阅读说明：本技术 抹平机器人的补浆装置及抹平机器人 (Slurry supplementing device of trowelling robot and trowelling robot ) 是由 邓福海 叶育兴 张跃 吴荣严 郑英硕 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的补浆装置及抹平机器人,补浆装置包括：蓄浆箱,蓄浆箱内形成有容纳腔,蓄浆箱上设有与容纳腔连通的入口和出口,入口用于添加浆料,出口用于排浆；排浆齿轮,排浆齿轮位于容纳腔内且转动连接在蓄浆箱上,排浆齿轮上沿周向设有多个间隔开的齿槽,齿槽适于容纳浆料；补浆驱动件,补浆驱动件设在蓄浆箱上,补浆驱动件与排浆齿轮相连；其中,补浆驱动件驱动排浆齿轮转动,将浆料从出口排出。本发明通过设置补浆驱动件驱动排浆齿轮转动,能够实现浆料均匀、定量且可控的排出,为抹平机器人带来更好的补浆效果,有利于抹平机器人施工作业。(The invention discloses a slurry replenishing device of a trowelling robot and the trowelling robot, wherein the slurry replenishing device comprises: the slurry storage tank is internally provided with an accommodating cavity, the slurry storage tank is provided with an inlet and an outlet which are communicated with the accommodating cavity, the inlet is used for adding slurry, and the outlet is used for discharging slurry; the slurry discharging gear is positioned in the accommodating cavity and is rotationally connected to the slurry storage box, a plurality of spaced tooth sockets are arranged on the slurry discharging gear along the circumferential direction, and the tooth sockets are suitable for accommodating slurry; the slurry replenishing driving part is arranged on the slurry storage box and is connected with the slurry discharge gear; wherein, mend thick liquid driving piece drive thick liquid gear rotation, discharge thick liquids from the export. According to the invention, the slurry supplementing driving piece is arranged to drive the slurry discharging gear to rotate, so that slurry can be uniformly, quantitatively and controllably discharged, a better slurry supplementing effect is brought to the trowelling robot, and the trowelling robot is favorable for construction operation.)

1. the utility model provides a floating robot's benefit thick liquid device which characterized in that includes:

The slurry storage tank is internally provided with an accommodating cavity, the slurry storage tank is provided with an inlet and an outlet which are communicated with the accommodating cavity, the inlet is used for adding slurry, and the outlet is used for discharging slurry;

the slurry discharging gear is positioned in the accommodating cavity and is rotationally connected to the slurry storage box, a plurality of spaced tooth grooves are formed in the slurry discharging gear along the circumferential direction, and the tooth grooves are suitable for accommodating slurry;

The slurry supplementing driving part is arranged on the slurry storage box and is connected with the slurry discharge gear; the slurry supplementing driving piece drives the slurry discharging gear to rotate, and slurry is discharged from the outlet.

2. The device of claim 1, wherein the slurry storage tank comprises:

An upper case on which the inlet is formed;

A middle box body;

The slurry discharging gear is arranged on the lower box body, and the outlet is formed in the lower box body; the upper box body, the middle box body and the lower box body are sequentially connected and form the containing cavity.

3. the slurry supplementing device of the trowelling robot according to claim 2, wherein a cylindrical cavity protruding outwards is formed in the accommodating cavity of the middle box body, and the slurry discharge gear is matched in the cylindrical cavity, so that the slurry discharge gear blocks slurry from flowing out when the slurry discharge gear does not rotate and drives the slurry to be discharged when the slurry discharge gear rotates.

4. The slurry replenishing device of the trowelling robot according to claim 3, wherein a conical cavity between the inlet and the cylindrical cavity is formed on the accommodating cavity of the middle box body.

5. The device of claim 2, wherein the slurry discharge gear comprises:

The transmission shaft is rotatably connected to the lower box body;

The axial blades are arranged on the transmission shaft in an equally-spaced mode, and the tooth grooves are formed by surrounding the adjacent two axial blades and the transmission shaft.

6. The slurry replenishing device of the trowelling robot according to claim 5, wherein the slurry replenishing driving member is a driving motor, the driving motor is disposed on the lower box body, and the transmission shaft is connected with the driving motor to transmit the output torque of the driving motor.

7. The slurry supplementing device of the trowelling robot according to claim 6, wherein a speed reducer is arranged between the driving motor and the transmission shaft, an input end of the speed reducer is connected with an output shaft of the driving motor, an output end of the speed reducer is connected with a shaft end of the transmission shaft, the speed reducer is connected with a fixing plate, and the fixing plate is arranged on the lower box body.

8. The slurry replenishing device of the trowelling robot according to claim 2, wherein the outlet is provided at the bottom or the side of the lower box; when the outlet is arranged at the bottom of the lower box body, the width of the opening of the outlet from top to bottom is gradually reduced.

9. A troweling robot, characterized by comprising:

the rack comprises a bottom frame and a mounting plate, and the mounting plate is connected to the bottom frame;

The travelling device comprises a roller and a driving part, the roller is rotatably arranged at the bottom of the underframe, and the driving part is arranged on the mounting plate and connected with the roller so as to drive the roller to rotate;

The steering device is arranged in the center of the rack so as to steer the rack;

grout feeding device of the trowelling robot according to any one of claims 1 to 8.

10. The troweling robot according to claim 9, further comprising a vibrating device provided on the base frame so that the drum can vibrate up and down with the base frame.

Technical Field

The invention relates to the technical field of construction equipment, in particular to a slurry supplementing device of a trowelling robot and the trowelling robot.

Background

At present, the trowelling robot is often used during concrete ground construction operation, and the existing trowelling robot does not have a grout supplementing function, so that the trowelling robot is caused to perform construction operation, grout cannot be supplemented in time, and the construction efficiency of the trowelling robot is greatly influenced. In addition, the existing trowelling robot does not have the functions of steering, slurry lifting and slurry supplementing, the whole functionality of the robot is poor, the automation degree is low, and the robot is not beneficial to ground construction operation.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a slurry replenishing device of a floating robot, which aims to solve the problem that the existing floating robot does not have a slurry replenishing function and cannot replenish slurry in time.

The invention also aims to provide a floating robot, and the slurry replenishing device of the floating robot is applied.

according to the embodiment of the invention, the slurry replenishing device of the floating robot comprises: the slurry storage tank is internally provided with an accommodating cavity, the slurry storage tank is provided with an inlet and an outlet which are communicated with the accommodating cavity, the inlet is used for adding slurry, and the outlet is used for discharging slurry; the slurry discharging gear is positioned in the accommodating cavity and is rotationally connected to the slurry storage box, a plurality of spaced tooth grooves are formed in the slurry discharging gear along the circumferential direction, and the tooth grooves are suitable for accommodating slurry; the slurry supplementing driving part is arranged on the slurry storage box and is connected with the slurry discharge gear; the slurry supplementing driving piece drives the slurry discharging gear to rotate, and slurry is discharged from the outlet.

According to the slurry supplementing device of the trowelling robot, the slurry supplementing driving piece is arranged to drive the slurry discharging gear to rotate, so that slurry can be uniformly, quantitatively and controllably discharged, a better slurry supplementing effect is brought to the trowelling robot, and construction operation of the trowelling robot is facilitated.

In some embodiments, the slurry storage tank comprises: an upper case on which the inlet is formed; a middle box body; the slurry discharging gear is arranged on the lower box body, and the outlet is formed in the lower box body; the upper box body, the middle box body and the lower box body are sequentially connected and form the containing cavity.

Preferably, a cylindrical cavity protruding towards the outer side is formed in the accommodating cavity of the middle box body, and the slurry discharging gear is matched in the cylindrical cavity, so that the slurry discharging gear blocks slurry to flow out when not rotating and drives the slurry to be discharged when rotating.

Preferably, a conical cavity located between the inlet and the cylindrical cavity is formed in the accommodating cavity of the middle box body.

In some embodiments, the pitch gear comprises: the transmission shaft is rotatably connected to the lower box body; the axial blades are arranged on the transmission shaft in an equally-spaced mode, and the tooth grooves are formed by surrounding the adjacent two axial blades and the transmission shaft.

Preferably, the slurry supplementing driving part is a driving motor, the driving motor is arranged on the lower box body, and the transmission shaft is connected with the driving motor so as to transmit the output torque of the driving motor.

Preferably, a speed reducer is arranged between the driving motor and the transmission shaft, the input end of the speed reducer is connected with the output shaft of the driving motor, the output end of the speed reducer is connected with the shaft end of the transmission shaft, the speed reducer is connected with a fixing plate, and the fixing plate is fixed on the lower box body.

In some embodiments, the outlet is provided at the bottom or the side of the lower case; when the outlet is arranged at the bottom of the lower box body, the width of the opening of the outlet from top to bottom is gradually reduced.

A troweling robot according to an embodiment of the present invention includes: the rack comprises a bottom frame and a mounting plate, and the mounting plate is connected to the bottom frame; the travelling device comprises a roller and a driving part, the roller is rotatably arranged at the bottom of the underframe, and the driving part is arranged on the mounting plate and connected with the roller so as to drive the roller to rotate; the steering device is arranged in the center of the rack so as to steer the rack; and the slurry supplementing device is the slurry supplementing device of the floating robot.

according to the floating robot provided by the embodiment of the invention, the automatic grout supplementing operation in the construction process is realized by additionally arranging the grout supplementing device, the whole robot has the functions of floating, grout supplementing and steering, and is high in functionality, convenient to operate and use and beneficial to realizing full-automatic construction operation.

in some embodiments, the troweling robot further comprises a vibration device, and the vibration device is arranged on the underframe, so that the roller can vibrate up and down along with the underframe.

additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic perspective view of a slurry replenishing device according to an embodiment of the present invention;

FIG. 2 is a schematic view of the internal structure of a slurry replenishing device according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a slurry discharge gear according to an embodiment of the present invention;

FIG. 4 is a schematic perspective view of a grout-filling and trowelling robot according to an embodiment of the present invention;

FIG. 5 is a left side view of a grout filling and trowelling robot in an embodiment of the present invention;

FIG. 6 is a sectional view taken along line A-A of FIG. 5;

Fig. 7 is a schematic structural view of a lifting rod in an embodiment of the present invention.

Reference numerals:

a grout-supplementing and trowelling robot 100,

A frame 10,

A chassis 11, a mounting plate 12,

A traveling device 20,

A roller 21, a driving member 22, a flexible transmission mechanism 23, a first transmission wheel 231, a second transmission wheel 232, a flexible member 233, a driven roller 24, a first speed reducer 25,

A vibrating device 30,

A steering device 40,

A top plate 41,

jacking rod 42, connecting shaft 421, axial sliding groove 4211, sliding sleeve 422, top plate 423, connecting flange 424, bearing 425,

A rotating mechanism 43, a driving motor 431, a gear transmission component 432,

A lifting mechanism 44, a guide rod 45,

A slurry supplementing device 50,

An upper case 51a, a middle case 51b, a lower case 51c,

A slurry storage tank 51, an accommodation chamber 511, a cylindrical chamber 5111, a tapered chamber 5112, an inlet 512, an outlet 513,

The slurry discharging gear 52, a tooth groove 52a, a transmission shaft 521, an axial blade 522, a first bearing seat 523, a bearing seat fixing plate 524,

A slurry-supplementing driving piece 53, a speed reducer 54, a fixing plate 55,

Second bearing block 60, battery 70, electric cabinet 80, shaft coupling 90.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

in the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The grout replenishing device 50 of the troweling robot according to the embodiment of the present invention will be described below with reference to the accompanying drawings.

As shown in fig. 1 to 3, a grout replenishing device 50 of a troweling robot includes: slurry storage tank 51, slurry discharge gear 52 and slurry supplement driving piece 53.

An accommodating cavity 511 is formed in the slurry storage tank 51, an inlet 512 and an outlet 513 which are communicated with the accommodating cavity 511 are arranged on the slurry storage tank, the inlet 512 is used for adding slurry, and the outlet 513 is used for discharging slurry. The slurry enters the accommodating cavity 511 from the inlet 512 for storage, and when the robot works, the concrete slurry is discharged from the outlet 513 and falls onto a construction surface, and then the concrete surface is leveled by the walking of the robot.

the slurry discharge gear 52 is positioned in the accommodating cavity 511 and is rotatably connected to the slurry storage tank 51, and a plurality of spaced tooth grooves 52a are formed in the slurry discharge gear 52 along the circumferential direction, and the tooth grooves 52a are suitable for accommodating slurry. Therefore, the slurry in the receiving chamber 511 is placed in the corresponding tooth grooves 52a, and the quantitative distribution of the slurry is achieved.

The slurry supplementing driving piece 53 is arranged on the slurry storage box 51, and the slurry supplementing driving piece 53 is connected with the slurry discharge gear 52; the slurry supplementing driving member 53 drives the slurry discharging gear 52 to rotate, and the slurry is discharged from the outlet 513. For example, when the discharge gear 52 is not rotated, the discharge gear 52 obstructs the discharge of concrete slurry from the outlet 513, so that the slurry is always located in the accommodating chamber 511; when mending thick liquid driving piece 53 and drive thick liquid gear 52 and rotate, thick liquid gear 52 is rotatory and will hold the thick liquids in the chamber 511 and take out from export 513 through tooth's socket 52a, then spreads on the construction face, and this in-process makes thick liquids can be even, ration, controllable discharge to the realization is to mending the accurate control of thick liquid process.

According to the slurry supplementing device 50 of the trowelling robot, slurry can be uniformly, quantitatively and controllably discharged by arranging the slurry supplementing driving piece 53 to drive the slurry discharging gear 52 to rotate, so that a better slurry supplementing effect is brought to the trowelling robot, and the trowelling robot is beneficial to construction operation of the trowelling robot.

In some embodiments, as shown in fig. 1 and 2, the stock tank 51 includes: an upper case 51a, a middle case 51b, and a lower case 51 c. An inlet 512 is formed at the upper case 51a for adding concrete grout into the grout tank 51. The slurry discharging gear 52 is arranged on the lower box body 51c, so that the concrete slurry is positioned above the slurry discharging gear 52, and the slurry is discharged by the rotation of the concrete slurry along with the slurry discharging gear 52 under the action of gravity. An outlet 513 is formed in the lower case 51c, and the slurry can be discharged from the outlet 513 by gravity and fall onto a construction surface. The upper case 51a, the middle case 51b, and the lower case 51c are connected in sequence to form an accommodating chamber 511.

In some embodiments, the inlet 512 is provided at the top or side of the upper case 51 a. For example, as shown in fig. 2, the inlet 512 is disposed at the top of the upper box 51a, so that the storage amount of the slurry in the slurry storage box 51 can be conveniently observed from the inlet 512 at the top, and the slurry can be supplemented in time. For another example, the inlet 512 is provided at the side of the upper box 51a, so that the slurry splashed by the robot is blocked at the top of the upper box 51a during the vibration slurry lifting process or in a bumpy condition, thereby preventing the slurry from flying out of the slurry storage tank 51 and reducing the slurry loss.

preferably, as shown in fig. 2, a cylindrical cavity 5111 protruding outward is formed in the accommodating cavity 511 of the middle box 51b, the slurry discharge gear 52 is fitted in the cylindrical cavity 5111, and the cylindrical cavity 5111 forms a space required for the rotation of the slurry discharge gear 52, so that the slurry discharge gear 52 blocks the outflow of slurry when not rotating and drives the discharge of slurry when rotating.

Preferably, as shown in fig. 2, a tapered chamber 5112 is formed in the receiving chamber 511 of the middle case 51b between the inlet 512 and the cylindrical chamber 5111. The tapered cavity 5112 is configured such that the width of the upper end is larger and the width of the lower end is smaller, so that the pressure of the lower end of the slurry in the tapered cavity 5112 is larger, which is beneficial to driving the slurry to be discharged along with the slurry discharge gear 52.

In some embodiments, as shown in fig. 3, the discharge gear 52 includes: a drive shaft 521 and axial vanes 522. The transmission shaft 521 is rotatably connected to the lower box body 51 c; the plurality of axial blades 522 are arranged on the transmission shaft 521 in an equally spaced ring, and the tooth slot 52a is defined by two adjacent axial blades 522 and the transmission shaft 521. When the slurry storage tank 51 is filled with slurry, the slurry close to the slurry discharge gear 52 is filled between the two corresponding axial blades 522 (namely, the tooth grooves 52a), quantitative distribution of the slurry is realized, the slurry is always positioned between the two axial blades 522 when the transmission shaft 521 does not rotate, and the slurry moves to the bottom from the top of the cylindrical cavity 5111 along with the axial blades 522 when the transmission shaft 521 rotates, so that the slurry is uniformly discharged. Due to the action of the axial vanes 522 at different positions, the slurry can be separated into a plurality of parts, so that one part of the slurry is discharged and the other part of the slurry is blocked in the slurry storage tank 51, and the controlled discharge of the slurry is realized. In the particular example, the axial vanes 522 have a length equal to the axial length of the cylindrical chamber 5111 to provide uniform slurry discharge.

Preferably, the slurry replenishing driving part 53 is a driving motor, the driving motor is arranged on the lower box body 51c, and the transmission shaft 521 is connected with the driving motor so as to transmit the output torque of the driving motor. The driving motor drives the transmission shaft 521 to rotate, and then drives the plurality of axial blades 522 to rotate by taking the axis of the transmission shaft 521 as a rotation center, and the slurry supplementing device 50 can play a role in controlling the discharge capacity and speed of slurry by controlling the rotation speed of the driving motor in cooperation with the plurality of axial blades 522.

Preferably, as shown in fig. 1 and 3, both ends of the transmission shaft 521 are provided with first bearing seats 523, and the middle box body 51b is provided with a bearing seat fixing plate 524 connected to the first bearing seats 523, so as to achieve a good rotation effect of the transmission shaft 521 in the middle box body 51 b.

Preferably, as shown in fig. 1, a speed reducer 54 is disposed between the driving motor and the transmission shaft 521, an input end of the speed reducer 54 is connected to an output shaft of the driving motor, an output end of the speed reducer 54 is connected to an axial end of the transmission shaft 521, the speed reducer 54 is connected to a fixing plate 55, and the fixing plate 55 is fixed to the lower case 51 c. The speed reducer 54 can reduce the output rotation speed of the driving motor, so that the rotation angle of the transmission shaft 521 is accurately controlled, and the slurry discharge is accurately controlled.

in some embodiments, as shown in FIG. 2, the outlet 513 is provided at the bottom or side of the lower case 51 c. For example, an outlet 513 is provided at the bottom of the lower tank 51c, and the slurry is directly discharged from the outlet 513. For another example, the outlet is disposed at the side of the lower box 51c, so that the bottom wall of the lower box 51c can play a certain role in blocking, the dropping speed of the slurry is reduced, the slurry is smoothly dropped, and the effect of lifting the slurry for paving is achieved.

Specifically, when the outlet 513 is provided at the bottom of the lower case 51c, the opening width of the outlet 513 from top to bottom is gradually reduced. Because the width at the bottom of the outlet 513 is minimum, the slurry can be gathered on the outlet 513, the slurry reserve is sufficient and compact, the probability of gaps in the slurry is low, and the stable and uniform discharge of the outlet 513 is guaranteed.

As shown in fig. 4, a troweling robot 100 according to an embodiment of the present invention includes: the device comprises a frame 10, a walking device 20, a steering device 40 and a slurry replenishing device 50.

The frame 10 includes a base frame 11 and a mounting plate 12, the mounting plate 12 being attached to the base frame 11. The running gear 20 comprises a roller 21 and a driving member 22, the roller 21 is rotatably disposed at the bottom of the base frame 11, and the driving member 22 is disposed on the mounting plate 12 and connected to the roller 21 to drive the roller 21 to rotate. In the floating work, the robot travels on the construction surface by the rotation of the drum 21, and at the same time, the construction surface of the concrete is floated by the rotation of the drum 21. The steering device 40 is provided at the center of the frame 10 to steer the frame 10, thereby adjusting the direction of the robot. The slurry replenishing device 50 is the slurry replenishing device 50 of the troweling robot in the foregoing.

According to the floating robot 100 provided by the embodiment of the invention, the automatic grout supplementing operation in the construction process is realized by additionally arranging the grout supplementing device 50, the whole robot has the functions of floating, grout supplementing and steering, and is high in functionality, convenient to operate and use and beneficial to realizing full-automatic construction operation.

In some embodiments, the troweling robot 100 further includes a vibration device 30, and the vibration device 30 is provided on the base frame 11 so that the drum 21 can vibrate up and down with the base frame 11. When the roller 21 passes through the concrete surface, the roller 21 takes out the cement paste through vibration and accumulates the cement paste on the surface of the concrete base layer, so that the robot has a paste lifting effect in the walking process.

In some embodiments, as shown in fig. 4 and 5, the roller 21 includes a first roller 211 and a second roller 212, and a flexible transmission mechanism 23 is disposed between the first roller 211 and the driving member 22 and between the second roller 212 and the driving member 22 to drive the first roller 211 and the second roller 212 to rotate synchronously. One driving member 22 is connected with the first roller 211 and the second roller 212 through two flexible transmission mechanisms 23, so that the rotating speeds of the first roller 211 and the second roller 212 can be ensured to be equal, and the realized control precision is higher and the controllability is stronger. The driving pieces 22 are small in number, so that the whole structure is simple, and cost saving is facilitated.

Preferably, as shown in fig. 4 and 5, the flexible transmission mechanism 23 includes: a first driving wheel 231, a second driving wheel 232 and a flexible part 233. The first driving wheel 231 is provided on the output shaft of the driving member 22; the second transmission wheel 232 is arranged at the shaft end of the first roller 211 or the second roller 212; the flexible member 233 is sleeved on the first driving wheel 231 and the second driving wheel 232; for example, when the driving member 22 is a servo motor, the servo motor drives the first driving wheel 231 on the shaft to rotate, and the power is transmitted to the second driving wheel 232 through the flexible member 233, so as to finally drive the roller 21 to rotate. The roller 21 is driven to rotate in such a way, the structure is simple, and the transmission is stable.

wherein, the first driving wheel 231 and the second driving wheel 232 are any one of a belt wheel, a chain wheel and a rope wheel; the flexible member 233 is any one of a corresponding transmission belt, a transmission chain, and a transmission rope. For example, when the first transmission wheel 231, the second transmission wheel 232 and the flexible member 233 are formed as a belt transmission, the structure is simple, the transmission is smooth, the vibration absorption can be buffered, and the damage of the vibration to the driving member 22 can be reduced. When the first driving wheel 231, the second driving wheel 232 and the flexible part 233 form a chain transmission, the structure has no elastic sliding and slipping phenomena, so that the transmission ratio is accurate and the work is more reliable. When the first driving wheel 231, the second driving wheel 232 and the flexible part 233 form rope driving, the structure is simple, and cost saving is facilitated.

In some embodiments, the drive 22 may be a servo motor, thereby providing precise rotation of the drum 21.

In some embodiments, as shown in fig. 4, the servo motor is connected to the first decelerator 25 through the coupling 90, and the flexible transmission mechanism 23 and the servo motor are connected to each other through the first decelerator 25. The first speed reducer 25 plays a role in adjusting the rotating speed of the servo motor, so that the controllability of the walking process is stronger.

In some embodiments, as shown in fig. 4 and 5, the running gear 20 further includes a driven roller 24, and the driven roller 24 is disposed on the chassis 11 between the first roller 211 and the second roller 212. For example, when the span between two adjacent rollers 21 is large, the load on each roller 21 is relatively large due to the gravity of the frame 10, the driven roller 24 is added to assist walking, the contact surface between the walking device 20 and the construction surface is increased, the load on the rollers 21 can be reduced, and the walking stability of the robot is improved.

In a specific example, as shown in fig. 4 and 5, the shaft ends of the roller 21 and the driven roller 24 are provided with second bearing seats 60, and the second bearing seats 60 are fixed on the chassis 11 to realize the rotation of the roller 21 and the driven roller 24 on the chassis 11.

In some embodiments, as shown in fig. 4 and 6, the steering device 40 includes a top plate 41, a lifting rod 42, a rotating mechanism 43, and a lifting mechanism 44, wherein the top plate 41 is located above the mounting plate 12, the lifting rod 42 passes through the mounting plate 12 and is rotatably disposed on the top plate 41, the rotating mechanism 43 is disposed on the mounting plate 12, the lifting rod 42 is disposed on an output end of the rotating mechanism 43 in a manner of moving up and down, one end of the lifting mechanism 44 is connected to the mounting plate 12, and the other end is connected to the top plate 41. Wherein the lifting rod 42 can be lifted and lowered between a first position and a second position relative to the top plate 41, when the lifting rod 42 is in the first position, the lifting rod is in contact with the ground, and the rotating mechanism 43 drives the top plate 41 and the frame 10 to rotate relative to the lifting rod 42. The steering device 40 enables the robot to steer in situ by 360 degrees, the effect of zero turning radius is achieved, the operation coverage rate of the robot can be greatly improved, the steering of the robot is simpler, the flexibility is higher, and the full-automatic operation can be realized.

In some embodiments, the rotating mechanism 43 includes a driving motor 431 and a gear assembly 432, and the gear assembly 432 includes at least an input gear (not shown) and an output gear (not shown), and the input gear is in driving connection with the driving motor 431. The driving motor 431 is fixed on the mounting plate 12, the input gear is connected to the output shaft of the driving motor 43, and the output gear is connected to the lifting rod 42, so that when the lifting rod 42 contacts the construction surface, the lifting rod 42 is static relative to the construction surface and does not rotate, and after the driving motor 431 is started, the driving motor 431 and the output gear rotate around the output gear and the lifting rod 42, thereby realizing the steering of the robot and adjusting the moving direction. In another example, as shown in fig. 6, the gear transmission assembly 432 may be a speed reducer, such as a hollow speed reducer, and the lifting rod 42 is connected to an output gear of the hollow speed reducer, so that the driving motor 431 and an input gear of the hollow speed reducer can be rotated around the output gear and the lifting rod 42 to achieve steering. In other examples, the driving motor 431 may be replaced with a rotary cylinder or a rotary cylinder, which can also function as a rotary drive and will not be described in detail herein.

Preferably, as shown in fig. 6 and 7, the lift pin 42 includes: connecting shaft 421, sliding sleeve 422, top plate 423. The connecting shaft 421 passes through an output gear of the gear transmission assembly 432, and an axial sliding groove 4211 is formed in the connecting shaft 421; the sliding sleeve 422 is in sliding fit with the connecting shaft 421, a limit projection (not shown) matched with the axial sliding groove 4211 is arranged in the sliding sleeve 422, and the sliding sleeve 422 is fixed on an output gear of the gear transmission assembly 432. In this way, the connection shaft 421 is matched with the sliding sleeve 422, so that the connection shaft 421 can move up and down relative to the sliding sleeve 422, the output gear of the gear transmission assembly 432 can be hollow, and the sliding sleeve 422 is fixed on the output gear of the gear transmission assembly 432, so that the connection shaft 421 can move up and down relative to the output gear of the gear transmission assembly 432, and the lifting rod 42 can be lifted and lowered under the driving of the lifting mechanism 44. The axial sliding groove 4211 is matched with the limit bump to enable the connecting shaft 421 and the sliding sleeve 422 to be fixed relatively in the circumferential direction, and the connecting shaft 421 and the sliding sleeve 422 do not rotate mutually, so that when the sliding sleeve 422 rotates, the sliding sleeve 422 is static relative to the construction surface along with the connecting shaft 421 and does not rotate, the output gear of the gear transmission assembly 432 does not rotate along with the sliding sleeve 422, and the driving motor 431 and the input gear of the gear transmission assembly 432 rotate around the connecting shaft 421. The top disc 423 is fixed on the connecting shaft 421 and located below the bottom frame 11, the top disc 423 rotates along with the connecting shaft 421, the contact area of the jacking rod 42 and the construction surface is increased by the top disc 423, static friction force is increased, and therefore the jacking rod 42 is enabled to be static relative to the construction surface and cannot rotate.

In a specific example, as shown in fig. 6, a connecting flange 424 is disposed between the connecting shaft 421 and the top plate 423, and the connecting shaft 421 and the top plate 423 are fixedly connected to each other through the connecting flange 424.

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

In some embodiments, as shown in fig. 7, the top disk 423 is circular, and the circular top disk 423 has no sharp edges and a larger area, thereby providing a larger static friction force and avoiding the damage to the construction surface due to the turning. Of course, in other examples, the top plate 423 may have other shapes, such as a square bar shape or a plurality of rows, which are not illustrated herein.

In some embodiments, the lifting mechanism 44 is at least one of an electric push rod, an air cylinder, and an oil cylinder, but other electric or hydraulic devices are also possible, and will not be described herein.

Preferably, as shown in fig. 6, the steering device 40 further includes a plurality of guide rods 45, one end of each of the plurality of guide rods 45 is fixed on the top plate 41, and the other end passes through the mounting plate 12, and the guide rods 45 can be used to provide guidance for the ascending and descending processes of the top plate 41, thereby further improving the stability and safety of the movement of the top plate 41. Linear bearings 451 are provided between the plurality of guide rods 45 and the mounting plate 12, whereby friction between the guide rods 45 and the mounting plate 12 can be reduced, facilitating relative movement between the guide rods 45 and the mounting plate 12.

In some embodiments, as shown in fig. 6, the vibration device 30 is a plurality of vibration motors, and the plurality of vibration motors are spaced apart from each other on both sides of the bottom frame 11 to vibrate the bottom frame 11 and the drum 21.

In some embodiments, as shown in fig. 1, a battery 70 and an electric control box 80 are provided on the chassis 11, the battery 70 provides electric power for the driving member 22, the rotating mechanism 43, the lifting mechanism 44, the vibrating device 30 and the slurry replenishing device 50, and in a specific example, the battery 70 may be a lithium battery, but may also be other types of batteries, which is not limited thereto and will not be described in detail here. The electric cabinet 80 is used for controlling the walking device 20, the vibration device 30, the steering device 40 and the slurry replenishing device 50 to work correspondingly.

specific embodiments of the present invention will be described below with reference to the accompanying drawings.

As shown in fig. 1 to 7, a troweling robot 100 includes: the device comprises a frame 10, a walking device 20, a vibration device 30, a steering device 40 and a slurry replenishing device 50.

The frame 10 includes a base frame 11 and a mounting plate 12, the mounting plate 12 being attached to the base frame 11.

The running gear 20 comprises a roller 21 and a driving member 22, the roller 21 is rotatably arranged at the bottom of the chassis 11, and the driving member 22 is arranged on the mounting plate 12 and connected with the roller 21. The roller 21 comprises a first roller 211 and a second roller 212, and flexible transmission mechanisms 23 are respectively arranged between the first roller 211 and the driving member 22 and between the second roller 212 and the driving member 22. The flexible transmission mechanism 23 includes a first transmission wheel 231, a second transmission wheel 232, and a flexible member 233. The first driving wheel 231 is provided on the output shaft of the driving member 22; the second transmission wheel 232 is arranged at the shaft end of the first roller 211 or the second roller 212; the flexible member 233 is fitted over the first driving wheel 231 and the second driving wheel 232. The first driving wheel 231 and the second driving wheel 232 are sprockets, and the flexible members 233 are corresponding driving chains. The servo motor is driven by the chain wheels to the two rollers 21, so that the rollers 21 can realize accurate walking.

The traveling device 20 further includes a driven roller 24, and the driven roller 24 is located between the first roller 211 and the second roller 212. The driving member 22 may be a servo motor, the servo motor is connected to the first speed reducer 25, and the servo motor is connected to the first speed reducer 25 through a coupling 90 to adjust the rotation speed of the servo motor and provide precise rotation of the drum 21.

The vibrating device 30 is arranged on the bottom frame 11, the vibrating devices 30 are two vibrating motors which are arranged on the left side and the right side of the bottom frame 11, and the vibrating motors stably provide vibration of the roller 21 along with the bottom frame 11, so that a pulp lifting effect is achieved. Secondly, can change different grade type cylinder 21 and adjust different amplitudes and the frequency of vibrating motor according to different situations, be applicable to multiple operating mode environment.

A steering device 40 is provided at the center of the frame 10 to steer the frame 10. The steering device 40 includes a top plate 41, a lifting rod 42, a rotating mechanism 43, and a lifting mechanism 44, wherein the top plate 41 is located above the mounting plate 12, the lifting rod 42 passes through the mounting plate 12 and is rotatably disposed on the top plate 41, the rotating mechanism 43 is disposed on the mounting plate 12, the lifting rod 42 is disposed on an output end of the rotating mechanism 43 in a vertically movable manner, one end of the lifting mechanism 44 is connected to the mounting plate 12, and the other end is connected to the top plate 41. The jack-up rod 42 includes: connecting shaft 421, sliding sleeve 422, top plate 423. The connecting shaft 421 passes through the output end of the gear transmission assembly 432, and an axial sliding groove 4211 is arranged on the connecting shaft 421; the sliding sleeve 422 is in sliding fit with the connecting shaft 421, a limit projection (not shown) matched with the axial sliding groove 4211 is arranged in the sliding sleeve 422, and the sliding sleeve 422 is fixed on the output end of the gear transmission assembly 432. A connecting flange 424 is arranged between the connecting shaft 421 and the top plate 423, a bearing 425 is arranged between the connecting shaft 421 and the top plate 41, and the top plate 423 is circular. The rotary mechanism 43 comprises a drive motor 431 and a gearing assembly 432, the input of which 432 is connected to the output shaft of the drive motor 431. The lifting mechanism 44 is an electric push rod, and the steering device 40 further includes two guide rods 45, one end of each of the two guide rods 45 is fixed on the top plate 41, and the other end passes through the mounting plate 12.

The slurry supplementing device 50 comprises a slurry storage tank 51, a slurry discharge gear 52 and a slurry supplementing driving piece 53. The slurry storage tank 51 is internally provided with a containing cavity 511, the slurry storage tank 51 is provided with an inlet 512 and an outlet 513 which are communicated with the containing cavity 511, the slurry discharge gear 52 is arranged in the containing cavity 511, and the slurry supplementing driving piece 53 is connected with the slurry discharge gear 52 so as to drive the slurry discharge gear 52 to rotate and then discharge slurry.

The stock tank 51 includes an upper tank 51a, a middle tank 51b, and a lower tank 51 c. The inlet 512 is formed at the top of the upper tank 51a, the outlet 513 is formed at the bottom of the lower tank 51c, the outlet 513 of the stock tank 51 is gradually reduced in opening width from top to bottom, and the discharge gear 52 is provided in the lower tank 51 c. A cylindrical cavity 5111 protruding outwards is formed on the accommodating cavity 511 of the middle box body 51b, the slurry discharge gear 52 is fitted in the cylindrical cavity 5111, and the cylindrical cavity 5111 forms a space required by the rotation of the slurry discharge gear 52, so that the slurry discharge gear 52 blocks the outflow of slurry when not rotating and drives the discharge of slurry when rotating. The receiving chamber 511 of the middle case 51b is formed with a tapered chamber 5112 between the inlet 512 and the cylindrical chamber 5111.

The paddle discharge gear 52 includes: a drive shaft 521 and axial vanes 522. The transmission shaft 521 is rotatably connected to the lower box body 51 c; the plurality of axial blades 522 are provided, and a ring having a plurality of axial blades 522 equally spaced is provided on the transmission shaft 521. The slurry supplementing driving part 53 is a driving motor, the driving motor is arranged on the lower box body 51c, and an output shaft of the driving motor is connected to any one shaft end of the transmission shaft 521. A speed reducer 54 is arranged between the driving motor and the transmission shaft 521, the speed reducer 54 is connected with a fixing plate 55, and the fixing plate 55 is fixed on the lower box body 51 c.

In addition, a battery 70 and an electric cabinet 80 are arranged on the chassis 11, and the battery 70 may be a lithium battery and supplies electric power to the driving member 22, the rotating mechanism 43, the lifting mechanism 44, the vibrating device 30 and the slurry replenishing device 50. The electric cabinet 80 is used for controlling the walking device 20, the vibration device 30, the steering device 40 and the slurry replenishing device 50 to work correspondingly.

In summary, the slurry replenishing and trowelling robot in the invention can walk by controlling the driving piece 22 to drive the roller 21; the driving motor 431 drives the frame 10 to rotate through the gear transmission assembly 432 to realize steering. The slurry supplementing device 50 reduces the speed and increases the torque by a motor through a speed reducer 54, and is linked with a slurry discharging gear 52 of the novel slurry discharging device, so that the slurry can be uniformly and controllably discharged. The slurry supplementing and floating robot provided by the embodiment of the invention comprises the following steps in working:

1. And manually adding a proper amount of grout into the grout storage box 51, starting a power supply, and starting the grout supplementing and trowelling robot to work.

2. The lift mechanism 44 retracts to lower its top plate 423 as required to plan the route. The jacking frame 10 carries out steering adjustment, the jacking disc 423 is lifted after the steering is finished, the frame 10 is lowered, the driving piece 22 works, the roller 21 is driven to move to a position where slurry is required to be supplemented, the slurry supplementing driving piece 53 is carried out according to the required condition, and the slurry discharging time, the slurry discharging speed and the slurry discharging amount are controlled to supplement slurry.

Compared with a trowelling machine on the market, the automatic slurry supplementing trowelling robot disclosed by the invention can mainly realize full-automatic control and an automatic slurry supplementing function, and has the advantages of good trowelling effect and high movement control precision due to a novel operation device, a novel movement and steering mode. Through the rotation technology of the unique lifting mode, the robot has the characteristics of higher flexibility, high operation coverage rate and full-automatic operation compared with a floating machine in the market.

The invention relates to a novel automatic grout-filling and trowelling robot, wherein part of the operation devices of the robot are combined with a walking device 20 to realize full-automatic trowelling and grout-filling. The slurry supplementing device 50 adopts 1 motor to drive a novel slurry discharging gear 52 through a speed reducer, so that slurry can be uniformly and controllably discharged. The displacement and speed of the pulp can be controlled by controlling the rotating speed of the motor. Running gear 20 is through utilizing vibrating motor transmission in cylinder 21 (multiple cylinder is removable) to make it at the in-process of walking, the walking precision is high, and the controllability is strong, can reach simultaneously and carry the function of starching and floating, and the novel plain noodles device in back can be strickleed off and the plain noodles function, and the device 40 that turns to of middle jacking can make this robot can 360 degrees pivot turn to, improves the operation coverage of this robot by a wide margin.

It should be noted that the present invention can be applied to various surface treatments, and the traveling device 20 and the steering device 40 can be applied to various working conditions that have high operation coverage rate and high movement precision and require grout replenishment.

Other configurations and operations of the grouser trowelling robot 100 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

in the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

while embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.