Modular multi-angle adaptive cable-driven trowel robot

Abstract

The application provides a modular multi-angle adaptive cable-driven troweling robot, and belongs to the technical field of concrete floor construction. The modular multi-angle adaptive cable-driven troweling robot comprises an outer frame suspended by a plurality of cable-driven mechanisms through a steel cable and controllable to move in a three-dimensional space, a trowel Z-axis lifting mechanism is installed on the outer frame, and a trowel X, Y-axis adjusting mechanism is installed below the trowel Z-axis lifting mechanism. The cable-driven mechanism is arranged, the trowel Z-axis lifting mechanism is responsible for overall height adjustment of the tail end, the trowel X, Y-axis adjusting mechanism is responsible for adjusting the pitch and roll angles of the trowel turntable mechanism, the trowel turntable mechanism drives the trowel main body to rotate and perform troweling work, so that the cable-driven mechanism realizes dead angle-free covering movement, the trowel X, Y-axis adjusting mechanism realizes accurate control of the trowel posture, and the robot has both wide-range operation capability and fine construction capability.

Description

Technical Field

[0001] This invention relates to the field of concrete floor construction technology, and more specifically, to a modular, multi-angle adaptive cable-driven power trowel robot. Background Technology

[0002] Smoothing concrete floors is a crucial step in building decoration projects, directly affecting the flatness, strength, and appearance quality of the floor. Generally, workers use handheld or push machines with rotating trowels to perform the work. This method is extremely labor-intensive, and the construction quality is highly dependent on the workers' experience and physical strength. It is inefficient, and it is difficult to ensure the consistency of flatness in large-area construction. Furthermore, there are safety hazards associated with personnel operating heavy equipment for extended periods.

[0003] In existing technologies, when performing power troweling operations, the power troweling device is often difficult to move and prone to route errors. This makes it impossible to guarantee the flatness and integrity of the power troweling operation, which in turn affects subsequent processes. Summary of the Invention

[0004] To overcome the above deficiencies, the present invention provides a modular, multi-angle adaptive cable-driven polishing robot that overcomes or at least partially solves the above technical problems.

[0005] This invention is implemented as follows:

[0006] This invention provides a modular, multi-angle adaptive cable-driven polishing robot, comprising an outer frame suspended by multiple cable-driven mechanisms via steel cables and capable of controlled movement in three-dimensional space. A Z-axis lifting mechanism for the trowel is mounted on the outer frame, and an X and Y-axis adjustment mechanism for the trowel is mounted below the Z-axis lifting mechanism. A trowel turntable mechanism is mounted below the X and Y-axis adjustment mechanism for the trowel, and the trowel body is mounted on the trowel turntable mechanism.

[0007] In a preferred embodiment, the spatula Z-axis lifting mechanism includes a mounting plate fixed to the outer frame, on which an electric cylinder and a linear guide are fixedly mounted.

[0008] In a preferred embodiment, the spatula's X and Y axis adjustment mechanism includes a lifting plate, a Y-axis adjustment plate, an X-axis adjustment plate, a Y-axis adjustment motor, and an X-axis adjustment motor. The lifting plate is fixedly connected to the output end of the electric cylinder. The Y-axis adjustment plate is rotatably connected to the lifting plate via a Y-axis rotating shaft and is driven by the Y-axis adjustment motor. The X-axis adjustment plate is rotatably connected to the Y-axis adjustment plate via an X-axis rotating shaft and is driven by the X-axis adjustment motor. Both the Y-axis adjustment plate and the X-axis adjustment plate are U-shaped.

[0009] In a preferred embodiment, the spatula turntable mechanism includes a rotary motor and a spatula mounting assembly. The rotary motor is fixedly mounted on the output end of the spatula X and Y axis adjustment mechanism, and the spatula mounting assembly is fixedly connected to the output shaft of the rotary motor.

[0010] In a preferred embodiment, the spatula mounting assembly is further provided with a spatula angle adjustment structure, which includes an adjustment disc and a plurality of angle adjustment screws. The adjustment disc is rotatably mounted on the spatula mounting assembly, and one end of each angle adjustment screw is hinged to a spatula body, while the other end of the angle adjustment screw contacts the adjustment disc.

[0011] In a preferred embodiment, the outer frame is provided with a residual scraping mechanism, which includes a first mounting bracket and a second mounting bracket. The first mounting bracket and the second mounting bracket are respectively fixed on both sides of the outer frame. A sliding rod is slidably provided on both the first mounting bracket and the second mounting bracket. A lifting plate is fixed at the other end of the sliding rod, and a scraper is provided below the lifting plate.

[0012] In a preferred embodiment, damping springs are provided between the first mounting bracket and the second mounting bracket and the lifting plate, and an adjusting bolt is provided on the lifting plate, the other end of which is connected to the scraper.

[0013] The present invention provides a modular, multi-angle adaptive cable-driven polishing robot, the advantages of which include:

[0014] 1. By setting up a cable-driven mechanism, the Z-axis lifting mechanism of the trowel is responsible for adjusting the overall height of the end, while the X and Y-axis adjustment mechanisms of the trowel are responsible for adjusting the pitch and roll angles of the trowel turntable mechanism. The trowel turntable mechanism drives the trowel body to rotate and perform troweling operations. Thus, the cable-driven mechanism enables omnidirectional coverage and movement, while the X and Y-axis adjustment mechanisms of the trowel enable precise control of the trowel's posture, giving the robot both wide-range operation capabilities and fine construction capabilities.

[0015] 2. By setting up a spatula angle adjustment structure, the adjustment disc is a rotatable inclined plane. When the disc is rotated, the contours at different heights on its circumference will push the various angle adjustment screws in contact with it to produce axial displacement. The displacement of the angle adjustment screws is converted into the rotation of the spatula body around its own fulcrum through the hinge point, thereby changing the engagement angle of each spatula body relative to the ground.

[0016] 3. By setting up an excess concrete scraping mechanism, when concrete above the preset level appears in the forward path of the trowel body during operation, the scraper on the first mounting frame squeezes the concrete, thereby moving the excess concrete towards the forward direction of the trowel body. This avoids unevenness of the concrete on the level surface, which would prevent the subsequent trowel body from failing to achieve the preset effect. The excess concrete moves with the scraper, making it easier for subsequent workers to collect the excess concrete for recycling. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall rear structure provided by an embodiment of the present invention;

[0019] Figure 2 A three-dimensional structural schematic diagram is provided for the embodiments of the present invention;

[0020] Figure 3 A schematic diagram of the overall structure of the bottom is provided for embodiments of the present invention;

[0021] Figure 4 A schematic diagram of the Z-axis lifting mechanism of the spatula is provided for embodiments of the present invention;

[0022] Figure 5 A schematic diagram of the X and Y axis adjustment mechanism of the spatula is provided for embodiments of the present invention;

[0023] Figure 6 A schematic diagram of the trowel turntable mechanism is provided for embodiments of the present invention;

[0024] Figure 7 A schematic diagram of the spatula angle adjustment structure is provided for an embodiment of the present invention;

[0025] Figure 8 A schematic diagram of the scraper structure is provided for embodiments of the present invention;

[0026] Figure 9 A structural schematic diagram of the adjusting bolt is provided for embodiments of the present invention.

[0027] In the diagram: 1. Outer frame; 201. Mounting plate; 202. Electric cylinder; 203. Linear guide rail; 301. Lifting plate; 302. Y-axis adjusting plate; 303. X-axis adjusting plate; 304. Y-axis adjusting motor; 305. X-axis adjusting motor; 401. Rotary motor; 402. Adjusting disc; 403. Angle adjusting screw; 404. Spare blade body; 501. First mounting bracket; 502. Second mounting bracket; 503. Slide rod; 504. Lifting plate; 505. Scraper; 506. Damping spring; 507. Adjusting bolt. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Reference Figures 1-9 This invention provides a technical solution: a modular, multi-angle adaptive cable-driven polishing robot, comprising an outer frame 1 suspended by multiple cable-driven mechanisms via steel cables and controllably movable in three-dimensional space. A Z-axis lifting mechanism for the trowel is mounted on the outer frame 1. Below the Z-axis lifting mechanism are X and Y-axis adjusting mechanisms for the trowel. Below the X and Y-axis adjusting mechanisms is a trowel turntable mechanism. A trowel body 404 is mounted on the turntable mechanism. Hooks are installed on the outer surface of the outer frame 1 via the cable-driven mechanisms. The robot is connected to a steel cable. The cable-driven mechanism above controls the outer frame 1 to move over a wide range in three-dimensional space via the steel cable. The Z-axis lifting mechanism of the trowel is responsible for adjusting the overall height of the end. The X and Y axis adjustment mechanisms of the trowel are responsible for adjusting the pitch and roll angles of the trowel turntable mechanism. The trowel turntable mechanism drives the trowel body 404 to rotate and perform troweling operations. Thus, the trowel can achieve omnidirectional coverage and movement through cable drive. The X and Y axis adjustment mechanisms of the trowel can achieve precise control of the trowel's posture, enabling the robot to have both wide-range operation capabilities and fine construction capabilities.

[0030] Reference Figures 1-9 The Z-axis lifting mechanism of the spatula includes a mounting plate 201 fixed on the outer frame 1. An electric cylinder 202 and a linear guide rail 203 are fixedly mounted on the mounting plate 201. The electric cylinder 202 serves as a power source to provide linear thrust or pull force, driving the lifting plate 301 to move up and down. The linear guide rail 203 is arranged parallel to the electric cylinder 202, providing high-precision guidance and support for the lifting motion, ensuring smooth and wobbly movement.

[0031] Reference Figures 1-9 The spatula's X and Y axis adjustment mechanism includes a lifting plate 301, a Y-axis adjustment plate 302, an X-axis adjustment plate 303, a Y-axis adjustment motor 304, and an X-axis adjustment motor 305. The lifting plate 301 is fixedly connected to the output end of the electric cylinder 202. The Y-axis adjustment plate 302 is rotatably connected to the lifting plate 301 via a Y-axis rotating shaft and is driven by the Y-axis adjustment motor 304. The X-axis adjustment plate 303 is rotatably connected to the Y-axis adjustment plate 302 via an X-axis rotating shaft and is driven by the X-axis adjustment motor 305. Both the Y-axis adjustment plate 302 and the X-axis adjustment plate 303 are U-shaped. The spatula's X and Y axis adjustment mechanism includes a Y-axis adjustment motor 304 that drives the Y-axis adjustment plate 302 to rotate around the Y-axis relative to the lifting plate 301, thereby changing the pitch angle of the spatula assembly installed at the end. The X-axis adjustment motor 305 drives the X-axis adjustment plate 303 to rotate around the X-axis relative to the Y-axis adjustment plate 302, thereby changing the roll angle of the spatula assembly. The two rotational degrees of freedom are independent of each other, and through coordinated control, they can synthesize tilt postures in any direction, thereby realizing the angle adjustment of the spatula in two orthogonal directions, enabling the spatula to actively adapt to the slope or local unevenness of the working surface.

[0032] Reference Figures 1-9 The trowel turntable mechanism includes a rotary motor 401 and a trowel mounting assembly. The rotary motor 401 is fixedly mounted on the output end of the trowel's X and Y axis adjustment mechanism. The trowel mounting assembly is fixedly connected to the output shaft of the rotary motor 401. The rotary motor 401 drives the trowel to rotate, making the power and control of the troweling operation independent of the robot's movement and posture adjustment system. The action is more focused and efficient. The rotation speed is adjustable, which can adapt to the process requirements of different hardening stages of concrete, thus improving the troweling effect and work efficiency.

[0033] Reference Figures 1-9 The trowel mounting assembly also includes a trowel angle adjustment structure, which comprises an adjustment disc 402 and multiple angle adjustment screws 403. The adjustment disc 402 is rotatably mounted on the trowel mounting assembly. One end of each angle adjustment screw 403 is hinged to a trowel body 404, and the other end of the angle adjustment screw 403 contacts the adjustment disc 402. By setting the trowel angle adjustment structure, the adjustment disc 402 is a rotatable inclined plane. When the disc is rotated, the contours at different heights on its circumference will push the angle adjustment screws 403 in contact with it to produce axial displacement. The displacement of the angle adjustment screws 403 is converted into the rotation of the trowel about its own fulcrum through the hinge point, thereby changing the engagement angle of each trowel relative to the ground.

[0034] Reference Figures 1-9An excess material scraping mechanism is provided on the outer frame 1. The excess material scraping mechanism includes a first mounting frame 501 and a second mounting frame 502. The first mounting frame 501 and the second mounting frame 502 are fixed to the two sides of the outer frame 1 by bolts. A sliding rod 503 is slidably provided on the first mounting frame 501 and the second mounting frame 502. A lifting plate 504 is fixed to the other end of the sliding rod 503. A scraper 505 is provided below the lifting plate 504. By setting up the excess material scraping mechanism, when concrete higher than the preset horizontal level appears in the forward path of the trowel body 404 during the operation of this device, the scraper 505 on the first mounting frame 501 squeezes the concrete, thereby driving the excess concrete to move in the forward direction of the trowel body 404. This avoids the problem that the concrete is uneven on the horizontal level, which would make it difficult for the subsequent trowel body 404 to achieve the preset effect. The excess concrete moves with the movement of the scraper 505, making it convenient for subsequent workers to collect the excess concrete for recycling.

[0035] Reference Figures 1-9 Both the first mounting bracket 501 and the second mounting bracket 502 are equipped with damping springs 506 between them and the lifting plate 504. The lifting plate 504 is equipped with an adjusting bolt 507. The other end of the adjusting bolt 507 is connected to the scraper 505. Through the threaded connection between the adjusting bolt 507 and the lifting plate 504, the user can adjust the height of the scraper 505 relative to the lifting plate 504 by rotating the adjusting bolt 507, so as to adjust the height of the scraper 505 relative to the ground as needed.

[0036] Specifically, the working process or principle of this modular, multi-angle adaptive cable-driven troweling robot is as follows: During use, multiple cable-driven mechanisms located above the work area independently extend and retract their connected steel cables, controlling the suspended outer frame 1 to perform precise, angle-free translation and lifting in three-dimensional space. The control system calculates the required extension and speed of each steel cable based on the preset work path or real-time sensed work surface information, driving the outer frame 1 to move all the troweling actuators below it above the target work area. At this time, the Z-axis lifting mechanism of the trowel starts working, and the electric cylinder 202, as the power source, starts. Its output end pushes and pulls the lifting plate 301 fixed to it, driving the entire lower trowel adjustment and actuator mechanism to move vertically. The Y-axis adjustment motor 304 starts, driving the Y-axis adjustment plate 302 to rotate relative to the lifting plate 301 around the Y-axis. This movement changes the pitch angle (i.e., forward tilt or backward tilt) of the trowel assembly installed at the end in the forward direction, allowing it to adapt to the longitudinal slope. The X-axis adjustment motor 305 simultaneously or independently... Upon startup, the X-axis adjusting plate 303 rotates relative to the Y-axis adjusting plate 302 around the X-axis. This movement changes the roll angle of the spatula assembly (i.e., raising the left or right side), allowing it to adapt to lateral slopes or unevenness. After the spatula posture is adjusted, the user manually drives the rotating adjusting disc 402. The inclined profile of the circumference of the adjusting disc 402 pushes multiple angle adjusting screws 403 in contact with it to produce axial displacement. The displacement of each angle adjusting screw 403 is converted into a single displacement through its hinge point with the spatula body 404. The small rotation of each trowel blade around its own fulcrum allows for independent adjustment of the engagement angle of each trowel relative to the ground. The user can adjust the height of the scraper 505 relative to the lifting plate 504 by rotating the adjusting bolt 507, thereby adjusting the height of the scraper 505 relative to the ground. The rotary motor 401 of the trowel turntable mechanism is started, driving the trowel mounting assembly fixed to its output shaft and the trowel body 404 mounted on it to rotate at high speed. The centrifugal force and friction generated by the rotation work together to smooth, compact and lift the concrete surface.

Claims

1. A modular, multi-angle adaptive cable-driven polishing robot, characterized in that: The device includes an outer frame (1) suspended by multiple cable-driven mechanisms via steel cables and controllably movable in three-dimensional space. A trowel Z-axis lifting mechanism is mounted on the outer frame (1). Below the trowel Z-axis lifting mechanism are trowel X and Y-axis adjusting mechanisms. Below the trowel X and Y-axis adjusting mechanisms is a trowel turntable mechanism. A trowel body (404) is mounted on the trowel turntable mechanism. The trowel Z-axis lifting mechanism includes a mounting plate (201) fixed to the outer frame (1). An electric cylinder (202) and a linear guide rail (203) are fixedly installed on (201). The X and Y axis adjustment mechanism of the spatula includes a lifting plate (301), a Y-axis adjustment plate (302), an X-axis adjustment plate (303), a Y-axis adjustment motor (304), and an X-axis adjustment motor (305). The lifting plate (301) is fixedly connected to the output end of the electric cylinder (202). The Y-axis adjustment plate (302) is rotatably connected to the lifting plate (301) through a Y-axis rotating shaft, and is controlled by the Y-axis. Driven by an adjusting motor (304), the X-axis adjusting plate (303) is rotatably connected to the Y-axis adjusting plate (302) via an X-axis rotating shaft and is driven by an X-axis adjusting motor (305). The Y-axis adjusting plate (302) and the X-axis adjusting plate (303) are both U-shaped. The spatula turntable mechanism includes a rotary motor (401) and a spatula mounting assembly. The rotary motor (401) is fixedly installed at the output end of the spatula X and Y axis adjusting mechanism. The spatula mounting assembly is connected to the rotary motor (304) and the Y-axis adjusting plate (302) via an X-axis rotating shaft. The output shaft of the rotary motor (401) is fixedly connected. The spatula mounting assembly is also provided with a spatula angle adjustment structure. The spatula angle adjustment structure includes an adjustment disc (402) and a plurality of angle adjustment screws (403). The adjustment disc (402) is rotatably mounted on the spatula mounting assembly. One end of each angle adjustment screw (403) is hinged to a spatula body (404), and the other end of the angle adjustment screw (403) is in contact with the adjustment disc (402).

2. The modular, multi-angle adaptive cable-driven polishing robot according to claim 1, characterized in that: The outer frame (1) is provided with a residual scraping mechanism, which includes a first mounting bracket (501) and a second mounting bracket (502). The first mounting bracket (501) and the second mounting bracket (502) are respectively fixed on both sides of the outer frame (1). A slide rod (503) is slidably provided on both the first mounting bracket (501) and the second mounting bracket (502). A lifting plate (504) is fixed at the other end of the slide rod (503). A scraper (505) is provided below the lifting plate (504).

3. The modular, multi-angle adaptive cable-driven polishing robot according to claim 2, characterized in that: Both the first mounting bracket (501) and the second mounting bracket (502) are provided with damping springs (506) between them and the lifting plate (504). The lifting plate (504) is provided with adjusting bolts (507), and the other end of the adjusting bolts (507) is connected to the scraper (505).

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