A trowel robot trowel drive device with a crank adjustment mechanism

Abstract

The utility model discloses a trowel robot trowel drive arrangement with crank adjusting mechanism, include: trowel, its top butt joint sphericon type universal coupling's output shaft, rotary drive shaft, it is driven to rotate by rotary drive mechanism, its with sphericon type universal coupling's input shaft butt joint, steering drive shaft, it is driven to rotate by steering drive mechanism, crank, one end butt joint steering drive shaft, rotation structure, it includes the rotation frame, the top board of rotation frame butt joint the other end of crank, the axis of rotation frame is inclined to the axis of steering drive shaft, sphericon type universal coupling's output shaft passes through the bottom plate of rotation frame, and the support frame in rotation frame is sleeved in the hinged place of sphericon type universal coupling's input shaft and output shaft. The utility model can solve the problem that the trowel robot trowel drive arrangement of commonly used is complex and is relatively loose, makes structural strength, structural stability, trowel orientation angle adjustment, and the rotation drive is not enough quick, stable problem.

Description

Technical Field

[0001] This utility model relates to the field of polishing robot technology, specifically a polishing robot polishing disk drive device with a crank adjustment mechanism. Background Technology

[0002] Currently, for floor leveling work, dual-disc and four-disc automatic power trowels can achieve automatic movement, construction route planning, and power troweling operations. These types of power trowels typically use an orientation angle adjustment mechanism to drive the trowel discs to swing at a certain angle to the ground, changing the local friction of the discs. This allows the combined force of the paired discs to enable the power trowel to move forward, backward, turn left and right, and lateral. The orientation angle adjustment mechanism of these power trowels generally requires two sets of linkage transmission systems to adjust the angle and orientation of the trowel discs. Currently, this structure and operating method are acceptable for remote-controlled trowel machines, but cannot achieve accurate control for automatic trowel machines. Commonly used power trowel robot trowel drive devices have complex and loose structures, resulting in insufficient structural strength and stability, high cost, and slow and unstable adjustment and rotation of the trowel discs. Utility Model Content

[0003] The purpose of this utility model is to solve the problems of the complex and loose structure of the commonly used polishing robot trowel drive device, which results in insufficient structural strength and stability, high cost, and slow and unstable adjustment of the trowel orientation angle and rotation drive. Therefore, this utility model provides a polishing robot trowel drive device with a crank adjustment mechanism.

[0004] To achieve the above objectives, this utility model adopts the following technical solution: a polishing robot polishing disk drive device with a crank adjustment mechanism, comprising:

[0005] The wiping disc has a connecting seat at its top, which is connected to the output shaft of the ball cage universal coupling.

[0006] A rotary drive shaft, driven by a rotary drive mechanism, rotates and is connected to the input shaft of the ball cage universal coupling.

[0007] The steering drive shaft is driven to rotate by the steering drive mechanism and is coaxial with the rotary drive shaft. Both the rotary drive mechanism and the steering drive mechanism are positioned on the robot frame.

[0008] A crank, one end of which is connected to the steering drive shaft;

[0009] A rotating structure includes a rotating frame, the top plate of which is connected to the other end of the crank via a connecting shaft. The axis of the connecting shaft and the rotating frame is inclined to the axis of the steering drive shaft. The output shaft of the ball cage universal coupling rotatably passes through the bottom plate of the rotating frame. A support frame inside the rotating frame is fitted at the hinge between the input shaft and the output shaft of the ball cage universal coupling.

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

[0011] The rotary drive shaft is connected to the input shaft of the ball cage universal coupling via a coupling kit.

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

[0013] The rotary drive mechanism includes a first servo motor and a first worm gear reducer.

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

[0015] The steering drive mechanism includes a second worm gear reducer and a second servo motor.

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

[0017] A first bearing is provided between the connection port of the connecting shaft and the rotating frame.

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

[0019] A second bearing is provided between the output shaft of the ball cage universal coupling and the connection port of the rotating frame.

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

[0021] One opposite side of the support frame is rotatably connected to the bearing seat of the rotating frame, and a support seat is rotatably provided on the other opposite side, the support seat slidingly abutting against the robot frame.

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

[0023] A bracket is provided on the outside of the connecting seat, and a limiting member on the bracket abuts against the base at the bottom of the rotating frame.

[0024] In summary, by adopting the above technical solution, this utility model has the following beneficial effects compared with the prior art:

[0025] This utility model discloses a polishing robot's polishing disc drive device that transmits the rotational driving force of the polishing disc through a ball-cage universal coupling. This ensures stable rotational drive while allowing adjustment of the polishing disc's orientation angle simply by changing the position of the output shaft of the ball-cage universal coupling. This simplifies the polishing disc rotational drive structure and the orientation angle adjustment structure, resulting in a more compact structure with improved strength and stability. When adjusting the polishing disc's orientation angle, the drive shaft rotates, simultaneously causing the crank, connecting shaft, and rotating structure to rotate around the center of the ball at the hinge of the ball-cage universal coupling. The rotating frame then pushes the output shaft of the ball-cage universal coupling to rotate relative to the input shaft, thus adjusting the polishing disc's orientation. This allows for quick and stable changes in the polishing robot's direction and speed. Furthermore, this design reduces the overall center of gravity of the polishing disc drive device and its shift, improving the device's operational stability and controllability. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the drive device for a polishing robot with a crank adjustment mechanism.

[0028] Figure 2 This is a schematic diagram of the rotating structure, the output shaft of the ball cage universal coupling, the connecting seat, and the wiping disc in a wiping disc drive device of a wiping robot with a crank adjustment mechanism.

[0029] Figure 3 This is a schematic diagram of the steering drive mechanism, steering drive shaft, crank, connecting shaft, and rotating frame in a polishing robot polishing disk drive device with a crank adjustment mechanism.

[0030] Figure 4 This is a schematic diagram of the rotating structure in the trowel drive device of a troweling robot with a crank adjustment mechanism.

[0031] Legend:

[0032] 1. Wiping plate; 2. Connecting seat; 3. Ball cage universal coupling; 4. Rotary drive shaft; 5. Robot frame; 6. Crank; 7. Steering drive shaft; 8. Connecting shaft; 9. Rotating frame; 10. Support frame; 11. Coupling kit; 12. First servo motor; 13. First worm gear reducer; 14. Second worm gear reducer; 15. Second servo motor; 16. First bearing; 17. Second bearing; 18. Bearing housing; 19. Support seat; 20. Bracket; 21. Limiting component. Detailed Implementation

[0033] The technical solutions of the present utility model 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 utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0034] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., 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, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] Please see Figure 1-4 This utility model provides a technical solution: a troweling robot troweling disk drive device with a crank adjustment mechanism, comprising:

[0036] The top of the wiping plate 1 is connected to the connecting seat 2, which is connected to the output shaft of the ball cage universal coupling 3.

[0037] The ball cage universal coupling connects the input and output shafts via an outer ball cage ring and a star-shaped inner ring, respectively. The centers of the force-transmitting steel balls are all located in a plane passing through the center of the coupling and are mounted in a raceway formed by the outer spherical grooves of the outer and inner star-shaped rings. The centers of the two spherical surfaces coincide with the center of the universal coupling. To ensure that the centers of all steel balls are on the bisector of the angle between the two shaft axes, the steel balls are mounted within a window in the cage. This ensures that when the angle between the input and output shafts changes, the force transmission point remains on the bisector of the angle, thus maintaining synchronous rotational speeds between the input and output shafts. As existing technology, in use, the angle between the input and output shafts is fixed. By driving the input shaft to rotate, the output shaft can rotate at a constant speed; that is, by driving the rotation of the drive shaft 4, synchronous operation of the trowel 1 is achieved.

[0038] The rotary drive shaft 4 is driven to rotate by the rotary drive mechanism and is connected to the input shaft of the ball cage universal coupling 3.

[0039] The steering drive shaft 7 is driven to rotate by the steering drive mechanism and is coaxial with the rotary drive shaft 4. Both the rotary drive mechanism and the steering drive mechanism are positioned on the robot frame 5.

[0040] Crank 6, one end of which is connected to the steering drive shaft 7;

[0041] The rotating structure includes a rotating frame 9, the top plate of which is connected to the other end of the crank 6 via a connecting shaft 8. The axes of the connecting shaft 8 and the rotating frame 9 are inclined to the axis of the steering drive shaft 7. The output shaft of the ball cage universal coupling 3 rotatably passes through the bottom plate of the rotating frame 9. The support frame 10 inside the rotating frame 9 is fitted at the hinge between the input shaft and the output shaft of the ball cage universal coupling 3.

[0042] The rotary drive shaft 4 is connected to the input shaft of the ball cage universal coupling 3 via the coupling kit 11.

[0043] The rotary drive mechanism includes a first servo motor 12 and a first worm gear reducer 13. The steering drive mechanism includes a second worm gear reducer 14 and a second servo motor 15. The drive transmission structure consisting of the worm gear reducer, servo motor, and drive shaft is existing technology and will not be described in detail here.

[0044] A first bearing 16 is installed between the connecting shaft 8 and the rotating frame 9. A second bearing 17 is installed between the output shaft of the ball cage universal coupling 3 and the connecting shaft of the rotating frame 9. This reduces the resistance to rotation between the structures, making their movement more stable.

[0045] One opposite side of the support frame 10 is rotatably connected to the bearing seat 18 of the rotating frame 9, and a support seat 19 is rotatably mounted on the other opposite side. The support seat 19 slides against the robot frame 5. The support frame 10 supports the ball cage universal coupling 3, and the bearing seat 18 and support seat 19 enable the rotating structure to engage with the robot frame 5, thereby improving the structural compactness and stability.

[0046] A bracket 20 is provided on the outer side of the connecting seat 2, and a limiting member 21 on the bracket 20 abuts against the base at the bottom of the rotating frame 9. This improves the stability of the connection structure between the rotating structure and the connecting seat 2 and the output shaft of the ball cage universal coupling 3.

[0047] The working principle of the troweling robot troweling drive device with crank adjustment mechanism in this embodiment includes: During use, the steering drive mechanism operates, driving the steering drive shaft 7 to rotate. This, in turn, drives the connecting shaft 8 via the crank 6, causing the rotating structure to rotate around the center of the ball joint of the ball-cage universal coupling 3. The rotating frame 9 pushes the output shaft of the ball-cage universal coupling 3 to rotate relative to the input shaft, thereby adjusting the orientation of the troweling disc 1. Then, the rotary drive mechanism drives the rotary drive shaft 4 to rotate, simultaneously driving the output shaft and input shaft of the ball-cage universal coupling 3 to rotate, thus realizing the operation of the troweling disc 1. This changes the running direction and speed of the troweling robot.

[0048] In summary, due to the adoption of the above technical solution, the troweling robot troweling drive device with crank adjustment mechanism of this embodiment has the following advantages compared with the prior art:

[0049] This utility model discloses a polishing robot's polishing disc drive device that transmits the rotational driving force of the polishing disc through a ball-cage universal coupling. This ensures stable rotational drive while allowing adjustment of the polishing disc's orientation angle simply by changing the position of the output shaft of the ball-cage universal coupling. This simplifies the polishing disc rotational drive structure and the orientation angle adjustment structure, resulting in a more compact structure with improved strength and stability. When adjusting the polishing disc's orientation angle, the drive shaft rotates, simultaneously causing the crank, connecting shaft, and rotating structure to rotate around the center of the ball at the hinge of the ball-cage universal coupling. The rotating frame then pushes the output shaft of the ball-cage universal coupling to rotate relative to the input shaft, thus adjusting the polishing disc's orientation. This allows for quick and stable changes in the polishing robot's direction and speed. Furthermore, this design reduces the overall center of gravity of the polishing disc drive device and its shift, improving the device's operational stability and controllability.

[0050] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A troweling robot drive device with a crank adjustment mechanism, characterized in that, include: The wiping disc has a connecting seat at its top, which is connected to the output shaft of the ball cage universal coupling. A rotary drive shaft, driven by a rotary drive mechanism, rotates and is connected to the input shaft of the ball cage universal coupling. The steering drive shaft is driven to rotate by the steering drive mechanism and is coaxial with the rotary drive shaft. Both the rotary drive mechanism and the steering drive mechanism are positioned on the robot frame. A crank, one end of which is connected to the steering drive shaft; A rotating structure includes a rotating frame, the top plate of which is connected to the other end of the crank via a connecting shaft. The axis of the connecting shaft and the rotating frame is inclined to the axis of the steering drive shaft. The output shaft of the ball cage universal coupling rotatably passes through the bottom plate of the rotating frame. A support frame inside the rotating frame is fitted at the hinge between the input shaft and the output shaft of the ball cage universal coupling.

2. The troweling robot troweling drive device with a crank adjustment mechanism according to claim 1, characterized in that, The rotary drive shaft is connected to the input shaft of the ball cage universal coupling via a coupling kit.

3. The troweling robot troweling drive device with a crank adjustment mechanism according to claim 1, characterized in that, The rotary drive mechanism includes a first servo motor and a first worm gear reducer.

4. The troweling robot troweling drive device with a crank adjustment mechanism according to claim 1, characterized in that, The steering drive mechanism includes a second worm gear reducer and a second servo motor.

5. A troweling robot troweling drive device with a crank adjustment mechanism according to claim 1, characterized in that, A first bearing is provided between the connection port of the connecting shaft and the rotating frame.

6. A troweling robot troweling drive device with a crank adjustment mechanism according to claim 1, characterized in that, A second bearing is provided between the output shaft of the ball cage universal coupling and the connection port of the rotating frame.

7. A troweling robot troweling drive device with a crank adjustment mechanism according to claim 1, characterized in that, One opposite side of the support frame is rotatably connected to the bearing seat of the rotating frame, and a support seat is rotatably provided on the other opposite side, the support seat slidingly abutting against the robot frame.

8. A troweling robot troweling drive device with a crank adjustment mechanism according to claim 1, characterized in that, A bracket is provided on the outside of the connecting seat, and a limiting member on the bracket abuts against the base at the bottom of the rotating frame.

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