Small intelligent surface finishing robot

Abstract

The utility model relates to a small intelligent surface finishing robot, and belongs to the technical field of concrete construction equipment. Comprising a rack and four trowelling plate mechanisms arranged correspondingly. The trowelling plate mechanism comprises a trowelling plate and a power mechanism matched with a motor and a speed reducer, and the trowelling plate is mounted at the output end of the speed reducer; the trowelling plate mechanism is suspended on the rack by using a cross-shaped rotating shaft; the front-and-back moving direction of the machine is the longitudinal direction, and the left-and-right moving direction is the transverse direction; the trowelling plate is controlled by a steering engine to make contact with the ground to achieve forward and backward steering. The steering engine is remotely controlled; the steering engines are connected with the trowelling plate mechanism through connecting rod mechanisms. On the basis of the trowelling plate mechanism, the trowelling plate mechanism can be controlled by arranging the steering engine and the connecting rod mechanism which are matched with each other; moving and rotating control is achieved by controlling the contact angle between a trowelling plate in the trowelling plate mechanism and the ground and the position of a contact point, a steering engine can be controlled by a remote controller, a worker controls the machine through the remote controller, and operation is convenient and fast.

Description

Technical Field

[0001] The utility model relates to a small intelligent surface finishing robot, belonging to the technical field of concrete construction equipment. Background Art

[0002] After the concrete pavement is constructed, it is necessary to finish the surface to ensure that the concrete surface is smooth and flat. A trowel is needed to finish the concrete surface. The main structure of the trowel is the engine-driven trowel mechanism, which mainly includes a trowel disc (piece) driven by a motor reducer. The trowel mechanism is installed on the frame through a cross shaft. By adjusting the contact between the trowel disc (piece) and the ground, it can achieve forward, backward, left and right movement and steering.

[0003] At present, the commonly used trowels are mainly divided into hand-held and ride-on types. Among them, the ride-on trowel has a driver's seat on the frame, and the construction workers operate it in the driver's seat. Compared with the hand-held trowel, the operation experience is more comfortable. However, it still requires close contact with the construction workers, which has certain safety hazards. There is still room for improvement in the operating experience and convenience of operation. Utility Model Content

[0004] The utility model aims to provide a small intelligent noodle collecting robot to solve the above technical problems.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A small intelligent dough collecting robot comprises a frame and four wiping plate mechanisms arranged correspondingly; the wiping plate mechanism comprises a wiping plate and a power mechanism coordinated by a motor and a reducer, and the wiping plate is installed at the output end of the reducer; the wiping plate mechanism is suspended on the frame using a cross shaft;

[0007] The direction of the machine's forward and backward movement is the longitudinal direction, and the direction of left and right movement is the transverse direction; the wiper plate uses a servo to control the contact with the ground to achieve forward and backward steering; the servo is controlled by a remote control; the servo is connected to the wiper plate mechanism using a connecting rod mechanism.

[0008] A further improvement of the technical solution is that: the front and rear two wiper plate mechanisms on one lateral side are provided with a steering gear and a connecting rod mechanism to control longitudinal movement; the front and rear two wiper plate mechanisms on the other lateral side are provided with a steering gear and a connecting rod mechanism to control longitudinal movement and steering.

[0009] A further improvement of the technical solution is as follows: a connecting beam is connected to the outer shell of the reducer of the wiping plate mechanism; the connecting rod mechanism includes a first ball head connecting rod, a connecting rod and a second ball head connecting rod which are connected in sequence; one end of the first ball head connecting rod is hingedly connected to the output end of the servo gear, and the other end is connected to the connecting rod; the other end of the connecting rod is connected to the second ball head connecting rod, and the other end of the second ball head connecting rod is connected to the connecting beam.

[0010] A further improvement of the technical solution is that: the connecting beam corresponding to the servo that controls the longitudinal movement is a longitudinal movement connecting beam, and the longitudinal movement connecting beam is arranged horizontally; the connecting beam corresponding to the servo that controls the steering movement is a steering connecting beam, and the steering connecting beam is arranged longitudinally.

[0011] A further improvement of the technical solution is as follows: the servo for controlling the longitudinal movement is a longitudinal shift servo; the front and rear wiper mechanisms on the same lateral side are driven by the same longitudinal shift servo; one of the wiper mechanisms is directly driven by the longitudinal shift servo, and a driving sprocket is provided at the output end of the longitudinal shift servo; the other wiper mechanism uses a driven sprocket and a chain to connect and transmit with the driving sprocket of the longitudinal shift servo, a turntable is integrally provided on the outer side of the driven sprocket, and the turntable is connected to the longitudinal shift connecting beam through a connecting rod mechanism for drive.

[0012] A further improvement of the technical solution is as follows: the servo for controlling steering is a steering servo; the front and rear two wiper plate mechanisms for controlling steering are driven by the same steering servo; one of the wiper plate mechanisms is directly driven by the steering servo, and a driving sprocket is provided at the output end of the steering servo; the other wiper plate mechanism uses a driven sprocket and a chain to connect and transmit with the driving sprocket of the steering servo, a turntable is integrally provided on the outer side of the driven sprocket, and the turntable is connected to the steering connecting beam through a connecting rod mechanism for drive.

[0013] A further improvement of the technical solution is that the wiping disc is a round disc.

[0014] A further improvement of the technical solution is that a guard plate is arranged on the outer periphery of the frame, and a guard cover is fixedly arranged on the upper end of the frame.

[0015] A further improvement of the technical solution is that lighting lamps are arranged on the front and rear guard plates in the longitudinal direction.

[0016] A further improvement of the technical solution is that the frame is surrounded into a square structure, chamfers are set at the corner positions, and guard plates are set on the frame at the chamfered positions.

[0017] Due to the adoption of the above technical solution, the technical effects achieved by the utility model are:

[0018] The utility model discloses a small intelligent dough collecting robot, which is based on a wiping plate mechanism and can realize control of the wiping plate mechanism by setting a matching steering gear and a connecting rod mechanism; movement and rotation control are realized by controlling the contact angle and the position of the contact point of the wiping plate in the wiping plate mechanism with the ground; the steering gear can be controlled by remote control, and the staff can control the machine by remote control, which is convenient and easy to operate.

[0019] The connecting rod mechanism of the utility model comprises two ball head connecting rods and a connecting rod. The ball head connecting rods are arranged at two ends of the connecting rod mechanism, so as to realize smooth transmission.

[0020] In the utility model, two wiping plate mechanisms on the same side in the horizontal direction use the same steering gear to cooperate with the synchronization mechanism to realize synchronous driving control, thereby ensuring good maneuverability of the dough collecting robot. The synchronization mechanism uses a sprocket chain mechanism, which is easy to implement and install and has good synchronization.

[0021] The utility model is provided with four wiping disc mechanisms, and a large wiping area can be wiping at one time, which can improve the wiping work efficiency. The four wiping disc mechanisms of the utility model are grouped according to the arrangement position, and the four wiping disc mechanisms are controlled to move by two longitudinal shifting steering gears, and the two wiping disc mechanisms on the same side are controlled to turn by one steering steering gear, and the overall controllability is good.

[0022] The utility model has high working efficiency, is easy to operate and use, has good safety and high intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the frame and the wiper mechanism of the utility model;

[0024] Figure 2 This is a top view of the frame and the wiper mechanism of the utility model;

[0025] Figure 3 This is a schematic diagram of the arrangement of the four wiper mechanisms of the utility model. Figure 1 ;

[0026] Figure 4 This is a schematic diagram of the wiper mechanism of the utility model;

[0027] Figure 5 This is a schematic diagram of the arrangement of the four wiper mechanisms of the utility model. Figure 2 ;

[0028] Figure 6 It is a schematic diagram of the overall structure of the utility model;

[0029] Among them, 1. frame, 2. wiper plate, 3. motor, 4. reducer, 5. cross shaft, 6. first ball joint connecting rod, 7. second ball joint connecting rod, 8. connecting rod, 9. longitudinal movement connecting beam, 10. steering connecting beam, 11. longitudinal movement servo, 12. steering servo, 13. driving sprocket, 14. driven sprocket, 15. turntable, 16. chain, 17. guard plate, 18. guard cover, 19. lighting lamp. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0031] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and 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 operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0032] The utility model relates to a small intelligent finishing robot, which is used for performing smoothing and finishing construction on a concrete surface after paving and leveling, and can realize remote control for automated intelligent construction.

[0033] The finishing robot is a trowel machine, which mainly includes a frame 1 and four trowel mechanisms arranged in a corresponding manner. The trowel mechanism is a component for troweling. Here, the trowel mechanism includes a trowel 2, a motor 3, and a reducer 4. The motor 3 and the reducer 4 cooperate to form a power mechanism. The high output speed of the motor 3 can be converted into a low output speed through the reducer 4. The trowel 2 is installed at the output end of the reducer 4. The motor 3 can rotate forward and reverse. Specifically, Figure 1 , Figure 2 shown.

[0034] The wiping disc mechanism is suspended on the frame 1 using a cross shaft 5; the wiping disc mechanism is on the frame 1 and can be driven to swing. When the machine needs to move and turn, it is achieved by changing the contact angle and contact point position of the wiping disc 2 in the wiping disc mechanism with the ground.

[0035] For the convenience of explanation, the direction of the machine moving forward and backward is the longitudinal direction, and the direction of the machine moving left and right is the transverse direction. A plurality of steering gears are arranged on the frame 1, each of which is connected to the wiper mechanism by a connecting rod mechanism. The steering gear can output a drive, and then transmit the driving force to the wiper 2 through the connecting rod mechanism. Driven by the steering gear, the wiper 2 can change the contact angle and the position of the contact point with the ground, thereby achieving movement and steering.

[0036] The steering gear is controlled by remote control, and the workers can control it by remote control outside the construction area to improve the safety of construction.

[0037] The noodle collecting robot is provided with four wiping plate mechanisms, and the four wiping plate mechanisms are arranged in rows and columns. In the horizontal direction, there are two front and rear wiping plate mechanisms on the left side, and two front and rear wiping plate mechanisms on the right side. Among them, the front and rear wiping plate mechanisms on one horizontal side use the provided servo and connecting rod mechanism to control the longitudinal movement, and the two wiping plate mechanisms on the same side need to move synchronously. The front and rear wiping plate mechanisms on the other horizontal side also use the provided servo and connecting rod mechanism to control the longitudinal movement and steering, and the two wiping plate mechanisms on the same side need to move synchronously. Here, the two wiping plate mechanisms on the same side that need to move synchronously can be driven and controlled by two servos respectively. Under this setting, the two servos need to be controlled synchronously. Alternatively, the two wiping plate mechanisms on the same side that need to move synchronously can be driven and controlled by one servo, and a synchronous mechanism is set between the two wiping plate mechanisms.

[0038] like Figure 3 , Figure 4 , Figure 5 As shown, the wiper mechanism of the machine is connected to a connecting beam on the outer shell of the reducer 4, and is connected to the corresponding connecting rod mechanism through the connecting beam. The connecting rod mechanism includes a first ball head connecting rod 6, a connecting rod 8 and a second ball head connecting rod 7 connected in sequence. Among them, the ball head end of the first ball head connecting rod 6 is hingedly connected to the output end of the steering gear, and the other end is connected to the connecting rod 8; the other end of the connecting rod 8 is connected to the second ball head connecting rod 7, and the other end of the second ball head connecting rod 7 is connected to the connecting beam at the ball head end. The use of a ball head connecting rod in the connecting rod mechanism can make the transmission smoother.

[0039] The four wiper mechanisms are all fixedly connected with connecting beams on the outer shell of the reducer 4. Among them, the connecting beam corresponding to the servo that controls the longitudinal movement is called the longitudinal movement connecting beam 9, and the connecting beam corresponding to the servo that controls the steering movement is called the steering connecting beam 10. The longitudinal movement connecting beam 9 and the steering connecting beam 10 have the same structure, but the difference lies in the different directions in which they are set. The longitudinal movement connecting beam 9 is set horizontally; the steering connecting beam 10 is set longitudinally. Due to the different directions in which they are set, when the servo is driven, the action of the wiper 2 is also different, thereby achieving movement and steering.

[0040] For the sake of convenience, the servo that controls the longitudinal movement is called the longitudinal movement servo 11. Preferably, one servo is used in conjunction with a synchronization mechanism to achieve the driving of the two front and rear wiper mechanisms on the same side in the lateral direction. In this way, the front and rear wiper mechanisms on the same side in the lateral direction are driven by the same longitudinal movement servo 11. Figure 3 , Figure 5 As shown, one of the wiper mechanisms is directly driven by the longitudinal shifting servo 11 in cooperation with the connecting rod mechanism, and the longitudinal shifting servo 11 is directly connected to the longitudinal shifting connecting beam 9 of the wiper mechanism through the connecting rod mechanism. The synchronization mechanism used is a sprocket chain mechanism, specifically, a driving sprocket 13 is provided at the output end of the longitudinal shifting servo 11, and the longitudinal shifting servo 11 can drive the driving sprocket 13 to rotate; at the same time, a driven sprocket 14 is provided on the frame 1 at the corresponding position of the other wiper mechanism, and the driving sprocket 13 and the driven sprocket 14 are connected and transmitted by a chain 16. A rotating disk 15 is also integrally provided on the outer side of the driven sprocket 14. The rotating disk 15 is connected to the longitudinal shifting connecting beam 9 through the connecting rod mechanism, and the rotating disk 15 rotates following the driven sprocket 14, and then, the rotation of the rotating disk 15 is transmitted to the corresponding wiper 2 through the connecting rod mechanism, so as to realize the driving swing of the wiper 2. The longitudinal shifting servo 11 is usually provided with two, and there is a corresponding longitudinal shifting servo 11 on the left side and the right side.

[0041] The steering engine that controls the steering is called a steering steering engine 12. Preferably, a steering engine is selected to cooperate with a synchronization mechanism to drive the front and rear wiper mechanisms on the same side in the lateral direction to achieve steering. The front and rear wiper mechanisms on the same side in the lateral direction are driven by the same steering steering engine 12. Figure 3 , Figure 5 As shown, one of the wiper mechanisms is directly driven by a steering servo 12 in cooperation with a connecting rod mechanism, and the steering servo 12 is directly connected to the steering connecting beam 10 of the wiper mechanism through the connecting rod mechanism. The synchronization mechanism used is a sprocket chain mechanism, specifically, a driving sprocket 13 is provided at the output end of the steering servo 12, and the steering servo 12 can drive the driving sprocket 13 to rotate; at the same time, a driven sprocket 14 is provided on the frame at the corresponding position of the other wiper mechanism, and a chain 16 is used to connect the driving sprocket 13 and the driven sprocket 14 for transmission. A rotating disk 15 is also integrally provided on the outer side of the driven sprocket 14. The rotating disk 15 is connected to the steering connecting beam 10 through a connecting rod mechanism, and the rotating disk 15 here rotates following the driven sprocket 14, and then, the rotation of the rotating disk 15 is transmitted to the corresponding wiper 2 through the connecting rod mechanism, so as to realize the driving swing of the wiper 2. One steering servo 12 is provided, and a longitudinal shifting servo 11 is provided on one lateral side thereof to drive the wiper mechanism on one side to realize steering.

[0042] by Figure 3 and Figure 5For example, when wiping the disc mechanism and carrying out horizontal left and right swing, realize the advance and retreat of machine. Wiping the disc mechanism place on the horizontal right side is provided with steering steering engine 12, and the wiping disc mechanism on the horizontal right side can carry out longitudinal swing before and after, realizes the steering of machine.

[0043] The noodle collecting robot of the present invention uses a wiping plate mechanism to collect noodles. The wiping plate 2 is a specific noodle collecting part. Preferably, the wiping plate 2 is set as a round plate.

[0044] In the noodle collecting robot of the present invention, the frame 1 is the main frame of the machine, and a guard plate 17 is arranged on the outer periphery of the frame 1 to play a role in protection and safety. A guard cover 18 is fixedly arranged on the upper end of the frame 1 to play a role in protection and safety. Figure 6 shown.

[0045] The frame 1 in the utility model is surrounded into a square structure to provide surrounding protection for the four wiper mechanisms. Usually, chamfers can be set at the corner positions, and guard plates can be set on the frame 1 at the chamfer positions.

[0046] The noodle collecting robot is preferably driven by electricity, and a large battery is installed on the frame as a source of electricity.

[0047] The utility model further provides lighting lamps 19 on the front and rear guard plates in the longitudinal direction, so as to provide lighting in construction sites with dark light.

[0048] The utility model dough collecting robot is based on a wiping plate mechanism and a frame, and can realize control of the wiping plate mechanism by arranging matched steering gear and connecting rod mechanism; the steering gear can be controlled by remote control, and the staff controls the machine by remote control, which is convenient and easy to operate, and realizes intelligent construction.

[0049] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A small intelligent noodle collecting robot, characterized by: The invention comprises a frame (1) and four wiper mechanisms arranged in a corresponding manner; the wiper mechanism comprises a wiper (2) and a power mechanism coordinated by a motor (3) and a reducer (4); the wiper (2) is mounted on the output end of the reducer (4); the wiper mechanism is suspended on the frame (1) using a cross shaft (5); The direction of the machine moving forward and backward is the longitudinal direction, and the direction of the machine moving left and right is the transverse direction; the wiper plate (2) uses a steering gear to control the contact with the ground to achieve forward and backward steering; the steering gear is controlled by a remote control; the steering gear is connected to the wiper plate mechanism using a connecting rod mechanism.

2. The small intelligent noodle collecting robot according to claim 1, characterized in that: The front and rear two wiper plate mechanisms on one lateral side are provided with a steering gear and a connecting rod mechanism to control longitudinal movement; the front and rear two wiper plate mechanisms on the other lateral side are provided with a steering gear and a connecting rod mechanism to control longitudinal movement and steering.

3. The small intelligent noodle collecting robot according to claim 2, characterized in that: A connecting beam is connected to the housing of the reducer (4) of the wiper mechanism; the connecting rod mechanism comprises a first ball-end connecting rod (6), a connecting rod (8) and a second ball-end connecting rod (7) which are connected in sequence; one end of the first ball-end connecting rod (6) is hingedly connected to the output end of the steering gear, and the other end is connected to the connecting rod (8); the other end of the connecting rod (8) is connected to the second ball-end connecting rod (7), and the other end of the second ball-end connecting rod (7) is connected to the connecting beam.

4. The small intelligent noodle collecting robot according to claim 3, characterized in that: The connecting beam corresponding to the steering gear controlling longitudinal movement is the longitudinal movement connecting beam (9), and the longitudinal movement connecting beam (9) is arranged transversely; the connecting beam corresponding to the steering gear controlling steering movement is the steering connecting beam (10), and the steering connecting beam (10) is arranged longitudinally.

5. The small intelligent noodle collecting robot according to claim 2, characterized in that: The servo for controlling the longitudinal movement is a longitudinal shift servo (11); the front and rear wiper mechanisms on the same lateral side are driven by the same longitudinal shift servo (11); one of the wiper mechanisms is directly driven by the longitudinal shift servo (11), and a driving sprocket (13) is arranged at the output end of the longitudinal shift servo (11); the other wiper mechanism is connected to the driving sprocket (13) of the longitudinal shift servo (11) by a driven sprocket (14) and a chain (16), and a rotating disk (15) is integrally arranged on the outer side of the driven sprocket (14), and the rotating disk (15) is connected to the longitudinal shift connecting beam (9) through a connecting rod mechanism for driving.

6. The small intelligent noodle collecting robot according to claim 5, characterized in that: The steering engine for controlling the steering is a steering steering engine (12); the front and rear two wiper mechanisms for controlling the steering are driven by the same steering steering engine (12); one of the wiper mechanisms is directly driven by the steering steering engine (12), and a driving sprocket (13) is arranged at the output end of the steering steering engine (12); the other wiper mechanism is connected to the driving sprocket (13) of the steering steering engine (12) by a driven sprocket (14) and a chain (16) for transmission, and a rotating disk (15) is integrally arranged on the outer side of the driven sprocket (14), and the rotating disk (15) is connected to the steering connecting beam (10) through a connecting rod mechanism for driving.

7. The small intelligent noodle collecting robot according to any one of claims 1 to 6, characterized in that: The wiping plate (2) is a round plate.

8. The small intelligent noodle collecting robot according to any one of claims 1 to 6, characterized in that: A guard plate (17) is provided on the outer periphery of the frame (1), and a guard cover (18) is fixedly provided on the upper end of the frame (1).

9. The small intelligent noodle collecting robot according to any one of claims 1 to 6, characterized in that: Lighting lamps (19) are arranged on the front guard plate and the rear guard plate in the longitudinal direction.

10. The small intelligent noodle collecting robot according to claim 9, characterized in that: The frame (1) is surrounded into a square structure, chamfers are arranged at the corner positions, and guard plates are arranged on the frame (1) at the chamfered positions.

Images