CN113431308B - Troweling robot - Google Patents

Abstract

The application provides a robot of polishing relates to construction robot technical field. The robot of polishing includes: a chassis and two spindles. The top end of each main shaft is provided with a universal connector which is rotatably connected with the chassis along the axial direction of the chassis, the bottom end of each main shaft is used for connecting the blade assembly, the two main shafts are respectively provided with a first reversing mechanism, and at least one main shaft is provided with a second reversing mechanism; the first reversing mechanism is connected with the chassis and used for driving the spindles to swing left and right, the second reversing mechanism is connected with the first reversing mechanism and used for driving the corresponding spindles to swing front and back, and the axes of the two spindles are arranged in the left and right direction. Can drive the robot translation of finishing, turn to and pivot through above-mentioned setting, the flexibility ratio of operation is high, and enables the robot of finishing and realize omnidirectional movement at the in-process of finishing, effectively improves its corner throughput to the operation face.

Description

Troweling robot

Technical Field

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

Background

The troweling robot is suitable for troweling cement ground after pouring, and the existing troweling robot has the defect of insufficient processing capacity of corners of a working face due to the fact that the structure is complex.

Disclosure of Invention

An object of the embodiments of the present application is to provide a troweling robot, which can improve the technical problem of insufficient processing capability of the working face corners.

In a first aspect, an embodiment of the present application provides a troweling robot, which includes: a chassis and two spindles.

Wherein, two main shafts set up along upper and lower direction respectively, the top of every main shaft be equipped with chassis rotatable coupling's universal joint ware, the bottom of every main shaft is used for connecting the blade subassembly.

The first reversing mechanism is connected with the chassis and used for driving the spindles to swing left and right, the second reversing mechanism is connected with the first reversing mechanism and used for driving the corresponding spindles to swing front and back, and the axes of the two spindles are arranged in the left and right direction.

In the implementation process, the two main shafts are arranged along the up-down direction, so that the first reversing mechanism is used for driving each main shaft to swing back and forth, the blade mechanism is inclined relative to the operation surface in the left-right direction and generates an inclination angle, the second reversing mechanism is used for driving each main shaft to swing left and right, the blade mechanism is inclined relative to the operation surface in the front-back direction and generates an inclination angle, and meanwhile, the first reversing mechanism and the second reversing mechanism are integrated together, so that the structure is effectively simplified, and the space occupied by the two main shafts below the chassis is reduced.

That is, because the top of main shaft is equipped with the universal joint ware rather than axial rotatable coupling with the chassis, consequently through the cooperation of two main shafts and first reversing mechanism and second reversing mechanism, the inclination direction of every blade subassembly and operation face, inclination angle and the rotational speed of blade subassembly, and then obtain different frictional force as the translation of drive troweling robot, turn to and each drive power of pivot rotation, not only the operating flexibility is high, but also can make troweling robot realize omnidirectional movement at the troweling in-process, effectively improve its throughput to the operation face corner.

In one possible embodiment, the first reversing mechanism includes a first swing bracket and a first tilt drive assembly.

The first swing bracket is connected with the chassis and configured to swing left and right, and the main shaft is connected with the first swing bracket and can swing synchronously.

The first inclination angle driving assembly is connected with the first swing support to drive the first swing support and drive the main shaft to swing left and right relative to the universal connector.

In the implementation process, the main shaft can independently swing left and right relative to the universal connector by matching the first swing bracket and the first inclination angle driving component.

In one possible embodiment, the second reversing mechanism includes a second swing frame and a second tilt drive assembly.

The second swing bracket is connected with the first swing bracket and is configured to swing back and forth, and the main shaft rotatably passes through the second swing bracket and can swing synchronously with the second swing bracket.

The second inclination angle driving assembly is connected with the second swing support to drive the second swing support and drive the main shaft to swing back and forth relative to the universal connector.

In the implementation process, the second swing support and the first swing support are integrated together, so that the structure is more compact, meanwhile, when the second swing support swings left and right, the second inclination angle driving assembly and the first swing support are integrated, the spindle is driven to swing left and right, and the second swing support can independently drive the spindle to independently swing front and back relative to the universal connector.

In a possible embodiment, the main shaft is connected to the second wobble carrier in an axially fixed and circumferentially rotatable manner.

In the implementation process, the stability between the second swing bracket and the main shaft is improved, and the adjustment accuracy is guaranteed.

In a possible implementation scheme, the main shaft provided with the first reversing mechanism and the second reversing mechanism swings left and right by taking the first axis as a shaft axis and swings back and forth by taking the second axis as a shaft axis, and the first axis and the second axis intersect on the same plane.

In the implementation process, the first axis and the second axis are constantly in the same horizontal plane in the swinging process due to the arrangement, and the motion decoupling of front-back swinging and left-right swinging in the motion process can be avoided to a certain extent.

In a possible embodiment, the main axis is arranged vertically at the intersection of the first axis and the second axis.

The arrangement can enable the axis of the main shaft to coincide with the intersection point of the first axis and the second axis at any time in the swinging process, further avoids the freedom decoupling of the front and back swinging and the left and right swinging in the moving process, not only reduces the difficulty of angle adjustment, but also can ensure the accuracy of angle adjustment.

In a possible embodiment, the first swing bracket comprises: the first support, second support and third support.

Wherein, the first bracket is connected with the chassis; the second support is provided with a first rotating shaft arranged along the front-back direction and a second rotating shaft arranged along the left-right direction, and the first rotating shaft is rotatably connected with the first support; the third support is rotatably connected with the second rotating shaft and is in transmission connection with the first inclination angle driving assembly so as to drive the second support to swing around the first rotating shaft.

In the implementation process, the second support is used for arranging the first rotating shaft and the second rotating shaft, so that the function of swinging the first swing support along the first rotating shaft can be realized, the function of swinging the second swing support along the second rotating shaft is also facilitated, the structure is compact, and the mutual interference during movement is avoided.

In a possible embodiment, the third support includes two fixing members spaced apart from each other in the left-right direction, the main shaft is located between the two fixing members, one end of each fixing member is connected to the second swing support, and the other end of each fixing member is rotatably connected to the second rotating shaft, and the second support is suspended above the second swing support.

In the above-mentioned realization process, the aforesaid sets up compact structure, utilizes unsettled setting to guarantee that the second support can not interfere with second swing support when the swing of first pivot, guarantees the smooth and easy nature of swing regulation, and the stability when two mountings simultaneously improve second swing support swing.

In one possible embodiment, the first pitch drive assembly comprises: a first driving mechanism and a first link mechanism.

The first driving mechanism is positioned on the side of the second bracket. The first connecting rod mechanism and the first driving mechanism are located on the same side of the second support, one end of the first connecting rod mechanism is connected with the side wall of the third support in the left-right direction, and the other end of the first connecting rod mechanism is connected with the first driving mechanism so as to switch the rotary motion of the first driving mechanism into driving force for driving the third support and driving the second support to swing left and right.

In the above-mentioned realization process, the utilization sets up first actuating mechanism in the side of second support to do not increase the height on chassis in vertical space, avoid the focus to increase the operation unstability that leads to, simultaneously, because the swing in-process, the edge of second support is the arc around the swing route of first pivot, consequently utilize first link mechanism can adjust the height of drive power in upper and lower direction in real time, in order to provide required drive power when swinging, simple structure and flexible operation.

In one possible embodiment, the second pitch drive assembly comprises: the fixing seat, the second driving mechanism and the second connecting rod mechanism.

The fixing seat is connected with the second bracket. The second driving mechanism is positioned on the side of the second swing bracket. The second connecting rod mechanism and the second driving mechanism are located on the same side of the second swing support, one end of the second connecting rod mechanism is connected with the side wall of the second swing support in the front-back direction, and the other end of the second connecting rod mechanism is connected with the second driving mechanism so as to switch the rotary motion of the second driving mechanism into a driving force for driving the second swing support to swing back and forth.

In the implementation process, the second driving mechanism is located on the side of the second swing support to reduce the vertical occupied space, so that the gravity center is reduced, the fixing seat is connected to the second support in a setting mode, the second driving mechanism can move synchronously along with the first swing support, and meanwhile, the effect of driving the second swing support to swing around the second axis can be achieved independently.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed 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 those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

FIG. 1 is an assembly view of a finishing robot;

FIG. 2 is a schematic view of a power mechanism;

FIG. 3 is a schematic view of the assembly of a spindle and blade arrangement with two degrees of freedom;

FIG. 4 is a schematic view of the assembly of a spindle and blade configuration with a single degree of freedom;

FIG. 5 is a schematic view of the assembly of the first swing frame and the second swing frame;

FIG. 6 is a schematic structural diagram of a first tilt driving assembly;

FIG. 7 is a schematic view of a second tilt driving assembly;

FIG. 8 shows the inclination directions and the stress conditions of the two spindles when the troweling robot moves forward;

fig. 9 shows the inclination directions and the stress conditions of the two main shafts when the troweling robot retreats;

FIG. 10 shows the inclination directions and the stress conditions of the two main shafts when the troweling robot turns right;

FIG. 11 shows the inclination directions and the stress conditions of the two main shafts when the troweling robot turns left;

FIG. 12 shows the inclination directions and the stress conditions of the two main shafts when the troweling robot moves to the right;

FIG. 13 shows the inclination directions and the stress conditions of the two spindles when the troweling robot moves left;

fig. 14 shows the inclination directions and the stress conditions of the two main shafts when the troweling robot performs troweling.

Icon: 10-a finishing robot; 100-a chassis; 101-a collision avoidance frame; 103-a mounting frame; 110-a power mechanism; 111-a first gear; 113-a second gear; 114-a third gear; 115-a main drive mechanism; 117-drive belt; 118-a tensioning member; 120-a main shaft; 121-a universal connector; 130-a blade assembly; 133-a spatula; 134-a linker arm; 140-a swabbing disc; 141-a snap-in part; 151-first swing mount; 1511-first bracket; 1513-second bracket; 1514-first axis of rotation; 1515-a second spindle; 1518-a fixing member; 153-a second swing bracket; 155-a first pitch drive assembly; 1551-a first drive mechanism; 1552-connecting piece; 1553-first link; 1554-a second link; 1555-third connecting rod; 1556-first axle pin; 1557-second axis pin; 156-a second pitch drive assembly; 1561-U-shaped fixing plate; 1562-fixed arm; 1564-a second drive mechanism; 1565-fourth link; 1566-fifth link; 1567-a sixth link; 1568-third axle pin; 1569-fourth axle pin.

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, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally placed when products of the application are used, and are only used for convenience of description and simplification of the description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. 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.

A troweling robot 10 has an X-axis direction, a Y-axis direction, and a Z-axis direction, wherein the X-axis direction is shown in the left-right direction, the Y-axis direction is shown in the front-back direction, and the Z-axis direction is shown in the up-down direction, wherein the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other.

Referring to fig. 1, the troweling robot 10 includes: chassis 100, power mechanism 110, two spindles 120, and two sets of blade assemblies 130.

The chassis 100 may be provided along its outer circumference with a collision prevention frame 101 for collision prevention to protect the troweling robot 10.

Referring to fig. 1 and fig. 2, the power mechanism 110 is disposed on the chassis 100, for example, on an upper surface of the chassis 100. The power mechanism 110 is in transmission connection with the two main shafts 120, and the power mechanism 110 drives the two main shafts 120 to synchronously and reversely rotate around respective axes.

As shown in fig. 1, the power mechanism 110 includes: a first gear 111, a second gear 113, a third gear 114, and a main drive mechanism 115.

The upper surface of the chassis 100 is provided with a mounting frame 103, the first gear 111, the second gear 113 and the third gear 114 are rotatably mounted in the mounting frame 103, and the first gear 111, the second gear 113 and the third gear 114 are substantially located on the same horizontal plane, wherein the first gear 111 is in transmission connection with one main shaft 120, the second gear 113 is in transmission connection with the other main shaft 120, and the second gear 113 is in meshing connection with the first gear 111; the third gear 114 is meshed with the second gear 113; the main driving mechanism 115 is disposed on the mounting frame 103 and is in transmission connection with the third gear 114, and is configured to drive the third gear 114 to rotate and drive the two main shafts 120 to synchronously and reversely rotate, for example, one main shaft 120 rotates clockwise, and the other main shaft 120 rotates counterclockwise.

In order to avoid the problem that the two spindles 120 have different rotation speeds due to the different tension of the belt 117, the power mechanism 110 further includes a tension member 118 corresponding to each spindle 120, each tension member 118 is fixed to the chassis 100 and used for adjusting the tension of the corresponding belt 117, and specifically, for example, the tension member 118 is an idler fixed to the chassis 100 and used for pressing the belt 117.

The two main shafts are respectively arranged along the up-down direction, and the axes of the two main shafts 120 are arranged along the left-right direction, that is, the two main shafts 120 are arranged on the chassis 100 at intervals along the left-right direction, that is, the plane formed by the two main shafts 120 is parallel to or coincident with the XZ plane, and the two main shafts 120 are symmetrically arranged along the power mechanism 110, so that the two main shafts 120 rotate stably.

Wherein, each main shaft 120 has opposite top and bottom ends, wherein the bottom end of the main shaft 120 is used for connecting the blade assembly 130, the top end of the main shaft 120 is provided with a universal connector 121 connected with the chassis 100, the universal connector 121 is, for example, a universal coupling, the universal connector 121 is rotatably connected with the chassis 100 in a manner of being capable of rotating along the axis thereof, thereby realizing that the main shaft 120 rotates around the axis thereof, and the main shaft 120 can synchronously swing back and forth and swing left and right with the universal connector 121 relative to the chassis 100.

The two spindles 120 are respectively provided with a first reversing mechanism, and at least one spindle 120 is provided with a second reversing mechanism, and the first reversing mechanism and the second reversing mechanism are both located below the chassis 100.

Referring to fig. 1, 3 and 4, in the present embodiment, as shown in fig. 3, the spindle 120 located at the left end of the chassis, of the two spindles 120, is provided with a second reversing mechanism having two degrees of freedom (respectively swinging back and forth around the X-axis and swinging left and right around the Y-axis), and as shown in fig. 4, the other spindle 120 is not provided with the second reversing mechanism and only has one degree of freedom of swinging left and right (swinging around the Y-axis).

The following description will be given only by taking the spindle 120 with two degrees of freedom as an example, and the description of the structure of the spindle 120 with one degree of freedom will be omitted.

The first reversing mechanism is connected with the chassis 100 and used for driving the main shaft 120 to swing left and right (swing around the Y axis), and the second reversing mechanism is connected with the first reversing mechanism and used for driving the main shaft 120 to swing back and forth (swing around the X axis).

Referring to fig. 3 and 5, the first reversing mechanism includes a first swing frame 151 and a first tilt driving assembly 155.

The first swing bracket 151 is connected to the base chassis 100 and configured to be able to swing left and right (swing about the Y axis), and the main shaft 120 is connected to the first swing bracket 151 and able to swing in synchronization. The first tilt driving assembly 155 is connected to the first swing frame 151 to drive the first swing frame 151 and drive the spindle 120 to swing left and right (about the Y axis) relative to the universal joint.

The second reversing mechanism includes a second swing bracket 153 and a second tilt drive assembly 156.

The second swing bracket 153 is connected to the first swing bracket 151 and configured to swing back and forth (around the X axis), and the main shaft 120 rotatably passes through the second swing bracket 153 and can swing synchronously with the second swing bracket 153, that is, the first swing bracket 151 is connected to the main shaft 120 through the second swing bracket 153. The second tilt driving assembly 156 is connected to the second swing bracket 153 to drive the second swing bracket 153 and drive the main shaft 120 to swing back and forth (around the X-axis) relative to the universal connector.

Since the main shaft 120 rotatably passes through the second swing bracket 153, the main shaft 120 can independently or simultaneously rotate and swing.

The main shaft 120 with two degrees of freedom (i.e., the main shaft 120 provided with the first direction changing mechanism and the second direction changing mechanism) swings left and right (swings around the Y axis) with the first axis as the axis, and swings back and forth (swings around the X axis) with the second axis as the axis.

The first axis and the second axis may have a certain height difference in the up-down direction, but under the above conditions, the main shaft 120 swings back and forth (swing around the X axis) and left and right (swing around the Y axis) to generate a certain interference, that is, the motions of the back and forth swing (swing around the X axis) and the left and right swing (swing around the Y axis) are decoupled.

Therefore, in the embodiment, the first axis and the second axis intersect and are located on the same plane, so that motion decoupling caused by the height difference between the first axis and the second axis is effectively avoided.

In some optional embodiments, the main shaft 120 may also be offset from the intersection point of the first axis and the second axis, and there is a problem of motion decoupling of the forward-backward swing (swing around the X axis) and the leftward-rightward swing (swing around the Y axis) during the swing process, and compared with this embodiment, when the same large swing angle is obtained, the main shaft 120 must be capable of generating a certain displacement or expansion and contraction in the up-down direction relative to the second swing bracket 153, that is, at this time, the main shaft 120 and the second swing bracket 153 can only be axially slidably and circumferentially rotatably connected, but even if so arranged, the problem of motion decoupling cannot be avoided.

In this embodiment, the main shaft 120 is vertically disposed at the intersection point of the first axis and the second axis. Therefore, the main shaft 120 is always coincided with the intersection point of the first axis and the second axis in the movement process, it should be noted that in the main shaft 120 on each side of the troweling robot 10, the main shaft 120 is coincided with the Z axis, the first axis is coincided with the Y axis, and the second axis is coincided with the X axis, so that the movement decoupling of the front-back swing (swing around the X axis) and the left-right swing (swing around the Y axis) of each main shaft 120 is avoided, the operation is simple, and the inclination angle of the blade assembly 130 can be accurately adjusted.

In this case, the main shaft 120 and the second swing bracket 153 may be axially fixed relative to each other, or may not be limited, and the motion coupling of the forward-backward swing (swing around the X axis) and the leftward-rightward swing (swing around the Y axis) is not affected.

In this embodiment, the main shaft 120 and the second swing bracket 153 are axially immovably and circumferentially rotatably connected, and the swing stability can be improved by fixing the main shaft 120 and the second swing bracket 153.

As shown in fig. 5, the first swing bracket 151 includes: a first bracket 1511, a second bracket 1513, and a third bracket.

Wherein the first bracket 1511 is connected with the chassis 100. The number of the first supports 1511 is two and the first supports 1511 are arranged at intervals in the front-rear direction, so that the stability can be improved due to the arrangement of the two first supports 1511, and the spindle 120 can be accommodated between the first supports 1511 while the spindle 120 is prevented from being interfered in the interval arrangement mode.

The second bracket 1513 is disposed around the spindle 120 with a gap therebetween, for example, the second bracket 1513 is annular or square frame-shaped, wherein the second bracket 1513 is provided with a first rotating shaft 1514 disposed along a front-back direction and a second rotating shaft 1515 disposed along a left-right direction, an axis of the first rotating shaft 1514 is the first axis, and an axis of the second rotating shaft 1515 is the second axis. The first rotating shaft 1514, the second rotating shaft 1515 and the second bracket 1513 may be integrally formed.

First rotating shaft 1514 is rotatably connected to first support 1511, for example first support 1511 is provided with a bearing cooperating with first rotating shaft 1514, and second support 1513 is rotatable about first rotating shaft 1514 by the cooperation of the bearing and first rotating shaft 1514.

The third bracket is rotatably coupled to the second shaft 1515, and the third bracket is drivingly coupled to the first tilt drive assembly 155 for driving the second bracket 1513 to oscillate about the first shaft 1514.

Optionally, the third bracket includes two fixing parts 1518 spaced apart from each other in the left-right direction, the spindle 120 is located between the two fixing parts 1518, one end of each fixing part 1518 is connected to the second swing bracket 153, and the other end of each fixing part 1518 may be provided with a bearing engaged with the second rotating shaft 1515, so as to achieve that one end of each fixing part 1518 away from the second swing bracket 153 is rotatably connected to the second rotating shaft 1515, and meanwhile, the second bracket 1513 may be suspended above the second swing bracket 153 due to the above arrangement.

The second swing bracket 153 is plate-shaped, for example.

The first tilt driving assembly 155 is connected to the first swing frame 151 to drive the first swing frame 151 and drive the spindle 120 to swing left and right (about the Y axis) relative to the universal joint 121.

As shown in fig. 3 and 6, the first tilt driving assembly 155 includes: a first drive mechanism 1551 and a first linkage.

The first driving mechanism 1551 is located at a side of the second support 1513, where the side is a side away from the second support 1513 in the left-right direction or the front-back direction, and the first driving mechanism 1551 is connected to the chassis 100 via a connection member 1552.

The first link mechanism and the first driving mechanism 1551 are located on the same side of the second support 1513, one end of the first link mechanism is connected to the side wall of the third support in the left-right direction, and the other end of the first link mechanism is connected to the first driving mechanism 1551, so that the rotational motion of the first driving mechanism 1551 is switched to a driving force for driving the third support and driving the second support 1513 to swing around the first rotating shaft 1514.

As shown in fig. 6, the first link mechanism is, for example, a three-link mechanism including a first link 1553, a second link 1554 and a third link 1555, wherein the first link 1553 is connected to the first driving mechanism 1551, one end of the second link 1554 is hinged to one end of the first link 1553 away from the first driving mechanism 1551 via a first shaft pin 1556, the other end is hinged to one end of the third link 1555 via a second shaft pin 1557, the second shaft pin 1557 and the first shaft pin 1556 are arranged in parallel and are both arranged in a front-rear direction, and one end of the third link 1555 away from the second link 1554 is fixedly connected to a side wall of the second bracket 1513 in a left-right direction.

As shown in fig. 3 and 7, the second tilt driving assembly 156 is connected to the second swing bracket 153 to drive the second swing bracket 153 and drive the spindle 120 to swing back and forth (around the X axis) relative to the universal joint 121.

The second pitch drive assembly 156 includes: a fixed seat, a second driving mechanism 1564, and a second linkage mechanism.

The fixing base is connected with a second bracket 1513.

In order to ensure the stability of the installation, optionally, the fixing base includes, for example, a U-shaped fixing plate 1561 and a fixing arm 1562 connected to each other, wherein the fixing arm 1562 extends in the front-rear direction, an opening of the U-shaped fixing plate 1561 is away from the fixing arm 1562, the U-shaped fixing plate 1561 is connected to both ends of the second bracket 1513 in the left-right direction, and one end of the U-shaped fixing plate 1561 away from the opening thereof is disposed outside the first bracket 1511 with a gap.

The second driving mechanism 1564 is located at a side of the second swing bracket 153. Wherein the second driving mechanism 1564 is connected with the fixed seat.

The second link mechanism and the second driving mechanism 1564 are located on the same side of the second swing bracket 153, one end of the second link mechanism is connected to the side wall of the second swing bracket 153 in the front-rear direction, and the other end is connected to the second driving mechanism 1564, so that the rotational motion of the second driving mechanism 1564 is switched to a driving force for driving the second swing bracket 153 to swing around the second axis.

The second link mechanism is also a three-link mechanism, and includes a fourth link 1565, a fifth link 1566, and a sixth link 1567, in which the fourth link 1565 is drivingly connected to the second drive mechanism 1564, one end of the fifth link 1566 is hinged to one end of the fourth link 1565 remote from the second drive mechanism 1564 via a third axis pin 1568, the other end is hinged to one end of the sixth link 1567 via a fourth axis pin 1569, the third axis pin 1568 and the fourth axis pin 1569 are both disposed in the left-right direction, and one end of the sixth link 1567 remote from the fifth link 1566 is fixedly connected to the side wall of the second swing bracket 153 in the front-rear direction.

Under the above setting conditions, when the blade assembly 130 needs to swing left and right (swing around the Y axis) to make either end of the blade assembly 130 contact with the ground and the other end of the blade assembly 130 separate from the ground, the first driving mechanism 1551 can be opened to provide power for the first link mechanism, the first link mechanism drives the third bracket to swing around the first rotating shaft 1514, and the third bracket is connected with the second swinging bracket 153, so the second swinging bracket 153 and the second inclination angle driving assembly 156 arranged on the second bracket 1513 can be driven to synchronously swing around the first rotating shaft 1514, and based on the existence of the universal connector 121, the swinging second swinging bracket 153 can drive the main shaft 120 to synchronously swing in the same direction relative to the chassis, so that the blade assembly 130 inclines relative to the ground in the left and right directions.

When the blade assembly 130 needs to swing back and forth (swing around the X axis) so that any end of the blade assembly 130 in the back and forth direction is in contact with the ground and the other end is separated from the ground, the second driving mechanism 1564 can be opened to provide power for the second link mechanism, because the second swing bracket 153 is fixedly connected with the third bracket and the third bracket is hinged to the second rotating shaft 1515, the second link mechanism can drive the second swing bracket 153 to swing around the second rotating shaft 1515 at the moment, and the swinging second swing bracket 153 can drive the main shaft 120 to synchronously swing in the same direction, so that the blade assembly 130 tilts relative to the ground in the back and forth direction.

It should be noted that the main driving mechanism 115, the first driving mechanism 1551 and the second driving mechanism 1564 may be dc servo motors connected to a right-angle speed reducer, and the chassis 100 may be provided with batteries for respectively supplying power to the main driving mechanism 115, the first driving mechanism 1551 and the second driving mechanism 1564, where the batteries may be lithium batteries, so as to provide a long endurance.

The number of the blade mechanisms is two, the two blade mechanisms respectively correspond to the two main shafts 120, and each blade mechanism is connected with the bottom end of the corresponding main shaft 120, so that the swing of the main shafts 120 drives the change of the inclination angle and the inclination direction of the two blade mechanisms relative to the ground.

Referring to fig. 1 and 3, each blade mechanism includes a central shaft connected to the corresponding main shaft 120, and a plurality of spatulas 133 arranged at intervals along the circumferential direction of the central shaft, each spatula 133 is provided with a connecting arm 134, wherein the spatula 133 can be fixedly connected to the main shaft 120 through the connecting arm 134, at this time, the inclination angle of each spatula 133 cannot be adjusted, or each spatula 133 can be connected to the central shaft in a manner of rotating around the axial direction of the connecting arm 134, so as to adjust the inclination angle of the spatula 133 according to actual requirements, which is not limited herein.

Optionally, the troweling robot 10 further includes a troweling plate 140 in one-to-one correspondence with the blade assembly 130, and the troweling plate 140 is detachably connected with the blade assembly 130 and is located at the bottom end of the blade assembly 130.

In this embodiment, the swabbing disc 140 is provided with a clamping portion 141, such as a clamping plate, and the clamping portion 141 and the upper surface of the swabbing disc 140 together form a clamping opening for matching with the edge of each spatula 133, that is, the swabbing disc 140 is clamped at the bottom end of the blade assembly 130. Through compatible plastering dish 140, can prolong the window period of finishing robot 10 on the scene, improve simultaneously and polish and carry thick liquid effect, realize two kinds of functions of plastering dish 140 trowelling, trowelling knife 133 trowelling. Specifically, for example, the troweling plate 140 is connected with the blade assembly, the contact area between the troweling robot 10 and the work surface is increased by the arrangement of the troweling plate 140, the pressure is reduced, the troweling robot 10 can effectively trowel the ground at the moment, the troweling plate 140 can be removed when the troweling robot needs to trowel subsequently, the troweling knife 133 directly contacts the work surface, the pressure of the troweling robot 10 on the work surface is increased, and the troweling effect is good.

Optionally, the troweling robot 10 further includes a navigation system (not shown), the navigation system has a controller, the controller is electrically connected to the main driving mechanism 115, the first driving mechanism 1551, and the second driving mechanism 1564, respectively, and further the troweling robot 10 can move along a preset path by controlling the rotation direction, the rotation speed, and the like of the main driving mechanism 115, the first driving mechanism 1551, and the second driving mechanism 1564, so as to effectively improve the corner processing capability of the working surface.

In an actual use process of the troweling robot 10 provided in this embodiment, the tilting directions and the stress conditions of the two main shafts 120 are respectively shown in fig. 8 to 14, wherein in fig. 8 to 14, the left sides are respectively schematic diagrams showing the tilting directions of the main shafts 120, the right sides are respectively stress diagrams corresponding to the two blade assemblies, wherein small circles in each blade assembly show the acting points of the blade assembly 130 and the working surface, and mark the conditions of the driving force F applied thereto. In fig. 11 to 13, since the blade assembly 130 corresponding to the main shaft 120 with one-directional degree of freedom is kept horizontal, the blade assembly 130 is uniformly stressed as a whole, and there is no driving force F for driving the troweling robot 10 to move or rotate, and fig. 14 can be obtained by the same method.

As shown in fig. 1 and 8, when the troweling robot 10 needs to move forward, the two main shafts 120 are distributed in a splayed shape in the left-right direction by the two first reversing mechanisms so that the two blade assemblies 130 are in contact with the ground only at the inner ends opposite to each other in the left-right direction, respectively, and at this time, the two blade assemblies 130 are controlled to rotate in the reverse direction, so that a driving force for moving the troweling robot 10 forward in the front-rear direction is generated.

As shown in fig. 1 and 9, when the troweling robot 10 needs to move backward, the two first reversing mechanisms drive the two spindles 120 to be arranged in an inverted-splayed shape in the left-right direction, so that the outer ends of the two blade assemblies 130, which are relatively far away from each other only in the left-right direction, are respectively in contact with the ground, and at this time, the two blade assemblies 130 rotate in opposite directions, so as to generate a driving force for moving the troweling robot 10 backward in the front-back direction.

As shown in fig. 1 and 10, when the troweling robot 10 needs to rotate to the right, the two main shafts 120 are driven to swing by the two first reversing mechanisms, so that the right end of each blade assembly 130 in the left-right direction is respectively contacted with the ground, and the left end is separated from the ground, at this time, because the two blade assemblies 130 rotate in opposite directions and the moment of the moment arm is different from the moment of the center of gravity, a driving force for the troweling robot 10 to rotate to the right is generated.

As shown in fig. 1 and 11, when the troweling robot 10 needs to rotate to the left, the operations different from the right rotation are only: the left ends of the blade assemblies 130 in the left-right direction are driven to contact the ground and the right ends are driven to separate from the ground by two first reversing mechanisms.

As shown in fig. 1 and 12, when the troweling robot 10 needs to traverse rightward, the blade assembly 130 corresponding to the main shaft 120 with one-directional degree of freedom is kept horizontal, and the main shaft with two-directional degree of freedom is driven by the second reversing mechanism provided in the main shaft to contact the rear end of the corresponding blade assembly 130 with the ground and separate the front end from the ground, and at this time, the two blade assemblies 130 rotate in opposite directions, thereby generating a driving force to cause the troweling robot 10 to traverse rightward.

As shown in fig. 1 and 13, when the troweling robot 10 needs to traverse leftward, the blade assembly 130 corresponding to the main shaft 120 having one-directional freedom degree is kept horizontal, and the main shaft having two-directional freedom degrees is driven by the second reversing mechanism provided therein such that the front end of the corresponding blade assembly 130 is in contact with the ground and the rear end is separated from the ground, and at this time, the two blade assemblies 130 rotate in opposite directions, thereby generating a driving force to cause the troweling robot 10 to traverse leftward.

Referring to fig. 14, when the movement is not required, only the troweling operation or the troweling operation is required, the first reversing mechanism and the second reversing mechanism do not work, so that the two blade assemblies 130 are horizontally arranged and fully contact with the ground, and meanwhile, the two blade assemblies 130 rotate in opposite directions.

In conclusion, the application provides a robot of polishing, with first reversing mechanism and the integration of second reversing mechanism together, effectively retrench the structure, reduce its shared space in chassis below, through the inclination direction of controlling every blade subassembly and operation face, inclination angle and the rotational speed of blade subassembly, obtain the drive power that drives the robot of polishing translation, turn to and pivot, the flexibility of operation is high, and enable the robot of polishing and can realize omnidirectional movement at the polishing in-process, effectively improve operation face corner throughput.

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 to the present application 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.

Claims (8)

1. A troweling robot, characterized by comprising:

a chassis;

the two main shafts are arranged along the up-down direction, the top end of each main shaft is provided with a universal connector which is rotatably connected with the chassis along the axial direction of the chassis, the bottom end of each main shaft is used for connecting a blade assembly, the two main shafts are respectively provided with a first reversing mechanism, at least one main shaft is provided with a second reversing mechanism, and the first reversing mechanism and the second reversing mechanism are both positioned below the chassis;

the first reversing mechanism is connected with the chassis and used for driving each main shaft to swing left and right, the second reversing mechanism is connected with the first reversing mechanism and used for driving the corresponding main shaft to swing front and back, and the axes of the two main shafts are arranged in the left and right direction;

the main shaft provided with the first reversing mechanism and the second reversing mechanism swings left and right by taking a first axis as an axis and swings back and forth by taking a second axis as the axis, the first axis and the second axis intersect on the same plane, and the main shaft is vertically arranged at the intersection point of the first axis and the second axis.

2. The troweling robot according to claim 1, wherein the first reversing mechanism comprises a first swing bracket and a first tilt angle driving assembly;

the first swing bracket is connected with the chassis and is configured to swing left and right, and the main shaft is connected with the first swing bracket and can swing synchronously;

the first inclination angle driving assembly is connected with the first swinging support to drive the first swinging support and drive the main shaft to swing left and right relative to the universal connector.

3. The troweling robot according to claim 2, wherein the second reversing mechanism comprises a second swing bracket and a second tilt angle driving assembly;

the second swing bracket is connected with the first swing bracket and is configured to swing back and forth, and the main shaft rotatably penetrates through the second swing bracket and can swing synchronously with the second swing bracket;

the second inclination angle driving assembly is connected with the second swing support to drive the second swing support and drive the spindle to swing back and forth relative to the universal connector.

4. The troweling robot according to claim 3, wherein the main shaft is axially immovably and circumferentially rotatably connected with the second swing bracket.

5. The troweling robot according to claim 3, characterized in that the first swing bracket includes:

the first bracket is connected with the chassis;

the second support is arranged around the main shaft, a gap is reserved between the second support and the main shaft, the second support is provided with a first rotating shaft arranged along the front-back direction and a second rotating shaft arranged along the left-right direction, and the first rotating shaft is rotatably connected with the first support; and

and the third support is in transmission connection with the first inclination angle driving assembly so as to drive the second support to swing around the first rotating shaft.

6. The troweling robot according to claim 5, wherein the third support comprises two fixing pieces arranged at intervals in the left-right direction, the main shaft is located between the two fixing pieces, one end of each fixing piece is connected with the second swing support, the other end of each fixing piece is rotatably connected with the second rotating shaft, and the second support is suspended above the second swing support.

7. The troweling robot according to claim 5, characterized in that the first tilt angle driving assembly includes:

the first driving mechanism is positioned on the side of the second bracket; and

and the first connecting rod mechanism and the first driving mechanism are positioned at the same side of the second support, one end of the first connecting rod mechanism is connected with the side wall of the third support in the left-right direction, and the other end of the first connecting rod mechanism is connected with the first driving mechanism so as to switch the rotary motion of the first driving mechanism into a driving force for driving the third support and driving the second support to swing left and right.

8. The troweling robot according to claim 5, characterized in that the second tilt angle driving assembly includes:

the fixed seat is connected with the second bracket;

the second driving mechanism is positioned on the side of the second swing bracket and connected with the fixed seat; and

and the second connecting rod mechanism and the second driving mechanism are positioned on the same side of the second swinging support, one end of the second connecting rod mechanism is connected with the side wall of the second swinging support in the front-back direction, and the other end of the second connecting rod mechanism is connected with the second driving mechanism so as to switch the rotary motion of the second driving mechanism into a driving force for driving the second swinging support to swing back and forth.

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