Translation mechanism and floor leveling robot having the same

Abstract

The utility model relates to the semi -dry terrace mortar leveling field discloses a translation mechanism and has its ground leveling robot, the translation mechanism includes first guide rail, second guide rail, transmission belt and spacing unit, a pair of spacing units are equipped with on this first guide rail a pair of limit wheels, this second guide rail and first guide rail parallel extension and can be along the extension direction on first guide rail moves, a pair of driven wheels and a pair of guide wheels are equipped with on the second guide rail and are located between the driven wheel, transmission belt connects above -mentioned limit wheel, guide wheel and driven wheel, the spacing unit is arranged to be able to limit the limit moving position of second guide rail on first guide rail, and / or, the spacing unit is arranged to be able to limit the operation position of transmission belt relative to driven wheel. The translation mechanism of the utility model can make the work unit have greater available sliding distance.

Description

Technical Field

[0001] This utility model relates to the field of semi-dry floor mortar leveling, specifically to a translation mechanism. Furthermore, this utility model also relates to a floor leveling robot incorporating this translation mechanism. Background Technology

[0002] In building construction, structural construction typically involves the sequential construction of the main structure and secondary structures. After the main structure is completed, secondary structure construction and some non-fair-faced concrete structure construction are often required. Following the completion of these structures, wall plastering or floor slab construction is usually necessary to meet the building's functional and aesthetic requirements. In actual construction, to ensure the plaster or floor slab has a reasonable thickness and flatness, it is usually necessary to pre-lay plaster spots as reference points to control the construction elevation and thickness.

[0003] However, the traditional method of manually laying mortar spots and leveling the ground is not only labor-intensive but also requires a high level of skill from the construction workers. Elevation control accuracy is easily affected by human factors, and construction efficiency is relatively low. To reduce labor intensity and improve leveling accuracy, ground leveling robots are now widely used on construction sites. However, most existing ground leveling robots use a single power system with a sliding rail structure to drive the leveling head to move back and forth along a fixed path. The sliding range of the leveling head is often limited by the width of the machine body, making it unsuitable for large-area leveling needs. Utility Model Content

[0004] The purpose of this invention is to overcome the aforementioned problems existing in the prior art.

[0005] To achieve the above objectives, this utility model provides a translation mechanism comprising:

[0006] A first guide rail, on which a pair of limit wheels are spaced apart from each other;

[0007] The second guide rail extends parallel to the first guide rail and can move along the extension direction on the first guide rail. The second guide rail is provided with a pair of driven wheels spaced apart from each other and a pair of guide wheels located between the driven wheels.

[0008] The transmission belt has its two ends wrapped around the limit wheel and the driven wheel on the side away from the guide wheel, and its middle section wrapped around the guide wheels on the side opposite to each other; and a limiting unit configured to limit the extreme movement position of the second guide rail on the first guide rail, and / or, the limiting unit configured to limit the running position of the transmission belt relative to the driven wheel.

[0009] Optionally, the translation mechanism further includes a power source, which is configured to drive the limiting wheel to rotate in the same direction.

[0010] Optionally, the sliding resistance of the second guide rail is less than the resistance of the transmission belt moving between the driven pulleys, so that the second guide rail is preferentially moved on the first guide rail during the driving of the transmission belt.

[0011] Optionally, the power source includes a drive wheel rotatably connected to the first guide rail, and a rotary motor capable of driving the drive wheel to rotate. The drive wheel is located between the limiting wheels, and the outer peripheral surface of the drive wheel abuts against the inner surface of the transmission belt.

[0012] Optionally, the drive wheel is located at the center of the first guide rail.

[0013] Optionally, tensioning pulleys are provided on both sides of the drive pulley, and the outer peripheral surface of the tensioning pulley abuts against the outer surface of the transmission belt.

[0014] Optionally, the first guide rail includes a fixed frame and a first slide rail disposed on the fixed frame. The first slide rail extends along the length direction of the fixed frame. The second guide rail is provided with a plurality of first sliders that can slide on the first slide rail, and the first sliders are located between the first limiting blocks.

[0015] Optionally, the second guide rail includes a sliding frame and a second slide rail disposed on the sliding frame. The second slide rail extends along the length direction of the sliding frame, and a connecting frame is slidably disposed on the second slide rail.

[0016] Optionally, the limiting unit includes a first limiting block disposed at both ends of the first slide rail and a second limiting block disposed at both ends of the second slide rail.

[0017] The second aspect of this utility model provides a ground leveling robot, including the translation mechanism as described above, wherein the leveling head of the leveling robot is connected to the translation mechanism.

[0018] Through the above technical solution, this utility model can connect components that need to be translated (such as leveling heads) to the transmission section of the transmission belt. By cooperating with the second guide rail, the sliding path of the working device can be significantly expanded without increasing the lateral dimension of the leveling robot body, while keeping the length of the first guide rail unchanged, thus effectively improving its lateral working coverage. Compared to the existing structural design where the sliding distance is limited by the stroke of a single-stage guide rail, this utility model breaks through the motion boundary under compact structural conditions, achieving a larger usable sliding distance. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the translation mechanism of this utility model;

[0020] Figure 2 This is a rear view schematic diagram of the translation mechanism of this utility model;

[0021] Figure 3 This is a schematic diagram of the drive unit of this utility model;

[0022] Figure 4 This is a schematic diagram of the connecting frame of this utility model sliding to one extreme position;

[0023] Figure 5 This is a schematic diagram of the connecting frame of this utility model sliding to the other extreme position.

[0024] Explanation of reference numerals in the attached figures

[0025] 1. First guide rail; 101. Fixed frame; 102. First slide rail; 103. First limiting block; 2. Second guide rail; 201. Sliding frame; 202. Second slide rail; 203. Second limiting block; 204. First slider; 205. Third slide rail; 3. Connecting frame; 301. Clamping structure; 302. Second slider; 303. Third slider; 4. Limiting wheel; 5. Driven wheel; 6. Transmission belt; 7. Power source; 701. Driving wheel; 702. Motor; 703. Tensioning wheel; 8. Guide wheel. Detailed Implementation

[0026] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of this utility model.

[0027] like Figure 1 As shown, the translation mechanism of this utility model includes a first guide rail 1, a second guide rail 2, a transmission belt 6, and a limiting unit. The first guide rail 1 has a pair of limiting wheels 4 arranged at intervals, which can be located at both ends of the first guide rail 1. The second guide rail 2 has a pair of driven wheels 5 arranged at intervals, and a pair of guide wheels 8 located between the driven wheels 5. The driven wheels 5 can also be located at both ends of the second guide rail 2. The transmission belt 6 is driven by the aforementioned limiting wheels 4, driven wheels 5, and guide wheels 8. Specifically, the two ends of the transmission belt 6 are respectively wound around the limiting wheels 4 and the driven wheels 5 on the side away from the guide wheels 8, and the middle part is wound around the opposite side of the guide wheels 8, thereby dividing the transmission belt 6 into three functional sections: a power section winding around the limiting wheels 4, a tension section located between the guide wheels 8 and the limiting wheels 4, and a transmission section winding around the driven wheels 5 and the guide wheels 8 to the driven wheels 5.

[0028] The aforementioned limiting unit is configured to limit the extreme movement position of the second guide rail 2 on the first guide rail 1 on the one hand, and can also be configured to limit the running position of the transmission belt 6 relative to the driven wheel 5 on the other hand.

[0029] Based on the above structural design, this utility model establishes a "sliding priority" transmission logic by adjusting the motion resistance relationship between the second guide rail 2 and the transmission belt 6. Specifically, when the sliding resistance of the second guide rail 2 on the first guide rail 1 is less than the resistance required for the transmission belt 6 to slide, the transmission logic prioritizes sliding. Figure 3 When the limiting wheel 4 rotates in the same direction and applies driving force to the transmission belt 6, the guide wheel 8 set on the second guide rail 2 will be subjected to the pulling force generated by the stretching section of the transmission belt 6.

[0030] Although the driving force is sufficient to overcome the sliding resistance of the transmission belt 6 between the driven pulley 5, the guide pulley 8 is mounted on the second guide rail 2, which can slide along the first guide rail 1. Since the aforementioned resistance relationship means there is no rigid connection between the guide pulley 8 and the first guide rail 1, the pulling force will not immediately cause the transmission belt 6 to slip within the guide wheel system. Instead, it will push the second guide rail 2 to move relative to the first guide rail 1. At this time, the transmission section of the transmission belt 6 will not slide relative to the driven pulley 5, and its force state is equivalent to the resistance that the second guide rail 2 needs to overcome to slide, which is the sliding resistance of the second guide rail 2 on the first guide rail 1 (this value is less than the resistance required for the transmission belt 6 to slide itself). Therefore, it will preferentially enter the sliding mode of the second guide rail 2.

[0031] During this stage, the tension section of the drive belt 6 continuously shortens on the side of the guide wheel 8 in the direction of tension, while correspondingly lengthening on the other side, thus creating a continuous drive for the second guide rail 2. The drive section remains stationary relative to the driven wheel 5, without slippage.

[0032] When the second guide rail 2 moves to its limit position on the first guide rail 1, the limiting unit applies a reverse limiting force to prevent it from sliding further. In this state, the guide wheel 8 continues to be pulled by the transmission belt 6, and this pulling force is balanced by the limiting unit, resulting in an indirect rigid connection between the guide wheel 8 and the first guide rail 1. At this time, the force (direction and magnitude) on the transmission section of the transmission belt 6 is equivalent to the driving force applied to the transmission belt 6 by the limiting wheel 4, and this driving force is greater than the resistance to the movement of the transmission belt, thus slippage begins. That is, the transmission belt 6 begins to move between the limiting wheel 4, the guide wheel 8, and the driven wheel 5. As the transmission belt 6 runs, the components connected to it that need to be translated will slide along the second guide rail 2, eventually moving to one side to a position close to the edge of the driven wheel 5, such as... Figure 4 or Figure 5 As shown.

[0033] Conversely, when the sliding resistance of the second guide rail 2 on the first guide rail 1 is greater than the resistance required for the transmission belt 6 to slide, the transmission belt 6 will be preferentially driven to move by the limiting wheel 4. At this time, the pulling force on the guide wheel 8 located on the second guide rail 2 is only equal to the resistance that the transmission belt 6 needs to overcome in its movement, and since this resistance is lower than the sliding resistance required for the second guide rail 2 to slide on the first guide rail 1, it cannot push the second guide rail 2 to slide.

[0034] During this stage, the transmission belt 6 continuously runs between the limiting wheel 4, the guide wheel 8, and the driven wheel 5, driving the working components (such as leveling heads) connected to its upper transmission section to slide along the second guide rail 2 until the transmission belt 6 reaches near the maximum stroke set by the limiting unit. At this point, the limiting unit exerts a reverse constraint on the transmission belt 6, preventing it from sliding further. Consequently, the driving force originally used to drive the transmission belt 6 is transferred and fully applied to the guide wheel 8, meaning the pulling force on the guide wheel 8 equals the driving force, thus pushing the second guide rail 2 to begin sliding relative to the first guide rail 1, eventually moving along the corresponding direction to its sliding limit position.

[0035] Based on the above structural design, this invention can connect components requiring translational drive (such as leveling heads) to the transmission section of the transmission belt 6. Through the coordinated operation between the transmission belt 6 and the second guide rail 2, the sliding path of the working device can be significantly expanded without increasing the lateral dimension of the leveling robot body, while keeping the length of the first guide rail 1 unchanged, thereby effectively improving its lateral working coverage. Compared to existing technologies where the sliding distance is limited by the stroke of a single-stage guide rail, this invention breaks through the motion boundary under compact structural conditions, achieving a larger usable sliding distance.

[0036] In some embodiments, the translation mechanism may further include a power source 7 capable of driving the limiting wheel 4 on the second guide rail 2 to rotate in the same direction, so that the direction of rotation of the limiting wheel 4 driven by the power source 7 can be controlled accordingly to control the direction of movement of the component to be translated. Regarding the above structural design, this invention preferably sets the sliding resistance of the second guide rail 2 to be less than the resistance of the transmission belt 6 moving between the driven wheels 5, so that during the process of the power source 7 driving the transmission belt 6, the second guide rail 2 is preferentially moved on the first guide rail 1.

[0037] The power source 7 of this invention can have any suitable structure. For example, the power source 7 may include one or two rotary motors 702. When two rotary motors 702 are used, the two motors 702 are respectively connected to the corresponding limiting wheels 4 to drive the limiting wheels 4 to rotate synchronously. In this configuration, the rotary motors 702 are preferably synchronous motors 702 to ensure coordinated rotation of the limiting wheels 4, thereby achieving coordinated changes in the tension section of the transmission belt 6 on the left and right sides.

[0038] To achieve the cyclic transmission of the drive belt 6, the limiting wheels 4 can be connected by a continuous drive belt 6, or they can be independently connected by two discontinuous drive belts 6. Specifically, if a continuous drive belt 6 structure is used, the limiting wheels 4 are connected by a single annular drive belt 6. When the limiting wheel 4 rotates, it can drive the drive belt 6 to pull the guide wheel 8 on one side, so that the corresponding tension section is shortened. The corresponding length of the drive belt 6 then moves to the other side, so that the tension section on the other side is extended accordingly, thereby forming a dynamic adjustment of the tension section of the drive belt 6.

[0039] If an intermittent transmission belt 6 structure is used, both ends of the transmission belt 6 need to be fixedly connected to the corresponding limiting wheels 4, so that the transmission belt 6 can be wound around the outer circumference of the limiting wheels 4, and the two achieve driving cooperation through the arrangement of the transmission belt 6 in opposite winding directions. For example, combined with Figure 3 When the limiting wheel 4 rotates counterclockwise, the left limiting wheel 4 begins to wrap around the transmission belt 6, producing a contraction effect. Correspondingly, the right limiting wheel 4 can release the transmission belt 6 of equal length, that is, the transmission belt 6 gradually detaches from its outer periphery, realizing the length adjustment and power transmission of the transmission belt 6 between the left and right limiting wheels 4. Through the above structure, it can be ensured that the extension and contraction of the tension section of the transmission belt 6 is consistent with the rotation direction of the limiting wheel 4, achieving a stable and reliable reciprocating drive effect.

[0040] Furthermore, when only one rotary motor 702 is used as the power source 7, a corresponding drive wheel 701 is required. Specifically, the drive wheel 701 is rotatably mounted on the first guide rail 1 and preferably positioned between the two limiting wheels 4. The output end of the rotary motor 702 is connected to the drive wheel 701, thereby driving its rotation. The outer circumferential surface of the drive wheel 701 contacts the inner surface of the transmission belt 6, and the friction between them drives the transmission belt 6, causing it to move along the rotation direction of the drive wheel 701. It is important to note that to ensure transmission efficiency and system stability, sufficient friction should be maintained between the drive wheel 701 and the transmission belt 6. This friction should be greater than the resistance required for the second guide rail 2 to slide on the first guide rail 1 and the movement resistance of the transmission belt 6, to avoid slippage during the driving process and ensure stable transmission and accurate switching of each stage of the mechanism.

[0041] Furthermore, the drive wheel 701 is preferably positioned at the center of the first guide rail 1, i.e., at the center point between the two limiting wheels 4. By arranging the drive wheel 701 at the center, not only can the length changes of the tension sections on both sides of the transmission belt 6 be made more symmetrical, but a balanced distribution of tension can also be achieved during the driving process, thereby improving the stability of the transmission and the symmetry of the overall structure. In addition, the central arrangement facilitates the concentrated transmission of power output, reducing the problem of offset or operational instability caused by excessive tension on one side of the transmission belt 6, further improving the working accuracy and reliability of the entire translation mechanism.

[0042] Furthermore, tensioning pulleys 703 are provided on both sides of the drive pulley 701. The outer peripheral surface of the tensioning pulley 703 abuts against the outer surface of the transmission belt 6. The outer peripheral surface of the tensioning pulley 703 is at least partially higher than the lowest point of the drive pulley 701, so as to apply a tension force in the vertical direction to the transmission belt 6, thereby increasing the friction between the drive pulley 701 and the transmission belt 6.

[0043] In some embodiments, the first guide rail 1 may include a fixing frame 101 and a first slide rail 102 disposed on the fixing frame 101. The first slide rail 102 extends along the length direction of the fixing frame 101, and a first limiting block 103 is disposed at each of its two ends. The second guide rail 2 is provided with a plurality of first sliders 204 that can slide on the first slide rail 102, and these first sliders 204 are disposed between two first limiting blocks 103, thereby limiting the sliding stroke of the second guide rail 2 on the first guide rail 1.

[0044] Furthermore, the second guide rail 2 includes a sliding frame 201 and a second slide rail 202 disposed on the sliding frame 201. The second slide rail 202 extends along the length direction of the connecting frame 3. The second limiting blocks 203 are located at both ends of the second slide rail 202. The connecting frame 3 is slidably disposed on the second slide rail 202, thereby using the second limiting blocks 203 to limit the extreme positions of the connecting frame 3 on both sides of the second slide rail 202. Specifically, the connecting frame 3 is provided with a second slider 302 slidably connected to the second slide rail 202. Therefore, the limiting unit in this utility model is jointly composed of the first limiting block 103 and the second limiting block 203.

[0045] Based on the above structure, in this utility model, when the stretching section on one side of the transmission belt 6 begins to shorten, it drives the second guide rail 2 to slide along the first slide rail 102. As the second guide rail 2 moves to the end of its sliding stroke and touches the corresponding first limiting block 103, its movement relative to the first guide rail 1 is restricted, thus indirectly fixing the second guide rail 2. At this time, the transmission belt 6 continues to run, driving the connecting frame 3 to slide along the second slide rail 202 until the connecting frame 3 touches the second limiting block 203 on that side. Subsequently, the rotary motor 702 in the power source 7 is manipulated to rotate in the opposite direction, so that the above-mentioned action process is executed sequentially in opposite directions, forming a complete reciprocating translational cycle.

[0046] In addition, such as Figure 1 and Figure 2 As shown, the connecting frame 3 for mounting the translationally driven component in this utility model is mounted on the transmission section of the transmission belt 6 via a clamping structure 301. Specifically, the connecting frame 3 can be L-shaped, with a clamping plate on its bottom end plate for clamping the transmission belt 6. The transmission belt 6 is clamped between the clamping plate and the bottom end plate, thereby achieving a fixed connection between the connecting frame 3 and the transmission belt 6.

[0047] To achieve the detachability and clamping force adjustment of the clamping structure 301, the clamping plate and the bottom plate are connected by several bolt-nut assemblies. The operator can adjust the clamping force of the clamping plate on the transmission belt 6 by tightening or loosening the nuts, thereby controlling the contact friction between the connecting frame 3 and the transmission belt 6. This structural design ensures that the connecting frame 3 reliably moves synchronously with the transmission belt 6 during operation, while also providing good adjustability and maintainability. This facilitates later replacement or repositioning of the transmission structure, improving the overall structural adaptability and operational convenience of the device. The connecting frame 3 is also mounted on the second guide rail 2 via a sliding connection.

[0048] In this utility model, a third slide rail 205 may also be provided on the second guide rail 2. Correspondingly, a third slider 303 that is slidably connected to the third slide rail 205 is provided on the connecting frame 3 to improve the stability of the connecting frame 3.

[0049] In addition, the relationship between the sliding resistance of the second guide rail 2 and the motion resistance of the transmission belt 6 can be adjusted by setting different surface roughness levels among the first slide rail 102, the second slide rail 202 and the third slide rail 205, selecting different materials or setting lubrication methods on the corresponding slide rails. This article will not elaborate on this further.

[0050] In another aspect, this utility model provides a leveling robot, which employs the translation mechanism described above. Correspondingly, the leveling head can be connected to the translation mechanism so that it can be driven to translate accordingly. Specifically, the leveling head can be connected to the aforementioned connecting frame 3.

[0051] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be considered as the content disclosed in the present invention and all fall within the protection scope of the present invention.

Claims

1. A translation mechanism, characterized in that, include: The first guide rail (1) is provided with a pair of limit wheels (4) spaced apart from each other. The second guide rail (2) extends parallel to the first guide rail (1) and can move on the first guide rail (1) along the extension direction. The second guide rail (2) is provided with a pair of driven wheels (5) spaced apart from each other and a pair of guide wheels (8) between the driven wheels (5). A transmission belt (6), the two ends of which are respectively wrapped around the limiting wheel (4) and the driven wheel (5) on the side away from the guide wheel (8), and the middle portion of which is wrapped around the side of the guide wheel (8) opposite to each other; and, The limiting unit is configured to limit the extreme movement position of the second guide rail (2) on the first guide rail (1), and / or the limiting unit is configured to limit the running position of the transmission belt (6) relative to the driven wheel (5).

2. The translation mechanism according to claim 1, characterized in that, The translation mechanism also includes a power source (7), which is configured to drive the limiting wheel (4) to rotate in the same direction.

3. The translation mechanism according to claim 2, characterized in that, The sliding resistance of the second guide rail (2) is less than the resistance of the transmission belt (6) moving between the driven wheel (5), so that the second guide rail (2) is preferentially moved on the first guide rail (1) during the driving of the transmission belt (6).

4. The translation mechanism according to claim 2, characterized in that, The power source (7) includes a drive wheel (701) rotatably connected to the first guide rail (1) and a rotary motor (702) capable of driving the drive wheel (701) to rotate. The drive wheel (701) is located between the limiting wheels (4), and the outer peripheral surface of the drive wheel (701) abuts against the inner surface of the transmission belt (6).

5. The translation mechanism according to claim 4, characterized in that, The drive wheel (701) is located at the center of the first guide rail (1).

6. The translation mechanism according to claim 4, characterized in that, The drive wheel (701) is provided with tension wheels (703) on both sides, and the outer peripheral surface of the tension wheel (703) abuts against the outer surface of the transmission belt (6).

7. The translation mechanism according to claim 1, characterized in that, The first guide rail (1) includes a fixed frame (101) and a first slide rail (102) disposed on the fixed frame (101). The first slide rail (102) extends along the length direction of the fixed frame (101). The second guide rail (2) is provided with a plurality of first sliders (204) that can slide on the first slide rail (102), and the first sliders (204) are located between the first limiting blocks (103).

8. The translation mechanism according to claim 7, characterized in that, The second guide rail (2) includes a sliding frame (201) and a second slide rail (202) disposed on the sliding frame (201). The second slide rail (202) extends along the length direction of the sliding frame (201), and a connecting frame (3) is slidably disposed on the second slide rail (202).

9. The translation mechanism according to claim 8, characterized in that, The limiting unit includes a first limiting block (103) disposed at both ends of the first slide rail (102) and a second limiting block (203) disposed at both ends of the second slide rail (202).

10. A ground leveling robot, characterized in that, Includes a translation mechanism according to any one of claims 1 to 9, wherein the leveling head of the leveling robot is connected to the translation mechanism.

Images