanism 100 is more compact. Four swabbing disc units 200 are designed and the respective spatulas 201 are arranged in a staggered way, and under the matching of the bevel gear transmission mode, the adjacent swabbing disc units 200 can rotate at the same speed and rotate in opposite directions (the directions are shown by arrows in fig. 12) when rotating, and interference does not occur. Therefore, an unwarped area can not be left on the walking path of the floating robot 1000, full-coverage floating of the walking path is realized, and floating efficiency is improved.

Referring to fig. 8, in order to enable the output bevel gear 205 to be connected with the floating unit and the guide shaft 503 to be connected with the output bevel gear 205 without interference, the floating actuator 300 further includes a linear bearing 207 and a rotary bearing 204, the second base 210 is provided with a plurality of mounting holes, the linear bearing 207 is fixedly disposed in the corresponding mounting hole, the linear bearing 207 is slidably fitted to the guide shaft 503, and each output bevel gear 205 is mounted on the corresponding linear bearing 207 through the rotary bearing 204.

in more detail, the troweling actuator 300 further includes an inner connecting sleeve 206 and an outer connecting sleeve 203, the cylindrical support 202 is connected to a lower flange of the outer connecting sleeve 203, an upper flange of the outer connecting sleeve 203 is connected to the output bevel gear 205, the outer connecting sleeve 203 is rotatably connected to the inner connecting sleeve 206 through a rotating bearing, an upper flange of the inner connecting sleeve 206 is connected to the second base 210, the linear bearing 207 is nested in the inner connecting sleeve 206 and is fixedly connected to an upper end of the inner connecting sleeve 206, and the guide shaft 503 is inserted into the linear bearing 207. In this way, the linear bearing 207 and the rotary bearing 204 are used in cooperation, so that the function of sliding the second base 210 along the guide shaft 503 is satisfied, and the rotation of the roulette unit 200 around the guide shaft 503 is realized without interference. And when the guide shaft 503 rotates and drives the traveling wheels to steer, the guide shaft is not interfered by the swabbing unit 200 and the output bevel gear 205, and the structure is reasonable and ingenious.

Referring to fig. 1, 2, 3 and 13, in order to ensure the floating effect, the floating robot 1000 further includes a floating pressure control mechanism 600, the first base 511 and the second base 210 are connected by the floating pressure control mechanism 600, and the floating pressure control mechanism 600 is used for controlling the floating pressure of the floating actuator 300. The troweling pressing force control mechanism 600 can adjust the troweling pressing force of the troweling execution mechanism 300, so that the pressure on the ground is more suitable during troweling, and the troweling effect is guaranteed. In addition, referring to fig. 3, the troweling pressing force control mechanism 600 is located at the center of the whole troweling robot 1000, so that when the second base 210 is driven to move relative to the first base 511, the troweling pressing force can be more smoothly, and uneven force applied when the trowel 201 is pressed can be avoided.

Specifically, the troweling press down force control mechanism 600 includes a linear drive and a pull press sensor 603.

alternatively, the main body of the linear actuator is fixed to the second base 210, and the telescopic end of the linear actuator is connected to the first base 511 by the tension/compression sensor 603.

The floating pressing force control mechanism 600 further includes a mounting plate 602 and a supporting column 604, the linear driving device is disposed on one side of the mounting plate 602, one end of the supporting column 604 is connected to the other side of the mounting plate 602, which is far away from the linear driving device, the supporting column 604 movably passes through the first base 511, the other end of the supporting column 604 is connected to the second base 210, and the telescopic end of the linear driving device passes through the mounting plate 602 and is connected to the first base 511 through the tension/compression sensor 603. The mounting plate 602 and the support column 604 provide a basis for the connection between the linear drive and the second base 210, on the one hand they provide a stable support for the linear drive, and on the other hand the support column 604 can also guide when the second base 210 moves relative to the first base 511, which is beneficial for the accurate adjustment of the pressing force.

The linear driving device of this embodiment is a servo electric cylinder 601, and the end of the piston rod is an expansion end. The stroke of the piston rod of the servo electric cylinder 601 is controlled accurately, the adjustment of the pressing force is beneficial, the size of the pressing force can be well controlled, and when the piston rod extends out, the second base 210 can be driven to ascend relative to the first base 511, so that the spatula 201 is driven to ascend; when the piston rod is contracted, the second base 210 descends relative to the first base 511, the spatula 201 descends along with the second base, after the spatula 201 contacts the ground, the pull-press sensor 603 can feed back the numerical value of the pressing force to the control system, and the control system can control the piston rod of the servo electric cylinder 601 to further contract or extend according to the numerical value, so that the pressing force of the spatula 201 is controlled at the set value. The control system may be a common control system such as a Printed Circuit Board (PCB), a Programmable Logic Controller (PLC), etc., and the setting value is set in advance according to the floating construction requirement. In addition to controlling the servo electric cylinder 601, the operation of the traveling mechanism 100 and the troweling actuator 300 may be controlled by the control system.

of course, other types of linear driving devices can be selected according to different requirements of adjustment precision. For example, when the precision requirement is not high, a linear telescopic mechanism such as an oil cylinder, an air cylinder and the like can be selected as the linear driving device.

alternatively, the main body of the linear actuator is fixed to the first base 511, and the telescopic end of the linear actuator is connected to the second base 210 by the tension/compression sensor 603. Thus, when the output end of the linear driving device is extended, the second susceptor 210 is lowered with respect to the first susceptor 511, and when the output end is contracted, the second susceptor 210 is raised with respect to the first susceptor 511.

With linear drive device with draw pressure sensor 603 and combine for the data of pushing down the power are more directly perceived, conveniently carry out the regulation of pushing down the power according to this data, and whatever kind of setting mode, all can be used for making second base 210 produce the displacement in first base 511 relatively, thereby can implement the regulation to pushing down the power.

the floating robot 1000 of the present embodiment has the following floating operation implementation process:

(1) Selecting the initially set concrete ground as an area to be trowelled;

(2) Initializing the floating robot 1000, wherein a piston rod of the servo electric cylinder 601 extends out, the four floating disc units 200 are lifted and suspended, and the four traveling wheels land;

(3) the floating robot 1000 walks to an area to be floated, and starts the floating motor 301 to drive the four floating disc units 200 to rotate;

(4) The piston rod of the servo electric cylinder 601 is retracted, and at the moment, the four swabbing units 200 slowly descend to be in contact with the ground; the value of the tension and compression sensor 603 is fed back to the control system until the pressure of the spatula 201 reaches a set value;

(5) The floating robot 1000 performs floating work according to a predetermined track, and the traveling process is implemented by the traveling mechanism 100 and controls the direction of the system until the work is finished and returns to the original point;

(6) The troweling motor 301 is turned off, the piston rod of the servo electric cylinder 601 extends out, and at the moment, the four troweling tray units 200 are slowly lifted, so that one working cycle is completed.

as shown in fig. 14, although there is a temporary uncovered area 802, the outer part of the temporary uncovered area 802 is a floating covered area 801, and an overlapping area 803 is provided between the floating covered areas 801 of two adjacent floating plate units 200, so that the floating robot 1000 can move in any direction of the XY plane in the drawing, and can cover an area on the moving path, thereby realizing full-coverage floating. In contrast, as shown in fig. 15, the non-coverage area 702 exists between the work coverage areas 701 of the conventional floor troweling machine, and when moving along the Y direction in the figure, there is an uncovered area, and the troweling needs to be performed again, which is significantly less efficient than the troweling actuator 300 of the present embodiment. In addition, the present embodiment realizes that the single power source drives four trowel units 200 simultaneously to perform the troweling operation, and the troweling efficiency for the ground is higher than that of the prior art, for example, when the trowel moves in the X direction in fig. 14, the covered area is larger than that of the prior art when the trowel moves in the X direction in fig. 15.

in addition, since the walking, steering, leveling, and pressing force control of the leveling robot 1000 can be performed by the control system, the labor intensity of the worker can be reduced.

In summary, in cooperation with the installation of the travel mechanism 100, the troweling actuator 300, and the troweling pressing force control mechanism 600, the troweling robot 1000 has a compact structure and good integrity, and can flexibly turn, and has a full coverage area during troweling and can control the pressing force. Overcomes the defects of the prior art, and has good use effect on the aspect of ground floating.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.