CN114382266A

CN114382266A - Floating robot

Info

Publication number: CN114382266A
Application number: CN202011141989.XA
Authority: CN
Inventors: 张跃; 吴维; 李土玉; 张福恩; 曲强; 贺志武
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-10-22
Filing date: 2020-10-22
Publication date: 2022-04-22

Abstract

The invention discloses a floating robot, comprising: a chassis; the floating device comprises a first driver and a floating executing mechanism, the floating executing mechanism is rotatably arranged on the case and movably connected with the case, the first driver is arranged on the case and connected with the floating executing mechanism to drive the floating executing mechanism to rotate, so that the floating executing mechanism is suitable for floating the surface to be leveled; the inclination angle adjusting device is arranged on the case and connected with the floating executing mechanism so as to adjust the inclination angle of the rotating axis of the floating executing mechanism relative to the reference direction, and the reference direction is vertical to the surface to be leveled; controlling means and gesture monitoring devices, controlling means and gesture monitoring devices all establish on quick-witted case, controlling means and gesture monitoring devices communication, gesture monitoring devices are used for monitoring floating robot's operation gesture, can carry out floating operation automatically, and floating operation area is big, can promote work efficiency, reduces workman working strength.

Description

Floating robot

Technical Field

The invention relates to the technical field of building construction, in particular to a floating robot.

Background

In the related art, with the rapid development of urban construction, the quality requirement on a concrete surface layer is higher and higher. Use hand-held type and driving formula smoothing machine to carry out the press polish to concrete ground and can accomplish smooth, closely knit wear surface, but because operation intensity of labour is big, long low during daily work, the efficiency of construction can not satisfy the construction demand on large tracts of land ground. And it is not suitable for the ground construction of large area, and the efficiency of construction is lower.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a floating robot, which can automatically perform floating operation, has a large floating operation area, can improve work efficiency, and can reduce work intensity of workers.

A troweling robot according to an embodiment of the present invention includes: a chassis; the floating device comprises a first driver and a floating executing mechanism, the floating executing mechanism is rotatably arranged on the case and movably connected with the case, the first driver is arranged on the case and connected with the floating executing mechanism to drive the floating executing mechanism to rotate, so that the floating executing mechanism is suitable for floating the surface to be leveled; the inclination angle adjusting device is arranged on the case and connected with the floating actuating mechanism so as to adjust the inclination angle of the rotating axis of the floating actuating mechanism relative to a reference direction, and the reference direction is vertical to the surface to be leveled; the control device and the gesture monitoring device are arranged on the case, the control device is communicated with the gesture monitoring device, the gesture monitoring device is used for monitoring the operation gesture of the floating robot, and the control device is used for controlling the inclination angle adjusting device to operate according to the operation gesture of the floating robot monitored by the gesture monitoring device so as to at least adjust the operation gesture of the floating robot.

According to the floating robot provided by the embodiment of the invention, the floating actuating mechanism can be used for carrying out efficient floating operation on the surface to be floated, the first driver can drive the floating actuating mechanism to carry out floating automatic floating operation on the surface to be floated, the action efficiency of the floating robot is improved, the angle of the floating actuating mechanism can be adjusted through the inclination angle adjusting device, multiple functions of advancing, retreating, steering or lateral moving of the floating robot are realized, the posture monitoring device can be used for effectively detecting the running posture of the floating robot, and the floating quality of the surface to be floated of the floating robot is ensured. And the floating robot can realize floating operation on the surface to be floated of the preset route according to the preset route, can realize unmanned operation, and can effectively reduce the working strength of workers while improving the working efficiency.

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

in some embodiments of the present invention, the leveling actuators are arranged at intervals, and each leveling actuator is connected to the tilt angle adjusting device.

In some embodiments of the present invention, the tilt angle adjusting device is a plurality of tilt angle adjusting devices, and each tilt angle adjusting device is connected with one floating actuating mechanism.

In some embodiments of the invention, the troweling robot further comprises: the navigation positioning device is communicated with the control device, the navigation positioning device is used for monitoring the current position of the floating robot, and the control device is also used for controlling the inclination angle adjusting device to operate according to the current position of the floating robot monitored by the navigation positioning device, so that the floating robot moves according to a preset path.

In some embodiments of the invention, the troweling apparatus further comprises: the chain transmission mechanism is connected with the floating execution mechanism to drive the floating execution mechanism to rotate; the first speed reducing mechanism is arranged between the first driver and the chain transmission mechanism so as to transmit the power of the first driver to the floating executing mechanism. In some embodiments of the present invention, the,

in some embodiments of the invention, the tilt angle adjusting device comprises: the first inclination angle adjusting device is used for adjusting the inclination angle of the rotation axis of the floating actuating mechanism in the first direction relative to the reference direction; and the second inclination angle adjusting device is used for adjusting the inclination angle of the rotation axis of the floating actuating mechanism relative to the reference direction in a second direction, the second direction is vertical to the first direction, and the second direction and the first direction are both vertical to the reference direction.

In some embodiments of the invention, the first reclining device comprises: the driving assembly is arranged on the case; the rotating piece is connected with the driving assembly so as to be driven by the driving assembly to rotate; the length end of the connecting rod is pivotally connected with the rotating piece and is arranged at intervals with the rotating axis of the rotating piece along the radial direction of the rotating piece; the driving rod extends along the first direction, one end of the driving rod is connected with the other end of the connecting rod in a pivoting mode, and the other end of the driving rod is connected with the floating executing mechanism in a pivoting mode.

In some embodiments of the invention, the drive assembly comprises: a second driver; the gear transmission mechanism is connected with the rotating piece to drive the rotating piece to rotate; a second reduction mechanism provided between the second driver and the gear transmission mechanism to transmit power of the second driver to the rotating member.

In some embodiments of the present invention, the second recliner mechanism is structurally identical to the first recliner mechanism.

In some embodiments of the present invention, two floating actuators are disposed at intervals along the first direction, two first tilt angle adjusting devices are disposed between the two floating actuators, each first tilt angle adjusting device is connected to one floating actuator, two second tilt angle adjusting devices are disposed, and each second tilt angle adjusting device is connected to one floating actuator and disposed on one side of the floating actuator in the second direction.

In some embodiments of the invention, the troweling robot further comprises: the caster wheel assembly supports the case and comprises caster wheels and adjusting parts, the adjusting parts are connected between the case and the caster wheels, the adjusting parts are used for at least adjusting the height of the caster wheels relative to the case, so that the caster wheels can move between a first height position and a second height position, wherein the caster wheels are positioned on the upper side of the bottom wall of the case, and the caster wheels are positioned on the lower side of the bottom wall of the case.

In some embodiments of the present invention, the adjusting component includes a first adjusting member, a second adjusting member and a locking member, the first adjusting member is connected to the chassis, the second adjusting member is connected to the caster and slidably or threadedly engaged with the first adjusting member to adjust the length of the adjusting component, and the locking member is used for locking the relative positions of the first adjusting member and the second adjusting member.

In some embodiments of the invention, the troweling robot further comprises: a guard rail disposed around the chassis and the troweling actuator.

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 troweling robot according to an embodiment of the present invention;

FIG. 2 is a side view of a troweling robot according to an embodiment of the present invention;

fig. 3 is a front view of a troweling robot according to an embodiment of the present invention.

Fig. 4 is a top view of a troweling robot according to an embodiment of the present invention;

fig. 5 is a top view of the internal structure of the case of the troweling robot according to the embodiment of the present invention;

fig. 6 is a front view of the internal structure of the housing of the troweling robot according to the embodiment of the present invention;

fig. 7 is a side view of the internal structure of the housing of the troweling robot according to the embodiment of the present invention;

fig. 8 is a plan view of a first inclination adjusting device of the troweling robot according to the embodiment of the present invention;

fig. 9 is a front view of a first inclination adjusting device of the troweling robot according to the embodiment of the present invention;

fig. 10 is a view of a second inclination adjusting device of the troweling robot according to the embodiment of the present invention;

fig. 11 is a front view of a caster assembly of the troweling robot according to the embodiment of the present invention;

FIG. 12 is a cross-sectional view taken along line A-A of FIG. 11;

fig. 13 is a top view of a caster assembly of the troweling robot according to the embodiment of the present invention;

fig. 14 is a schematic structural diagram of a troweling actuator of the troweling robot according to the embodiment of the present invention;

fig. 15 is a partial cross-sectional view of a troweling actuator of the troweling robot according to the embodiment of the present invention;

fig. 16 is a flowchart of the operation of the troweling robot according to the embodiment of the present invention.

Reference numerals:

a troweling robot 100;

a chassis 1; the bottom wall 11;

a leveling device 2; a first driver 21; a troweling actuator 22; a driven gear 221; a chain transmission mechanism 23; the first speed reducing mechanism 24; a tension sprocket 25; a main power double-layer sprocket 26;

a tilt angle adjusting device 3; a first tilt angle adjusting device 31; a second tilt angle adjusting device 32;

an attitude monitoring device 4;

a caster assembly 5; a caster 51; the adjustment member 52; a first adjuster 521; a second adjuster 522; a locking member 523;

a guard rail 6;

a drive assembly 10; a second driver 101; a gear transmission mechanism 102; a second reduction mechanism 103; a rotating member 20; a connecting rod 30; a drive lever 40; a universal joint 50.

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 "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. 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.

A troweling robot 100 according to an embodiment of the present invention is described below with reference to fig. 1 to 16.

A troweling robot 100 according to an embodiment of the present invention includes: the device comprises a case 1, a floating device 2, an inclination angle adjusting device 3, a control device (not shown in the figure) and an attitude monitoring device 4. The case 1 can provide a stable installation base for the installation of other structures, thereby ensuring the stable assembly of other structures.

As shown in fig. 1 to 4, the floating device 2 includes a first driver 21 and a floating actuator 22, and the floating device 2 can be arranged to achieve a fast floating operation on a surface to be floating, thereby improving the work efficiency.

Specifically, the floating executing mechanism 22 is rotatably disposed on the case 1 and movably connected to the case 1, and the first driver 21 is disposed on the case 1 and connected to the floating executing mechanism 22 to drive the floating executing mechanism 22 to rotate, so that the floating executing mechanism 22 is suitable for floating the ground to be leveled.

In other words, the floating executing mechanism 22 is rotatably disposed on the case 1, so that the floating operation can be performed on the surface to be floating through the rotation of the floating executing mechanism 22, and the floating executing mechanism 22 is connected with the first driver 21, so that the first driver 21 can drive the floating executing mechanism 22 to automatically and quickly perform the quick floating operation on the surface to be floating, thereby improving the working efficiency. And through the cooperation between first driver 21 and the floating actuating mechanism 22, can effectually realize floating robot 100 automatic to waiting to floating the automatic operation on the surface, reduce workman's working strength, promote the efficiency of floating the operation.

As shown in fig. 1 to 3, the tilt angle adjusting device 3 is disposed on the casing 1 and connected to the troweling actuator 22 to adjust an inclination angle of a rotation axis of the troweling actuator 22 with respect to a reference direction, which is perpendicular to a surface to be trowelled.

The angle adjustment of the troweling actuator 22 can be realized by the inclination angle adjusting device 3, so that the functions of the troweling robot 100 such as advancing, retreating, steering, or lateral shifting can be realized by adjusting the inclination angle of the troweling actuator 22 and matching with the rotation of the troweling actuator 22.

Specifically, the reference direction is perpendicular to the surface to be leveled, that is, if the surface to be leveled is a horizontal plane, the reference direction is a vertical direction, and the rotation axis of the leveling actuator 22 should coincide with the reference direction, that is, the direction of the rotation axis of the leveling actuator 22 is perpendicular to the surface to be leveled. Correspondingly, the inclination angle adjusting device 3 adjusts the included angle between the rotation axis and the reference direction, so as to form an included angle between the floating executing mechanism 22 and the surface to be leveled, and thus, through the rotation of the floating executing mechanism 22, the floating robot 100 can rotate on the surface to be leveled, that is, the steering of the floating robot 100 is realized.

The automatic operation of the floating robot 100 can be effectively realized through the floating executing mechanism 22, for example, the automatic floating operation of the floating robot 100 can be realized, and the floating executing mechanism 22 of the floating robot 100 can be matched with the inclination angle adjusting device 3 through the route setting of the floating operation performed on the floating robot 100 in advance, so that the floating robot 100 can walk according to the preset working route, and the automatic floating operation can be performed on the plane of the preset route, thereby effectively improving the automation degree of the floating operation of the floating robot 100.

In addition, the troweling robot 100 according to the embodiment of the present invention may further include a control device and an attitude monitoring device 4, both the control device and the attitude monitoring device 4 are disposed on the chassis 1, the control device is in communication with the attitude monitoring device 4, as shown in fig. 2 to 4, the attitude monitoring device 4 is configured to monitor an operation attitude of the troweling robot 100, and the control device is configured to control the inclination angle adjusting device 3 to operate according to the operation attitude of the troweling robot 100 monitored by the attitude monitoring device 4, so as to adjust at least the operation attitude of the troweling robot 100.

In other words, the posture monitoring device 4 can detect the posture of the floating robot 100 during the floating operation of the floating robot 100, so as to ensure that the floating robot 100 can perform high-quality floating on the surface to be floating, effectively prevent the floating robot 100 from generating unevenness when floating the surface to be floating, and control the inclination angle adjusting device 3 through the control device when the floating robot 100 floats on the uneven surface to be floating, so as to adjust the inclination angle between the floating robot 100 and the surface to be floating, realize the angle adjustment of the floating robot 100, and ensure the floating quality of the surface to be floating of the floating robot 100.

According to the floating robot 100 provided by the embodiment of the invention, the floating execution mechanism 22 can perform efficient floating operation on a surface to be floating, the first driver 21 can drive the floating execution mechanism 22 to perform floating automatic floating operation on the surface to be floating, so as to improve the action efficiency of the floating robot 100, the inclination angle adjusting device 3 can adjust the angle of the floating execution mechanism 22, so that multiple functions of forward movement, backward movement, steering, lateral movement and the like of the floating robot 100 are realized, the posture monitoring device 4 can effectively detect the operation posture of the floating robot 100, and the floating quality of the floating robot 100 on the surface to be floating is ensured. Moreover, the troweling robot 100 can perform troweling operation on a surface to be trowelled of a preset route according to the preset route, unmanned operation can be achieved, work efficiency is improved, and meanwhile work intensity of workers can be effectively reduced.

Further, as shown in fig. 1 to 4, the troweling actuators 22 are provided in a plurality and spaced, and each troweling actuator 22 is connected to the tilt angle adjusting device 3. By arranging the plurality of floating executing mechanisms 22, the floating operation range of the floating robot 100 can be effectively improved, meanwhile, through the matching among the plurality of floating executing mechanisms 22, the floating operation on the surface to be floating can be realized through the matching among the plurality of floating executing mechanisms 22, and the floating robot 100 can move forward, move backward or turn on the surface to be floating through the plurality of floating executing mechanisms 22.

Specifically, when the floating robot 100 needs to advance, the floating actuators 22 may be rotated in the same direction, so that the floating robot 100 can advance. Accordingly, when the trowelling robot 100 needs to move backward, the trowelling actuator 22 may be rotated in the opposite direction, so as to move backward the trowelling robot 100. When the troweling robot 100 needs to turn, the rotation speeds of the plurality of troweling actuators 22 may be different, for example, when two troweling actuators 22 are provided, the rotation speed of one troweling actuator 22 may be higher, and the rotation speed of the other troweling actuator 22 may be lower, so that the troweling robot 100 may rotate one side of the troweling actuator 22 having the higher rotation speed of the troweling robot 100 by using the troweling actuator 22 having the lower rotation speed as a rotation shaft, and the turning of the troweling robot 100 is realized.

It should be noted that, both the forward and backward directions of the troweling robot 100 are not limited, that is, when the troweling robot 100 is actually used, one of the directions is named as the forward direction, and the opposite running direction is the backward direction.

Furthermore, the tilt angle adjusting device 3 can adjust the tilt angle of the troweling actuator 22, the troweling actuator 22 may be multiple, the tilt angle adjusting device 3 may also be multiple, and each tilt angle adjusting device 3 is connected to one troweling actuator 22. As can be seen, the angle adjustment of each troweling actuator 22 can be performed simultaneously or individually by connecting the plurality of tilt angle adjusting devices 3 and the plurality of troweling actuators 22 in a one-to-one correspondence. Accordingly, the same angle or different angles may be used for the angular adjustment of the plurality of troweling actuators 22.

Accordingly, the posture of the troweling robot 100 can be adjusted more accurately by adjusting the angles of the plurality of troweling actuators 22.

The troweling robot of the embodiment of the present invention is not limited thereto, and the troweling robot 100 may further include: and a navigation positioning device. The navigation positioning device is communicated with the control device, the navigation positioning device is used for monitoring the current position of the floating robot 100, and the control device is also used for controlling the inclination angle adjusting device 3 to operate according to the current position of the floating robot 100 monitored by the navigation positioning device, so that the floating robot 100 moves according to a preset path.

As described above, in the troweling robot 100 according to the embodiment of the present invention, the inclination angle of the troweling actuator 22 can be adjusted by the inclination angle adjusting device 3, and thus the functions of advancing, retreating, steering, and the like of the troweling robot 100 can be realized by adjusting the inclination angles or the rotational speeds between the plurality of troweling actuators 22. Thereby also enabling the troweling robot 100 according to the embodiment of the present invention to perform troweling operations according to the preset route.

Correspondingly, through being equipped with navigation positioning device on the floating robot 100, can fix a position floating robot 100's position, when floating robot 100 carries out floating operation along predetermineeing the route, can detect floating robot 100's position in real time, prevent that floating robot 100's operating position from taking place the skew, can also realize floating robot 100's automation mechanized operations. That is, when the floating robot 100 deviates from the preset route, the navigation positioning device controls the inclination angle adjusting device 3 to operate through the control device, and controls the angle of the floating executing mechanism 22 through the inclination angle adjusting device 3 to adjust the operation route of the floating robot 100, so that the operation route of the floating robot 100 is more accurate.

As shown in fig. 5 to 7, the troweling apparatus 2 further includes: a chain transmission mechanism 23 and a first reduction mechanism 24. The chain transmission mechanism 23 is connected with the troweling actuator 22 to drive the troweling actuator 22 to rotate, and the first speed reduction mechanism 24 is arranged between the first driver 21 and the chain transmission mechanism 23 to transmit the power of the first driver 21 to the troweling actuator 22.

Specifically, as shown in fig. 5, the first driver 21 is connected to the first speed reduction mechanism 24 through the chain transmission mechanism 23, and the first speed reduction mechanism 24 is connected to the troweling actuator 22, so that the first driver 21 drives the first speed reduction mechanism 24 through the chain transmission mechanism 23, and further the troweling actuator 22 can be driven to rotate by the rotation of the first speed reduction mechanism 24. This allows the trowelling actuator 22 to be driven efficiently, while also facilitating the adjustment of the rotational speed of the trowelling actuator 22.

The troweling apparatus 2 further includes a tension sprocket 25, a main power double-layer sprocket 26. The main power double-layer sprocket 26 is connected to the first actuator 21 and rotated by the driving force of the first actuator 21, the tension sprocket 25 is located on the bottom wall 11 of the housing 1 and between the first actuator 21 and the first speed reducing mechanism 24, and the main power double-layer sprocket 26, the tension sprocket 25 and the speed reducing mechanism are connected by the chain transmission mechanism 23 to realize power transmission. Furthermore, a driven gear 221 is mounted on the troweling actuator 22, so that gear transmission can be realized between the troweling actuator 22 and the first speed reducing mechanism 24, and further, the troweling actuator 22 can be rotated by rotating the first driver 21.

As shown in fig. 8 to 10, the reclining device 3 includes: a first inclination angle adjusting device 31 and a second inclination angle adjusting device 32, the first inclination angle adjusting device 31 is used for adjusting the inclination angle of the rotation axis of the troweling actuator 22 in the first direction relative to the reference direction. The second inclination angle adjusting device 32 is used for adjusting the inclination angle of the rotation axis of the troweling actuator 22 in a second direction with respect to the reference direction, the second direction is perpendicular to the first direction, and both the second direction and the first direction are perpendicular to the reference direction.

Specifically, as described above, the reference direction is a direction perpendicular to the surface to be troweled, for example, if the surface to be troweled is a horizontal plane, the reference direction is a vertical direction, and the first inclination angle adjusting device 31 can adjust the inclination angle of the trowelling actuator 22 relative to the first inclination angle adjusting device 31, thereby achieving the angle adjustment of one direction of the trowelling actuator 22.

Accordingly, the second tilt angle adjustment device 32 may adjust the tilt angle of the troweling actuator 22 with respect to the reference direction, that is, the second tilt angle adjustment device 32 may adjust the angle of the troweling actuator 22 in the second direction.

Here, the first direction may be a left-right direction as shown in fig. 4, and the second direction may be a front-back direction as shown in fig. 4. Thus, it is possible to realize multi-directional adjustment of the troweling actuator 22, which facilitates diversity of angle adjustment of the troweling robot 100, and also facilitates multi-directional adjustment of the troweling robot 100.

As shown in fig. 8 to 10, the first reclining device 31 includes: a driving assembly 10, a rotation member 20, a connecting rod 30, and a driving rod 40. The driving assembly 10 is disposed on the chassis 1, and the driving assembly 10 can provide a driving force for the first tilt angle adjusting device 31. The rotation member 20 is connected to the driving assembly 10 to be rotated by the driving assembly 10. One end of the length of the connecting rod 30 is pivotally connected to the rotation member 20 and is spaced from the rotation axis of the rotation member 20 in the radial direction of the rotation member 20, that is, one end of the connecting rod 30 is connected to the rotation member 20 and one end of the connecting rod 30 is disposed at an eccentric position of the rotation member 20.

As shown in fig. 14 and 15, the driving lever 40 of the first reclining device 31 extends in the first direction, and one end of the length of the driving lever 40 is pivotally connected to the other end of the length of the connecting rod 30, and the other end of the driving lever 40 is pivotally connected to the troweling actuator 22. It can be understood that one end of the connecting rod 30 is rotatably connected to the rotating member 20, the other end of the connecting rod 30 is rotatably connected to the driving lever 40, and the driving lever 40 of the first reclining device 31 extends in a first direction, that is, the moving direction of the driving lever 40 is along the first direction, whereby the operation of the first reclining device 31 is: through drive assembly 10 provides drive power, makes rotation piece 20 rotate, can drive the connecting rod 30 motion of eccentric settings on it when rotation piece 20 rotates, connecting rod 30 is owing to eccentric settings on rotation piece 20 to can be along with the motion process of rotation piece 20, provide the motive force to actuating lever 40, make actuating lever 40 can promote trowelling actuating mechanism 22 in the first direction, thereby realize the regulation to the inclination of trowelling actuating mechanism 22 in the first direction.

Further, the driving assembly 10 includes: a second driver 101, a gear transmission mechanism 102 and a second speed reducing mechanism 103, as shown in fig. 8-10, the gear transmission mechanism 102 is connected with the rotating member 20 to drive the rotating member 20 to rotate. The second speed reduction mechanism 103 is provided between the second driver 101 and the gear transmission mechanism 102 to transmit the power of the second driver 101 to the rotation member 20.

Specifically, the second driver 101 is provided with a gear, the second speed reduction mechanism 103 is provided with a gear, and the two gears form the gear transmission mechanism 102, so that the driving force of the second driver 101 can be transmitted to the second speed reduction mechanism 103 through the gear transmission mechanism 102 and then transmitted to the rotating member 20. Therefore, the driving force of the second driver 101 can be converted through the arrangement of the second speed reducing mechanism 103, so that the rotating speed of the rotating part 20 can be accurately controlled, and the angle adjusting precision of the first inclination angle adjusting device 31 can be improved.

The second reclining device 32 according to an embodiment of the present invention has the same structure as the first reclining device 31. Therefore, the structure and operation principle of the second reclining device 32 will be described by taking fig. 8-10 as an example, and as shown in fig. 8-10, the second reclining device 32 includes: a driving assembly 10, a rotation member 20, a connecting rod 30, and a driving rod 40. The driving assembly 10 is disposed on the chassis 1, and the driving assembly 10 can provide a driving force for the second reclining device 32. The rotation member 20 is connected to the driving assembly 10 to be rotated by the driving assembly 10. One end of the length of the connecting rod 30 is pivotally connected to the rotation member 20 and is spaced from the rotation axis of the rotation member 20 in the radial direction of the rotation member 20, that is, one end of the connecting rod 30 is connected to the rotation member 20 and one end of the connecting rod 30 is disposed at an eccentric position of the rotation member 20.

As shown in fig. 14 and 15, the driving lever 40 of the second reclining device 32 extends in the second direction, and one end of the length of the driving lever 40 is pivotally connected to the other end of the length of the connecting rod 30, and the other end of the driving lever 40 is pivotally connected to the troweling actuator 22. It will be understood that one end of the connecting rod 30 is rotatably connected to the rotating member 20, the other end of the connecting rod 30 is rotatably connected to the driving lever 40, and the driving lever 40 of the second reclining device 32 extends in the second direction, i.e., the moving direction of the driving lever 40 is along the second direction, whereby the second reclining device 32 operates by: through drive assembly 10 provides drive power, makes rotation piece 20 rotate, can drive the connecting rod 30 motion of eccentric settings on it when rotation piece 20 rotates, connecting rod 30 is owing to eccentric settings on rotation piece 20 to can be along with the motion process of rotation piece 20, provide the motive force to actuating lever 40, make actuating lever 40 can promote trowelling actuating mechanism 22 in the second direction, thereby realize the regulation to the inclination of trowelling actuating mechanism 22 in the second direction.

Further, the driving assembly 10 in the second reclining device 32 includes: a second driver 101, a gear transmission mechanism 102 and a second speed reducing mechanism 103, as shown in fig. 8-10, the gear transmission mechanism 102 is connected with the rotating member 20 to drive the rotating member 20 to rotate. The second speed reduction mechanism 103 is provided between the second driver 101 and the gear transmission mechanism 102 to transmit the power of the second driver 101 to the rotation member 20.

Specifically, the second driver 101 is provided with a gear, the second speed reduction mechanism 103 is provided with a gear, and the two gears form the gear transmission mechanism 102, so that the driving force of the second driver 101 can be transmitted to the second speed reduction mechanism 103 through the gear transmission mechanism 102, and the second speed reduction mechanism 103 transmits the driving force to the rotating member 20. Therefore, the driving force of the second driver 101 can be converted through the arrangement of the second speed reducing mechanism 103, so that the rotating speed of the rotating part 20 can be accurately controlled, and the angle adjusting precision of the second inclination angle adjusting device 32 can be improved.

In the embodiment of the present invention, two floating actuators 22 are arranged at intervals along the first direction, two first tilt angle adjusting devices 31 are arranged between the two floating actuators 22, and each first tilt angle adjusting device 31 is connected with one floating actuator 22.

Specifically, the two troweling actuators 22 are spaced apart from each other in the first direction of the troweling robot 100, and the two troweling actuators 22 can more conveniently adjust the movement direction of the troweling robot 100. The number of the first inclination angle adjusting devices 31 is two, so that the two first inclination angle adjusting devices 31 can respectively adjust the inclination angles of the two floating executing mechanisms, and the diversity of the inclination angle adjustment of the floating executing mechanism 22 is improved.

Correspondingly, the number of the second tilt angle adjusting devices 323 is two, and each second tilt angle adjusting device 32 is connected to one leveling actuator 22 and is disposed on one side of the corresponding leveling actuator 22 in the second direction. The two second inclination angle adjusting devices 32 can respectively adjust the inclination angles of the two troweling actuating mechanisms 22 in the second direction, so that the diversity of inclination angle adjustment of the troweling actuating mechanisms 22 is improved.

The floating robot 100 according to the embodiment of the present invention further includes: caster assemblies 5, the caster assemblies 5 supporting the chassis 1 and comprising caster wheels 51 and adjustment members 52, the adjustment members 52 being connected between the chassis 1 and the caster wheels 51, and the adjustment members 52 being for adjusting at least the height of the caster wheels 51 relative to the chassis 1 so that the caster wheels 51 are movable between a first height position and a second height position.

That is, the caster assemblies 5 are provided on the cabinet 1 of the troweling robot 100, and the positions between the casters 51 and the adjustment members 52 in the caster assemblies 5 are adjustable, thereby achieving positional adjustment of the caster assemblies 5 with respect to the cabinet 1. The height of the housing 1 relative to the surface to be smoothed can then be adjusted by adjusting the position between the caster 51 and the adjusting element 52, i.e. by adjusting the position of the caster 51 between the first position and the second position.

Wherein, in the first height position, the caster 51 is located on the upper side of the bottom wall of the case 1, and in the second height position, the caster 51 is located on the lower side of the bottom wall of the case 1. That is, when the caster 51 is located at the first position, the caster 51 is higher than the bottom wall 11 of the housing 1, so that the troweling actuator 22 can be attached to the surface to be trowelled when the troweling robot 100 performs a troweling operation, for example.

When the caster 51 is located at the second height position, the caster 51 is lower than the bottom wall 11 of the chassis 1, that is, the caster assembly 5 raises the position of the chassis 1, so that the troweling actuator 22 is separated from the surface to be trowelled, that is, when the position of the troweling robot 100 needs to be transported, the position of the chassis 1 can be raised, and the position of the troweling robot 100 is moved by the caster assembly 5.

Further, as shown in fig. 11 to 12, the adjusting member 52 includes a first adjusting member 521, a second adjusting member 522 and a locking member 523, the first adjusting member 521 is connected to the cabinet 1, the second adjusting member 522 is connected to the caster 51 and slidably or threadedly engaged with the first adjusting member 521 to adjust the length of the adjusting member 52, and the locking member 523 is used for locking the relative positions of the first adjusting member 521 and the second adjusting member 522.

Specifically, the first adjusting member 521 is connected to the chassis 1, and may be used to stabilize the position of the entire caster assembly 5, the second adjusting member 522 may be in sliding fit or threaded fit with the first adjusting member 521, so as to achieve position adjustment between the second adjusting member 522 and the first adjusting member 521, and the second adjusting member 522 is connected to the caster 51, that is, the second adjusting member 522 may be in sliding fit or threaded fit with the first adjusting member 521, so as to adjust the position of the caster 51, that is, the height of the chassis 1 may be raised or the height of the chassis 1 may be lowered. The locking member 523 may lock the positions of the first and

second adjusters

521 and 522 after the position adjustment between the first and

second adjusters

521 and 522 is completed, thereby ensuring the stability of the caster assembly 5 in use.

As shown in fig. 1, the troweling robot 100 of the embodiment of the present invention further includes: and the guard rail 6, wherein the guard rail 6 is arranged around the case 1 and the floating actuating mechanism 22. Therefore, by arranging the guard rail 6, the internal components of the trowelling robot 100 can be protected to a certain extent, the trowelling executing mechanism 22 is prevented from being damaged after colliding with external substances, and a user can be effectively prevented from colliding with the trowelling executing mechanism 22 to cause injury and the like.

As shown in fig. 14 and 15, the troweling actuator 22 of the troweling apparatus 2 according to the embodiment of the present invention is further provided with a universal joint 50, and the universal joint 50 is connected between the troweling actuator 22 and the driven gear 221, so that when the troweling actuator 22 rotates, the troweling actuator 22 can still be adjusted by the tilt adjustment device 3, and the tilt in multiple directions can be adjusted at the same time, thereby realizing diversification of tilt adjustment of the troweling actuator 22.

Fig. 16 shows an operation flow of the floating robot 100 according to the embodiment of the present invention. The method comprises the following steps:

s100: the operation is started. I.e. the troweling robot 100 is started. So that the troweling robot 100 can start working.

S10: judging whether the floating robot 100 is to make manual operation or full-automatic operation;

the full-automatic operation steps are as follows: s20: firstly, a map is imported into the floating robot 100;

s201: planning and navigating and positioning a preset path;

s202: the plastering robot 100 can perform automatic plastering operation according to a preset path.

The manual operation step is S30: issuing a manual operation command to the floating robot 100;

s301: the troweling robot 100 is manually operated to perform construction work.

In other words, the troweling robot 100 can perform fully automatic construction work and manual construction work. The real-time position of the floating robot is monitored through the navigation positioning device during full-automatic work, and according to a planned preset path, whether the advancing posture of the floating robot 100 is correct or not is detected through the posture monitoring device 4 by enabling the floating robot 100 to be constructed according to the preset path.

Of course, the floating robot 100 according to the embodiment of the present invention may also be manually controlled, and when the floating robot is manually controlled, the path is manually controlled, and the forward attitude control is the same as the full-automatic control.

In a normal working state, the first driver 21 of the troweling device 2 of the troweling robot 100 drives the troweling executing mechanism 22 to rotate, so that a troweling effect is achieved, and the inclination angle of the troweling executing mechanism 22 is adjusted through the inclination angle adjusting device 3, so that the forward, backward and lateral movement of the troweling robot 100 is realized.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like 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.

Claims

1. A troweling robot, characterized by comprising:

a chassis;

the floating device comprises a first driver and a floating executing mechanism, the floating executing mechanism is rotatably arranged on the case and movably connected with the case, the first driver is arranged on the case and connected with the floating executing mechanism to drive the floating executing mechanism to rotate, so that the floating executing mechanism is suitable for floating the surface to be leveled;

the inclination angle adjusting device is arranged on the case and connected with the floating actuating mechanism so as to adjust the inclination angle of the rotating axis of the floating actuating mechanism relative to a reference direction, and the reference direction is vertical to the surface to be leveled;

the control device and the gesture monitoring device are arranged on the case, the control device is communicated with the gesture monitoring device, the gesture monitoring device is used for monitoring the operation gesture of the floating robot, and the control device is used for controlling the inclination angle adjusting device to operate according to the operation gesture of the floating robot monitored by the gesture monitoring device so as to at least adjust the operation gesture of the floating robot.

2. The trowelling robot according to claim 1, wherein the trowelling actuators are arranged at intervals, and each trowelling actuator is connected with the inclination angle adjusting device.

3. The trowelling robot of claim 2, wherein the tilt angle adjustment device is a plurality of tilt angle adjustment devices, and each tilt angle adjustment device is connected to one trowelling actuator.

4. The troweling robot according to claim 2, further comprising:

the navigation positioning device is communicated with the control device, the navigation positioning device is used for monitoring the current position of the floating robot, and the control device is also used for controlling the inclination angle adjusting device to operate according to the current position of the floating robot monitored by the navigation positioning device, so that the floating robot moves according to a preset path.

5. The troweling robot according to claim 1, characterized in that the troweling device further comprises:

the chain transmission mechanism is connected with the floating execution mechanism to drive the floating execution mechanism to rotate;

the first speed reducing mechanism is arranged between the first driver and the chain transmission mechanism so as to transmit the power of the first driver to the floating executing mechanism.

6. The troweling robot according to any one of claims 1 to 5, characterized in that the inclination adjusting device includes:

the first inclination angle adjusting device is used for adjusting the inclination angle of the rotation axis of the floating actuating mechanism in the first direction relative to the reference direction;

and the second inclination angle adjusting device is used for adjusting the inclination angle of the rotation axis of the floating actuating mechanism relative to the reference direction in a second direction, the second direction is vertical to the first direction, and the second direction and the first direction are both vertical to the reference direction.

7. The troweling robot according to claim 6, characterized in that the first inclination adjusting device includes:

the driving assembly is arranged on the case;

the rotating piece is connected with the driving assembly so as to be driven by the driving assembly to rotate;

the length end of the connecting rod is pivotally connected with the rotating piece and is arranged at intervals with the rotating axis of the rotating piece along the radial direction of the rotating piece;

the driving rod extends along the first direction, one end of the driving rod is connected with the other end of the connecting rod in a pivoting mode, and the other end of the driving rod is connected with the floating executing mechanism in a pivoting mode.

8. The troweling robot according to claim 7, wherein the driving assembly includes:

a second driver;

the gear transmission mechanism is connected with the rotating piece to drive the rotating piece to rotate;

a second reduction mechanism provided between the second driver and the gear transmission mechanism to transmit power of the second driver to the rotating member.

9. The troweling robot according to claim 6, wherein the second inclination adjustment device has the same structure as the first inclination adjustment device.

10. The trowelling robot of claim 6, wherein the trowelling actuators are two and are spaced apart along the first direction, the first tilt angle adjusting devices are two and are disposed between the two trowelling actuators, each of the first tilt angle adjusting devices is connected to one of the trowelling actuators, and the second tilt angle adjusting devices is two, each of the second tilt angle adjusting devices is connected to one of the trowelling actuators and is disposed on a side of the trowelling actuator corresponding to the second direction.

11. The troweling robot according to claim 1, further comprising:

the caster wheel assembly supports the case and comprises caster wheels and adjusting parts, the adjusting parts are connected between the case and the caster wheels, the adjusting parts are used for at least adjusting the height of the caster wheels relative to the case, so that the caster wheels can move between a first height position and a second height position, wherein the caster wheels are positioned on the upper side of the bottom wall of the case, and the caster wheels are positioned on the lower side of the bottom wall of the case.

12. The troweling robot according to claim 11, wherein the adjusting member includes a first adjusting member, a second adjusting member, and a locking member, the first adjusting member is connected to the case, the second adjusting member is connected to the caster wheel and is slidably or screw-engaged with the first adjusting member so that the length of the adjusting member is adjustable, and the locking member is used to lock the relative positions of the first adjusting member and the second adjusting member.

13. The troweling robot according to claim 1, further comprising:

a guard rail disposed around the chassis and the troweling actuator.