Walking driving device of troweling robot with stable gravity center of whole machine

Abstract

The utility model discloses a whole machine gravity stable trowelling robot walking drive arrangement, include: protection frame, drive mechanism, it includes power unit, platform board, swing unit, bearing assembly, swing seat subassembly and rotation main shaft, platform board fixed mounting is in protection frame, bearing assembly fixed mounting is on platform board, and rotation main shaft is worn in bearing assembly, swing seat subassembly, trowel disc subassembly is connected rotation main shaft. Compared with prior art, the utility model solves the problem that the whole machine gravity deviates when adjusting the trowel disc inclination of prior art trowelling equipment and influences the operation stability.

Description

Technical Field

[0001] This utility model relates to the field of polishing robot technology, and in particular to a walking drive device for a polishing robot with a stable center of gravity. Background Technology

[0002] A power trowel is an industrial device that uses a rotating trowel to lift, compact, smooth, and finish cement surfaces. It is widely used in concrete construction to improve surface density and wear resistance. The power trowel operates by changing the angle of the trowel disc, which, combined with the disc's own rotation, generates the driving force that moves the trowel disc, thus propelling the power trowel forward.

[0003] The power trowel generates motion by changing the tilt angle of the trowel disc and its own rotation. The rotational motion can be directly driven by a rotary motor and reducer to rotate the main spindle, which in turn drives the trowel disc. Changing the tilt angle of the trowel disc is achieved by altering the deflection angle of the main spindle.

[0004] Most double-disc power trowels use a transmission scheme in which a rotary motor, a reducer, and a rotating spindle are rigidly connected. In this scheme, the rotary motor and reducer swing together with the rotating spindle when the tilt angle of the trowel is adjusted.

[0005] Because the rotary motor and reducer are relatively heavy, the swaying during the adjustment of the trowel tilt angle will cause the center of gravity of the whole machine to shift, affecting the stability of the trowel operation and the construction effect. Utility Model Content

[0006] The purpose of this invention is to provide a walking drive device for a power trowel robot with a stable center of gravity, so as to solve the problem that the center of gravity of the existing power trowel equipment shifts when adjusting the tilt angle of the trowel, which affects the stability of the operation.

[0007] To achieve the above objectives, this utility model adopts the following technical solution: a walking drive device for a polishing robot with a stable center of gravity, comprising:

[0008] Protective frame;

[0009] The drive mechanism includes a power unit, a platform plate, a swing unit, a bearing assembly, a swing seat assembly, and a rotating spindle. The platform plate is fixedly mounted on the protective frame, the bearing assembly is fixedly mounted on the platform plate, and the rotating spindle passes through the bearing assembly and the swing seat assembly.

[0010] The wiping assembly is connected to the rotating spindle;

[0011] The bearing assembly includes a first mounting base, a universal coupling, and a bearing mounting seat. The first mounting base is fixedly mounted on the platform plate, and the power unit is fixedly mounted on the first mounting base. The output shaft of the power unit is connected to the rotating spindle through the universal coupling. The bearing mounting seat includes a bearing housing, a connecting seat, a first pressure cap, a spherical bearing, and a second pressure cap. The bearing housing is fixedly mounted on the platform plate, the connecting seat is disposed inside the bearing housing, and the connecting seat is sleeved on the rotating spindle. The connecting seat is provided with roller bearings and thrust bearings. The first pressure cap is fixedly mounted on the end of the connecting seat, the spherical bearing is disposed between the bearing housing and the connecting seat, and the second pressure cap is fixedly mounted on the bottom end of the bearing housing.

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

[0013] The swing seat assembly includes a bearing cover, a swing seat, and a ball bearing. The ball bearing is sleeved on the rotating spindle and is located inside the swing seat. The bearing cover is located at one end of the ball bearing.

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

[0015] The power unit includes a rotary motor and a reducer. The output end of the rotary motor is connected to the reducer, and the output shaft of the reducer is connected to the rotary spindle via a universal coupling.

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

[0017] The swing unit includes a servo electric cylinder and a connecting rod. One end of the connecting rod is rotatably mounted on the piston rod of the servo electric cylinder, and the other end is rotatably mounted on the swing seat assembly.

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

[0019] A locking nut is provided at one end of the connecting seat, and the locking nut is threadedly connected to the thin shaft end of the rotating spindle.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0021] 1. In this utility model, during the adjustment of the trowel tilt angle of the troweling robot, the rotary motor and reducer do not swing accordingly, effectively ensuring the stability of the machine's center of gravity during construction, thereby effectively ensuring the construction effect.

[0022] 2. In this utility model, the "electric cylinder + spherical bearing" scheme is adopted when adjusting the tilt angle of the shovel. This not only enables precise control of the tilt angle of the shovel, but also uses the spherical bearing to constrain the rotational spindle angle, resulting in a compact structure and low cost. Attached Figure Description

[0023] 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.

[0024] Figure 1 This is a schematic diagram of the walking drive device for a polishing robot with a stable center of gravity.

[0025] Figure 2 This is a schematic diagram of the drive mechanism in a walking drive device for a polishing robot with a stable center of gravity.

[0026] Figure 3 This is a cross-sectional view of the drive mechanism in a walking drive device for a polishing robot with a stable center of gravity.

[0027] Legend:

[0028] 1. Protective frame;

[0029] 2. Drive mechanism; 201. Rotary motor; 202. Reducer; 203. Platform plate; 204. Servo electric cylinder; 205. Bearing assembly; 2051. Universal coupling; 2052. First mounting base; 2053. First pressure cap; 2054. Locking nut; 2055. Roller bearing; 2056. Connecting seat; 2057. Second pressure cap; 2058. Thrust bearing; 2059. Bearing housing; 20510. Spherical plain bearing; 206. Swing seat assembly; 2061. Bearing pressure cap; 2062. Swing seat; 2063. Ball bearing; 2064. Connecting rod; 207. Rotary spindle;

[0030] 3. Dishes wiping assembly. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0033] Example 1

[0034] Please see Figure 1-3 This utility model provides a technical solution: a walking drive device for a polishing robot with a stable center of gravity, comprising:

[0035] Protective frame 1;

[0036] The drive mechanism 2 includes a power unit, a platform plate 203, a swing unit, a bearing assembly 205, a swing seat assembly 206, and a rotating spindle 207. The platform plate 203 is fixedly mounted on the protective frame 1, the bearing assembly 205 is fixedly mounted on the platform plate 203, and the rotating spindle 207 passes through the bearing assembly 205 and the swing seat assembly 206.

[0037] The wiping assembly 3 is connected to the rotating spindle 207;

[0038] The bearing assembly 205 includes a first mounting base 2052, a universal coupling 2051, and a bearing mounting seat. The first mounting base 2052 is fixedly mounted on the platform plate 203, and the power unit is fixedly mounted on the first mounting base 2052. The output shaft of the power unit is connected to the rotating spindle 207 via the universal coupling 2051. The bearing mounting seat includes a bearing housing 2059, a connecting seat 2056, a first pressure cap 2053, a spherical plain bearing 20510, and a second pressure cap 2057. The bearing housing 2059 is fixedly mounted on the platform plate 203, and the connecting seat 2056 is disposed within the bearing housing 2059. 56 is mounted on the rotating spindle 207. The connecting seat 2056 is equipped with a roller bearing 2055 and a thrust bearing 2058. The first pressure cover 2053 is fixedly installed at the end of the connecting seat 2056 to realize the axial positioning of the connecting seat. The spherical bearing 20510 is disposed between the bearing seat 2059 and the connecting seat 2056. The spherical bearing 20510 is used to realize the small-angle swing of the rotating spindle 207. The second pressure cover 2057 is fixedly installed at the bottom of the bearing seat 2059 to realize the axial limit of the spherical bearing 20510.

[0039] Platform plate 203 provides space and foundation for the installation and fixation of the power unit and bearing assembly 205. Bearing assembly 205 acts as the "joint" for the rotation and yaw of the rotating spindle 207, providing constraint and support for its movement. The rotating spindle 207 is rigidly connected to the trowel assembly 3, transmitting torque and driving the trowel to rotate or tilt. Universal coupling 2051 connects the reducer output shaft to the thin shaft end of the rotating spindle 207, enabling axial floating and transmitting torque. Roller bearings 2055 and thrust bearings 2058 on connecting seat 2056 support the rotating spindle 207.

[0040] The protective frame 1 provides safety protection for the power trowel robot during its movement and also provides a platform for mounting other mechanical and electrical components. The drive mechanism 2 is the mechanism that enables the power trowel robot to move, providing power support for its forward, backward, left and right translation, and turning movements. The trowel assembly 3 is the working device of the power trowel robot, used to level and polish the concrete surface.

[0041] The rotary motor, reducer, and mounting platform are rigidly connected, preventing swaying due to the trowel disc and rotating spindle, thus minimizing the center of gravity shift during machine movement. The connection between the power unit and rotating spindle 207 has been optimized from rigid to semi-flexible. The floating cross-shaft coupling only transmits the rotational motion output by the rotary motor. During trowel disc tilt angle changes, the rotary motor and reducer do not sway, ensuring the stability of the machine's center of gravity during construction and effectively guaranteeing the troweling effect. The trowel disc tilt angle adjustment uses an "electric cylinder + spherical bearing" scheme, which not only precisely controls the trowel disc tilt angle but also uses spherical bearings to constrain the rotating spindle's deflection angle. This compact structure is cost-effective and widely applicable.

[0042] The swing seat assembly 206 includes a bearing cover 2061, a swing seat 2062, and a ball bearing 2063. The ball bearing 2063 is sleeved on the rotating spindle 207 and is disposed inside the swing seat 2062. The bearing cover 2061 is disposed at one end of the ball bearing 2063. The bearing cover 2061 constrains the axial movement of the ball bearing 2063. The ball bearing 2063 supports the rotation of the rotating spindle 207, so that the swing seat 2062 can achieve the yaw of the rotating spindle 207.

[0043] The power unit includes a rotary motor 201 and a reducer 202. The output end of the rotary motor 201 is connected to the reducer 202, and the output shaft of the reducer 202 is connected to the rotary spindle 207 via a universal coupling 2051. The power unit provides power for the rotary spindle 207 to perform rotational motion.

[0044] The oscillating unit includes a servo electric cylinder 204 and a connecting rod 2064. One end of the connecting rod 2064 is rotatably mounted on the piston rod of the servo electric cylinder 204, and the other end is rotatably mounted on the oscillating seat assembly 206. The servo electric cylinder 204 drives the oscillating seat assembly 206 to rotate via the connecting rod 2064, thereby driving the rotating spindle 207 to oscillate and adjusting the tilt angle of the squeegee.

[0045] A locking nut 2054 is provided at one end of the connecting seat 2056. The locking nut 2054 is threaded to the thin shaft end of the rotating spindle 207 to achieve axial positioning of the roller bearing 2055 and the thrust bearing 2058.

[0046] Working principle: The rotary motor 201, reducer 202 and rotary spindle 207 are semi-flexibly connected and connected by a universal coupling 2051 to transmit the torque output by the rotary motor 201, drive the rotary spindle 207 to drive the squeegee to rotate, and realize the rotation of the squeegee.

[0047] Two servo electric cylinders 204 are mounted on the lower mounting surface of the platform plate 203 and are hinged to the swing seat assembly 206 via connecting rod 2064. The swing seat assembly 206 is fixed on the rotating spindle 207. In this way, the extension and retraction of the piston rod of the electric cylinder can realize the swing. The rotating spindle 207 is offset in the XY axis direction, thereby realizing the change of the wiping plate tilt angle.

[0048] Roller bearing 2055 and thrust bearing 2058 support the high-speed rotation of the main shaft, while spherical plain bearing 20510 supports the yaw of the main shaft without rotating it. The two sets of bearings support the rotation and yaw of the main shaft respectively, which can ensure the reliability of the entire mechanism. Moreover, the structure is compact and simple, saving installation space and reducing manufacturing difficulty.

[0049] Example 2

[0050] Based on the above embodiments, this embodiment further improves upon the following technical solutions: the swing unit is used to drive the swing seat assembly 206 to swing, and a "servo motor + crank rocker mechanism" can be used instead of "servo electric cylinder 204 + connecting rod 2064". The crank rocker mechanism drives the swing seat assembly 206 to rotate under the drive of the servo motor.

[0051] 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 walking drive device for a power finishing robot with a stable center of gravity, characterized in that, include: Protective frame; The drive mechanism includes a power unit, a platform plate, a swing unit, a bearing assembly, a swing seat assembly, and a rotating spindle. The platform plate is fixedly mounted on the protective frame, the bearing assembly is fixedly mounted on the platform plate, and the rotating spindle passes through the bearing assembly and the swing seat assembly. A smearing assembly connected to the rotating spindle; The bearing assembly includes a first mounting base, a universal coupling, and a bearing mounting seat. The first mounting base is fixedly mounted on the platform plate, and the power unit is fixedly mounted on the first mounting base. The output shaft of the power unit is connected to the rotating spindle through the universal coupling. The bearing mounting seat includes a bearing housing, a connecting seat, a first pressure cap, a spherical bearing, and a second pressure cap. The bearing housing is fixedly mounted on the platform plate, and the connecting seat is disposed inside the bearing housing and sleeved on the rotating spindle. The connecting seat is provided with a roller bearing and a thrust bearing. The first pressure cap is fixedly mounted on the end of the connecting seat, the spherical bearing is disposed between the bearing housing and the connecting seat, and the second pressure cap is fixedly mounted on the bottom end of the bearing housing.

2. The walking drive device for a sturdy polishing robot with a stable center of gravity according to claim 1, characterized in that, The swing seat assembly includes a bearing cover, a swing seat, and a ball bearing. The ball bearing is sleeved on the rotating main shaft and disposed inside the swing seat. The bearing cover is disposed at one end of the ball bearing.

3. The walking drive device for a sturdy polishing robot with a stable center of gravity according to claim 1, characterized in that, The power unit includes a rotary motor and a reducer. The output end of the rotary motor is connected to the reducer, and the output shaft of the reducer is connected to the rotary spindle through the universal coupling.

4. The walking drive device for a sturdy polishing robot with a stable center of gravity according to claim 1, characterized in that, The swing unit includes a servo electric cylinder and a connecting rod. One end of the connecting rod is rotatably mounted on the piston rod of the servo electric cylinder, and the other end is rotatably mounted on the swing seat assembly.

5. The walking drive device for a sturdy polishing robot with a stable center of gravity according to claim 1, characterized in that, A locking nut is provided at one end of the connecting seat, and the locking nut is threadedly connected to the thin shaft end of the rotating spindle.

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