Troweling robot with motor parallel adjustment mechanism

Abstract

The invention discloses a troweling robot with a motor parallel adjustment mechanism. The troweling robot comprises a rack; the transmission assembly is arranged on the rack, the two ends of the transmission assembly are connected with the troweling plate assemblies respectively, and the transmission assembly drives the two troweling plate assemblies to rotate reversely; the trowelling plate assembly comprises a first motor, a second motor, a first eccentric crank, a second eccentric crank, a cross shaft platform, a speed reducer, a pull rod, a speed reducer connecting frame and a trowelling plate, the cross shaft platform is arranged on the rack and movably matched with the rack, the speed reducer is arranged below the cross shaft platform, the bottom of the speed reducer is connected with the trowelling plate, and the trowelling plate is connected with the pull rod. The two sides of the speed reducer are fixedly connected with pull rods respectively, the pull rods are movably matched with the cross shaft platform, the two ends of one side of the speed reducer connecting frame are connected with the corresponding pull rods respectively, and one end of the speed reducer connecting frame is connected with the first eccentric crank. Compared with the prior art, the troweling robot can solve the problems that an existing troweling robot is large in power, large in control difficulty and jittering in operation.

Description

Technical Field

[0001] This invention relates to the field of polishing robot technology, and in particular to a polishing robot with a parallel motor adjustment mechanism. Background Technology

[0002] In the field of concrete floor construction, floor troweling robots have emerged to improve construction efficiency. Currently, floor troweling robots used in concrete floor construction need to adjust the tilt angle of the trowel disc under different floor conditions to ensure troweling quality. Existing technology uses two motors to control the forward and backward and left and right angle changes of each trowel disc. The two motors are used independently, resulting in high motor power and the inability to distribute them symmetrically in space, causing the overall machine center to shift, increasing control difficulty. Furthermore, because the two motors are controlled in series, there is a large cumulative error, and the overall equipment vibrates during operation. Summary of the Invention

[0003] The purpose of this invention is to provide a polishing robot with a parallel motor adjustment mechanism to solve the problems of high power, high control difficulty and operation vibration of existing polishing robots.

[0004] To achieve the above objectives, the present invention provides a polishing robot with a motor parallel adjustment mechanism, comprising:

[0005] frame;

[0006] A transmission assembly is mounted on the frame, with both ends of the transmission assembly connected to smearing disc assemblies, and the transmission assembly drives the two smearing disc assemblies to rotate in opposite directions.

[0007] The wiping plate assembly includes a first motor, a second motor, a first eccentric crank, a second eccentric crank, a cross shaft platform, a reducer, tie rods, a reducer connecting frame, and a wiping plate. The cross shaft platform is mounted on the frame and is movably fitted to the frame. The reducer is located below the cross shaft platform, and the bottom of the reducer is connected to the wiping plate. Tie rods are fixedly connected to both sides of the reducer, and the tie rods are movably fitted to the cross shaft platform. The two ends of one side of the reducer connecting frame are respectively connected to the corresponding tie rods. One end of the reducer connecting frame is connected to the first eccentric crank, which is connected to the first motor. The other end of the reducer connecting frame is connected to the second eccentric crank, which is connected to the second motor.

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

[0009] The first motor and the second motor are arranged symmetrically.

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

[0011] The first motor and the second motor are connected in parallel.

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

[0013] The cross-axis platform is provided with a first connecting shaft at each end. The first connecting shaft is connected to a first bearing seat, which is connected to the frame.

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

[0015] The cross shaft platform is provided with a second connecting shaft at each end. The second connecting shaft is connected to a second bearing seat, and the second bearing seat is connected to the pull rod.

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

[0017] The transmission assembly includes a third motor, a belt drive component, a third connecting shaft, and a universal telescopic coupling. The third motor is fixedly connected to the frame. The third motor drives the third connecting shaft to rotate through the belt drive component. The two ends of the third connecting shaft are respectively connected to a universal telescopic coupling, and the universal telescopic coupling is connected to the reducer.

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

[0019] The belt drive component includes a drive pulley, a driven pulley, and a belt. The drive pulley is connected to the drive shaft of the third motor, the driven pulley is connected to the third connecting shaft, and the belt is sleeved on the drive pulley and the driven pulley.

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

[0021] Both the driving wheel and the driven wheel are equipped with partitions, and belts are respectively provided on both sides of the partitions.

[0022] As a further description of the above technical solution:

[0023] Two third bearing seats are provided on the third connecting shaft, and the third bearing seats are fixedly connected to the frame.

[0024] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0025] 1. In this invention, the transmission components can drive the two squeegee assemblies to rotate synchronously in opposite directions to perform squeegeeing. The angle between the squeegee and the ground can be adjusted by the two squeegee assemblies to enable the polishing robot to move forward and backward and left and right. The synchronous counter-rotation of the first motor and the second motor can enable the reducer to swing left and right, causing the squeegee to form an angle with the ground to complete the forward and backward movements. The synchronous forward rotation of the first motor and the second motor can enable the reducer to swing back and forth, causing the squeegee to form an angle with the ground to complete the left and right translational movements.

[0026] 2. In this invention, each smearing plate adopts dual-motor parallel control, reducing the total motor power by 50% and extending the runtime. The direction can be adjusted by adjusting one of the motors. The two sets of motors are arranged symmetrically, and the center of gravity of the whole machine is completely centered. No additional weight integration is required, reducing the cumulative error caused by motor series control and reducing vibration during operation. Attached Figure Description

[0027] 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 on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of a polishing robot with a parallel motor adjustment mechanism.

[0029] Figure 2 This is a front view of a polishing robot with a parallel motor adjustment mechanism.

[0030] Figure 3 This is a top view of a polishing robot with a parallel motor adjustment mechanism for removing the frame.

[0031] Figure 4 This is a schematic diagram of the wiping tray assembly in a wiping robot with a parallel motor adjustment mechanism. Figure 1 .

[0032] Figure 5 This is a schematic diagram of the wiping tray assembly in a wiping robot with a parallel motor adjustment mechanism. Figure 2 .

[0033] Figure 6 This is a schematic diagram of the belt drive component in a polishing robot with a parallel motor adjustment mechanism.

[0034] Legend:

[0035] 1. Frame; 2. Transmission assembly; 21. Third motor; 22. Belt drive assembly; 221. Drive pulley; 222. Driven pulley; 223. Belt; 23. Connecting shaft; 24. Universal telescopic coupling; 3. Wiping disc assembly; 31. First motor; 32. Second motor; 33. First eccentric crank; 34. Second eccentric crank; 35. Cross shaft platform; 36. Reducer; 37. Tie rod; 38. Reducer connecting frame; 39. Wiping disc; 4. First connecting shaft; 5. First bearing seat; 6. Second connecting shaft; 7. Second bearing seat; 8. Partition plate; 9. Third bearing seat. Detailed Implementation

[0036] 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, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0038] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0039] In the description of the embodiments of the present invention, it should be noted that the terms "upper" and "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0040] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] Example 1:

[0042] Please see Figure 1-6 This invention provides a polishing robot with a parallel motor adjustment mechanism, comprising:

[0043] Rack 1;

[0044] Transmission component 2 is mounted on the frame 1, and both ends of the transmission component 2 are respectively connected to the smearing disc assembly 3. The transmission component 2 drives the two smearing disc assemblies to rotate in opposite directions.

[0045] The wiping assembly 3 includes a first motor 31, a second motor 32, a first eccentric crank 33, a second eccentric crank 34, a cross shaft platform 35, a reducer 36, a tie rod 37, a reducer connecting frame 38, and a wiping disc 39. The cross shaft platform 35 is mounted on the frame 1 and is movably fitted to the frame 1. The reducer 36 is located below the cross shaft platform 35, and the bottom of the reducer 36 is connected to the wiping disc 39. Tie rods 37 are fixedly connected to both sides of the reducer 36 and are movably fitted to the cross shaft platform 35. The two ends of one side of the reducer connecting frame 38 are respectively connected to the corresponding tie rods 37. One end of the reducer connecting frame 38 is connected to the first eccentric crank 33, which is connected to the first motor 31. The other end of the reducer connecting frame 38 is connected to the second eccentric crank 34, which is connected to the second motor 32.

[0046] Specifically, the cross shaft platform 35 is provided with a first connecting shaft 4 at both ends, the first connecting shaft 4 is connected to a first bearing seat 5, and the first bearing seat 5 is connected to the frame 1.

[0047] Specifically, the cross shaft platform 35 is provided with a second connecting shaft 6 at both ends, the second connecting shaft 6 is connected to a second bearing seat 7, and the second bearing seat 7 is connected to the pull rod 37.

[0048] Specifically, the transmission assembly 2 includes a third motor 21, a belt drive component 22, a third connecting shaft 23, and a universal telescopic coupling 24. The third motor 21 is fixedly connected to the frame 1. The third motor drives the third connecting shaft 23 to rotate through the belt drive component 22. The two ends of the third connecting shaft 23 are respectively connected to a universal telescopic coupling 24. The universal telescopic coupling 24 is connected to the reducer 36.

[0049] Specifically, the belt drive component 22 includes a drive pulley 221, a driven pulley 222, and a belt 223. The drive pulley 221 is connected to the drive shaft of the third motor 21, the driven pulley 222 is connected to the third connecting shaft 23, and the belt 223 is sleeved on the drive pulley 221 and the driven pulley 222.

[0050] Specifically, two third bearing seats 9 are provided on the third connecting shaft 23, and the third bearing seats 9 are fixedly connected to the frame 1.

[0051] Working principle:

[0052] The present invention relates to a power trowel robot, which consists of a frame, a transmission assembly, and a trowel assembly. The transmission assembly drives the two trowel assemblies to rotate synchronously in opposite directions for smoothing. The angle between the trowel assemblies and the ground is adjusted by the two trowel assemblies to enable the power trowel robot to move forward and backward and left and right.

[0053] The transmission assembly consists of a third motor 21, a belt drive component 22, a third connecting shaft 23, and a universal telescopic coupling. The third motor drives the third connecting shaft to rotate via the belt. The third connecting shaft is connected to the universal reducers on both sides via the universal telescopic coupling. When the equipment is running, the universal telescopic coupling can automatically adapt to the swing of the reducer to achieve lossless speed transmission.

[0054] The wiping disc assembly consists of a first motor 31, a second motor 32, a first eccentric crank 33, a second eccentric crank 34, a cross shaft platform 35, a reducer 36, and a tie rod, forming a parallel adjustment mechanism. The cross shaft platform is connected to the upper frame and the lower reducer connecting frame via bearing seats. The reducer and reducer connecting frame are fixed. The motor drives the eccentric crank, which in turn drives the reducer to swing through the tie rod. By synchronously rotating the two motors in opposite directions, the reducer can swing left and right, causing the wiping disc to form an angle with the ground to complete forward and backward movements. By synchronously rotating the two motors in opposite directions, the reducer can swing back and forth, causing the wiping disc to form an angle with the ground to complete left and right translational movements.

[0055] Example 2:

[0056] See Figure 1-6 The figure shows a polishing robot with a parallel motor adjustment mechanism provided by Embodiment 2 of the present invention. This embodiment further improves upon the previous embodiment by symmetrically arranging the first motor 31 and the second motor 32. This prevents the polishing robot's center of gravity from shifting, ensuring the entire machine's center of gravity is perfectly centered, eliminating the need for additional weight consolidation, and reducing control complexity.

[0057] Example 3:

[0058] See Figure 1-6 The figure shows a polishing robot with a parallel motor adjustment mechanism provided by Embodiment 3 of the present invention. This embodiment further improves upon the above embodiments by implementing the following technical solution: the first motor 31 and the second motor 32 are connected in parallel. The circuits of the first motor 31 and the second motor adopt a parallel control method, reducing the total motor power by 50%. Adjusting one of the motors can adjust the direction, reducing the cumulative error caused by series motor control.

[0059] Example 4:

[0060] See Figure 1-6 The figure shows a polishing robot with a parallel motor adjustment mechanism provided by Embodiment 4 of the present invention. This embodiment further improves upon the previous embodiments by providing the following technical solution: both the driving wheel 221 and the driven wheel 222 are provided with partitions 8, and belts are respectively provided on both sides of the partitions 8. The partitions divide the concave portion in the middle of the driving wheel into two groove structures, thus allowing two independent belts to be installed between the driving wheel and the driven wheel. This improves the stability of the transmission between the driving wheel and the driven wheel, and if one belt is damaged, the other belt can still be used normally.

[0061] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A polishing robot with a parallel motor adjustment mechanism, characterized in that... ,include: frame; A transmission assembly is mounted on the frame, with both ends of the transmission assembly connected to smearing disc assemblies, and the transmission assembly drives the two smearing disc assemblies to rotate in opposite directions. The wiping plate assembly includes a first motor, a second motor, a first eccentric crank, a second eccentric crank, a cross shaft platform, a reducer, tie rods, a reducer connecting frame, and a wiping plate. The cross shaft platform is mounted on the frame and is movably fitted to the frame. The reducer is located below the cross shaft platform, and the bottom of the reducer is connected to the wiping plate. Tie rods are fixedly connected to both sides of the reducer, and the tie rods are movably fitted to the cross shaft platform. The two ends of one side of the reducer connecting frame are respectively connected to the corresponding tie rods. One end of the reducer connecting frame is connected to the first eccentric crank, which is connected to the first motor. The other end of the reducer connecting frame is connected to the second eccentric crank, which is connected to the second motor.

2. A polishing robot with a parallel motor adjustment mechanism according to claim 1, characterized in that... The first motor and the second motor are arranged symmetrically.

3. A polishing robot with a parallel motor adjustment mechanism according to claim 1, characterized in that... The first motor and the second motor are connected in parallel.

4. A polishing robot with a parallel motor adjustment mechanism according to claim 1, characterized in that... The cross shaft platform is provided with a first connecting shaft at each end. The first connecting shaft is connected to a first bearing seat, which is connected to the frame.

5. A polishing robot with a parallel motor adjustment mechanism according to claim 1, characterized in that... The cross shaft platform is provided with a second connecting shaft at each end. The second connecting shaft is connected to a second bearing seat, and the second bearing seat is connected to the pull rod.

6. A polishing robot with a parallel motor adjustment mechanism according to claim 1, characterized in that... The transmission assembly includes a third motor, a belt drive component, a third connecting shaft, and a universal telescopic coupling. The third motor is fixedly connected to the frame. The third motor drives the third connecting shaft to rotate through the belt drive component. The two ends of the third connecting shaft are respectively connected to a universal telescopic coupling, and the universal telescopic coupling is connected to the reducer.

7. A polishing robot with a parallel motor adjustment mechanism according to claim 6, characterized in that... The belt drive component includes a drive pulley, a driven pulley, and a belt. The drive pulley is connected to the drive shaft of the third motor, the driven pulley is connected to the third connecting shaft, and the belt is sleeved on the drive pulley and the driven pulley.

8. A polishing robot with a parallel motor adjustment mechanism according to claim 7, characterized in that... Both the driving wheel and the driven wheel are provided with partitions, and belts are provided on both sides of the partitions.

9. A polishing robot with a parallel motor adjustment mechanism according to claim 6, characterized in that... Two third bearing seats are provided on the third connecting shaft, and the third bearing seats are fixedly connected to the frame.

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