Screeding and smoothing robot

Abstract

The utility model provides a kind of troweling and smoothing robot, which includes main body and cross shaft assembly. The main body is provided with a first troweling mechanism, which is used at least for troweling the concrete surface. The cross shaft assembly is rotatably arranged on the main body, and the cross shaft assembly includes a cross shaft, a first swing frame and a second swing frame. The first swing frame is rotatably arranged on the cross shaft and can swing around the first rotation axis of the cross shaft. The second swing frame is rotatably arranged on the cross shaft and can swing around the second rotation axis of the cross shaft. The first swing frame and the second swing frame are fixedly connected with the first troweling mechanism to drive the first troweling mechanism to swing around the first rotation axis or the second rotation axis. The troweling and smoothing robot of the present application can at least solve the problem of insufficient compactness and low space utilization of the troweling and smoothing machine structure in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of construction equipment technology, and more specifically, to a smoothing and polishing robot. Background Technology

[0002] In the traditional concrete surface construction process, smoothing and polishing work usually relies on manual operation. The traditional pure manual smoothing and polishing method is not only time-consuming and labor-intensive, but also inefficient. With the development of technology, people use smoothing and polishing machines to perform smoothing and polishing operations on concrete surfaces.

[0003] While the emergence of troweling machines has greatly improved construction efficiency, the follower brackets that drive the trowel disc to swing in existing troweling machines are generally set up separately. That is to say, the follower brackets that drive the trowel disc to swing around the troweling machine in the front-back direction and the left-right direction are two separate follower brackets. This makes the structure of the troweling machine not compact enough, and the utilization rate of the internal space of the troweling machine is also relatively low. Utility Model Content

[0004] The main purpose of this utility model is to provide a smoothing and polishing robot to solve the problems of insufficient compactness and low space utilization of existing smoothing and polishing machines.

[0005] To achieve the above objectives, according to one aspect of the present invention, a smoothing and polishing robot is provided, comprising:

[0006] The main body is provided with a first smoothing mechanism, which is at least used to smooth the concrete surface.

[0007] A cross shaft assembly is rotatably disposed on the main body, and the cross shaft assembly includes a cross shaft, a first swing frame and a second swing frame. The first swing frame is rotatably disposed on the cross shaft and can swing around a first axis of rotation of the cross shaft. The second swing frame is rotatably disposed on the cross shaft and can swing around a second axis of rotation of the cross shaft. Both the first swing frame and the second swing frame are fixedly connected to the first smoothing mechanism to drive the first smoothing mechanism to swing around the first axis of rotation or the second axis of rotation.

[0008] Furthermore, the first rotating shaft and the second rotating shaft are staggered and fixedly connected, and the first rotating shaft and the second rotating shaft are perpendicular to each other. The first rotating shaft extends along a first direction of the main body, and the second rotating shaft extends along a second direction of the main body.

[0009] Furthermore, the first swing frame extends along the second direction of the main body, and one end of the first swing frame is sleeved on the first rotating shaft; the second swing frame extends along the first direction of the main body, and one end of the second swing frame is sleeved on the second rotating shaft.

[0010] Furthermore, the first smoothing mechanism includes a first adjusting component and a first smoothing disc structure. The first smoothing disc structure is fixedly connected to the side of the cross shaft assembly near the concrete surface. The first adjusting component is disposed on the main body and rotatably connected to the cross shaft assembly to drive the cross shaft assembly to swing around the first rotating axis or the second rotating axis.

[0011] Furthermore, the first adjustment assembly includes a first adjustment device, a first connecting rod, a second connecting rod, and a third connecting rod, and the first swing frame is provided with a first connecting part;

[0012] The first connecting part is located on the first swing frame at the end opposite to the first rotating shaft. The first adjusting device is fixedly connected to the main body, and the power output end of the first adjusting device is fixedly connected to one end of the first connecting rod. The other end of the first connecting rod is rotatably connected to one end of the second connecting rod. The other end of the second connecting rod is fixedly connected to one end of the third connecting rod. The other end of the third connecting rod is fixedly connected to the first connecting part.

[0013] Furthermore, the first adjustment assembly also includes a second adjustment device, a fourth link, a fifth link, and a sixth link, and the second swing frame is provided with a second connecting part;

[0014] The second connecting part is located on the second swing frame at one end away from the second rotating shaft. The second adjusting device is fixedly connected to the main body, and the power output end of the second adjusting device is fixedly connected to one end of the fourth connecting rod. The other end of the fourth connecting rod is rotatably connected to one end of the fifth connecting rod. The other end of the fifth connecting rod is fixedly connected to one end of the sixth connecting rod. The other end of the sixth connecting rod is fixedly connected to the second connecting part.

[0015] Furthermore, the main body is also provided with a second smoothing mechanism, and the cross shaft assembly includes two components;

[0016] The two cross shaft assemblies correspond one-to-one with the first smoothing mechanism and the second smoothing mechanism, respectively. Along the second direction of the main body, the first smoothing mechanism and the second smoothing mechanism are spaced apart on the main body, and both the first smoothing mechanism and the second smoothing mechanism are located on the side of the main body closer to the concrete surface.

[0017] The second smoothing mechanism includes a second adjustment component and a second smoothing disc structure. The second smoothing disc structure is fixedly connected to the side of the cross shaft assembly near the concrete surface. The second adjustment component is disposed on the main body and rotatably connected to the cross shaft assembly to drive the cross shaft assembly to swing around the first rotating axis or the second rotating axis.

[0018] Furthermore, the smoothing and polishing robot also includes a drive component, and the first smoothing mechanism includes a first smoothing disc structure;

[0019] The driving component is disposed between the first smoothing mechanism and the second smoothing mechanism, and the driving component is drivenly connected to the first smoothing mechanism and the second smoothing mechanism to drive the first smoothing plate structure and the second smoothing plate structure to rotate in opposite directions to smooth the concrete surface and / or move on the concrete surface.

[0020] Furthermore, the drive assembly includes a drive motor, a drive shaft, a first universal coupling, and a second universal coupling;

[0021] The drive motor is disposed on the main body and located between the first smoothing mechanism and the second smoothing mechanism. The drive shaft extends along the second direction of the main body and is connected to the power output end of the drive motor. One end of the drive shaft is connected to the first smoothing disc structure through the first universal coupling, and the other end of the drive shaft is connected to the second smoothing disc structure through the second universal coupling.

[0022] Furthermore, the smoothing and polishing robot also includes a detection component and a control component. The control component is disposed on the main body and electrically connected to the first smoothing mechanism, the second smoothing mechanism, the drive motor, and the detection component. The detection component is disposed on the main body to at least detect the flatness of the concrete surface and send an electrical signal to the control component to drive the smoothing and polishing robot to smooth the concrete surface and / or move on the concrete surface.

[0023] Furthermore, the smoothing and polishing robot also includes a battery pack, which is disposed on the side of the main body away from the concrete surface and is electrically connected to the first smoothing mechanism, the second smoothing mechanism, the drive motor, the detection component, and the control component.

[0024] Applying the technical solution of this utility model, the main body is provided with a cross shaft assembly that can rotate relative to the main body, and the cross shaft assembly can swing around the first and second axes of rotation of the cross shaft, respectively. This allows the first smoothing mechanism, which is fixedly connected to the cross shaft assembly, to smooth the concrete surface. During the actual operation of the smoothing and polishing robot, the first smoothing mechanism can swing around the first and second axes of rotation under the drive of the cross shaft assembly. When the first swing frame swings around the first axis of rotation, the first smoothing mechanism, which is fixedly connected to the first swing frame, can swing around the first axis of rotation along with the first swing frame. When the second swing frame swings around the second axis of rotation, the first smoothing mechanism, which is fixedly connected to the second swing frame, can swing around the second axis of rotation along with the second swing frame. Thus, during the smoothing or polishing of the concrete surface by the first smoothing mechanism, the smoothing and polishing robot can drive the first smoothing mechanism to swing around the first and second axes of rotation according to the actual situation through the cross shaft assembly. This allows the smoothing and polishing robot to move on the concrete surface, thereby performing a comprehensive and more effective smoothing and polishing of the concrete surface. The cross-axis assembly also makes the structure of the smoothing robot more compact, improving the internal space utilization of the smoothing robot and preventing it from being too bulky, which would limit its application scenarios.

[0025] In other words, this application connects the first smoothing mechanism to the main body using a cross-axis assembly, and then drives the first smoothing mechanism to swing around different axes (i.e., the first rotating axis and the second rotating axis) according to actual conditions and needs. Compared with existing smoothing and polishing machines, the cross-axis assembly of this application can be made more compact and does not occupy much internal space in the smoothing and polishing robot. Therefore, due to the structural advantages of the cross-axis assembly, the internal structure of the smoothing and polishing robot can be more compact, thereby improving the internal space utilization of the smoothing and polishing robot and avoiding space waste.

[0026] In addition to the objectives, features, and advantages described above, this utility model has other objectives, features, and advantages. The present utility model will now be described in further detail with reference to the figures. Attached Figure Description

[0027] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments and descriptions of this utility model are used to explain this utility model and do not constitute an undue limitation thereof. In the drawings:

[0028] Figure 1 This diagram shows the structure of the smoothing and polishing robot of this invention from a first-person perspective.

[0029] Figure 2This diagram shows the structure of the smoothing and polishing robot of this invention from a second-person perspective.

[0030] Figure 3 A structural diagram of the cross shaft assembly of this utility model is shown;

[0031] Figure 4 The diagram shows the structure of the smoothing and polishing robot of this invention (when equipped with a bumper) from a third-person perspective.

[0032] The above figures include the following reference numerals:

[0033] 100. Smoothing and polishing robot; 10. Main body; 11. First smoothing mechanism; 111. First adjustment component; 1111. First adjustment device; 1112. First connecting rod; 1113. Second connecting rod; 1114. Third connecting rod; 1115. Second adjustment device; 1116. Fourth connecting rod; 1117. Fifth connecting rod; 1118. Sixth connecting rod; 112. First smoothing disc structure; 1121. Disc-type smoothing disc; 1122. Blade-type smoothing disc; 12. Second smoothing mechanism; 13. Anti-collision frame; 121. Second adjustment component; 122. Second smoothing disc structure Components; 20. Cross shaft assembly; 21. Cross shaft; 211. First rotating shaft; 212. Second rotating shaft; 22. First swing frame; 221. First connecting part; 23. Second swing frame; 231. Second connecting part; x, first direction; y, second direction; z, height direction; a, clockwise direction; b, counterclockwise direction; c, third direction; d, fourth direction; 30. Drive assembly; 31. Drive motor; 32. Drive shaft; 33. First universal coupling; 34. Second universal coupling; 35. Drive pulley; 36. Driven pulley; 37. Gearbox. Detailed Implementation

[0034] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0036] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate for the embodiments of the utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0037] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0038] As mentioned in the background section, in traditional concrete surface construction, smoothing and finishing work usually relies on manual operation. Traditional manual smoothing and finishing methods are not only time-consuming and labor-intensive but also inefficient. With technological advancements, smoothing and finishing machines have been used for this purpose. While these machines have significantly improved construction efficiency, the follower supports that drive the trowel disc in existing machines are generally separate units. This means that the follower supports that drive the trowel disc to swing around the machine in the front-back and left-right directions are two separate units, resulting in a less compact structure and lower internal space utilization. Therefore, this application provides a smoothing and finishing robot that is not only compact in structure but also has a higher internal space utilization rate.

[0039] See Figures 1 to 4 As shown, this application provides a smoothing and polishing robot 100, which includes a main body 10 and a cross shaft assembly 20.

[0040] The main body 10 is provided with a first smoothing mechanism 11, which is used at least for smoothing concrete surfaces. A cross shaft assembly 20 is rotatably disposed on the main body 10, and the cross shaft assembly 20 includes a cross shaft 21, a first swing frame 22, and a second swing frame 23. The first swing frame 22 is rotatably disposed on the cross shaft 21 and can swing around the first pivot 211 of the cross shaft 21. The second swing frame 23 is rotatably disposed on the cross shaft 21 and can swing around the second pivot 212 of the cross shaft 21. Both the first swing frame 22 and the second swing frame 23 are fixedly connected to the first smoothing mechanism 11 to drive the first smoothing mechanism 11 to swing around the first pivot 211 or the second pivot 212.

[0041] In this application, the main body 10 is provided with a cross shaft assembly 20 that can rotate relative to the main body 10, and the cross shaft assembly 20 can swing around the first pivot 211 and the second pivot 212 of the cross shaft 21, respectively. This allows the first smoothing mechanism 11, which is fixedly connected to the cross shaft assembly 20, to smooth the concrete surface. During the actual operation of the smoothing robot 100, the first smoothing mechanism 11 can swing around the first pivot 211 and the second pivot 212 under the drive of the cross shaft assembly 20. When the first swing frame 22 swings around the first pivot 211, the first smoothing mechanism 11, which is fixedly connected to the first swing frame 22, can swing around the first pivot 211 along with the first swing frame 22. When the second swing frame 23 swings around the second pivot 212, the first smoothing mechanism 11, which is fixedly connected to the second swing frame 23, can swing around the second pivot 212 along with the second swing frame 23. Thus, during the process of smoothing or polishing the concrete surface by the first smoothing mechanism 11, the smoothing and polishing robot 100 can drive the first smoothing mechanism 11 to swing around the first rotating shaft 211 and the second rotating shaft 212 respectively through the cross shaft assembly 20 according to the actual situation. This allows the smoothing and polishing robot 100 to move on the concrete surface, thereby performing a comprehensive and more effective smoothing and polishing of the concrete surface. The setting of the cross shaft assembly 20 also makes the structure of the smoothing and polishing robot 100 more compact, improves the internal space utilization of the smoothing and polishing robot 100, and prevents the smoothing and polishing robot from being too bulky, which would limit the application scenarios of the smoothing and polishing robot.

[0042] In other words, this application connects the first smoothing mechanism 11 to the main body 10 using a cross-axis assembly 20, and then drives the first smoothing mechanism 11 to swing around different axes (i.e., the first rotating shaft 211 and the second rotating shaft 212) according to actual conditions and needs. Compared with existing smoothing and polishing machines, the cross-axis assembly 20 of this application can be made more compact and does not occupy much internal space in the smoothing and polishing robot 100. Therefore, due to the structural advantages of the cross-axis assembly 20, the internal structure of the smoothing and polishing robot 100 can be more compact, thereby improving the internal space utilization of the smoothing and polishing robot 100 and avoiding space waste.

[0043] It is understandable that the first smoothing mechanism 11 is generally equipped with a trowel or a fan blade. Both the trowel and the fan blade are connected to the first smoothing mechanism 11 via a rotating shaft. The side of the trowel and the fan blade facing away from the main body 10 contacts the concrete surface. During the operation of the smoothing and polishing robot 100, the trowel or the fan blade can rotate via the rotating shaft to smooth and polish the concrete surface. During the rotation of the trowel or the fan blade, the smoothing and polishing robot 100 can use the cross shaft assembly 20 to make the first smoothing mechanism 11 swing around the first rotating shaft 211 and the second rotating shaft 212 of the cross shaft 21. This allows the trowel or the fan blade to tilt relative to the concrete surface, thereby driving the smoothing and polishing robot 100 to move on the concrete surface and perform comprehensive and more effective smoothing and polishing of the concrete surface.

[0044] Further, see Figures 1 to 3 As shown, the first rotating shaft 211 and the second rotating shaft 212 are staggered and fixedly connected, and the first rotating shaft 211 and the second rotating shaft 212 are perpendicular to each other. The first rotating shaft 211 extends along the first direction of the main body 10, and the second rotating shaft 212 extends along the second direction of the main body 10.

[0045] Specifically, the first direction is... Figure 1 The direction indicated by x in the middle is the second direction. Figure 1 The direction indicated by y in the middle. In this application, the reason why the first rotating shaft 211 and the second rotating shaft 212 are staggered and fixedly connected is that this arrangement allows the first rotating shaft 211 and the second rotating shaft 212 to form a whole, so that the first rotating shaft 211 and the second rotating shaft 212 are not aligned in the height direction of the smoothing and polishing robot 100 (i.e., Figure 2The distance between the first and second rotating shafts (in the direction indicated by z) is too great, resulting in an insufficiently compact structure for the smoothing and polishing robot 100. The perpendicularity of the first rotating shaft 211 and the second rotating shaft 212 not only enhances the structural stability between them but also better defines the swing direction of the first swing frame 22 and the second swing frame 23, thereby driving the first smoothing mechanism 11 to swing more effectively and achieve better smoothing and polishing of the concrete surface. Furthermore, the first rotating shaft 211 extends along the first direction of the main body 10, and the second rotating shaft 212 extends along the second direction of the main body 10, and the first and second rotating shafts 211 and 212 are perpendicular to each other, meaning that the first and second directions are also perpendicular to each other. The smoothing and polishing robot 100 can adjust the rotation speed of the first smoothing mechanism 11 and the tilt angle of the smoothing disc or fan blades relative to the concrete surface according to actual conditions and needs, thereby enabling the smoothing and polishing robot to move in the first or second direction.

[0046] Further, see Figures 1 to 3 As shown, the first swing frame 22 extends along the second direction of the main body 10, and one end of the first swing frame 22 is sleeved on the first rotating shaft 211. The second swing frame 23 extends along the first direction of the main body 10, and one end of the second swing frame 23 is sleeved on the second rotating shaft 212.

[0047] Specifically, since the first swing frame 22 extends along the second direction of the main body 10, and one end of the first swing frame 22 is sleeved on the first rotating shaft 211, the first swing frame 22 is not only perpendicular to the first rotating shaft 211, but can also rotate around the first rotating shaft 211. When the first swing frame 22 rotates around the first rotating shaft 211, the first smoothing mechanism 11, which is fixedly connected to the first swing frame 22, can rotate around the first rotating shaft 211 in a clockwise direction (i.e., Figure 2 (the direction indicated by 'a') or counterclockwise (i.e.) Figure 2 The smoothing robot 100 can rotate in the direction indicated by b, allowing it to move back and forth along the first direction. Since the second swing frame 23 extends along the first direction of the main body 10, and one end of the second swing frame 23 is fitted onto the second rotating shaft 212, the second swing frame 23 is not only perpendicular to the second rotating shaft 212, but can also rotate around the second rotating shaft 212. When the second swing frame 23 rotates around the second rotating shaft 212, the first smoothing mechanism 11, fixedly connected to the second swing frame 23, can rotate around the second rotating shaft 212 in a third direction (i.e.,...). Figure 2 The direction indicated by c) or the fourth direction (i.e. Figure 2 The smoothing and polishing robot 100 rotates in the direction indicated by d, allowing it to move back and forth along the second direction. Thus, the smoothing and polishing robot 100 can move along either the first or second direction to gradually smooth and polish the entire concrete surface.

[0048] Further, see Figures 1 to 4 As shown, the first smoothing mechanism 11 includes a first adjustment component 111 and a first smoothing disc structure 112. The first smoothing disc structure 112 is fixedly connected to the side of the cross shaft assembly 20 near the concrete surface. The first adjustment component 111 is disposed on the main body 10 and rotatably connected to the cross shaft assembly 20 to drive the cross shaft assembly 20 to swing around the first rotating shaft 211 or the second rotating shaft 212.

[0049] Specifically, the first troweling disc structure 112 can smooth and polish the concrete surface. The first troweling disc structure 112 is fixedly connected to the side of the cross shaft assembly 20 near the concrete surface. This allows the cross shaft assembly 20 to swing around the first or second rotating shaft 211 during its rotation, thereby driving the troweling robot 100 to move along the first or second direction on the concrete surface. The first adjustment component 111 is disposed on the main body 10 and rotatably connected to the cross shaft assembly 20. This provides power for the swing of the cross shaft assembly 20, allowing the troweling robot 100 to adjust the swing direction and angle of the cross shaft assembly 20 via the first adjustment component 111, and thus adjust the movement direction of the troweling robot 100 on the concrete surface.

[0050] Exemplarily, the first trowel structure 112 may include two types: a disc-type trowel 1121 and a blade-type trowel 1122. Typically, the disc-type trowel 1121 is mainly used for grouting, preliminary compaction, coarse grinding, and leveling of the concrete surface, while the blade-type trowel 1122 is mainly used for fine polishing and eliminating surface defects. In some embodiments, during actual installation, the blade-type trowel 1122 can be directly installed onto the main body 10, while the disc-type trowel 1121 needs to be installed onto the main body 10 via the blade-type trowel 1122. In other embodiments, both the disc-type trowel 1121 and the blade-type trowel 1122 can be directly installed onto the main body 10 individually. This embodiment illustrates the case where the blade-type trowel 1122 can be directly installed onto the main body 10, while the disc-type trowel 1121 needs to be installed onto the main body 10 via the blade-type trowel 1122.

[0051] Further, see Figures 1 to 4As shown, the first adjustment assembly 111 includes a first adjustment device 1111, a first connecting rod 1112, a second connecting rod 1113, and a third connecting rod 1114. A first connecting part 221 is provided on the first swing frame 22. The first connecting part 221 is located at one end of the first swing frame 22 away from the first rotating shaft 211. The first adjustment device 1111 is fixedly connected to the main body 10, and the power output end of the first adjustment device 1111 is fixedly connected to one end of the first connecting rod 1112. The other end of the first connecting rod 1112 is rotatably connected to one end of the second connecting rod 1113. The other end of the second connecting rod 1113 is fixedly connected to one end of the third connecting rod 1114. The other end of the third connecting rod 1114 is fixedly connected to the first connecting part 221.

[0052] Specifically, the first adjustment device 1111 can be a combination of a servo motor and a reducer, or a lifting cylinder, etc. This embodiment shows the case where the first adjustment device 1111 is a combination of a servo motor and a reducer. In actual operation, the smoothing and polishing robot 100 can adjust the swing direction and speed of the first swing frame 22 by adjusting the rotation direction and speed of the servo motor, thereby adjusting the swing direction of the first polishing disc structure 112 around the first rotating shaft 211 (i.e., Figure 2 The directions indicated by a and b in the text) and the swing speed are used to drive the smoothing and polishing robot 100 to move back and forth along the first direction and to switch directions when moving back and forth. When the smoothing and polishing robot 100 starts the servo motor to rotate, the reducer can reduce the speed from the servo motor and increase the torque. Since the first link 1112 is fixedly connected to the power output end of the first adjustment device 1111, the first link 1112 can rotate with the output shaft of the reducer. During the rotation, the first link 1112 can drive the second link 1113 to swing. Since the second link 1113 is fixedly connected to the third link 1114 and the third link 1114 is fixedly connected to the first swing frame 22, after the servo motor is started, the first swing frame 22 can drive the first squeegee structure 112 to swing around the first rotating shaft 211 in a clockwise or counterclockwise direction.

[0053] Further, see Figures 1 to 4As shown, the first adjustment assembly 111 also includes a second adjustment device 1115, a fourth link 1116, a fifth link 1117, and a sixth link 1118. A second connecting part 231 is provided on the second swing frame 23. The second connecting part 231 is located on the second swing frame 23 at one end away from the second rotating shaft 212. The second adjustment device 1115 is fixedly connected to the main body 10, and the power output end of the second adjustment device 1115 is fixedly connected to one end of the fourth link 1116. The other end of the fourth link 1116 is rotatably connected to one end of the fifth link 1117. The other end of the fifth link 1117 is fixedly connected to one end of the sixth link 1118. The other end of the sixth link 1118 is fixedly connected to the second connecting part 231.

[0054] Specifically, the second adjustment device 1115 has a similar structure to the first adjustment device 1111. The second adjustment device 1115 can also be a combination of a servo motor and a reducer, or a lifting cylinder, etc. This embodiment shows the case where the second adjustment device 1115 is a combination of a servo motor and a reducer. In actual operation, the smoothing and polishing robot 100 can adjust the swing direction and speed of the second swing frame 23 by adjusting the rotation direction and speed of the servo motor, thereby adjusting the swing direction of the first polishing disc structure 112 around the second rotating shaft 212 (i.e.,...). Figure 2 The directions indicated by c and d in the text) and the swing speed are used to drive the smoothing and polishing robot 100 to move back and forth along the second direction and to switch directions when moving back and forth. When the smoothing and polishing robot 100 starts the servo motor of the second adjustment device 1115 to rotate, the reducer of the second adjustment device 1115 can reduce the speed from the servo motor and increase the torque. Since the fourth link 1116 is fixedly connected to the power output end of the second adjustment device 1115, the fourth link 1116 can rotate with the output shaft of the reducer. During the rotation, the fourth link 1116 can drive the fifth link 1117 to swing. Since the fifth link 1117 is fixedly connected to the sixth link 1118 and the third link 1114 is fixedly connected to the second swing frame 23, after the servo motor is started, the second swing frame 23 can drive the first squeegee structure 112 to swing around the second rotating shaft 212 along the third or fourth direction.

[0055] Further, see Figures 1 to 4As shown, the main body 10 is also provided with a second smoothing mechanism 12, and the cross shaft assembly 20 includes two components. The two cross shaft assemblies 20 correspond one-to-one with the first smoothing mechanism 11 and the second smoothing mechanism 12. Along the second direction of the main body 10, the first smoothing mechanism 11 and the second smoothing mechanism 12 are spaced apart on the main body 10, and both the first smoothing mechanism 11 and the second smoothing mechanism 12 are located on the side of the main body 10 closest to the concrete surface. The second smoothing mechanism 12 includes a second adjusting component 121 and a second smoothing disc structure 122. The second smoothing disc structure 122 is fixedly connected to the side of the cross shaft assembly 20 closest to the concrete surface. The second adjusting component 121 is disposed on the main body 10 and rotatably connected to the cross shaft assembly 20 to drive the cross shaft assembly 20 to swing around the first rotating shaft 211 or the second rotating shaft 212.

[0056] Specifically, the main body 10 is equipped with a first smoothing mechanism 11 and a second smoothing mechanism 12, which can work simultaneously, thus significantly improving the working efficiency of the smoothing and polishing robot 100. By controlling the adjustment components (i.e., the first adjustment component 111 and the second adjustment component 121) of the first and second smoothing mechanisms 11 and 12 respectively, the smoothing and polishing robot 100 can control the movement of the cross shaft components 20 of each mechanism. This allows for control of the tilt of the first and second smoothing mechanisms 11 and 12 relative to the concrete surface, enabling the smoothing and polishing robot 100 to perform complex movements on the concrete surface. This makes the smoothing and polishing robot 100 suitable for various complex terrain conditions in actual concrete surface construction, achieving comprehensive and more effective smoothing and polishing of the concrete surface. The first smoothing mechanism 11 and the second smoothing mechanism 12 are spaced apart on the main body 10 along a second direction. This allows the space between the first smoothing mechanism 11 and the second smoothing mechanism 12 to accommodate other structures of the smoothing and polishing robot 100 (such as the power unit of the smoothing and polishing robot 100), thus making the internal layout of the smoothing and polishing robot 100 more rational and increasing the utilization rate of its internal space. Furthermore, the simultaneous arrangement of the second smoothing mechanism 12 and the first smoothing mechanism 11 allows the smoothing and polishing robot 100 to move more flexibly on the concrete surface, making it easier to perform comprehensive smoothing and polishing of the concrete surface.

[0057] It is understood that the number of smoothing mechanisms (i.e., the first smoothing mechanism 11 or the second smoothing mechanism 12) in the smoothing robot 100 of this application can be one, two, or more than two. This embodiment shows the case where there are two smoothing mechanisms, and the following description will also be based on the case where there are two smoothing mechanisms.

[0058] Further, see Figure 1 and Figure 2 as well as Figure 4 As shown, the smoothing and polishing robot 100 also includes a drive assembly 30, and the first smoothing mechanism 11 includes a first trowel structure 112. The drive assembly 30 is disposed between the first smoothing mechanism 11 and the second smoothing mechanism 12, and the drive assembly 30 is drivenly connected to both the first smoothing mechanism 11 and the second smoothing mechanism 12 to drive the first trowel structure 112 and the second trowel structure 122 to rotate in opposite directions to smooth the concrete surface and / or move on the concrete surface.

[0059] Specifically, the drive assembly 30 can simultaneously provide power to the first troweling disc structure 112 and the second troweling disc structure 122, allowing them to rotate simultaneously around their respective axes. Combined with the functions of the first adjustment assembly 111 and the second adjustment assembly 121, this enables the smoothing and polishing robot 100 to move flexibly on the concrete surface, facilitating comprehensive smoothing and polishing. Furthermore, the placement of the drive assembly 30 between the first smoothing mechanism 11 and the second smoothing mechanism 12 allows for more efficient use of the internal space of the main body 10, improving its utilization rate. Additionally, the placement of the drive assembly 30 between the first smoothing mechanism 11 and the second smoothing mechanism 12 also facilitates the simultaneous driving of the first troweling disc structure 112 and the second troweling disc structure 122 in opposite directions, allowing the smoothing and polishing robot 100 to smooth and / or move on the concrete surface.

[0060] Further, see Figure 1 and Figure 2 as well as Figure 4 As shown, the drive assembly 30 includes a drive motor 31, a drive shaft 32, a first universal coupling 33, and a second universal coupling 34. The drive motor 31 is disposed on the main body 10 and located between the first smoothing mechanism 11 and the second smoothing mechanism 12. The drive shaft 32 extends along the second direction of the main body 10 and is connected to the power output end of the drive motor 31. One end of the drive shaft 32 is connected to the first smoothing disc structure 112 through the first universal coupling 33, and the other end of the drive shaft 32 is connected to the second smoothing disc structure 122 through the second universal coupling 34.

[0061] Specifically, the drive motor 31 and the drive shaft 32 can be connected by gear transmission or by pulley transmission. This embodiment shows the case where the drive motor 31 and the drive shaft 32 are connected by pulley transmission. In this embodiment, the drive assembly 30 also includes a driving pulley 35, a driven pulley 36, and a transmission belt. The driving pulley 35 is fixedly connected to the drive motor 31, and the driven pulley 36 is sleeved on the drive shaft 32 and fixedly connected to the drive shaft 32. The driving pulley 35 and the driven pulley 36 are connected by a conveyor belt, so that the drive motor 31 can transmit power to the drive shaft 32. Since one end of the drive shaft 32 is connected to the first squeegee structure 112 through the first universal coupling 33, and the other end of the drive shaft 32 is connected to the second squeegee structure 122 through the second universal coupling 34, when the smoothing and polishing robot 100 starts the drive motor 31, the power of the drive motor 31 can be continuously transmitted to the first squeegee structure 112 and the second squeegee structure 122.

[0062] It is understandable that, since the drive motor 31 has a high speed and low torque, in order to reduce the speed and increase the torque from the drive motor 31, the first universal coupling 33 and the first trowel structure 112, and the second universal coupling 34 and the second trowel structure 122 are all equipped with a reduction gearbox 37. The reduction gearbox 37 can reduce the speed from the drive motor 31 to a suitable speed and correspondingly increase the torque from the drive motor 31. In this way, the first trowel structure 112 and the second trowel structure 122 can better smooth and polish the concrete surface, and at the same time, they can better drive the smoothing and polishing robot 100 to move along a predetermined route on the concrete surface to smooth and polish the concrete surface.

[0063] Further, see Figure 1 and Figure 2 as well as Figure 4 As shown, the smoothing and polishing robot 100 also includes a detection component and a control component. The control component is disposed on the main body 10 and is electrically connected to the first smoothing mechanism 11, the second smoothing mechanism 12, the drive motor 31 and the detection component. The detection component is disposed on the main body 10 to at least detect the flatness of the concrete surface and send an electrical signal to the control component to drive the smoothing and polishing robot 100 to smooth the concrete surface and / or move on the concrete surface.

[0064] Specifically, the control component (not shown in the figure) is electrically connected to the first smoothing mechanism 11, the second smoothing mechanism 12, the drive motor 31, and the detection component (not shown in the figure), enabling automated control of the entire smoothing and finishing operation. The detection component can detect the flatness of the concrete surface in real time and transmit the data to the control component. The control component can then drive the first adjustment component 111, the second adjustment component 121, and the drive component 30, allowing the smoothing and finishing robot 100 to smooth and finish the concrete surface along a predetermined route. Simultaneously, it can automatically adjust the tilt angle of the first and second troweling disc structures 112 and 122 relative to the ground, as well as the moving speed of the smoothing and finishing robot 100, based on preset parameters and detected data. This improves the automation level of the smoothing and finishing robot 100, thereby increasing construction efficiency and reducing the labor intensity of workers. In actual manufacturing, the smoothing and finishing robot can be remotely controlled or operated fully automatically. Both methods significantly reduce manual intervention. Furthermore, unlike existing technologies, the troweling robot 100 of this application eliminates the need for a human operator, thus reducing the risk factor and construction costs to some extent. Additionally, the inclusion of detection and control components allows for comprehensive inspection of the concrete surface, ensuring its accuracy and quality and improving overall construction quality. Considering practical conditions, once the troweling robot 100 of this application is manufactured and put into use, the working efficiency of a single unit will be no less than 350㎡ / h, demonstrating significantly higher efficiency compared to existing troweling machines.

[0065] Further, see Figure 1 and Figure 2 as well as Figure 4 As shown, the smoothing and polishing robot 100 also includes a battery pack, which is located on the side of the main body 10 away from the concrete surface and is electrically connected to the first smoothing mechanism 11, the second smoothing mechanism 12, the drive motor 31, the detection component, and the control component.

[0066] Specifically, the battery pack (not shown in the figure) means that the troweling robot 100 of this application no longer relies on an engine for power, but instead uses a battery pack to provide electrical energy to the troweling robot 100. Thus, compared with existing troweling machines, the troweling robot 100 of this application is more low-carbon and environmentally friendly. At the same time, since the troweling robot 100 uses a battery pack for operation, the noise generated by the troweling robot 100 can be greatly reduced, thus reducing its impact on the environment.

[0067] In addition, to better protect the smoothing and polishing robot 100 and prevent it from affecting human safety, the main body 10 is also equipped with a collision shield 13. The collision shield 13 is fixedly connected to the main body 10 and covers the outer periphery of the main body 10, the first smoothing mechanism 11, and the second smoothing mechanism 12 (except for the side of the smoothing and polishing robot 100 that is close to the concrete surface). In this way, it can prevent the first trowel structure 112 and the second trowel structure 122 from colliding with obstacles and being damaged during rotation, and it can also prevent the first trowel structure 112 and the second trowel structure 122 from affecting human safety during rotation, thereby further improving the safety of the smoothing and polishing robot 100.

[0068] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0069] High efficiency: The troweling robot has high construction efficiency, with a single troweling robot having a working efficiency of no less than 350㎡ / h;

[0070] High quality: Through detection and control components, the troweling robot can achieve high-precision troweling and smoothing, improving the quality of construction.

[0071] Low labor intensity and low risk factor: The smoothing and polishing robot is easy to operate and can be remotely controlled or run fully automatically, reducing the labor intensity and risk factor of manual labor.

[0072] Environmentally friendly and noise-reducing: The battery pack provides continuous power, enabling quiet operation and reducing the impact on the smoothing and polishing robot's environment.

[0073] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0074] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0075] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0076] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A smoothing and polishing robot, characterized in that, include: The main body (10) is provided with a first smoothing mechanism (11), which is used at least to smooth the concrete surface; A cross shaft assembly (20) is rotatably disposed on the main body (10), and the cross shaft assembly (20) includes a cross shaft (21), a first swing frame (22) and a second swing frame (23). The first swing frame (22) is rotatably disposed on the cross shaft (21) and can swing around the first pivot (211) of the cross shaft (21). The second swing frame (23) is rotatably disposed on the cross shaft (21) and can swing around the second pivot (212) of the cross shaft (21). The first swing frame (22) and the second swing frame (23) are both fixedly connected to the first smoothing mechanism (11) to drive the first smoothing mechanism (11) to swing around the first pivot (211) or the second pivot (212).

2. The smoothing and polishing robot according to claim 1, characterized in that, The first rotating shaft (211) and the second rotating shaft (212) are staggered and fixedly connected, and the first rotating shaft (211) and the second rotating shaft (212) are perpendicular to each other. The first rotating shaft (211) extends along the first direction of the main body (10), and the second rotating shaft (212) extends along the second direction of the main body (10).

3. The smoothing and polishing robot according to claim 1, characterized in that, The first swing frame (22) extends along the second direction of the main body (10), and one end of the first swing frame (22) is sleeved on the first rotating shaft (211). The second swing frame (23) extends along the first direction of the main body (10), and one end of the second swing frame (23) is sleeved on the second rotating shaft (212).

4. The smoothing and polishing robot according to claim 1, characterized in that, The first smoothing mechanism (11) includes a first adjusting component (111) and a first smoothing disc structure (112). The first smoothing disc structure (112) is fixedly connected to the side of the cross shaft assembly (20) near the concrete surface. The first adjusting component (111) is disposed on the main body (10) and rotatably connected to the cross shaft assembly (20) to drive the cross shaft assembly (20) to swing around the first rotating shaft (211) or the second rotating shaft (212).

5. The smoothing and polishing robot according to claim 4, characterized in that, The first adjustment assembly (111) includes a first adjustment device (1111), a first connecting rod (1112), a second connecting rod (1113) and a third connecting rod (1114), and a first connecting part (221) is provided on the first swing frame (22). The first connecting part (221) is located on the first swing frame (22) at one end away from the first rotating shaft (211). The first adjusting device (1111) is fixedly connected to the main body (10). The power output end of the first adjusting device (1111) is fixedly connected to one end of the first connecting rod (1112). The other end of the first connecting rod (1112) is rotatably connected to one end of the second connecting rod (1113). The other end of the second connecting rod (1113) is fixedly connected to one end of the third connecting rod (1114). The other end of the third connecting rod (1114) is fixedly connected to the first connecting part (221).

6. The smoothing and polishing robot according to claim 4, characterized in that, The first adjustment assembly (111) also includes a second adjustment device (1115), a fourth link (1116), a fifth link (1117) and a sixth link (1118), and the second swing frame (23) is provided with a second connecting part (231). The second connecting part (231) is located on the second swing frame (23) at one end away from the second rotating shaft (212). The second adjusting device (1115) is fixedly connected to the main body (10), and the power output end of the second adjusting device (1115) is fixedly connected to one end of the fourth link (1116). The other end of the fourth link (1116) is rotatably connected to one end of the fifth link (1117). The other end of the fifth link (1117) is fixedly connected to one end of the sixth link (1118). The other end of the sixth link (1118) is fixedly connected to the second connecting part (231).

7. The smoothing and polishing robot according to any one of claims 1 to 6, characterized in that, The main body (10) is also provided with a second smoothing mechanism (12), and the cross shaft assembly (20) includes two; The two cross shaft assemblies (20) correspond one-to-one with the first smoothing mechanism (11) and the second smoothing mechanism respectively. Along the second direction of the main body (10), the first smoothing mechanism (11) and the second smoothing mechanism (12) are spaced apart on the main body (10), and the first smoothing mechanism (11) and the second smoothing mechanism (12) are both located on the side of the main body (10) close to the concrete surface. The second smoothing mechanism (12) includes a second adjustment component (121) and a second smoothing disc structure (122). The second smoothing disc structure (122) is fixedly connected to the side of the cross shaft assembly (20) near the concrete surface. The second adjustment component (121) is disposed on the main body (10) and rotatably connected to the cross shaft assembly (20) to drive the cross shaft assembly (20) to swing around the first rotating shaft (211) or the second rotating shaft (212).

8. The smoothing and polishing robot according to claim 7, characterized in that, The smoothing and polishing robot also includes a drive component (30), and the first smoothing mechanism (11) includes a first smoothing disc structure (112). The driving component (30) is disposed between the first smoothing mechanism (11) and the second smoothing mechanism (12), and the driving component (30) is drivenly connected to the first smoothing mechanism (11) and the second smoothing mechanism (12) to drive the first trowel structure (112) and the second trowel structure (122) to rotate in opposite directions to smooth the concrete surface and / or move on the concrete surface.

9. The smoothing and polishing robot according to claim 8, characterized in that, The drive assembly (30) includes a drive motor (31), a drive shaft (32), a first universal coupling (33), and a second universal coupling (34). The drive motor (31) is disposed on the main body (10) and located between the first smoothing mechanism (11) and the second smoothing mechanism (12). The drive shaft (32) extends along the second direction of the main body (10) and is connected to the power output end of the drive motor (31). One end of the drive shaft (32) is connected to the first squeegee structure (112) through the first universal coupling (33), and the other end of the drive shaft (32) is connected to the second squeegee structure (122) through the second universal coupling (34).

10. The smoothing and polishing robot according to claim 9, characterized in that, The smoothing and polishing robot also includes a detection component and a control component. The control component is disposed on the main body (10) and is electrically connected to the first smoothing mechanism (11), the second smoothing mechanism (12), the drive motor (31), and the detection component. The detection component is disposed on the main body (10) to at least detect the flatness of the concrete surface and send an electrical signal to the control component to drive the smoothing and polishing robot to smooth the concrete surface and / or move on the concrete surface.

11. The smoothing and polishing robot according to claim 10, characterized in that, The smoothing and polishing robot also includes a battery pack, which is disposed on the side of the main body (10) away from the concrete surface and is electrically connected to the first smoothing mechanism (11), the second smoothing mechanism (12), the drive motor (31), the detection component and the control component.

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