A troweling robot that adjusts the position of the trowel by a cam

Abstract

The utility model discloses a kind of troweling machine robots by cam adjustment troweling disc position, comprising: power drive mechanism, it includes first servo motor, first planetary reducer and universal coupling, rotating mechanism, it includes driving shaft and troweling disc assembly;Direction adjusting mechanism, it includes second servo motor, second planetary reducer, gear and slewing bearing;And support positioning mechanism, including cam and crossed roller bearing, the outer ring of slewing bearing is connected on cam, slewing bearing inner ring is fixed on rack, the inner ring of crossed roller bearing and driving shaft is connected, crossed roller bearing outer ring and rack are connected.The utility model changes connecting rod adjusting mechanism to cam adjustment, the action that originally needs 2 motors is completed, the rotation of cam is driven by a motor, the included angle of troweling disc and ground is fixed, friction is fixed, the fine adjustment of action posture can be realized, and the real-time change of troweling disc and ground angle makes path more controllable.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and in particular relates to a polishing robot that adjusts the position of the polishing plate by means of a cam. Background Technology

[0002] Currently, a double-disc automatic power trowel has been developed for floor leveling. This power trowel uses a swing mechanism to drive two trowel discs to swing to a position at a certain angle with the ground, changing the local friction of the trowel discs. The combined force of the two trowel discs allows the power trowel to move forward, backward, turn left and right, and move sideways.

[0003] However, the oscillating motion of this type of power trowel is driven by a linkage mechanism to make the grinding disc swing around the double-layer hinge. The high center of the oscillation of the grinding disc in this mechanism results in a large deviation of the grinding disc from the center position during adjustment. The real-time change of the angle between the grinding disc and the ground makes path control more difficult, making it impossible to work along the set route. Utility Model Content

[0004] The purpose of this invention is to address the problem that existing power trowels use a linkage mechanism to drive the grinding disc to swing around a double-layer hinge. This mechanism results in a high center of rotation for the grinding disc, causing the adjustment of the grinding disc to deviate significantly from the center position. The real-time changes in the angle between the grinding disc and the ground make path control more difficult, making it impossible to work along the set route. Therefore, this invention proposes a power trowel robot that adjusts the position of the grinding disc using a cam.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a polishing robot that adjusts the position of the polishing disc via a cam, comprising:

[0006] The power drive mechanism includes a first servo motor, a first planetary reducer, and a universal coupling. The first servo motor is connected to the first planetary reducer, and the first planetary reducer is connected to one end of the universal coupling.

[0007] A rotating mechanism includes a drive shaft and a wiping disc assembly, one end of the drive shaft being connected to the other end of the universal coupling, and the wiping disc assembly being connected to the other end of the drive shaft;

[0008] The direction adjustment mechanism includes a second servo motor, a second planetary reducer, a gear, and a slewing bearing. The second planetary reducer is connected to the second servo motor, and the gear is connected to the second planetary reducer. The gear and the outer ring of the slewing bearing mesh and drive each other.

[0009] The slewing bearing includes a support and positioning mechanism, comprising a cam and a crossed roller bearing. The outer ring of the slewing bearing is connected to the cam, the inner ring of the slewing bearing is fixed to the frame, the inner ring of the crossed roller bearing is connected to the drive shaft, and the outer ring of the crossed roller bearing is connected to the frame.

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

[0011] The inner ring of the crossed roller bearing is connected to the drive shaft by a key or an interference fit, and the outer ring of the crossed roller bearing is fixed to the frame by bolts.

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

[0013] The outer ring of the slewing bearing is provided with an external tooth structure, which meshes with the gear for transmission.

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

[0015] The universal coupling is a two-section or three-section universal coupling.

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

[0017] The squeegee assembly includes a squeegee body and a polishing plate installed at the bottom of the squeegee body. The squeegee body is connected to the drive shaft via a flange.

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

[0019] The cam is fixed to the outer ring of the slewing bearing by bolts or welding, and the cam rotates synchronously with the outer ring of the slewing bearing.

[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 rotation operation phase of the squeegee assembly, the first servo motor starts, and its output power is transmitted to the first planetary reducer. After the first planetary reducer reduces and increases the torque, it transmits the power to the drive shaft through a universal coupling. The universal coupling plays a role in transmitting torque during this process, while allowing a certain angle of deflection to adapt to possible angle changes during the operation of the mechanism and ensure the stability of power transmission. After receiving power, the drive shaft begins to rotate, thereby driving the squeegee assembly connected to it to rotate, realizing the squeegee operation. At this time, the inner ring of the crossed roller bearing is connected to the drive shaft and rotates with it, while the outer ring remains relatively stationary due to its connection to the frame or other fixed parts, so that the cam is fixed and the squeegee assembly operates at a fixed angle and position. During the squeegee position switching phase, when adjustment is required... When the power trowel is in the correct running direction, the second servo motor starts, and its output power is transmitted to the second planetary reducer. The second planetary reducer reduces and increases the torque of the power, and then transmits the power to the outer ring of the slewing bearing through gears. The inner ring of the slewing bearing is fixed on the frame, and the outer ring begins to rotate under the drive of the gears. Since the outer ring of the slewing bearing is connected to the cam, the cam changes direction accordingly. As the cam direction changes, the position of the trowel assembly also changes accordingly, thereby completing the adjustment of the trowel position and realizing the change of the running direction of the power trowel. This structure uses a cam mechanism to lower the adjustment center of the trowel, greatly reducing the offset of the trowel center. By fixing the angle between the trowel and the ground, the rotation of the cam changes the contact position between the trowel and the ground. It does not change the magnitude of the friction force, but only changes the direction, making the posture of the power trowel more controllable and simplifying the control logic.

[0022] 2. In this utility model, the linkage adjustment mechanism is replaced with cam adjustment. The action that originally required two motors to complete is now completed by one motor driving the rotation of the cam, which fixes the angle between the trowel and the ground, thus fixing the friction force and enabling fine adjustment of the action posture. 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 a polishing robot that adjusts the position of the polishing disc using a cam.

[0025] Figure 2 This is a diagram illustrating the usage state of a polishing robot that adjusts the position of the polishing disc via a cam.

[0026] Legend:

[0027] 1-First servo motor; 2-First planetary reducer; 3-Universal coupling; 4-Slewing bearing; 5-Cam; 6-Crossed roller bearing; 7-Second servo motor; 8-Second planetary reducer; 9-Gear; 10-Drive shaft; 11-Pad assembly. Detailed Implementation

[0028] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0029] 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.

[0030] 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.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] In the description of the embodiments of this utility model, it should be noted that the terms "upper" and "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed when in use. 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.

[0033] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] Please see Figure 1-2 This utility model provides a technical solution: a polishing robot that adjusts the position of the polishing disc via a cam, comprising:

[0035] The power drive mechanism includes a first servo motor 1, a first planetary reducer 2, and a universal coupling 3. The first servo motor 1 is connected to the first planetary reducer 2, and the first planetary reducer 2 is connected to one end of the universal coupling 3.

[0036] The rotating mechanism includes a drive shaft 10 and a wiping plate assembly 11, one end of the drive shaft 10 is connected to the other end of the universal coupling 3, and the wiping plate assembly 11 is connected to the other end of the drive shaft 10.

[0037] The direction adjustment mechanism includes a second servo motor 7, a second planetary reducer 8, a gear 9, and a slewing bearing 4. The second planetary reducer 8 is connected to the second servo motor 7, and the gear 9 is connected to the second planetary reducer 8. The gear 9 and the outer ring of the slewing bearing 4 mesh and drive each other.

[0038] The support and positioning mechanism includes a cam 5 and a crossed roller bearing 6. The outer ring of the slewing bearing 4 is connected to the cam 5, the inner ring of the slewing bearing 4 is fixed to the frame, the inner ring of the crossed roller bearing 6 is connected to the drive shaft 10, and the outer ring of the crossed roller bearing 6 is connected to the frame.

[0039] The inner ring of the crossed roller bearing 6 is connected to the drive shaft 10 by a key or an interference fit, and the outer ring of the crossed roller bearing 6 is fixed to the frame by bolts.

[0040] The outer ring of the slewing bearing 4 is provided with an external tooth structure, which meshes with the gear 9 for transmission.

[0041] The universal coupling 3 is a two-section or three-section universal coupling. It can better compensate for this angular deviation, ensuring smooth and efficient power transmission. When the working surface of the power trowel is uneven, the relative angle between the various components of the mechanism will change. At this time, the two-section or three-section universal coupling can automatically adjust to ensure that the drive shaft always receives a stable power input, so that the trowel assembly can rotate normally and avoid problems such as poor power transmission and mechanism vibration caused by excessive angular deviation.

[0042] The squeegee assembly 11 includes a squeegee body and a polishing plate installed at the bottom of the squeegee body. The squeegee body is connected to the drive shaft 10 via a flange.

[0043] The cam 5 is fixed to the outer ring of the slewing bearing 4 by bolts or welding, and the cam 5 rotates synchronously with the outer ring of the slewing bearing 4.

[0044] Working Principle: During the rotation operation of the squeegee assembly, the first servo motor starts, transmitting its output power to the first planetary reducer. The first planetary reducer reduces and increases the torque, then transmits the power to the drive shaft via a universal coupling. The universal coupling transmits torque while allowing a certain angle of deflection to accommodate possible angle changes during operation, ensuring stable power transmission. Once powered, the drive shaft rotates, driving the connected squeegee assembly to rotate and perform the squeegee operation. At this time, the inner ring of the crossed roller bearing is connected to the drive shaft and rotates with it, while the outer ring remains relatively stationary due to its connection to the frame or other fixed components, keeping the cam stationary. The squeegee assembly operates at a fixed angle and position. During the squeegee position switching phase, when adjustment is required... When the power trowel moves in the correct direction, the second servo motor starts, and its output power is transmitted to the second planetary reducer. The second planetary reducer reduces and increases the torque of the power, and then transmits the power to the outer ring of the slewing bearing through gears. The inner ring of the slewing bearing is fixed to the frame, and the outer ring begins to rotate under the drive of the gears. Since the outer ring of the slewing bearing is connected to the cam, the cam changes direction accordingly. As the cam direction changes, the position of the trowel assembly also changes accordingly, thereby completing the adjustment of the trowel position and realizing the change of the running direction of the power trowel. This structure uses a cam mechanism to lower the adjustment center of the trowel, greatly reducing the offset of the trowel center. By fixing the angle between the trowel and the ground, the rotation of the cam changes the contact position between the trowel and the ground. It does not change the magnitude of the friction force, but only changes the direction, making the posture of the power trowel more controllable and simplifying the control logic.

[0045] 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 polishing robot that adjusts the position of the polishing disc via a cam, characterized in that, include: The power drive mechanism includes a first servo motor, a first planetary reducer, and a universal coupling. The first servo motor is connected to the first planetary reducer, and the first planetary reducer is connected to one end of the universal coupling. A rotating mechanism includes a drive shaft and a wiping disc assembly, one end of the drive shaft being connected to the other end of the universal coupling, and the wiping disc assembly being connected to the other end of the drive shaft; The direction adjustment mechanism includes a second servo motor, a second planetary reducer, a gear, and a slewing bearing. The second planetary reducer is connected to the second servo motor, and the gear is connected to the second planetary reducer. The gear and the outer ring of the slewing bearing mesh and drive each other. The slewing bearing includes a support and positioning mechanism, comprising a cam and a crossed roller bearing. The outer ring of the slewing bearing is connected to the cam, the inner ring of the slewing bearing is fixed to the frame, the inner ring of the crossed roller bearing is connected to the drive shaft, and the outer ring of the crossed roller bearing is connected to the frame.

2. The polishing robot according to claim 1, characterized in that, The inner ring of the crossed roller bearing is connected to the drive shaft by a key or an interference fit, and the outer ring of the crossed roller bearing is fixed to the frame by bolts.

3. A polishing robot that adjusts the position of the polishing disc via a cam according to claim 1, characterized in that, The outer ring of the slewing bearing is provided with an external tooth structure, which meshes with the gear for transmission.

4. A polishing robot that adjusts the position of the polishing disc via a cam according to claim 1, characterized in that, The universal coupling is a two-section or three-section universal coupling.

5. A polishing robot that adjusts the position of the polishing disc via a cam according to claim 1, characterized in that, The squeegee assembly includes a squeegee body and a polishing plate installed at the bottom of the squeegee body. The squeegee body is connected to the drive shaft via a flange.

6. A polishing robot that adjusts the position of the polishing disc via a cam according to claim 3, characterized in that... The cam is fixed to the outer ring of the slewing bearing by bolts or welding, and the cam rotates synchronously with the outer ring of the slewing bearing.

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