Self-adaptive plastering device and plastering robot for concrete segment prefabricated part

Abstract

The invention provides a self-adaptive plastering device for a concrete pipe piece prefabricated part and a plastering robot. The self-adaptive plastering device for the concrete pipe piece prefabricated part comprises a box body, a driving part and a plastering execution assembly, and the driving part is installed on the box body and drives the plastering execution assembly to operate; the plastering execution assembly comprises a fixed mounting plate, a telescopic transmission shaft, an elastic branch chain, a movable mounting plate, an execution shaft and a plastering actuator, the two ends of the telescopic transmission shaft are connected with the fixed mounting plate and the execution shaft respectively, the telescopic transmission shaft drives the plastering actuator to rotate through the execution shaft, and the two ends of the elastic branch chain are connected with the fixed mounting plate and the movable mounting plate respectively. According to the scheme, the plastering actuator can be tightly attached to the surface of the segment by extruding the elastic branch chains; the telescopic transmission shaft is hinged to the execution shaft, the plastering actuator can be driven to rotate, the angle between the telescopic transmission shaft and the plastering actuator can be changed, the adjustable range of the rotation angle of the plastering actuator is enlarged, and the flexibility of the device is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of concrete prefabricated part production, in particular to a self-adaptive troweling device for a concrete segment prefabricated part and a troweling robot. BACKGROUND

[0002] As a core load-bearing component of a tunnel, an underground pipe gallery and the like, the surface quality of a concrete segment directly affects the structural sealing and durability, and with the continuous expansion of the scale of urban rail transit construction, the specifications of the concrete segment are becoming more varied to adapt to different working conditions.

[0003] Although the existing concrete segment troweling device can realize automatic construction of a plane and a regular curved surface, there are still problems such as poor curved surface fitting performance and limited angle adjustment of the end effector when processing a variable-curvature segment surface. SUMMARY

[0004] The present application provides a self-adaptive troweling device for a concrete segment prefabricated part and a troweling robot to solve the problem of poor curved surface fitting performance and limited angle adjustment of the end effector when processing a variable-curvature segment surface in the prior art.

[0005] To solve the above problems, according to one aspect of the present application, a self-adaptive troweling device for a concrete segment prefabricated part is provided, comprising a box body, a driving part and a troweling execution assembly, the driving part is installed on the box body, and the driving part drives the troweling execution assembly to run; wherein the troweling execution assembly comprises a fixed mounting plate, an extension transmission shaft, an elastic branch chain, a movable mounting plate, an execution shaft and a troweling effector, one end of the extension transmission shaft is rotatably arranged on the fixed mounting plate, the driving part drives the extension transmission shaft to rotate, the other end of the extension transmission shaft and one end of the execution shaft are hingedly connected, the execution shaft is rotatably arranged through the movable mounting plate, the troweling effector is installed on the other end of the execution shaft, the extension transmission shaft drives the troweling effector to rotate through the execution shaft, the elastic branch chain is elastically deformable, and the two ends of the elastic branch chain are connected with the fixed mounting plate and the movable mounting plate respectively.

[0006] Further, the elastic branch chain comprises a matching sleeve, a matching rod, a compression spring and two shaft couplings, a part of the matching rod penetrates into the matching sleeve, one end of the matching sleeve is connected with the fixed mounting plate through one of the shaft couplings, the other end of the matching sleeve is connected with the movable mounting plate through the other of the shaft couplings, the compression spring is sleeved on the matching sleeve, and the two ends of the compression spring are respectively abutted with the two shaft couplings.

[0007] Further, the elastic branch chain is a plurality of, and the plurality of elastic branch chains are arranged around the extension transmission shaft.

[0008] Further, the telescopic transmission shaft comprises a middle guide cylinder, a middle guide column, an internal spring and a universal joint, the middle guide cylinder is in rotation fit with the fixed mounting plate, the driving part drives the middle guide cylinder to rotate, a part of the middle guide column penetrates into the middle guide cylinder, the internal spring is located in the cavity of the middle guide cylinder and abuts against the middle guide column, and one end of the middle guide column is hinged with the execution shaft through the universal joint.

[0009] Further, the telescopic transmission shaft further comprises a pressure sensor, which is arranged in the middle guide cylinder.

[0010] Further, the troweling execution assembly further comprises a corrugated protective cover, one end of the corrugated protective cover is connected with the fixed mounting plate, the other end of the corrugated protective cover is connected with the movable mounting plate, and the corrugated protective cover covers the telescopic transmission shaft and the elastic branch chain.

[0011] Further, the troweling execution assembly is two, and one driving part drives the two troweling execution assemblies to synchronously operate.

[0012] Further, the driving part comprises a driving motor and a transmission assembly, the driving motor is installed on the side wall of the box body, and the transmission assembly is installed in the cavity of the box body and drives the two troweling execution assemblies to synchronously operate.

[0013] Further, the transmission assembly comprises a driving gear, two driven gears, a driving shaft and two driven shafts, the driving motor drives the driving shaft to rotate, the driving gear is installed on the driving shaft, the two driven gears are installed on the two driven shafts respectively, the driving gear drives the two driven gears to rotate, and each driven shaft drives one troweling execution assembly to operate.

[0014] According to another aspect of the present application, the present application further provides a troweling robot, which comprises a moving mechanism and the above-mentioned concrete segment precast adaptive troweling device, and the box body of the concrete segment precast adaptive troweling device is installed on the moving mechanism, and the moving mechanism drives the whole concrete segment precast adaptive troweling device to move.

[0015] In the present application, the driving part is arranged to provide power for driving the troweling executor, the driving part is installed in the box body, which improves the safety of the device and avoids interference during the driving process; the elastic branch chain is arranged to be elastically deformed, when the troweling executor acts on the surface of the segment, the troweling executor can be tightly attached to the surface of the segment by extruding the elastic branch chain; meanwhile, the telescopic transmission shaft is hinged with the execution shaft, which can drive the troweling executor to rotate and change the angle between the troweling executor, the telescopic transmission shaft and the elastic branch chain are arranged in cooperation, which increases the adjustable range of the rotation angle of the troweling executor and improves the flexibility of the device. BRIEF DESCRIPTION OF DRAWINGS

[0016] The drawings constituting a part of the specification illustrate the present application and, along with the description, serve to explain the principles of the application. In the drawings:

[0017] Figure 1 A structural schematic diagram of a self-adaptive troweling device for a concrete segment precast is shown in the embodiment of the present application;

[0018] Figure 2 A structural schematic diagram of a driving part is shown in the embodiment of the present application;

[0019] Figure 3 A structural schematic diagram of a troweling execution assembly is shown in the embodiment of the present application;

[0020] Figure 4 A structural schematic diagram of an elastic branch chain is shown in the embodiment of the present application;

[0021] Figure 5 A structural schematic diagram of an elastic branch chain is shown in the embodiment of the present application;

[0022] The above drawings include the following reference signs:

[0023] 10, box body;

[0024] 20, driving part; 21, driving motor; 22, transmission assembly; 221, driving gear; 222, driven gear; 223, driving shaft; 224, driven shaft;

[0025] 30, troweling execution assembly; 31, fixed mounting plate; 32, telescopic transmission shaft; 321, intermediate guide cylinder; 322, intermediate guide column; 323, universal joint; 324, corrugated protective cover; 33, elastic branch chain; 331, matching sleeve; 332, matching rod; 333, compression spring; 334, shaft coupling; 34, movable mounting plate; 35, execution shaft; 36, troweling executor. DETAILED DESCRIPTION

[0026] The technical solutions in the at least one embodiment will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. The following description of the at least one embodiment is only illustrative, not as a limitation on the present application and its application. Based on the embodiments in the present application, other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0027] As Figures 1 to 5As shown, the embodiment of the present application provides a concrete segment prefabricated self-adaptive troweling device, which comprises a box body 10, a driving part 20 and a troweling execution assembly 30, the driving part 20 is installed on the box body 10, and the driving part 20 drives the troweling execution assembly 30 to operate; wherein the troweling execution assembly 30 comprises a fixed mounting plate 31, an extension transmission shaft 32, an elastic branch chain 33, a movable mounting plate 34, an execution shaft 35 and a troweling executor 36, one end of the extension transmission shaft 32 is rotationally arranged on the fixed mounting plate 31, the driving part 20 drives the extension transmission shaft 32 to rotate, the other end of the extension transmission shaft 32 and one end of the execution shaft 35 are hingedly connected, the execution shaft 35 is rotatably arranged through the movable mounting plate 34, the troweling executor 36 is installed on the other end of the execution shaft 35, the extension transmission shaft 32 drives the troweling executor 36 to rotate through the execution shaft 35, and the elastic branch chain 33 is elastically deformable, and two ends of the elastic branch chain 33 are connected with the fixed mounting plate 31 and the movable mounting plate 34 respectively.

[0028] In the present scheme, the driving part 20 is arranged, which provides power for driving the troweling executor 36, the driving part 20 is installed in the box body 10, which improves the safety of the device, and meanwhile can avoid interference in the driving process; the elastic branch chain 33 is arranged and is elastically deformable, when the troweling executor 36 acts on the surface of the segment, the troweling executor 36 can be closely attached to the surface of the segment by extruding the elastic branch chain 33; meanwhile, the extension transmission shaft 32 is hingedly connected with the execution shaft 35, which can drive the troweling executor 36 to rotate and also can change the angle between the troweling executor 36, the extension transmission shaft 32 and the elastic branch chain 33 are cooperatively arranged, which increases the adjustable range of the rotation angle of the troweling executor 36 and improves the flexibility of the device.

[0029] As shown, Figure 4 The elastic branch chain 33 comprises a matching sleeve 331, a matching rod 332, a compression spring 333 and two shaft couplings 334, a part of the matching rod 332 penetrates into the matching sleeve 331, one end of the matching sleeve 331 is connected with the fixed mounting plate 31 through one shaft coupling 334, the other end of the matching sleeve 331 is connected with the movable mounting plate 34 through the other shaft coupling 334, the compression spring 333 is sleeved on the matching sleeve 331, and two ends of the compression spring 333 abut against the two shaft couplings 334 respectively. The elastic deformation of the compression spring 333 makes the matching rod 332 stretch and retract in the matching sleeve 331, which realizes adaptive adjustment of the troweling executor 36 when contacting the surface of the segment, so that the troweling executor 36 can be closely attached to the surface of the segment, and good troweling effect can be maintained even on the surface of the segment with large curvature change.

[0030] In the embodiment, the elastic branch chains 33 are multiple, and the multiple elastic branch chains 33 are arranged around the telescopic transmission shaft 32. The multiple elastic branch chains 33 are arranged to enable the troweling implement 36 to have self-adaptive adjustment capability in multiple directions, to make the troweling implement 36 more conform to a complex curved surface, and to enhance the stability and load bearing capacity of the whole mechanism.

[0031] As shown in Figure 5 , the telescopic transmission shaft 32 comprises a middle guide cylinder 321, a middle guide column 322, an internal spring and a universal joint 323. The middle guide cylinder 321 is rotationally fitted with the fixed mounting plate 31, and the driving part 20 drives the middle guide cylinder 321 to rotate. A part of the middle guide column 322 penetrates into the middle guide cylinder 321, the internal spring is located in the cavity of the middle guide cylinder 321, and the internal spring and the middle guide column 322 abut. One end of the middle guide column 322 is hinged with the execution shaft 35 through the universal joint 323. By using the elastic characteristics of the internal spring and combining the telescopic movement of the middle guide column 322 in the middle guide cylinder 321, the operation distance of the troweling implement 36 can be adjusted, and the pressure acting on the surface of the pipe sheet can be adjusted at the same time. The universal joint 323 is arranged to facilitate the troweling implement 36 to freely adjust the angle in multiple directions to adapt to the curvature change of the surface of the pipe sheet. The telescopic transmission shaft 32 enables the troweling implement 36 to automatically adjust the pressure, distance and angle according to the actual situation of the surface of the pipe sheet, to ensure the continuity and quality of the troweling operation.

[0032] In the embodiment, the telescopic transmission shaft 32 further comprises a pressure sensor arranged in the middle guide cylinder 321. The pressure sensor is used to monitor the pressure when the troweling implement 36 contacts the surface of the pipe sheet, and the elastic characteristics of the internal spring are combined to realize adaptive adjustment of the pressure. The troweling implement 36 automatically adjusts the troweling pressure according to the actual situation of the surface of the pipe sheet, to ensure the continuity and quality of the troweling operation.

[0033] As shown in Figure 3 , the troweling implement assembly 30 further comprises a corrugated protective cover 324. One end of the corrugated protective cover 324 is connected with the fixed mounting plate 31, and the other end of the corrugated protective cover 324 is connected with the movable mounting plate 34. The corrugated protective cover 324 covers the telescopic transmission shaft 32 and the elastic branch chains 33. By using the elastic deformation and protective performance of the corrugated protective cover 324, the telescopic transmission shaft 32 and the elastic branch chains 33 are ensured not to be affected by the external environment, and the pollution of dust and slurry to the mechanism during the operation process is reduced, the reliability and service life of the device are improved, and the maintenance cost is reduced.

[0034] As shown in Figure 1As shown, the troweling execution assemblies 30 are two, and one driving part 20 drives the two troweling execution assemblies 30 to operate synchronously. The output power of the single driving part 20 is used to drive the two troweling execution assemblies 30 to work simultaneously, so that the double assemblies can work cooperatively, the troweling efficiency is improved significantly, and the energy consumption of the equipment is reduced.

[0035] As shown, Figure 2 The driving part 20 includes a driving motor 21 and a transmission assembly 22. The driving motor 21 is installed on the side wall of the box body 10, and the transmission assembly 22 is installed in the cavity of the box body 10. The transmission assembly 22 drives the two troweling execution assemblies 30 to operate synchronously. The output power of the driving motor 21 is transmitted to the two troweling execution assemblies 30 through the gear transmission of the transmission assembly 22, so that the two troweling execution assemblies 36 are driven synchronously, the troweling efficiency is improved, and the energy consumption of the equipment is reduced.

[0036] In the embodiment, the transmission assembly 22 includes a driving gear 221, two driven gears 222, a driving shaft 223, and two driven shafts 224. The driving motor 21 drives the driving shaft 223 to rotate. The driving gear 221 is installed on the driving shaft 223. The two driven gears 222 are respectively installed on the two driven shafts 224. The driving gear 221 drives the two driven gears 222 to rotate. Each driven shaft 224 drives one troweling execution assembly 30 to operate. The output power of the driving motor 21 is uniformly and synchronously transmitted to the two troweling execution assemblies 30 by using the synchronization and accuracy of the gear transmission, so that the two troweling execution assemblies 36 are driven synchronously, the troweling efficiency is improved, and the energy consumption of the equipment is reduced.

[0037] The embodiment of the present application also provides a troweling robot, which includes a moving mechanism and the above-mentioned concrete segment precast adaptive troweling device. The box body 10 of the concrete segment precast adaptive troweling device is installed on the moving mechanism, and the moving mechanism drives the whole concrete segment precast adaptive troweling device to move. The combination of the concrete segment precast adaptive troweling device and the moving mechanism realizes the automation of the troweling operation, improves the efficiency of the troweling operation, reduces the labor cost, and improves the safety and reliability of the production.

[0038] The above only describes some embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0039] The technical features of the above-described embodiments can be combined in any manner, and for brevity, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as the combinations of the technical features do not contradict each other, they should be considered to be within the scope of the present specification.

[0040] It is to be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0041] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the present application unless otherwise specifically stated. It is to be understood that the drawings are not necessarily to scale of the actual proportions used in the fabrication, assembly, and operation of the example embodiments. Techniques, methods, and apparatus known to those of ordinary skill can not be discussed in detail herein. However, the techniques, methods, and apparatus are to be considered as part of the description of the example embodiments, where appropriate. In all examples shown and discussed herein, any particular value is to be interpreted as merely an example, and not a limitation. Other examples of the example embodiments can have different values. It is to be noted that like reference numerals and letters refer to like items in the following drawings, and, once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0042] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by orientation words such as "front, back, upper, lower, left, right", "horizontal, vertical, perpendicular, horizontal", and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless stated otherwise, these orientation words do not indicate or imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present application. The orientation words "inner, outer" refer to the inner and outer relative to the contour of the components themselves.

[0043] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical", "horizontal", and derivatives thereof shall relate to the application as oriented in the drawing figures. However, it is to be understood that the application can assume various alternative orientations and, accordingly, such terms are not to be taken as limitations of the present application or any application specifically disclosed herein.

[0044] In addition, it should be noted that the terms "first", "second", and so on, used to describe various elements, are only intended to distinguish one element from another, and are not otherwise intended to refer to a particular order or order of sequence. Accordingly, these terms are not intended to limit the scope of the present application or any application specifically disclosed herein.

Claims

1. A self-adapting troweling device for a concrete segment precast, characterized in that, The application relates to a trowel device, which comprises a box body (10), a driving part (20) and a trowel executing assembly (30), the driving part (20) is installed on the box body (10), and the driving part (20) drives the trowel executing assembly (30) to operate; wherein the trowel executing assembly (30) comprises a fixed mounting plate (31), a telescopic transmission shaft (32), an elastic supporting chain (33), a movable mounting plate (34), an executing shaft (35) and a trowel executor (36), one end of the telescopic transmission shaft (32) is rotationally arranged on the fixed mounting plate (31), the driving part (20) drives the telescopic transmission shaft (32) to rotate, the other end of the telescopic transmission shaft (32) is hingedly connected with one end of the executing shaft (35), the executing shaft (35) rotationally penetrates through the movable mounting plate (34), the trowel executor (36) is installed on the other end of the executing shaft (35), the telescopic transmission shaft (32) drives the trowel executor (36) to rotate through the executing shaft (35), and the elastic supporting chain (33) is elastically deformable; two ends of the elastic supporting chain (33) are connected with the fixed mounting plate (31) and the movable mounting plate (34) respectively.

2. A concrete segmental preform adaptive troweling apparatus according to claim 1, wherein, The elastic supporting chain (33) comprises a matching sleeve (331), a matching rod (332), a compression spring (333) and two shaft couplings (334), a part of the matching rod (332) penetrates into the matching sleeve (331), one end of the matching sleeve (331) is connected with the fixed mounting plate (31) through one of the shaft couplings (334), the other end of the matching sleeve (331) is connected with the movable mounting plate (34) through the other one of the shaft couplings (334), the compression spring (333) is sleeved on the matching sleeve (331), and two ends of the compression spring (333) are abutted with the two shaft couplings (334) respectively.

3. A concrete segmental preform adaptive troweling apparatus as defined in claim 1, wherein, The elastic supporting chain (33) is a plurality of elastic supporting chains (33), and the plurality of elastic supporting chains (33) are arranged around the telescopic transmission shaft (32).

4. The concrete segmental preform adaptive troweling device of claim 1, wherein, The telescopic transmission shaft (32) comprises an intermediate guide cylinder (321), an intermediate guide column (322), an internal spring and a universal joint (323), the intermediate guide cylinder (321) is rotationally matched with the fixed mounting plate (31), the driving part (20) drives the intermediate guide cylinder (321) to rotate, a part of the intermediate guide column (322) penetrates into the intermediate guide cylinder (321), the internal spring is located in a cavity of the intermediate guide cylinder (321), and the internal spring is abutted with the intermediate guide column (322), and one end of the intermediate guide column (322) is hingedly connected with the executing shaft (35) through the universal joint (323).

5. A concrete segmental preform adaptive troweling apparatus according to claim 4, wherein, The telescopic transmission shaft (32) further comprises a pressure sensor, and the pressure sensor is arranged in the intermediate guide cylinder (321).

6. The concrete segmental preform adaptive troweling device of claim 1, wherein, The troweling execution assembly (30) further comprises a corrugated protective cover (324), one end of the corrugated protective cover (324) is connected with the fixed mounting plate (31), the other end of the corrugated protective cover (324) is connected with the movable mounting plate (34), and the corrugated protective cover (324) covers the telescopic transmission shaft (32) and the elastic branch chain (33).

7. The concrete segmental preform adaptive troweling device of claim 1, wherein, The troweling execution assembly (30) is two, and one driving part (20) drives two troweling execution assemblies (30) to run synchronously.

8. A concrete segmental preform adaptive troweling apparatus according to claim 7, wherein, The driving part (20) comprises a driving motor (21) and a transmission assembly (22), the driving motor (21) is installed on the side wall of the box body (10), the transmission assembly (22) is installed in the cavity of the box body (10), and the transmission assembly (22) drives two troweling execution assemblies (30) to run synchronously.

9. A concrete segmental preform adaptive troweling apparatus according to claim 8, wherein, The transmission assembly (22) comprises a driving gear (221), two driven gears (222), a driving shaft (223) and two driven shafts (224), the driving motor (21) drives the driving shaft (223) to rotate, the driving gear (221) is installed on the driving shaft (223), two driven gears (222) are installed on two driven shafts (224) respectively, the driving gear (221) drives two driven gears (222) to rotate, and each driven shaft (224) drives one troweling execution assembly (30) to run respectively.

10. A trowelling robot, characterized in that The troweling robot comprises a moving mechanism and the concrete segmental precast adaptive troweling device of any one of claims 1-9, the box body (10) of the concrete segmental precast adaptive troweling device is installed on the moving mechanism, and the moving mechanism drives the whole concrete segmental precast adaptive troweling device to move.

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