阅读说明：本技术 抹平机器人 (Smooth out robot ) 是由 李盼 曲强 叶育兴 贺志武 肖翔伟 于 2019-08-26 设计创作，主要内容包括：本发明公开了一种抹平机器人,所述抹平机器人包括机架、第一滚筒和第二滚筒,第一滚筒可转动地设于机架上,第二滚筒可转动地设于机架上,其中第一滚筒和第二滚筒沿前后方向间隔开设置,且第一滚筒和第二滚筒可差速转动。根据本发明实施例的抹平机器人,通过在机架的下方设置第一滚筒和第二滚筒,并使得第一滚筒和第二滚筒可以具有不同的转速,可以提高抹平机器人对基体表面抹平作业的效果。(The invention discloses a kind of floating robots, the floating robot includes rack, the first roller and second tin roller, first roller is rotatably arranged in rack, second tin roller is rotatably arranged in rack, wherein the first roller and second tin roller are spaced apart setting along the longitudinal direction, and the first roller and second tin roller can differential rotations.Floating robot according to an embodiment of the present invention by the way that the first roller and second tin roller is arranged in the lower section of rack, and makes the first roller and second tin roller can have different revolving speeds, can be improved and smooth out the effect that robot smoothes out operation to matrix surface.)

1. a kind of floating robot characterized by comprising

Rack；

First roller, first roller are rotatably arranged in the rack；

Second tin roller, the second tin roller are rotatably arranged in the rack, wherein first roller and second rolling Cylinder is spaced apart setting along the longitudinal direction, and first roller and the second tin roller can differential rotations.

2. floating robot according to claim 1, which is characterized in that further include:

First driving assembly, first driving assembly are set in the rack and for driving first roller to rotate；

Second driving assembly, second driving assembly are set in the rack and for driving the second tin roller to rotate, Described in the first driving assembly and second driving assembly it is independent of one another.

3. floating robot according to claim 2, which is characterized in that

First driving assembly includes first motor, the first sprocket wheel being connected with first motor transmission, and described first The second connected sprocket wheel of roller, the first chain for being set on first sprocket wheel and second sprocket wheel, the first motor Positioned at the top of first roller；

Second driving assembly includes the second motor, the third sprocket wheel being connected with second motor drive and described second The 4th connected sprocket wheel of roller, the second chain for being set on the third sprocket wheel and the 4th sprocket wheel, second motor Positioned at the top of the second tin roller.

4. floating robot according to claim 1, which is characterized in that further include for driving first roller and institute State the vibrating motor of second tin roller vibration.

5. floating robot according to claim 4, which is characterized in that the vibrating motor is set in the rack.

6. floating robot according to claim 1, which is characterized in that it further include scraping sweeping device, it is described to scrape sweeping device packet It includes:

Lifter plate, the lifter plate can oscilaltions relative to the rack；

Telescopic rod, the telescopic rod are set in the rack and are lifter plate oscilaltions for driving；

Scraper component, the scraper component are pivotly set on the lifter plate, and the bottom of the scraper component is serrated.

7. floating robot according to claim 6, which is characterized in that further include smoothing out scraper component, the floating is scraped Board group part includes:

Scraper plate is smoothed out, the floating scraper plate is movably disposed in the rack, and the floating scraper plate has towards matrix surface Floating face；

Laser pickoff, the laser pickoff are fixed on the floating scraper plate, and the laser pickoff is for obtaining laser Basal plane position information；

Adjust device, the adjustment device is connected between the rack and the floating scraper plate, the adjustment device with it is described Laser pickoff signal transmits and adjusts position of the floating scraper plate relative to matrix surface according to the positional information.

8. floating robot according to any one of claims 1 to 7, which is characterized in that it further include jacking rotating device, The jacking rotating device is set in the rack, and the jacking rotating device can drive the rack relative to matrix surface It moves back and forth up and down and rotates.

9. floating robot according to claim 8, which is characterized in that the jacking rotating device includes:

Motor is jacked, the jacking motor is set in the rack；

Chassis, the chassis are connected with the jacking motor drive, and the jacking motor is for driving the chassis relative to institute Rack is stated to move up and down；

Connecting shaft, the both ends of the connecting shaft are connected with the jacking motor and the chassis respectively, wherein the connecting shaft with The chassis is fixedly linked；

Rotary electric machine, the rotary electric machine are set in the rack；

Transmission device, the rotary electric machine drive the connecting shaft to rotate by the transmission device.

10. floating robot according to claim 9, which is characterized in that the transmission device includes:

First pulley, the first pulley are connected with rotary electric machine transmission；

Second belt wheel, second belt wheel are set in the outside of the connecting shaft；

Transmission belt, the transmission belt are set in the first pulley and second belt wheel.

Technical field

The present invention relates to construction robot technical field more particularly to a kind of floating robots.

Background technique

Summary of the invention

The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention proposes that one kind is smeared Flat robot, first roller for smoothing out robot is different with the revolving speed of second tin roller, and floating operation effectiveness can be improved.

In some embodiments of the invention, the floating robot includes: rack, the first roller and second tin roller, institute It states the first roller to be rotatably arranged in the rack, the second tin roller is rotatably arranged in the rack, wherein described First roller and the second tin roller are spaced apart setting along the longitudinal direction, and first roller and the second tin roller can differentials Rotation.

Floating robot according to an embodiment of the present invention, by the way that the first roller and second tin roller is arranged in the lower section of rack, And the first roller and second tin roller is made to can have different revolving speeds, it can be improved to smooth out robot and smooth out matrix surface and make The effect of industry.

In addition, floating robot according to the present invention, can also have the following additional technical features:

In some embodiments of the invention, the floating robot further include: the first driving assembly and the second driving group Part, first driving assembly are set in the rack and for driving first roller to rotate, second driving assembly In the rack and for driving the second tin roller to rotate, wherein first driving assembly and second driving group Part is independent of one another.

Optionally first driving assembly include first motor, with the first motor transmission be connected the first sprocket wheel, The second sprocket wheel being connected with first roller, the first chain being set on first sprocket wheel and second sprocket wheel, institute The top that first motor is located at first roller is stated, second driving assembly includes the second motor and second motor The connected third sprocket wheel of transmission, is set in the third sprocket wheel and the described 4th at the 4th sprocket wheel being connected with the second tin roller The second chain on sprocket wheel, second motor are located at the top of the second tin roller.

In some embodiments of the invention, the floating robot further includes for driving first roller and described The vibrating motor of second tin roller vibration.

Optionally, the vibrating motor is set in the rack.

In some embodiments of the invention, the floating robot further includes scraping sweeping device, and the sweeping device of scraping includes: Lifter plate, telescopic rod and scraper component, the lifter plate relative to the rack can oscilaltion, the telescopic rod is set to described It is lifter plate oscilaltion in rack and for driving, the scraper component is pivotly set on the lifter plate, described to scrape The bottom of board group part is serrated.

Optionally, the floating robot further includes smoothing out scraper component, and the floating scraper component includes: that floating is scraped Plate, laser pickoff and adjustment device, the floating scraper plate are movably disposed in the rack, and the floating scraper plate has court To the floating face of matrix surface, the laser pickoff is fixed on the floating scraper plate, and the laser pickoff is for obtaining Laser basal plane position information, the adjustment device are connected between the rack and the floating scraper plate, the adjustment dress It sets and is transmitted with the laser pickoff signal and adjust the floating scraper plate relative to matrix surface according to the positional information Position.

In some embodiments of the invention, the floating robot further includes jacking rotating device, the jacking rotation Device is set in the rack, and the jacking rotating device can drive the rack to move back and forth up and down relative to matrix surface And rotation.

Optionally, the jacking rotating device includes: to jack motor, chassis, connecting shaft, rotary electric machine and transmission device, The jacking motor is set in the rack, and the chassis is connected with the jacking motor drive, and the jacking motor is for driving The chassis is moved to move up and down relative to the rack, the both ends of the connecting shaft respectively with the jacking motor and the chassis It is connected, wherein the connecting shaft is fixedly linked with the chassis, the rotary electric machine is set in the rack, the rotary electric machine The connecting shaft rotation is driven by the transmission device.

Optionally, the transmission device includes: first pulley, the second belt wheel and conveyer belt, the first pulley with it is described Rotary electric machine transmission is connected, and second belt wheel is set in the outside of the connecting shaft, and the transmission belt is set in described first On belt wheel and second belt wheel.

Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description Obviously, or practice through the invention is recognized.

Detailed description of the invention

Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures Obviously and it is readily appreciated that, in which:

Fig. 1 is the structural schematic diagram of an angle according to an embodiment of the present invention for smoothing out robot；

Fig. 2 is the structural schematic diagram of the removal laser pickoff according to an embodiment of the present invention for smoothing out robot；

Fig. 3 is the structural schematic diagram of another angle according to an embodiment of the present invention for smoothing out robot.

Appended drawing reference:

100: smoothing out robot；

1: rack；

21: the first rollers；22: second tin roller；

3: the first driving assemblies；31: first motor；32: the first sprocket wheels；33: the second sprocket wheels；34: the first chains；

4: the second driving assemblies；41: the second motors；42: third sprocket wheel；43: the four sprocket wheels；44: the second chains；

5: vibrating motor；

6: hanging sweeping device；61: lifter plate；62: telescopic rod；63: scraper component；64: driving motor；65: guide rod；66: Detection device；661: the first inductive switches；662: the second inductive switches；663: detection plate；

7: smoothing out scraper component；71: smoothing out scraper plate；72: laser pickoff；73: adjustment device；The installation of 731: the first scraper plates Bracket；732: electric pushrod；733: the second scraper plate mounting brackets；734: auxiliary bar assembly；7341: the first bars；7342: the second Bar；

8: jacking rotating device；81: jacking motor；82: chassis；831: the first connecting shafts；832: the second connecting shafts；84: Chassis mounting bracket；85: rotary electric machine；861: first pulley；862: the second belt wheels.

Specific embodiment

The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.

In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside", " circumferential direction " is side based on the figure Position or positional relationship, are merely for convenience of description of the present invention and simplification of the description, rather than the device or member of indication or suggestion meaning Part must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.

In addition, defining " first ", the feature of " second " can explicitly or implicitly include one or more be somebody's turn to do Feature, for distinguishing Expressive Features, point of out-of-order, point of no weight.In the description of the present invention, unless otherwise indicated, " more It is a " it is meant that two or more.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition Concrete meaning in invention.

The floating robot 100 of the embodiment of the present invention is described below with reference to Fig. 1-Fig. 3.

As shown in Figure 1-Figure 3, floating robot 100 according to an embodiment of the present invention includes rack 1, the first roller 21 and the Two rollers 22, the first roller 21 are rotatably arranged in rack 1, and second tin roller 22 is rotatably arranged in rack 1, wherein first Roller 21 and second tin roller 22 are spaced apart setting along the longitudinal direction, and the first roller 21 and second tin roller 22 can differential rotations.

Such as shown in Fig. 1-Fig. 3, the first roller 21 and second tin roller 22 can be fitted to the lower section of rack 1, and edge Front-rear direction is spaced apart setting, after the first roller 21 and second tin roller 22 are mounted on the lower section of rack 1, the first roller 21 and second Roller 22 can be rotated relative to rack 1, during the first roller 21 and second tin roller 22 are rotated relative to rack 1, the One roller 21 and second tin roller 22 can drive rack 1 to walk, so that smoothing out robot 100 can be in matrix surface row It walks, also, passes through the first roller 21 and second tin roller 22 during matrix surface is walked smoothing out robot, the first roller 21 and second tin roller 22 floating operation can be carried out to matrix surface so that matrix surface is more smooth, beautiful.Wherein, this In matrix surface can be the region that cement flooring, metope etc. need to smooth out operation.

Further, the first roller 21 with second tin roller 22 during matrix surface rolls, the first roller 21 and the The revolving speed of two rollers 22 can be different, and in a specific example, the revolving speed of the first roller 21 can be greater than second tin roller 22 Revolving speed, as a result, during smoothing out the walking of robot 100, compared to the first roller 21, second tin roller 22 can be to matrix table Face has biggish pressing effect, so that matrix surface is more smooth, and then is able to ascend the floating for smoothing out robot 100 The effect of operation.

It is, of course, understood that the revolving speed of second tin roller 22 can also be greater than the revolving speed of the first roller 21, moreover, right In the specific revolving speed of the first roller 21 and second tin roller 22, smoothing out robot 100 can reach according to actual working environment, needs To the factors such as the effect of floating operation carry out different settings, here with no restriction.

Floating robot 100 according to an embodiment of the present invention as a result, by the way that the first roller 21 is arranged in the lower section of rack 1 With second tin roller 22, and the first roller 21 and second tin roller 22 is made to can have different revolving speeds, floating machine can be improved People 100 smoothes out the effect of operation to matrix surface.

In some embodiments of the invention, as shown in Figure 1-Figure 3, smoothing out robot 100 further includes the first driving assembly 3 With the second driving assembly 4, the first driving assembly 3 is set in rack 1 and for driving the rotation of the first roller 21, the second driving assembly 4 are set in rack 1 and for driving second tin roller 22 to rotate, wherein the first driving assembly 3 and the second driving assembly 4 are only each other It is vertical, that is to say, that the first driving assembly 3 and the second driving assembly 4 can work independently in the process of work, accurately to control Make the rotation of the first roller 21 and second tin roller 22.Specifically, the first driving assembly 3 and the second driving assembly 4 can cooperate It is mounted in rack 1, after the first driving assembly 3 and the second driving assembly 4 are mounted in rack 1, the first driving assembly 3 can be driven Dynamic first roller 21 rotation, the second driving assembly 4 can drive second tin roller 22 to rotate, also, in the first driving assembly 3 and the Two driving assemblies 4 are independent of each other during working, and rotate so as to preferably control the first roller 21 and second tin roller 22.

Optionally, as shown in Figure 1-Figure 3, the first driving assembly 3 is connected including first motor 31, with the transmission of first motor 31 The first sprocket wheel 32, be connected with the first roller 21 the second sprocket wheel 33, be set on the first sprocket wheel 32 and the second sprocket wheel 33 One chain 34, first motor 31 can be located at the top of the first roller 21, and first motor 31 can drive the first sprocket wheel 32 as a result, Rotation, the first sprocket wheel 32 can be linked by the first chain 34 and the second sprocket wheel 33, so that the first sprocket wheel 32 is in rotation The second sprocket wheel 33 can be driven to rotate in the process, the rotation of the second sprocket wheel 33 can drive the first roller 21 to rotate.

Second driving assembly 4 includes the second motor 41, the third sprocket wheel 42 being connected with the transmission of the second motor 41 and the second rolling The 4th connected sprocket wheels 43 of cylinder 22, the second chain 44 for being set on third sprocket wheel 42 and the 4th sprocket wheel 43, the second 41, motor In the top of second tin roller 22.The second motor 41 can drive third sprocket wheel 42 to rotate as a result, and third sprocket wheel 42 can be by the Two chains 44 and the 4th sprocket wheel 43 link, so that third sprocket wheel 42 can drive 43 turns of the 4th sprocket wheel in the course of rotation Dynamic, the rotation of the 4th sprocket wheel 43 can drive second tin roller 22 to rotate.

The first roller 21 and 22 turns of second tin roller are controlled by the first driving assembly 3 and the second driving assembly 4 respectively as a result, It is dynamic, the revolving speed of the first roller 21 and second tin roller 22 can be more accurately controlled, to preferably realize, by changing first The revolving speed of roller 21 and second tin roller 22 reaches the floating operation different to matrix surface of the first roller 21 and second tin roller 22 Effect.

Optionally, the first driving assembly 3 also may include first motor 31, first motor 31 can directly with the first roller 21 cooperations, to drive the rotation of the first roller 21, the second driving motor 64 also may include the second motor 41, and the second motor 41 can be with Directly cooperate with second tin roller 22, to drive second tin roller 22 to rotate, it is, of course, understood that the first driving assembly 3 and the Two driving assemblies 4 also can have other structures, here with no restriction.

In some embodiments of the invention, as shown in Figure 1-Figure 3, smoothing out robot 100 further includes for driving first The vibrating motor 5 that roller 21 and second tin roller 22 vibrate.That is, vibrating motor 5 can drive the first roller 21 and second Roller 22 vibrates, for example, the first roller 21 and second tin roller 22 are during matrix surface is walked, vibrating motor 5 can To drive the first roller 21 and second tin roller 22 to vibrate, vibration can be passed to base by the first roller 21 and second tin roller 22 Body surface face, so as to generate certain extruding to matrix surface, for example, in the first roller 21 and second tin roller 22 to matrix table During surface vibration squeezes, the first roller 21 and second tin roller 22 can be squeezed out moisture, air etc. in matrix surface, or Solid impurity in matrix surface is smashed, or the pulp lifter that the lower layer in matrix surface is deposited is to matrix surface Upper layer, i.e., so that the ingredient in matrix surface is more uniform, as a result, the first roller 21 and second tin roller 22 to matrix surface into When row smoothes out operation, matrix surface can be made more smooth, and then floating robot 100 can be improved, matrix surface is smeared The effect of flat operation.

Optionally, vibrating motor 5 may be mounted in rack 1, and in other words, the vibration of vibrating motor 5 can pass through rack 1 It is transferred on the first roller 21 and second tin roller 22, it is to be understood that multiple vibrating motors 5 can be equipped in rack 1, this In it is multiple refer to two or more, by multiple vibrating motors 5 can be further improved smooth out robot 100 to base The effect of body surface face floating operation.In other examples, vibrating motor 5 can also be directly installed on roller rotation axis or The inside of roller, here with no restriction.

In some embodiments of the invention, as shown in Figure 1-Figure 3, smoothing out robot 100 further includes scraping sweeping device 6, is scraped Sweeping device 6 include lifter plate 61, telescopic rod 62 and scraper component 63, lifter plate 61 can relative to rack 1 can oscilaltion, stretch Contracting bar 62 can be set in rack 1 and be 61 oscilaltion of lifter plate for driving, and scraper component 63 is pivotly set to lifting On plate 61, the bottom of scraper component 63 is serrated.

That is, lifter plate 61 is located between scraper component 63 and telescopic rod 62, it can be preferably by lifter plate 61 Scraper component 63 is mounted on telescopic rod 62, after scraper component 63 is mounted on telescopic rod 62, telescopic rod 62 be may be mounted at In rack 1, specifically, as shown in Figure 1-Figure 3, the upper end of telescopic rod 62 can be fitted in rack 1, under telescopic rod 62 End can be cooperated by lifter plate 61 and scraper component 63, can band as a result, during telescopic rod 62 carries out expanding-contracting action Dynamic scraper component 63 is movable in the up-down direction.In some instances, scraper component 63 can move downward with matrix surface Contact, by the jagged bottom of 63 lower section of scraper component, can make base during smoothing out the walking of robot 100 Body surface face is more loose, carries out floating operation to matrix surface so as to be conducive to smooth out robot 100, meanwhile, scrape board group Part 63 can also clean to a certain extent matrix surface, so as to prevent some impurity having on matrix surface And influence to smooth out the effect of the floating operation of robot 100.In other examples, when not needing to scrape sweeping device 6 to matrix table When the operation of face, scraper component 63 can be driven to move upwards by telescopic rod 62, so that scraper component 63 and matrix surface are de- From cooperation.

Below with reference to Fig. 1-Fig. 3 description structure for scraping sweeping device 6 accord to a specific embodiment of that present invention and worked Journey:

As shown in Figure 1-Figure 3, scrape sweeping device 6 include driving motor 64,62, two guide rods 65 of telescopic rod, lifter plate 61, Scraper component 63 and detection device 66.

Specifically, driving motor 64 may be mounted in rack 1, and driving motor 64 can pass through telescopic rod 62 and lifter plate 61 cooperations, i.e. driving motor 64 can drive telescopic rod 62 that expanding-contracting action occurs, so that lifter plate 61 can be in upper and lower Activity upwards,

Also cooperated by two guide rods 65 between lifter plate 61 and rack 1, i.e., is respectively provided at the both ends of lifter plate 61 The upper end of one pilot hole, each guide rod 65 can be fitted in rack 1, the lower end of each guide rod 65 can with lead To Kong Peihe, during lifter plate 61 is movable in the up-down direction as a result, pass through two guide rods 65 and two pilot holes Cooperation can make the activity of lifter plate 61 in the up-down direction relatively stable.

Scraper component 63 includes scraper plate, is rotatably connected between scraper plate and lifter plate 61, in other words, scraper plate and lifter plate 61 After mating connection, the angle between scraper plate place plane and 61 place plane of lifter plate can also be adjusted, so that scraping Plate can carry out the adjustment of angle according to the working environment and need of work etc. for smoothing out robot 100, practical.

Detection device 66 includes the first inductive switch 661, the second inductive switch 662 and detection plate 663, the first inductive switch 661 and second inductive switch 662 be spaced be provided in rack 1 along the vertical direction, the first inductive switch 661 and the second inductive switch 662 can be electrically connected with driving motor 64, and lifter plate 61 is equipped with detection plate 663.Using which, lifter plate 61 was being gone up and down Cheng Zhong, detection plate 663 is with 61 synchronization lifting of lifter plate.For example, the first inductive switch 661 is located at the second inductive switch 662 Lower section, when lifter plate 61 declines, after the first inductive switch 661 senses detection plate 663, driving motor 64 is closed, and at this time may be used Ensure that the scraper component 63 of 61 bottom of lifter plate contacts matrix surface, avoids scraper component 63 because fall is excessive and impaired； Same principle, lifter plate 61 is in uphill process, after the second inductive switch 662 senses detection plate 663, driving motor 64 It closes, can ensure that the top of lifter plate 61 will not collide rack 1 this moment, to avoid scraper component 63 impaired.Pass through setting First inductive switch 661 and the second inductive switch 662 cooperate detection plate 663, so that lifter plate 61 has upper and lower two limit positions It sets, to improve the safety of scraper component 63.

It is understood that the first inductive switch 661 and the second inductive switch 662 can be photoelectric sensor, so as to Sensitively to detect detection plate 663, in addition, the first inductive switch 661 and the second inductive switch 662 can also be other forms Sensor, here with no restriction.

In some embodiments of the invention, as shown in Figure 1-Figure 3, smoothing out robot 100 further includes smoothing out scraper component 7, smoothing out scraper component 7 includes smoothing out scraper plate 71, laser pickoff 72 and adjustment device 73.

Specifically, it smoothes out scraper plate 71 to be movably disposed in rack 1, smoothes out scraper plate 71 with the floating towards matrix surface Face, that is to say, that scraper plate 71 can be smoothed out during floating scraper plate 71 is movable relative to 1 activity of rack by smoothing out scraper plate 71 Floating operation can be carried out in face of matrix surface by smoothing out, so that matrix surface is more smooth.

Laser pickoff 72, which can be fixed on, to be smoothed out on scraper plate 71, and laser pickoff 72 can follow floating scraper plate as a result, 71 activities.It is understood that smooth out robot 100 during matrix surface is walked, matrix surface can with out-of-flatness, from And floating the distance between scraper plate 71 and matrix surface can be changed.

Laser pickoff 72 is connected to rack 1 and smoothes out for obtaining laser basal plane position information, adjustment device 73 Between scraper plate 71, adjustment device 73 is with the transmitting of 72 signal of laser pickoff and opposite according to location information adjustment floating scraper plate 71 In the position of matrix surface.That is, laser emitter can be equipped with, on matrix surface to emit laser basal plane, laser Basal plane can be parallel to the horizontal plane, and laser pickoff 72 can receive the laser signal of laser transmitter projects, be smoothed out with obtaining The information of the distance between scraper plate 71 and matrix surface, the distance letter that the adjustment available laser pickoff 72 of device 73 obtains Breath smoothes out the distance between scraper plate 71 and matrix surface information with adjustment, so that smoothing out scraper plate 71 can be by matrix Surface is smoothed out to same level height, and the effect for smoothing out operation is good.

In some embodiments of the invention, adjustment device 73 include the first scraper plate mounting bracket 731, electric pushrod 732, Second scraper plate mounting bracket 733 and auxiliary bar assembly 734, in example as shown in FIG. 1 to FIG. 3, the first scraper plate mounting bracket 731 can be fitted on bracket, and the both ends of electric pushrod 732 are separately mounted to the first scraper plate mounting bracket 731 and second The both ends of the upper end of scraper plate mounting bracket 733, auxiliary bar assembly 734 are separately mounted to the first scraper plate mounting bracket 731 and second The lower end of scraper plate mounting bracket 733, auxiliary bar assembly 734 include the first bar 7341 and the second bar 7342, the first bar 7341 and the The length of two bars 7342 is identical and is located between the first scraper plate mounting bracket 731 and the second scraper plate mounting bracket 733 in parallel, by This, the first bar 7341, the second bar 7342, the first scraper plate mounting bracket 731 and the second scraper plate mounting bracket 733 may be constructed parallel Quadrilateral structure, so that electric pushrod 732 can drive floating scraper plate 71 movable in the up-down direction relatively stablely.

In some embodiments of the invention, smoothing out robot 100 further includes jacking rotating device 8, jacks rotating device 8 In rack 1, and jacking rotating device 8 can drive rack 1 to move back and forth up and down and rotate relative to matrix surface.Namely It says, jacking rotating device 8 can be cooperatively connected with rack 1, after jacking rotating device 8 and the mating connection of rack 1, jacking rotation dress Setting 8 can abut with matrix surface, so that rack 1 is movable upwards relative to matrix surface, rack 1 after activity, jacks upwards Rotating device 8 is it is also possible that rack 1 moves downward, so that rack 1 can be relative to matrix surface in the up-down direction It moves back and forth.Further, after jacking rotating device 8 is abutted with matrix surface, jacking rotating device 8 can drive rack 1, with So that relatively rotating between rack 1 and jacking rotating device 8, so as to change the direction of travel for smoothing out robot 100.

Optionally, jacking rotating device 8 includes jacking motor 81, chassis 82, connecting shaft, rotary electric machine 85 and transmission device 86。

Specifically, jacking motor 81 is set in rack 1, and chassis 82 is connected with the jacking transmission of motor 81, and jacking motor 81 is used It being moved up and down in driving chassis 82 relative to rack 1, the both ends of connecting shaft are connected with jacking motor 81 and chassis 82 respectively, wherein Connecting shaft is fixedly linked with chassis 82.

That is, one end of connecting shaft can be cooperatively connected with jacking motor 81, the other end of connecting shaft can be the bottom of with Disk 82 is cooperatively connected, and jacking motor 81 can be drivingly connected axis and move downward relative to rack 1, and connecting shaft is in the mistake moveed downward Chassis 82 can be driven to move downward in journey, chassis 82 can abut during moveing downward with matrix surface, at this point, bottom Disk 82 can continue to move downward, and rack 1 can be made movable upwards relative to matrix surface, so that rack 1 can band Dynamic first roller 21 and the activity upwards of second tin roller 22, thus, it is possible to by jacking rotating device 8 for rack 1, the first roller 21 It is jacked up upwards with second tin roller 22, to be detached from matrix surface.

Further, rotary electric machine 85 is set in rack 1, and rotary electric machine 85 drives connecting shaft to turn by transmission device 86 It is dynamic.That is, jacking rotating device 8 drives the activity upwards of rack 1, and make the first roller 21 and second tin roller 22 and matrix After surface is detached from cooperation, rotary electric machine 85 can drive connecting shaft rotation by transmission device 86, and connecting shaft rotation can make Chassis 82 rotates, and chassis 82 can make trowelling machine device people 100 rotate around the axis on chassis 82 in the course of rotation, So as to change the direction of travel of the first roller 21 and second tin roller 22.

Optionally, transmission device 86 include first pulley 861, the second belt wheel 862 and conveyer belt, first pulley 861 with turn The dynamic transmission of motor 85 is connected, and the second belt wheel 862 is set in the outside of connecting shaft, and transmission belt is set in first pulley 861 and second On belt wheel 862.Rotary electric machine 85 can drive first pulley 861 to rotate as a result, pass through first pulley 861 and the second belt wheel 862 Between conveyer belt, the second belt wheel 862 can be made to rotate, the second belt wheel 862 rotation connecting shaft can be driven to rotate, from And chassis 82 can be made to rotate.

The structure and work of the jacking rotating device 8 of a specific embodiment of the invention are described below according to Fig. 1-Fig. 3 Process.

As shown in Figure 1-Figure 3, jacking rotating device 8 includes jacking motor 81, chassis 82, the first connecting shaft 831, chassis peace Fill bracket 84, the second connecting shaft 832, rotary electric machine 85, first pulley 861, the second belt wheel 862 and conveyer belt.

Specifically, jacking motor 81 is mounted in rack 1, and one end of the first connecting shaft 831 can match with jacking motor 81 It closes, the other end of the first connecting shaft 831 can cooperate with chassis mounting bracket 84, and first can be passed through by jacking motor 81 as a result, Connecting shaft 831 drives chassis mounting bracket 84, and chassis mounting bracket 84 is lived in the up-down direction relative to rack 1 It is dynamic.

Rotary electric machine 85 is mounted in chassis mounting bracket 84, and one end of the second connecting shaft 832 is rotatably engaged the bottom of at In disk mounting bracket 84, the other end of the second connecting shaft 832 is fixedly connected with chassis 82, and 861 housing of first pulley is in rotation electricity On the output shaft of machine 85, for 862 housing of the second belt wheel in the second connecting shaft 832, conveyer belt is located at first pulley 861 and the second band Between wheel 862, and housing, in first pulley 861 and the second belt wheel 862, rotary electric machine 85 can drive 82 turns of chassis as a result, It is dynamic.When chassis 82 is abutted with matrix surface, chassis 82 can be remained stationary relative to matrix surface, so that the second belt wheel 862 do not rotate, and as a result, when rotary electric machine 85 drives first pulley 861 to rotate, first pulley 861 can pass through Transmission belt rotates around the second belt wheel 862, i.e., first pulley 861 can be rotated around the axis of the second belt wheel 862, thus Rotary electric machine 85, chassis mounting bracket 84 is allowed to be rotated around the axis of the second belt wheel 862, and then can to push up Lifting motor 81 and bracket can be rotated around the axis of the second belt wheel 862, finally allowed and smoothed out robot 100 around second The axis of belt wheel 862 rotates.Wherein, as shown in Figure 1-Figure 3, the axis collinear of the axis of the second belt wheel 862 and chassis 82, by This, smoothing out robot 100 can rotate around the axis on chassis 82.

Other compositions according to an embodiment of the present invention for smoothing out robot 100 and operation are for ordinary skill people Member for be all it is known, be not detailed herein.

In the description of this specification, the description of reference term " embodiment ", " example " etc. mean combine the embodiment or Example particular features, structures, materials, or characteristics described are included at least one embodiment or example of the invention.At this In specification, schematic expression of the above terms be may not refer to the same embodiment or example.Moreover, description is specific Feature, structure, material or feature can be combined in any suitable manner in any one or more of the embodiments or examples.

Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this The range of invention is defined by the claims and their equivalents.