Automatic deviation rectifying mechanism of troweling robot

Abstract

The invention discloses a troweling robot automatic deviation rectifying mechanism which comprises a positioning support assembled on a robot base, a troweling disc is arranged on the robot base in a driving mode, and a positioning plate is arranged on the positioning support; the deviation rectifying assembly comprises a bearing seat and a scraping plate, the bearing seat is assembled at the bottom of the positioning plate, a rotating shaft is arranged on one side of the scraping plate, and the rotating shaft is rotationally connected to the bearing seat; and the linkage mechanism is assembled on the positioning plate and drives the rotating shaft to rotate bidirectionally, so that the scraping plate is in contact with or separated from the structure surface below the troweling robot. The problems that when an existing troweling robot is used, dynamic drifting exists, control is complex, and the operation stability and the troweling deviation rectifying quality are poor can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of trowel robots, in particular to an automatic deviation-correcting mechanism of a trowel robot. Background Art

[0002] Currently, trowel robots used in concrete floor construction require adjusting the trowel disc's inclination and rotational speed to ensure stability and finish quality. Furthermore, existing technologies employ model predictive control and fuzzy control strategies to plan and correct the trowel robot's mobile construction path. However, in the dynamic environment of concrete construction, characterized by nonlinear dynamics, the robot may experience dynamic drift. Constantly adjusting the trowel disc's inclination affects the motor load, and the trowel disc's need to balance the robot's movement, troweling, and fine-tuning corrections, increasing the control complexity of the trowel robot and impacting its motion stability and finish correction quality. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic deviation correction mechanism for a trowel robot in order to solve the problems of dynamic drift, complex control, poor operation stability and poor trowel correction quality that exist in the use of existing trowel robots.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: an automatic deviation correction mechanism of a trowel robot, comprising:

[0005] A positioning bracket is mounted on the robot base, the robot base is driven to set the optical wiper, and the positioning bracket is arranged with a positioning plate;

[0006] A deviation correction assembly includes a bearing seat and a scraper. The bearing seat is assembled at the bottom of the positioning plate. A rotating shaft is provided on one side of the scraper, and the rotating shaft is rotatably connected to the bearing seat.

[0007] A linkage mechanism is mounted on the positioning plate and drives the rotating shaft to rotate in both directions, so that the scraper contacts or separates from the structural surface below the trowel robot.

[0008] As a further description of the above technical solution:

[0009] The linkage mechanism includes a first slide, a connecting rod structure, and a second slide. The first slide is slidably arranged on the first guide rail of the positioning plate along the X-axis direction. The two ends of the connecting rod structure are respectively connected to the rotating shaft and the first slide. A cam is set on the top of the first slide. The cam is slidably arranged in the guide groove of the second slide. The second slide is driven by a driving structure to slide along the Y-axis direction on the positioning plate. The guide groove includes an inclined section inclined to the moving direction of the second slide and a straight section parallel to the moving direction of the second slide.

[0010] As a further description of the above technical solution:

[0011] The guide groove is in a V-shaped or wavy structure, one of the second slides is slidably docked with at least two of the first slides, and the scrapers are arranged relatively tilted.

[0012] As a further description of the above technical solution:

[0013] The connecting rod structure includes a first swing arm and a second swing arm. One end of the first swing arm is positioned on the rotating shaft, and the other end thereof is hinged to one end of the second swing arm.

[0014] As a further description of the above technical solution:

[0015] An L-shaped plate is assembled on the first slide, the cam is assembled on the L-shaped plate, the other end of the second swing arm is rotatably connected to the L-shaped plate, and the L-shaped plate abuts and supports the second slide.

[0016] As a further description of the above technical solution:

[0017] The third slide seat at the bottom of the second slide seat is slidably docked with the second guide rail of the positioning plate.

[0018] As a further description of the above technical solution:

[0019] The driving structure includes a rack, a gear, and a servo motor. The rack is assembled on the second slide. The gear is meshed and connected to the rack and docked with the output shaft of the servo motor. The servo motor is assembled on the positioning plate.

[0020] As a further description of the above technical solution:

[0021] A plurality of scrapers are located at the side edges of the robot base.

[0022] In summary, due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0023] The automatic correction mechanism of the trowel robot of the present invention is provided with a correction component and a linkage mechanism at the bottom of the robot. On the basis of the structure that the trowel robot is driven to move and smooth the surface by the trowel disc, the contact between the scraper and the structural surface below the robot is adjusted by driving the scraper to flip, thereby realizing automatic correction and adjustment functions of the robot's instability such as movement trajectory correction, walking guidance and auxiliary braking, and preventing dynamic drift of the robot during movement. Compared with the common trowel disc taking into account walking drive, trowel operation and braking control, the control complexity is reduced and the stability of the trowel robot is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 Schematic diagram of the complete assembly structure of a trowel robot's automatic correction mechanism and robot base Figure 1 .

[0026] Figure 2 This is a disassembled diagram of the automatic correction mechanism and robot base of a finishing robot.

[0027] Figure 3 This is a schematic diagram of the partial structure of the automatic deviation-correcting mechanism of a trowel robot.

[0028] Figure 4 This is a disassembly diagram of the automatic correction mechanism of a finishing robot.

[0029] Figure 5 Schematic diagram of the complete assembly structure of a trowel robot's automatic correction mechanism and robot base Figure 2 .

[0030] Legend:

[0031] 1. Positioning bracket; 2. Positioning plate; 3. Bearing seat; 4. Scraper; 5. Rotating shaft; 6. First guide rail; 7. First slide; 8. Connecting rod structure; 9. Cam; 10. Second slide; 11. Driving structure; 12. Guide groove; 13. First swing arm; 14. Second swing arm; 15. L-shaped plate; 16. Second guide rail; 17. Third slide; 18. Rack; 19. Gear; 20. Servo motor; 100. Robot base; 200. Cleaning disc. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in a variety of different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort shall fall within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in the subsequent drawings.

[0035] In the description of the embodiments of the present invention, it should be noted that the terms "upper" and "inner" etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are orientations or positional relationships in which the inventive product is usually placed when in use. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0036] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0037] See also Figure 1-5 The present invention provides a technical solution: an automatic deviation correction mechanism for a trowel robot, comprising:

[0038] The positioning bracket 1 is mounted on the robot base 100. The robot base 100 drives the wiping disc 200, and the positioning plate 2 is arranged on the positioning bracket 1. The wiping disc 200 is driven to rotate to achieve the movement of the trowel robot. This is a prior art and will not be described in detail here.

[0039] The deviation correction component includes a bearing seat 3 and a scraper 4. The bearing seat 3 is assembled at the bottom of the positioning plate 2. A rotating shaft 5 is provided on one side of the scraper 4. The rotating shaft 5 is rotatably connected to the bearing seat 3.

[0040] The linkage mechanism is mounted on the positioning plate 2 and drives the rotating shaft 5 to rotate in both directions, so that the scraper 4 contacts or separates from the structural surface below the trowel robot (normal road surface, concrete slurry surface in the construction area during troweling operation).

[0041] The automatic correction mechanism of the trowel robot of the present invention is provided with a correction component and a linkage mechanism at the bottom of the robot. On the basis of the structure that the trowel robot is driven to move and smooth the surface by the trowel disc, the contact between the scraper and the structural surface below the robot is adjusted by driving the scraper to flip, thereby realizing automatic correction and adjustment functions of the robot's instability such as movement trajectory correction, walking guidance and auxiliary braking, and preventing dynamic drift of the robot during movement. Compared with the common trowel disc taking into account walking drive, trowel operation and braking control, the control complexity is reduced and the stability of the trowel robot is improved.

[0042] The linkage mechanism includes a first slide 7, a connecting rod structure 8, and a second slide 10. The first slide 7 is slidably arranged on the first guide rail 6 of the positioning plate 2 along the X-axis direction. The two ends of the connecting rod structure 8 are respectively connected to the rotating shaft 5 and the first slide 7. A cam 9 is provided on the top of the first slide 7. The cam 9 is slidably arranged in the guide groove 12 of the second slide 10. The second slide 10 is driven by a driving structure 11 to slide along the Y-axis direction on the positioning plate 2. The guide groove 12 includes an inclined section inclined to the moving direction of the second slide 10 and a straight section parallel to the moving direction of the second slide 10. When in use, by driving the second slide 10 to slide, the cam 9 drives the first slide 7 to slide under the wedge-shaped guiding action of the inclined section, and then drives the rotating shaft 5 to rotate through the connecting rod structure 8, so that the contact between the scraper 4 and the structural surface below the robot changes, thereby adjusting the operation of the robot.

[0043] In one embodiment, the guide groove 12 has a V-shaped or wavy structure. One second slide 10 slidably engages at least two first slides 7, and the scrapers 4 are arranged at an angle relative to each other. In this embodiment, the scrapers 4 are located on one side of the rotating shaft 5. Driven by a single second slide 10, the two scrapers 4 can be synchronously adjusted. The two scrapers 4, located at different positions below the robot, can be controlled to either contact or disengage from the structural surface, enabling rapid and efficient adjustment between different structural states, thereby improving the efficiency of switching between the robot's operating states.

[0044] The connecting rod structure 8 includes a first swing arm 13 and a second swing arm 14. One end of the first swing arm 13 is positioned on the rotating shaft 5, and the other end is hinged to one end of the second swing arm 14. The arrangement of the connecting rod structure 8 enables linkage between the linear movement and the rotational movement of the structure, thereby improving the structural stability and flexibility.

[0045] An L-shaped plate 15 is mounted on the first slide 7 , the cam 9 is mounted on the L-shaped plate 15 , the other end of the second swing arm 14 is rotatably connected to the L-shaped plate 15 , and the L-shaped plate 15 abuts and supports the second slide 10 .

[0046] The third slide 17 at the bottom of the second slide 10 slidably docks with the second guide rail 16 of the positioning plate 2 .

[0047] The driving structure 11 includes a rack 18, a gear 19, and a servo motor 20. The rack 18 is assembled on the second slide 10. The gear 19 is meshed and connected to the rack 18 and docked with the output shaft of the servo motor 20. The servo motor 20 is assembled on the positioning plate 2.

[0048] Several of the scrapers 4 are located at the side edges of the robot base 100, thereby achieving stable and multi-directional deviation correction of the trowel robot.

[0049] The working principle of the automatic deviation correction mechanism of a trowel robot in this embodiment includes the following: when the trowel robot moves forward, the automatic deviation correction mechanism on the front side (i.e., the front scraper 4 and the corresponding structure) does not operate, while the rear side operates. When the running direction of the trowel robot deviates, the contact between the scraper 4 and the ground is adjusted to increase the resistance on the deviated side, thereby achieving the effect of automatic deviation correction. Specifically, the servo motor 20 drives the gear 19 to rotate, driving the rack 18 and the second slide 10 to slide. The cam 9 drives the first slide 7 to slide under the wedge-shaped guidance of the inclined section, and then drives the rotating shaft 5 to rotate through the connecting rod structure 8 (refer to Figure 3 When the first slide 7 slides to the right, the first swing arm 13 is pushed to the right, and the second swing arm 14 is pushed and rotated clockwise, so that the corresponding scraper 4 contacts the ground), so that the contact situation between the scraper 4 and the structural surface below the robot changes, thereby adjusting the operation of the robot. When the second slide 10 slides, it will synchronously drive multiple cams 9 to slide, so as to achieve partial separation or complete separation of multiple scrapers 4 from the ground, thereby improving control stability.

[0050] In summary, due to the adoption of the above technical solution, the automatic deviation-correcting mechanism of a trowel robot in this embodiment has the following beneficial effects compared with the prior art:

[0051] The automatic correction mechanism of the trowel robot of the present invention is provided with a correction component and a linkage mechanism at the bottom of the robot. On the basis of the structure that the trowel robot is driven to move and smooth the surface by the trowel disc, the contact between the scraper and the structural surface below the robot is adjusted by driving the scraper to flip, thereby realizing automatic correction and adjustment functions of the robot's instability such as movement trajectory correction, walking guidance and auxiliary braking, and preventing dynamic drift of the robot during movement. Compared with the common trowel disc taking into account walking drive, trowel operation and braking control, the control complexity is reduced and the stability of the trowel robot is improved.

[0052] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An automatic deviation-correcting mechanism for a trowel robot, characterized in that: include: A positioning bracket is mounted on the robot base, the robot base is driven to set the optical wiper, and the positioning bracket is arranged with a positioning plate; A deviation correction assembly includes a bearing seat and a scraper. The bearing seat is assembled at the bottom of the positioning plate. A rotating shaft is provided on one side of the scraper, and the rotating shaft is rotatably connected to the bearing seat. A linkage mechanism is mounted on the positioning plate and drives the rotating shaft to rotate in both directions, so that the scraper contacts or separates from the structural surface below the trowel robot.

2. The automatic deviation-correcting mechanism of a trowel robot according to claim 1, characterized in that: The linkage mechanism includes a first slide, a connecting rod structure, and a second slide. The first slide is slidably arranged on the first guide rail of the positioning plate along the X-axis direction. The two ends of the connecting rod structure are respectively connected to the rotating shaft and the first slide. A cam is set on the top of the first slide. The cam is slidably arranged in the guide groove of the second slide. The second slide is driven by a driving structure to slide along the Y-axis direction on the positioning plate. The guide groove includes an inclined section inclined to the moving direction of the second slide and a straight section parallel to the moving direction of the second slide.

3. The automatic deviation-correcting mechanism of a trowel robot according to claim 2, characterized in that: The guide groove is in a V-shaped or wavy structure, one of the second slides is slidably docked with at least two of the first slides, and the scrapers are arranged relatively tilted.

4. The automatic deviation-correcting mechanism of a trowel robot according to claim 2, characterized in that: The connecting rod structure includes a first swing arm and a second swing arm. One end of the first swing arm is positioned on the rotating shaft, and the other end thereof is hinged to one end of the second swing arm.

5. The automatic deviation-correcting mechanism of a trowel robot according to claim 4, characterized in that: An L-shaped plate is assembled on the first slide, the cam is assembled on the L-shaped plate, the other end of the second swing arm is rotatably connected to the L-shaped plate, and the L-shaped plate abuts and supports the second slide.

6. The automatic deviation-correcting mechanism of a trowel robot according to claim 2, characterized in that: The third slide seat at the bottom of the second slide seat is slidably docked with the second guide rail of the positioning plate.

7. The automatic deviation-correcting mechanism of a trowel robot according to claim 2, characterized in that: The driving structure includes a rack, a gear, and a servo motor. The rack is assembled on the second slide. The gear is meshed and connected to the rack and docked with the output shaft of the servo motor. The servo motor is assembled on the positioning plate.

8. The automatic deviation-correcting mechanism of a trowel robot according to claim 1, characterized in that: A plurality of scrapers are located at the side edges of the robot base.

Images