CN109057359A - A kind of Full-automatic cement troweling robot - Google Patents
A kind of Full-automatic cement troweling robot Download PDFInfo
- Publication number
- CN109057359A CN109057359A CN201811258385.6A CN201811258385A CN109057359A CN 109057359 A CN109057359 A CN 109057359A CN 201811258385 A CN201811258385 A CN 201811258385A CN 109057359 A CN109057359 A CN 109057359A
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- China
- Prior art keywords
- rack
- module
- control device
- axis
- bearing housing
- Prior art date
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/10—Devices for levelling, e.g. templates or boards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B11/00—Apparatus or processes for treating or working the shaped or preshaped articles
- B28B11/08—Apparatus or processes for treating or working the shaped or preshaped articles for reshaping the surface, e.g. smoothing, roughening, corrugating, making screw-threads
- B28B11/0845—Apparatus or processes for treating or working the shaped or preshaped articles for reshaping the surface, e.g. smoothing, roughening, corrugating, making screw-threads for smoothing
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/42—Machines for imparting a smooth finish to freshly-laid paving courses other than by rolling, tamping or vibrating
Abstract
The present invention discloses a kind of Full-automatic cement troweling robot, comprising: rack；First walking mechanism and the second walking mechanism, are symmetrically disposed on the two sides of rack；Obstacle avoidance module is set to front end of rack, and for detecting, whether there are obstacles in front of finisher；Tracking module is set to rack left and right ends and rear end；Control module, set on the middle position of rack, control module is electrically connected with obstacle avoidance module, tracking module, first control device, second control device, third control device and the 4th control device；Power module is set in rack, for control module, first control device, second control device, third control device and the power supply of the 4th control device.The Full-automatic cement troweling robot can fully automatic operation, can automatic obstacle-avoiding, and can tracking operation.
Description
Technical field
The present invention relates to the technical fields of cement plastering machine, in particular to a kind of Full-automatic cement troweling robot.
Background technique
In Concrete Highway road surface, terrace, airport, flooring, the construction of plate shape prefabricated component, it is both needed to mention construction surface
Slurry, troweling are dragged back and forth using man-hour manually hand-held troweling planker smear in early days to improve the density and wearability of concrete surface, are worked
Intensity is big, low efficiency.
Summary of the invention
The purpose of the present invention is to provide a kind of Full-automatic cement troweling robots, solve in above-mentioned prior art problem
One or more.
The present invention provides a kind of Full-automatic cement troweling robot, comprising:
Rack；
First walking mechanism and the second walking mechanism, are symmetrically disposed on the two sides of rack；
Wherein, first walking mechanism includes:
Bearing housing is installed on rack；
First transmission device, vertical direction setting, through bearing housing upper and lower end face and be rotatably connected with bearing housing；
Second transmission device, it is horizontally arranged and be fixed on rack, across bearing housing rear end face and extend to bearing
In case, and the first transmission device does not contact, and the second transmission device is fixedly connected with bearing housing；
Support device, it is horizontally arranged and be fixed on rack, across bearing housing front end face and extend in bearing housing,
And first transmission device do not contact, support device is fixedly connected with bearing housing；
Disk is smeared, is fixedly connected with the output end of the first transmission device, and circumferential direction is equidistantly set to the multiple of the ring disk and smears leaf；
First control device is set to the first transmission device, and first control device is for driving the first transmission device；
Second control device is set to the second transmission device, and second control device is for driving the second transmission device；
For second walking mechanism as first walking mechanism structure, the second walking mechanism includes third control device and the 4th
Control device；
Obstacle avoidance module is set to front end of rack, and for detecting, whether there are obstacles in front of finisher；
Tracking module is set to rack left and right ends and rear end；
Control module, set on the middle position of rack, control module and obstacle avoidance module, tracking module, first control device,
Second control device, third control device and the electrical connection of the 4th control device；
Power module is set in rack, for control module, first control device, second control device, third control dress
It sets and the 4th control device is powered.
In some embodiments, the first transmission device includes:
First driving device, is fixed on bearing housing, and first driving device is driven by first control device；
First axle is fixedly connected with the output end of first driving device, and first axle is fixedly connected with disk is smeared；
Second transmission device includes:
Second driving device, is fixed on rack, and the second driving device is driven by second control device；
Second axis is fixedly connected with the output end of the second driving device, and the second axis is fixedly connected with bearing housing；
Support device includes:
Support base is fixed on rack；
Third axis, is rotatably connected with support base, and third axis is fixedly connected with bearing housing.
In some embodiments, first driving device includes:
Direct current generator；
First brushless speed reducer, is fixedly connected with direct current generator, and the first brushless speed reducer and first axle pass through the first shaft coupling
Device connection；
Second driving device includes:
Servo motor；
Second brushless speed reducer, is fixedly connected with servo motor；
4th axis is vertically arranged with the second axis, and the 4th axis is connect with the second brushless speed reducer by second shaft coupling；
First meshing gear is set to the 4th axis；
Second meshing gear, is set to the second axis, and the second meshing gear engages connection with the first meshing gear；
First control device is driver for brushless DC motor, and second control device is DC servo motor driver.
In some embodiments, the first transmission device further include:
First bearing seat is fixed on the upper surface of bearing housing；
First bearing is fixedly connected in first bearing seat and with first axle；
Second bearing seat is fixed on the lower end surface of bearing housing；
Second bearing is fixedly connected in second bearing seat and with first axle；
Second transmission device further include:
Gear-box is fixed in rack, and gear-box upper surface is rotatably connected with the 4th axis, gear-box front end face and second
Axis is rotatably connected；
Support base includes:
Fourth bearing seat, is fixed in rack；
Fourth bearing is fixedly connected in fourth bearing seat and with third axis.
In some embodiments, straight line where third axis is overlapped with straight line where the second axis.
It in some embodiments, further include pressing device, pressing device includes:
Disk is sheathed on first axle and is located at and smears above disk；
First fixed block is horizontally disposed with and is fixed on rack；
Second fixed block is vertically arranged with the first fixed block and is fixedly connected with the first fixed block；
Briquetting is vertically arranged with the second fixed block and is connect with the second fixed block by pin shaft, and briquetting is set to above disk
And it is abutted with disk；
The first fixed block is fixed in spring, one end, and the other end is fixed on end of the briquetting far from disk.
In some embodiments, briquetting include the first briquetting and the second briquetting, the first briquetting and the second briquetting one at
Type, the first briquetting cross section are rectangle, and the first briquetting is fixedly connected with spring, and the second briquetting is equipped with annular opening, annular opening
Internal diameter be greater than the diameter of first axle, the second briquetting abuts with disk, interposition of the pin shaft set on the first briquetting and the second briquetting
It sets.
In some embodiments, further includes:
Gyro module is set in rack, and gyro module is electrically connected with control module, and gyro module is smeared for monitoring
State when ray machine moves；
Limit switch is set in rack, and limit switch is electrically connected with control module, and limit switch is for monitoring a bearing housing left side
State when right swing；
Range finder module is electrically connected set on the front and back end of rack and left and right end, range sensor with control module, ranging mould
Block is for measuring finisher surrounding at a distance from metope；
Surface quality detection module, set on smearing on disk, surface quality detection module is electrically connected with control module, surface quality
Detection module is used to detect the roughness of cement surface after troweling；
Human-computer interaction interface, is set to rack, and human-computer interaction interface is electrically connected with control module.
In some embodiments, obstacle avoidance module is infrared sensor or ultrasonic distance sensor, and tracking module is
Infrared sensor；Power module includes:
DC power supply；
DCDC voltage reduction module, is electrically connected with DC power supply, and DCDC voltage reduction module is electrically connected with control module；
Power supply decomposer, is electrically connected with DC power supply, and power supply decomposer is filled with first control device, the second control respectively
It sets, the electrical connection of third control device and the 4th control device.
In some embodiments, further includes:
First jack, set on the first corner of rack；
Second jack, set on the second corner of rack, the second corner and the first corner are distributed in diagonal line；
First auxiliary stand, set on the third corner of rack；
Second auxiliary stand, set on the fourth angle portion of rack, fourth angle portion and third corner are distributed in diagonal line.
The utility model has the advantages that the Full-automatic cement troweling robot of the embodiment of the present invention can fully automatic operation, can automatic obstacle-avoiding,
And it can tracking operation.The Full-automatic cement troweling robot, greatly improves work efficiency, reduces the labor intensity of worker,
Improve troweling quality.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of Full-automatic cement troweling robot in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of Full-automatic cement troweling robot in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of Full-automatic cement troweling robot bearing housing in an embodiment of the present invention；
Fig. 4 is a kind of structure of Full-automatic cement troweling robot first walking mechanism part in an embodiment of the present invention
Schematic diagram；
Fig. 5 is a kind of structural representation of the first transmission device of Full-automatic cement troweling robot in an embodiment of the present invention
Figure；
Fig. 6 is a kind of structural representation of the second transmission device of Full-automatic cement troweling robot in an embodiment of the present invention
Figure；
Fig. 7 is a kind of structural representation of Full-automatic cement troweling robot first walking mechanism in an embodiment of the present invention
Figure；
Fig. 8 is a kind of structural schematic diagram of Full-automatic cement troweling robot pressing device in an embodiment of the present invention；
Fig. 9 is a kind of schematic diagram of Full-automatic cement troweling robot control system in an embodiment of the present invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
"upper" "lower" " left side " " right side " used herein is "upper" "lower" " left side " " right side " shown in FIG. 1, used herein " preceding "
" rear " is " left side " shown in Fig. 2 and " right side ".
As shown in Figures 1 to 3,
A kind of Full-automatic cement troweling robot, comprising:
Rack 100；
First walking mechanism 200 and the second walking mechanism 300, are symmetrically disposed on the two sides of rack 100；
Wherein, first walking mechanism 200 includes:
Bearing housing 210 is installed on rack 100；
First transmission device 200, vertical direction setting, through bearing housing 210 upper and lower end face and can turn with bearing housing 210
Dynamic connection；
Second transmission device 230, it is horizontally arranged and be fixed on rack 100, across bearing housing 210 rear end face and prolong
It extends in bearing housing 210, and the first transmission device 220 does not contact, the second transmission device 230 is fixedly connected with bearing housing 210；
Support device 240, it is horizontally arranged and be fixed on rack 100, across bearing housing 210 front end face and extend to
In bearing housing 210, and the first transmission device 220 does not contact, and support device 240 is fixedly connected with bearing housing 210；
Disk 250 is smeared, is fixedly connected with the output end of the first transmission device 220, and is circumferential equidistantly set on the ring disk 250
It is multiple to smear leaf 251；
First control device is set to the first transmission device 220, and first control device is for driving the first transmission device 220；
Second control device is set to the second transmission device 230, and second control device is for driving the second transmission device 230；
As 200 structure of first walking mechanism, the second walking mechanism 300 controls second walking mechanism 300 including third
Device and the 4th control device；
Obstacle avoidance module is set to 100 front end of rack, and for detecting, whether there are obstacles in front of finisher；
Tracking module is set to rack left and right ends and rear end；
Control module, set on the middle position of rack 100, control module and obstacle avoidance module, tracking module, the first control are filled
It sets, the electrical connection of second control device, third control device and the 4th control device；
Power module is set in rack 100, is used for control module, first control device, second control device, third control
Device processed and the power supply of the 4th control device.
Specifically, as shown in Figures 4 and 5, the first transmission device 220 includes:
First driving device 221, is fixed on bearing housing 210, and first driving device 221 is driven by first control device；
First axle 222 is fixedly connected with the output end of first driving device 221, and first axle 222 fixes company with disk 250 is smeared
It connects；
Second transmission device 230 includes:
Second driving device 231, is fixed on rack 100, and the second driving device 231 is driven by second control device；
Second axis 232 is fixedly connected with the output end of the second driving device 231, and the second axis 232 and bearing housing 210 are fixed
Connection；
Support device 240 includes:
Support base 241 is fixed on rack 100；
Third axis 242 is rotatably connected with support base 241, and third axis 242 is fixedly connected with bearing housing 210.
Specifically, as shown in Figures 6 and 7,
First driving device 221 includes:
Direct current generator 2211；
First brushless speed reducer 2212, is fixedly connected with direct current generator 2211, the first brushless speed reducer 2212 and first axle
222 are connected by first shaft coupling 2213；
Second driving device 231 includes:
Servo motor 2311；
Second brushless speed reducer 2312, is fixedly connected with servo motor 2311；
4th axis 2315 is vertically arranged with the second axis 232, and the 4th axis 2315 and the second brushless speed reducer 2312 pass through second
Shaft coupling 2314 connects；
First meshing gear (does not mark) in figure, is set to the 4th axis 2315；
Second meshing gear (does not mark) in figure, is set to the second axis 232, and the second meshing gear is engaged with the first meshing gear
Connection；
First control device is driver for brushless DC motor, and second control device is DC servo motor driver.
First axle when rotation in order to enhance the first transmission device 220, the second transmission device 230 and support device 240
222, the stability of the second axis 232 and third axis 242, the first transmission device 220 further include:
First bearing seat 223 is fixed on the upper surface of bearing housing 210；
First bearing is fixedly connected in first bearing seat 223 and with first axle 222；
Second bearing seat 224 is fixed on the lower end surface of bearing housing 210；
Second bearing is fixedly connected in second bearing seat 224 and with first axle 222；
Second transmission device 230 further include:
Gear-box 234 is fixed in rack 100, and 234 upper surface of gear-box is rotatably connected with the 4th axis 2315, gear
234 front end face of case is rotatably connected with the second axis 232；
Specifically, 234 upper surface of gear-box is equipped with 5th bearing seat 2316, the 5th axis is equipped in 5th bearing seat 2316
It holds, the 4th axis 2315 is connected by key with 5th bearing, to realize that 234 upper surface of gear-box rotatably connects with the 4th axis 2315
It connects；234 front end face of gear-box is equipped with 6th bearing seat 2317, is equipped with 6th bearing, the second axis 232 in 6th bearing seat 2317
It is connected by key with 6th bearing, to realize that 234 front end face of gear-box is rotatably connected with the second axis 232.
Support base 241 includes:
Fourth bearing seat 2411 is fixed in rack 100；
Fourth bearing is fixedly connected in fourth bearing seat 2411 and with third axis 242.
Wherein, first walking mechanism 200 and 300 structure of the second walking mechanism are just the same, and are symmetrically disposed on rack 100
Two sides so that finisher is whole about 100 intermediate symmetry of rack, mountable distribution box among rack 100, for placing control
Module, tracking module and power module.
First transmission device 220 realizes the rotation on finisher vertical direction, subtracts by the way that direct current generator 2211, first is brushless
Fast machine 2212, first axle 222, smears disk 250 and the cooperation completion of blade 251 at first shaft coupling 2213, wherein direct current generator 2211
It is bolted with the first brushless speed reducer 2212, the first brushless speed reducer 2212 and first axle 222 pass through first shaft coupling
Connection 2213, first axle 222 pass through bearing housing 210 and smear the key connection of disk 250, at this point, by driving direct current generator 2211, it can be with
So that the multiple blades 251 smeared on disk 250 are rotated.
Second transmission device 230 realizes the swing in finisher horizontal direction, subtracts by the way that servo motor 2311, second is brushless
Fast machine 2312, the 4th axis 2315, second shaft coupling 2314, the second axis 232, the cooperation of bearing housing 210 are completed, wherein servo motor
2311 and second brushless speed reducer 2312 be bolted, the second brushless speed reducer 2312 and the 4th axis 2315 pass through second
Axis device 2314 connects, and the 4th axis 2315 and the second axis 232 are driven by the first meshing gear and the cooperation of the second meshing gear, and second
Axis 232 and the rear end face of bearing housing 210 are connected by key, at this point, can make bearing housing by driving servo motor 2311
210 swing, to realize the back-and-forth motion of finisher.
Support device 240 includes support base 241 and third axis 242, and third axis 242 is connected by key with bearing housing 210, when
When bearing housing 210 is swung, it is used to support the bearing housing 210.
Control module is preferably ARDUNIO single-chip microcontroller.
First control device and third control device are direct-flow controlling device, which is used for according to ARDUNIO monolithic
The signal that machine is sent, to control the driving of DC brushless motor.Wherein, direct-flow controlling device includes driver for brushless DC motor
With control terminal oral area, driver for brushless DC motor is for enabling DC brushless motor to be controlled, control terminal oral area and straight
It is corresponding to flow brushless motor control unit.
Second control device and the 4th control device are Servocontrol device, which is used for according to ARDUNIO monolithic
The signal that machine is sent, to control the driving of DC servo motor.Wherein, Servocontrol device includes motor servo driver and control
Port part processed, motor servo driver is for enabling servo motor to be controlled, control terminal oral area and Serve Motor Control portion
It is corresponding.
Finisher operation logic:
Issue signal by ARDUNIO single-chip microcontroller, driver for brushless DC motor through first control device handle so that
DC brushless motor 2211 rotates, so that the disk 250 of smearing on vertical direction be driven to be rotated；
The driver for brushless DC motor processing of third control device simultaneously, so that smearing disk in the second walking mechanism 300
It is rotated；
Disk clockwise movement is smeared when symmetrically arranged one, when another smears disk counterclockwise movement, finisher holding is forbidden
It is motionless；Disk clockwise movement is smeared when symmetrically arranged one, when another smears disk counterclockwise movement, finisher can be rotated centainly
Angle.
Signal is issued by ARDUNIO single-chip microcontroller, the motor servo driver through second control device is handled so that servo
Motor 2311 rotates, and bearing housing 210 can be made to swing；
Motor servo driver processing through the 4th control device simultaneously, so that the bearing housing in the second walking mechanism 300
It swings, when a bearing housing is swung to the left, when another is smeared disk and swings to the right, realizes the back-and-forth motion of finisher.
It further include pressing device 260 shown in Fig. 8, pressing device 260 wraps in order to enable smearing the troweling effect of the blade of disk
It includes:
Disk 261 is sheathed on first axle 222 and is located at and smears 250 top of disk；
First fixed block 262 is horizontally disposed with and is fixed on rack 100；
Second fixed block 263 is vertically arranged with the first fixed block 262 and is fixedly connected with the first fixed block 262；
Briquetting 264 fixes 263 pieces with second and is vertically arranged and is connect with the second fixed block 263 by pin shaft 265, briquetting
264 are set to 261 top of disk and abut with disk 261；
The first fixed block 262 is fixed in spring 266, one end, and the other end is fixed on end of the briquetting 264 far from disk 261.
Specifically, briquetting 264 includes the first briquetting 2641 and the second briquetting 2642, the first briquetting 2641 and the second briquetting
2642 are integrally formed, and 2641 cross section of the first briquetting is rectangle, and the first briquetting 2641 is fixedly connected with spring 266, the second briquetting
2642 are equipped with annular opening, and the internal diameter of annular opening is greater than the diameter of first axle 222, and the second briquetting 2642 is abutted with disk 261,
Pin shaft 265 is set to the middle position of the first briquetting 2641 and the second briquetting 2642.
Wherein, obstacle avoidance module is infrared sensor or ultrasonic distance sensor, and tracking module is infrared sensor.Its
In, obstacle avoidance module is preferably ultrasonic distance sensor.
Specifically, work as obstacle avoidance module, it is small with a distance from barrier to detect finisher for preferably ultrasonic distance sensor
When certain numerical value, obstacle avoidance module provides signal and feeds back to the processing of ARDUNIO single-chip microcontroller, at this point, ARDUNIO single-chip microcontroller issues
Signal, so that finisher stop motion,
At this point, ARDUNIO single-chip microcontroller by tracking module, i.e. the continuous external environment of infrared sensor reflects accordingly
Infrared ray waveform drives the troweling robot to change travel route, to realize cement by feeding back and combining corresponding algorithm
The avoidance of troweling robot, to achieve the purpose that fully automatic operation.Also in combination with algorithm, following for cement plastering machine device people is realized
Mark operation.
In order to further monitor state when finisher movement, further includes:
Gyro module is set in rack, and gyro module is electrically connected with control module, and gyro module is smeared for monitoring
State when ray machine moves；
Specifically, gyro module, the state of the walking for monitoring finisher, and feed back to ARDUNIO single-chip microcontroller and do
Corresponding processing out；
Limit switch is set in rack, and limit switch is electrically connected with control module, and limit switch is for monitoring a bearing housing left side
State when right swing；
Specifically, limit switch, for monitoring whether finisher rotate in place, and timely feedbacks and gives ARDUNIO single-chip microcontroller
Make corresponding processing；
Range finder module is electrically connected set on the front and back end of rack and left and right end, range sensor with control module, ranging mould
Block is for measuring finisher surrounding at a distance from metope；
Specifically, range finder module can choose ultrasonic distance sensor, when finisher is in a new operating condition, survey
Finisher can be measured at a distance from surrounding wall away from module, and feeds back to ARDUNIO single-chip microcontroller, and ARDUNIO single-chip microcontroller is according to it
Programming can obtain a corresponding path, and control finisher and run according to its path.
In order to easy to operate, further includes:
Human-computer interaction interface is set to rack, and human-computer interaction interface is electrically connected with control module, passes through human-computer interaction interface pair
Finisher is operated.
In order to detect the surface quality of cement surface after troweling, further includes:
Surface quality detection module, set on smearing on disk 250, for detecting the roughness of cement surface after troweling, surface quality
Detection module is electrically connected with control module, and feeds back to ARDUNIO single-chip microcontroller, carries out the record of data.Surface quality detection mould
Block is distance measuring sensor, smears disk 250 at a distance from cement surface by measurement, obtains the roughness of cement surface.
Wherein, power module includes:
DC power supply；
DCDC voltage reduction module, is electrically connected with DC power supply, and DCDC voltage reduction module is electrically connected with control module；
Power supply decomposer, is electrically connected with DC power supply, and power supply decomposer is filled with first control device, the second control respectively
It sets, the electrical connection of third control device and the 4th control device.
DC power supply provides the DC voltage of 48V, and DC voltage 48V is converted to 5V by DCDC voltage reduction module, is
ARDUNIO single-chip microcontroller provides voltage；DC voltage 48V is same as direct current generator and servo motor simultaneously by power supply decomposer simultaneously
Connection provides voltage.
Specifically, DC power supply is battery or lithium battery.
After finisher works, in order to easy to clean further include:
First jack (does not mark) in figure, set on the first corner of rack；
Second jack (does not mark) in figure, and set on the second corner of rack, the second corner and the first corner are in diagonal line
Distribution；
First auxiliary stand (does not mark) in figure, set on the third corner of rack；
Second auxiliary stand (does not mark) in figure, and set on the fourth angle portion of rack, fourth angle portion and third corner are in diagonal
Line distribution.First auxiliary stand and the second auxiliary stand are shunk and finisher rack lower section when finisher works.
After finisher work, by the first jack and the second jack by finisher top to certain height,
At this point, the first auxiliary stand and the expansion of the second auxiliary stand are supported finisher, rushed convenient for operator using water pipe
It washes.
Full-automatic cement troweling robot in embodiment provided by the invention can fully automatic operation, can keep away automatically
Barrier, and can tracking operation.The Full-automatic cement troweling robot, greatly improves work efficiency, the labour for reducing worker is strong
Degree, improves troweling quality.
The above statement is only preferred embodiment of the invention, it is noted that those skilled in the art, not
Under the premise of being detached from the invention design, various modifications and improvements can be made, these also should be regarded as protection of the invention
Within the scope of.
Claims (10)
1. a kind of Full-automatic cement troweling robot characterized by comprising
Rack；
First walking mechanism and the second walking mechanism, are symmetrically disposed on the two sides of the rack；
Wherein, first walking mechanism includes:
Bearing housing is installed on the rack；
First transmission device, vertical direction setting, through the bearing housing upper and lower end face and rotatably connect with the bearing housing
It connects；
Second transmission device, it is horizontally arranged and be fixed on the rack, across the bearing housing rear end face and extend to
In the bearing housing, and first transmission device does not contact, and second transmission device is fixedly connected with the bearing housing；
Support device, it is horizontally arranged and be fixed on the rack, across the bearing housing front end face and extend to described
In bearing housing, and first transmission device does not contact, and the support device is fixedly connected with the bearing housing；
Disk is smeared, is fixedly connected with the output end of first transmission device, and is circumferential equidistantly set on the multiple of the ring disk
Smear leaf；
First control device is set to first transmission device, and the first control device is for driving the first transmission dress
It sets；
Second control device is set to second transmission device, and the second control device is for driving the second transmission dress
It sets；
For second walking mechanism as the first walking mechanism structure, second walking mechanism includes third control dress
It sets and the 4th control device；
Obstacle avoidance module is set to the front end of rack, and for detecting, whether there are obstacles in front of finisher；
Tracking module is set to the rack left and right ends and rear end；
Control module, set on the middle position of the rack, the control module and the obstacle avoidance module, tracking module, first
Control device, second control device, third control device and the electrical connection of the 4th control device；
Power module is set in the rack, is used for the control module, first control device, second control device, third control
Device processed and the power supply of the 4th control device.
2. a kind of Full-automatic cement troweling robot according to claim 1, which is characterized in that first transmission device
Include:
First driving device, is fixed on the bearing housing, and the first driving device is driven by the first control device；
First axle is fixedly connected with the output end of the first driving device, and the first axle is fixedly connected with the disk of smearing；
Second transmission device includes:
Second driving device, is fixed on the rack, and second driving device is driven by the second control device；
Second axis is fixedly connected with the output end of second driving device, and second axis is fixedly connected with the bearing housing；
The support device includes:
Support base is fixed on the rack；
Third axis is rotatably connected with the support base, and the third axis is fixedly connected with the bearing housing.
3. a kind of Full-automatic cement troweling robot according to claim 2, which is characterized in that the first driving device
Include:
Direct current generator；
First brushless speed reducer, is fixedly connected with the direct current generator, and the first brushless speed reducer passes through with the first axle
First shaft coupling connection；
Second driving device includes:
Servo motor；
Second brushless speed reducer, is fixedly connected with the servo motor；
4th axis is vertically arranged with second axis, and the 4th axis and the described second brushless speed reducer pass through second shaft coupling
Connection；
First meshing gear is set to the 4th axis；
Second meshing gear, is set to second axis, and second meshing gear engages connection with first meshing gear；
The first control device is driver for brushless DC motor, and the second control device is DC servo motor driving
Device.
4. a kind of Full-automatic cement troweling robot according to claim 3, which is characterized in that first transmission device
Further include:
First bearing seat is fixed on the upper surface of the bearing housing；
First bearing is fixedly connected in the first bearing seat and with the first axle；
Second bearing seat is fixed on the lower end surface of the bearing housing；
Second bearing is fixedly connected in the second bearing seat and with the first axle；
Second transmission device further include:
Gear-box is fixed on the rack, and the gear-box upper surface is rotatably connected with the 4th axis, the gear-box
Front end face is rotatably connected with second axis；
The support base includes:
Fourth bearing seat, is fixed on the rack；
Fourth bearing is fixedly connected in the fourth bearing seat and with the third axis.
5. a kind of Full-automatic cement troweling robot according to claim 2, which is characterized in that straight where the third axis
Line is overlapped with straight line where second axis.
6. a kind of Full-automatic cement troweling robot according to claim 2, which is characterized in that it further include pressing device,
The pressing device includes:
Disk is sheathed on the first axle and is located at described smear above disk；
First fixed block is horizontally disposed with and is fixed on the rack；
Second fixed block is vertically arranged with first fixed block and is fixedly connected with first fixed block；
Briquetting is vertically arranged with second fixed block and is connect with second fixed block by pin shaft, and the briquetting is set to
It is abutted above the disk and with the disk；
First fixed block is fixed in spring, one end, and the other end is fixed on end of the briquetting far from the disk.
7. a kind of Full-automatic cement troweling robot according to claim 6, which is characterized in that the briquetting includes first
Briquetting and the second briquetting, first briquetting and second briquetting are integrally formed, and first briquetting cross section is rectangle, institute
It states the first briquetting to be fixedly connected with the spring, second briquetting is equipped with annular opening, and the internal diameter of the annular opening is greater than
The diameter of the first axle, second briquetting are abutted with the disk, and the pin shaft is set to first briquetting and described the
The middle position of two briquettings.
8. a kind of Full-automatic cement troweling robot according to claim 1, which is characterized in that further include:
Gyro module is set in the rack, and the gyro module is electrically connected with the control module, the gyroscope mould
Block is used to monitor state when finisher movement；
Limit switch is set in the rack, and the limit switch is electrically connected with the control module, and the limit switch is used for
Monitor the state when bearing housing swings；
Range finder module, set on the front and back end and left and right end of the rack, the range sensor is electrically connected with the control module
It connects, the range finder module is for measuring finisher surrounding at a distance from metope；
Surface quality detection module, set on smearing on disk, the surface quality detection module is electrically connected with the control module, described
Surface quality detection module is used to detect the roughness of cement surface after troweling；
Human-computer interaction interface, is set to the rack, and the human-computer interaction interface is electrically connected with the control module.
9. a kind of Full-automatic cement troweling robot according to claim 1, which is characterized in that the obstacle avoidance module is red
Outer sensor or ultrasonic distance sensor, the tracking module are infrared sensor；The power module includes:
DC power supply；
DCDC voltage reduction module is electrically connected with the DC power supply, and the DCDC voltage reduction module is electrically connected with the control module；
Power supply decomposer is electrically connected with the DC power supply, the power supply decomposer respectively with the first control device, second
Control device, third control device and the electrical connection of the 4th control device.
10. a kind of Full-automatic cement troweling robot according to claim 1, which is characterized in that further include:
First jack, set on the first corner of the rack；
Second jack, set on the second corner of the rack, second corner and first corner are distributed in diagonal line；
First auxiliary stand, set on the third corner of the rack；
Second auxiliary stand, set on the fourth angle portion of the rack, the fourth angle portion and the third corner are in diagonal line point
Cloth.
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| CN201811258385.6A CN109057359B (en) | 2018-10-26 | 2018-10-26 | Full-automatic cement trowelling robot |
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|---|---|---|---|
| CN201811258385.6A CN109057359B (en) | 2018-10-26 | 2018-10-26 | Full-automatic cement trowelling robot |
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| CN109057359B CN109057359B (en) | 2021-10-26 |
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| CN110094064A (en) * | 2019-06-20 | 2019-08-06 | 哈工大机器人湖州国际创新研究院 | Trowelling machine |
| CN110107092A (en) * | 2019-06-20 | 2019-08-09 | 哈工大机器人湖州国际创新研究院 | Trowelling machine |
| CN110185267A (en) * | 2019-05-23 | 2019-08-30 | 青岛辰芯科技有限公司 | Trowelling machine |
| CN110185245A (en) * | 2019-06-28 | 2019-08-30 | 广东博智林机器人有限公司 | Smooth out mechanism |
| CN110181349A (en) * | 2019-06-04 | 2019-08-30 | 广东博智林机器人有限公司 | Ground smoothes out equipment |
| CN110195507A (en) * | 2019-06-28 | 2019-09-03 | 广东博智林机器人有限公司 | Smooth out robot |
| CN110195506A (en) * | 2019-06-28 | 2019-09-03 | 广东博智林机器人有限公司 | Smooth out robot |
| CN110195505A (en) * | 2019-06-28 | 2019-09-03 | 广东博智林机器人有限公司 | Smooth out robot |
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| CN110541549A (en) * | 2019-08-15 | 2019-12-06 | 广东博智林机器人有限公司 | Floating robot |
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| CN112900815A (en) * | 2019-11-19 | 2021-06-04 | 广东博智林机器人有限公司 | Concrete floor leveling device |
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| CN110195505A (en) * | 2019-06-28 | 2019-09-03 | 广东博智林机器人有限公司 | Smooth out robot |
| CN110195507A (en) * | 2019-06-28 | 2019-09-03 | 广东博智林机器人有限公司 | Smooth out robot |
| CN110195506A (en) * | 2019-06-28 | 2019-09-03 | 广东博智林机器人有限公司 | Smooth out robot |
| CN110185245A (en) * | 2019-06-28 | 2019-08-30 | 广东博智林机器人有限公司 | Smooth out mechanism |
| CN110195398A (en) * | 2019-06-28 | 2019-09-03 | 广东博智林机器人有限公司 | Smooth out robot |
| CN110195507B (en) * | 2019-06-28 | 2021-04-30 | 广东博智林机器人有限公司 | Floating robot |
| CN110541549A (en) * | 2019-08-15 | 2019-12-06 | 广东博智林机器人有限公司 | Floating robot |
| CN112900815A (en) * | 2019-11-19 | 2021-06-04 | 广东博智林机器人有限公司 | Concrete floor leveling device |
| CN111395695A (en) * | 2020-04-01 | 2020-07-10 | 筑石科技(湖州)有限公司 | Concrete floor construction method |
| CN112223520A (en) * | 2020-10-16 | 2021-01-15 | 中冶重工（唐山）有限公司 | Automatic control system and automatic control method for troweling machine |
| CN113431308A (en) * | 2021-07-16 | 2021-09-24 | 广东博智林机器人有限公司 | Troweling robot |
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