CN109057359B - Full-automatic cement trowelling robot - Google Patents
Full-automatic cement trowelling robot Download PDFInfo
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- CN109057359B CN109057359B CN201811258385.6A CN201811258385A CN109057359B CN 109057359 B CN109057359 B CN 109057359B CN 201811258385 A CN201811258385 A CN 201811258385A CN 109057359 B CN109057359 B CN 109057359B
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- 239000004568 cement Substances 0.000 title claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 49
- 238000003825 pressing Methods 0.000 claims description 45
- 239000003638 chemical reducing agent Substances 0.000 claims description 16
- 238000012544 monitoring process Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 6
- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000009499 grossing Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a full-automatic cement trowelling robot, which comprises: a frame; the first traveling mechanism and the second traveling mechanism are symmetrically arranged on two sides of the rack; the obstacle avoidance module is arranged at the front end of the frame and used for detecting whether an obstacle exists in front of the troweling machine; the tracking module is arranged at the left end, the right end and the rear end of the rack; the control module is arranged in the middle of the rack and is electrically connected with the obstacle avoidance module, the tracking module, the first control device, the second control device, the third control device and the fourth control device; and the power supply module is arranged on the rack and used for supplying power to the control module, the first control device, the second control device, the third control device and the fourth control device. The full-automatic cement trowelling robot can run in a full-automatic mode, can automatically avoid obstacles and can run along tracks.
Description
Technical Field
The invention relates to the technical field of cement troweling machines, in particular to a full-automatic cement troweling robot.
Background
When concrete highway road surface, terrace, airport, floor, plate-shaped prefab construction, all need carry thick liquid, the finish in order to improve concrete surface's compactedness and wearability to the construction surface, adopt artifical handheld finish planker to drag and wipe back and forth in the early stage, intensity of labour is big, inefficiency.
Disclosure of Invention
The invention aims to provide a full-automatic cement troweling robot, which solves one or more of the problems in the prior art.
The invention provides a full-automatic cement trowelling robot, which comprises:
a frame;
the first traveling mechanism and the second traveling mechanism are symmetrically arranged on two sides of the rack;
wherein the first travel mechanism comprises:
the bearing box is arranged on the frame;
the first transmission device is arranged in the vertical direction, penetrates through the upper end surface and the lower end surface of the bearing box and is rotatably connected with the bearing box;
the second transmission device is horizontally arranged and fixed on the rack, penetrates through the rear end face of the bearing box and extends into the bearing box, the first transmission device is not contacted, and the second transmission device is fixedly connected with the bearing box;
the supporting device is horizontally arranged and fixed on the rack, penetrates through the front end face of the bearing box and extends into the bearing box, the first transmission device is not contacted, and the supporting device is fixedly connected with the bearing box;
the wiping disc is fixedly connected with the output end of the first transmission device, and a plurality of circumferentially and equidistantly arranged wiping leaves of the ring disc;
the first control device is arranged on the first transmission device and used for driving the first transmission device;
the second control device is arranged on the second transmission device and used for driving the second transmission device;
the second travelling mechanism has the same structure as the first travelling mechanism, and comprises a third control device and a fourth control device;
the obstacle avoidance module is arranged at the front end of the frame and used for detecting whether an obstacle exists in front of the troweling machine;
the tracking module is arranged at the left end, the right end and the rear end of the rack;
the control module is arranged in the middle of the rack and is electrically connected with the obstacle avoidance module, the tracking module, the first control device, the second control device, the third control device and the fourth control device;
and the power supply module is arranged on the rack and used for supplying power to the control module, the first control device, the second control device, the third control device and the fourth control device.
In some embodiments, the first transmission comprises:
the first driving device is fixed on the bearing box and driven by the first control device;
the first shaft is fixedly connected with the output end of the first driving device and fixedly connected with the wiping disc;
the second transmission device includes:
the second driving device is fixed on the frame and driven by the second control device;
the second shaft is fixedly connected with the output end of the second driving device and fixedly connected with the bearing box;
the supporting device comprises:
the supporting seat is fixed on the frame;
the third shaft is rotatably connected with the supporting seat and fixedly connected with the bearing box.
In some embodiments, the first driving means comprises:
a direct current motor;
the first brushless speed reducer is fixedly connected with the direct current motor and is connected with the first shaft through a first coupler;
the second driving device includes:
a servo motor;
the second brushless speed reducer is fixedly connected with the servo motor;
the fourth shaft is perpendicular to the second shaft and is connected with the second brushless speed reducer through a second coupling;
the first meshing gear is arranged on the fourth shaft;
the second meshing gear is arranged on the second shaft and is in meshed connection with the first meshing gear;
the first control device is a DC brushless motor driver, and the second control device is a DC servo motor driver.
In some embodiments, the first transmission further comprises:
the first bearing block is fixed on the upper end surface of the bearing box;
the first bearing is arranged in the first bearing seat and is fixedly connected with the first shaft;
the second bearing block is fixed on the lower end surface of the bearing box;
the second bearing is arranged in the second bearing seat and is fixedly connected with the first shaft;
the second transmission further includes:
the gear box is fixed on the rack, the upper end surface of the gear box is rotatably connected with the fourth shaft, and the front end surface of the gear box is rotatably connected with the second shaft;
the supporting seat includes:
the fourth bearing seat is fixed on the frame;
and the fourth bearing is arranged in the fourth bearing seat and is fixedly connected with the third shaft.
In some embodiments, the line on which the third axis is located coincides with the line on which the second axis is located.
In some embodiments, further comprising a compression device, the compression device comprising:
the disc is sleeved on the first shaft and positioned above the wiping disc;
the first fixed block is horizontally arranged and fixed on the rack;
the second fixed block is perpendicular to the first fixed block and is fixedly connected with the first fixed block;
the pressing block is vertically arranged with the second fixing block and is connected with the second fixing block through a pin shaft, and the pressing block is arranged above the disc and is abutted against the disc;
and one end of the spring is fixed on the first fixing block, and the other end of the spring is fixed on the end part of the pressing block far away from the disc.
In some embodiments, the pressing block comprises a first pressing block and a second pressing block, the first pressing block and the second pressing block are integrally formed, the cross section of the first pressing block is rectangular, the first pressing block is fixedly connected with the spring, the second pressing block is provided with an annular opening, the inner diameter of the annular opening is larger than the diameter of the first shaft, the second pressing block is abutted against the disc, and the pin shaft is arranged in the middle of the first pressing block and the second pressing block.
In some embodiments, further comprising:
the gyroscope module is arranged on the rack, is electrically connected with the control module and is used for monitoring the motion state of the troweling machine;
the limit switch is arranged on the rack and electrically connected with the control module, and the limit switch is used for monitoring the state of the bearing box during left-right swinging;
the distance measuring modules are arranged at the front end, the rear end, the left end and the right end of the rack, the distance sensors are electrically connected with the control module, and the distance measuring modules are used for measuring the distance between the periphery of the troweling machine and the wall surface;
the surface quality detection module is arranged on the plastering plate and is electrically connected with the control module and used for detecting the roughness of the cement surface after plastering;
and the human-computer interaction interface is arranged on the rack and is electrically connected with the control module.
In some embodiments, the obstacle avoidance module is an infrared sensor or an ultrasonic distance sensor, and the tracking module is an infrared sensor; the power module includes:
a direct current power supply;
the DCDC voltage reduction module is electrically connected with the direct-current power supply and the control module;
and the power supply decomposer is electrically connected with the direct-current power supply, and is respectively and electrically connected with the first control device, the second control device, the third control device and the fourth control device.
In some embodiments, further comprising:
the first jack is arranged at a first corner of the rack;
the second jack is arranged at a second corner of the rack, and the second corner and the first corner are distributed in a diagonal manner;
the first auxiliary support is arranged at the third corner of the frame;
the second auxiliary support is arranged at a fourth corner of the rack, and the fourth corner and the third corner are distributed in a diagonal manner.
Has the advantages that: the full-automatic cement troweling robot provided by the embodiment of the invention can run in a full-automatic manner, can automatically avoid obstacles and can run along tracks. This full-automatic cement troweling robot has improved work efficiency greatly, has reduced workman's intensity of labour, has improved the quality of troweling.
Drawings
Fig. 1 is a schematic structural diagram of a full-automatic cement troweling robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a full-automatic cement troweling robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a bearing box of a full-automatic cement troweling robot according to an embodiment of the present invention;
fig. 4 is a partial structural schematic view of a first traveling mechanism of the full-automatic cement troweling robot according to an embodiment of the invention;
fig. 5 is a schematic structural diagram of a first transmission device of a full-automatic cement troweling robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a second transmission device of the full-automatic cement troweling robot according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a first traveling mechanism of a full-automatic cement troweling robot according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a pressing device of a full-automatic cement troweling robot according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a control system of a full-automatic cement troweling robot according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
As used herein, "upper", "lower", "left" and "right" are "upper", "lower", "left" and "right" as shown in FIG. 1, and "front" and "rear" are "left" and "right" as shown in FIG. 2.
As shown in the figures 1 to 3 of the drawings,
a full-automatic cement troweling robot, comprising:
a frame 100;
the first traveling mechanism 200 and the second traveling mechanism 300 are symmetrically arranged at two sides of the frame 100;
wherein the first travel mechanism 200 includes:
a bearing housing 210 mounted to the frame 100;
the first transmission device 200 is arranged in the vertical direction, penetrates through the upper end surface and the lower end surface of the bearing box 210 and is rotatably connected with the bearing box 210;
the second transmission device 230 is horizontally arranged and fixed on the frame 100, passes through the rear end face of the bearing box 210 and extends into the bearing box 210, the first transmission device 220 is not contacted, and the second transmission device 230 is fixedly connected with the bearing box 210;
the supporting device 240 is horizontally arranged and fixed on the frame 100, passes through the front end surface of the bearing box 210 and extends into the bearing box 210, the first transmission device 220 is not contacted, and the supporting device 240 is fixedly connected with the bearing box 210;
a swabbing disc 250 fixedly connected with the output end of the first transmission device 220, and a plurality of swabbing blades 251 annularly and equidistantly arranged on the ring disc 250;
the first control device is arranged on the first transmission device 220 and is used for driving the first transmission device 220;
the second control device is arranged on the second transmission device 230 and is used for driving the second transmission device 230;
the second traveling mechanism 300 has the same structure as the first traveling mechanism 200, and the second traveling mechanism 300 includes third control means and fourth control means;
the obstacle avoidance module is arranged at the front end of the frame 100 and used for detecting whether an obstacle exists in front of the troweling machine;
the tracking module is arranged at the left end, the right end and the rear end of the rack;
the control module is arranged in the middle of the rack 100 and is electrically connected with the obstacle avoidance module, the tracking module, the first control device, the second control device, the third control device and the fourth control device;
and the power module is arranged on the rack 100 and used for supplying power to the control module, the first control device, the second control device, the third control device and the fourth control device.
Specifically, as shown in fig. 4 and 5, the first transmission 220 includes:
a first driving device 221 fixed to the bearing housing 210, the first driving device 221 being driven by a first control device;
a first shaft 222 fixedly connected with the output end of the first driving device 221, the first shaft 222 fixedly connected with the swabbing disc 250;
the second transmission 230 includes:
a second driving device 231 fixed to the frame 100, the second driving device 231 being driven by a second control device;
a second shaft 232 fixedly connected with an output end of the second driving device 231, the second shaft 232 being fixedly connected with the bearing housing 210;
the supporting device 240 includes:
a support base 241 fixed to the frame 100;
the third shaft 242 is rotatably connected to the supporting base 241, and the third shaft 242 is fixedly connected to the bearing housing 210.
In particular, as shown in figures 6 and 7,
the first driving device 221 includes:
a dc motor 2211;
the first brushless speed reducer 2212 is fixedly connected with the direct current motor 2211, and the first brushless speed reducer 2212 is connected with the first shaft 222 through a first coupler 2213;
the second driving device 231 includes:
a servo motor 2311;
a second brushless speed reducer 2312 fixedly connected with the servo motor 2311;
a fourth shaft 2315 arranged perpendicular to the second shaft 232, the fourth shaft 2315 being connected to the second brushless speed reducer 2312 via a second coupling 2314;
a first meshing gear (not shown) provided on the fourth shaft 2315;
a second meshing gear (not shown) provided on the second shaft 232, the second meshing gear being in meshing connection with the first meshing gear;
the first control device is a DC brushless motor driver, and the second control device is a DC servo motor driver.
In order to enhance the stability of the first shaft 222, the second shaft 232 and the third shaft 242 during the rotation of the first transmission device 220, the second transmission device 230 and the supporting device 240, the first transmission device 220 further comprises:
a first bearing housing 223 fixed to an upper end surface of the bearing housing 210;
a first bearing disposed in the first bearing seat 223 and fixedly connected to the first shaft 222;
a second bearing housing 224 fixed to a lower end surface of the bearing housing 210;
a second bearing disposed in the second bearing housing 224 and fixedly connected to the first shaft 222;
the second transmission 230 further includes:
the gear box 234 is fixed on the frame 100, the upper end surface of the gear box 234 is rotatably connected with the fourth shaft 2315, and the front end surface of the gear box 234 is rotatably connected with the second shaft 232;
specifically, a fifth bearing seat 2316 is installed on the upper end face of the gear box 234, a fifth bearing is arranged in the fifth bearing seat 2316, and the fourth shaft 2315 is in key connection with the fifth bearing, so that the upper end face of the gear box 234 is rotatably connected with the fourth shaft 2315; sixth bearing seat 2317 is installed to the terminal surface before the gear box 234, is equipped with the sixth bearing in the sixth bearing seat 2317, and second shaft 232 passes through the key-type connection with the sixth bearing to realize gear box 234 preceding terminal surface and second shaft 232 rotatable coupling.
The support base 241 includes:
a fourth bearing block 2411 fixed to the frame 100;
and a fourth bearing disposed in the fourth bearing seat 2411 and fixedly connected to the third shaft 242.
The first traveling mechanism 200 and the second traveling mechanism 300 are identical in structure and symmetrically arranged on two sides of the machine frame 100, so that the whole troweling machine is symmetrical about the middle of the machine frame 100, and a distribution box can be mounted in the middle of the machine frame 100 and used for placing a control module, a tracking module and a power module.
The first transmission device 220 realizes the rotation of the troweling machine in the vertical direction, and the rotation is completed through the cooperation of the direct current motor 2211, the first brushless speed reducer 2212, the first coupler 2213, the first shaft 222, the troweling disc 250 and the blades 251, wherein the direct current motor 2211 is connected with the first brushless speed reducer 2212 through bolts, the first brushless speed reducer 2212 is connected with the first shaft 222 through the first coupler 2213, the first shaft 222 penetrates through the bearing box 210 and is connected with the troweling disc 250 in a key mode, and at the moment, the plurality of blades 251 on the troweling disc 250 can be rotated through driving the direct current motor 2211.
The second transmission device 230 realizes the swinging of the troweling machine in the horizontal direction, and the swinging is completed through the matching of the servo motor 2311, the second brushless speed reducer 2312, the fourth shaft 2315, the second coupler 2314, the second shaft 232 and the bearing box 210, wherein the servo motor 2311 is connected with the second brushless speed reducer 2312 through bolts, the second brushless speed reducer 2312 is connected with the fourth shaft 2315 through the second coupler 2314, the fourth shaft 2315 and the second shaft 232 are in matched transmission through the first meshing gear and the second meshing gear, the second shaft 232 is in key connection with the rear end face of the bearing box 210, at the moment, the bearing box 210 can swing left and right through driving the servo motor 2311, and therefore the front and back movement of the troweling machine is realized.
The supporting device 240 includes a supporting base 241 and a third shaft 242, and the third shaft 242 is keyed with the bearing housing 210 to support the bearing housing 210 when the bearing housing 210 swings.
The control module is preferably an ARDUNIO singlechip.
The first control device and the third control device are both direct current control devices, and the direct current control devices are used for controlling the driving of the direct current brushless motor according to signals sent by the ARDUNIO singlechip. The direct current control device comprises a direct current brushless motor driver and a control port part, the direct current brushless motor driver is used for enabling the direct current brushless motor to be controlled, and the control port part corresponds to the direct current brushless motor control part.
The second control device and the fourth control device are both servo control devices, and the servo control devices are used for controlling the driving of the direct-current servo motor according to signals sent by the ARDUNIO singlechip. The servo control device comprises a servo motor driver and a control port part, the servo motor driver is used for enabling the servo motor to be controlled, and the control port part corresponds to the servo motor control part.
The operation principle of the troweling machine is as follows:
the arduinio single chip microcomputer sends a signal, and the signal is processed by a direct current brushless motor driver of the first control device to enable the direct current brushless motor 2211 to rotate, so that the wiping disc 250 in the vertical direction is driven to rotate;
meanwhile, the brushless dc motor driver of the third control device processes the data to rotate the wiper on the second traveling mechanism 300;
when one symmetrically arranged smearing plate moves clockwise and the other one moves anticlockwise, the smearing machine keeps forbidden to move; when one of the symmetrically arranged smearing disks moves clockwise and the other one moves anticlockwise, the troweling machine can rotate by a certain angle.
The ARDUNIO singlechip sends out signals, and the signals are processed by a servo motor driver of the second control device to enable the servo motor 2311 to rotate, so that the bearing box 210 can swing left and right;
meanwhile, the bearing boxes on the second traveling mechanism 300 are made to swing left and right by the processing of the servo motor driver of the fourth control device, and when one bearing box swings left and the other troweling tray swings right, the back and forth movement of the troweling machine is realized.
In order to make the blade of the spatula have a smearing effect, as shown in fig. 8, the spatula further comprises a pressing device 260, and the pressing device 260 comprises:
a disc 261 sleeved on the first shaft 222 and located above the swabbing disc 250;
a first fixing block 262 horizontally disposed and fixed to the frame 100;
a second fixed block 263 which is vertically disposed to the first fixed block 262 and fixedly connected to the first fixed block 262;
the pressing block 264 is vertically arranged with the second fixed block 263 and is connected with the second fixed block 263 through a pin 265, and the pressing block 264 is arranged above the disc 261 and is abutted against the disc 261;
and one end of the spring 266 is fixed on the first fixed block 262, and the other end is fixed on the end part of the pressing block 264 far away from the disc 261.
Specifically, the pressing block 264 includes a first pressing block 2641 and a second pressing block 2642, the first pressing block 2641 and the second pressing block 2642 are integrally formed, the cross section of the first pressing block 2641 is rectangular, the first pressing block 2641 is fixedly connected to the spring 266, the second pressing block 2642 is provided with an annular opening, the inner diameter of the annular opening is larger than the diameter of the first shaft 222, the second pressing block 2642 is abutted to the disc 261, and the pin 265 is disposed at the middle position of the first pressing block 2641 and the second pressing block 2642.
The obstacle avoidance module is an infrared sensor or an ultrasonic distance sensor, and the tracking module is an infrared sensor. The obstacle avoidance module is preferably an ultrasonic distance sensor.
Specifically, when the obstacle avoidance module, preferably an ultrasonic distance sensor, detects that the distance between the troweling machine and the obstacle is smaller than a certain value, the obstacle avoidance module provides a signal to the ardunino single chip microcomputer for processing, at the moment, the ardunino single chip microcomputer sends out the signal to enable the troweling machine to stop moving,
at the moment, the ARDUNIO singlechip continuously reflects corresponding infrared waveforms to the external environment through the tracking module, namely the infrared sensor, drives the plastering robot to change the driving route by feedback and combining with a corresponding algorithm, thereby realizing the obstacle avoidance of the cement plastering robot and achieving the purpose of full-automatic operation. And the tracking operation of the cement plastering robot can be realized by combining an algorithm.
In order to further monitor the state of the troweling machine during movement, the method further comprises the following steps:
the gyroscope module is arranged on the rack, is electrically connected with the control module and is used for monitoring the motion state of the troweling machine;
specifically, the gyroscope module is used for monitoring the walking state of the troweling machine and feeding back the walking state to the ARDUNIO singlechip to perform corresponding processing;
the limit switch is arranged on the rack and electrically connected with the control module, and the limit switch is used for monitoring the state of the bearing box during left-right swinging;
specifically, the limit switch is used for monitoring whether the troweling machine rotates in place or not and feeding back to the ARDUNIO singlechip in time to perform corresponding processing;
the distance measuring modules are arranged at the front end, the rear end, the left end and the right end of the rack, the distance sensors are electrically connected with the control module, and the distance measuring modules are used for measuring the distance between the periphery of the troweling machine and the wall surface;
specifically, the ranging module can select ultrasonic distance sensor, and when the smoothing machine was in a new operating mode, the ranging module can measure the smoothing machine and the distance of wall body all around to feed back to ARDUNIO singlechip, ARDUNIO singlechip can obtain a corresponding route according to its programming, and control smoothing machine according to its route operation.
For the convenience of operation, still include:
and the human-computer interaction interface is arranged on the rack, is electrically connected with the control module and is used for operating the troweling machine.
In order to detect the surface quality of the cement surface after finishing, the method further comprises the following steps:
and the surface quality detection module is arranged on the plastering plate 250 and used for detecting the roughness of the cement surface after plastering, is electrically connected with the control module and feeds back to the ARDUNIO singlechip for recording data. The surface quality detection module is a distance measuring sensor, and obtains the roughness of the cement surface by measuring the distance between the plastering plate 250 and the cement surface.
Wherein, the power module includes:
a direct current power supply;
the DCDC voltage reduction module is electrically connected with the direct-current power supply and the control module;
and the power supply decomposer is electrically connected with the direct-current power supply, and is respectively and electrically connected with the first control device, the second control device, the third control device and the fourth control device.
The DC power supply provides 48V DC voltage, the DCDC voltage reduction module converts the 48V DC voltage into 5V DC voltage, and voltage is provided for the ARDUNIO singlechip; meanwhile, the direct current voltage 48V passes through the power supply resolver and is connected with the direct current motor and the servo motor in parallel to provide voltage.
Specifically, the dc power supply is a storage battery or a lithium battery.
After the troweling machine work is finished, still include for the washing convenience:
a first jack (not shown) arranged at a first corner of the frame;
the second jack (not marked in the figure) is arranged at a second corner of the frame, and the second corner and the first corner are distributed in a diagonal manner;
a first auxiliary support (not shown) arranged at the third corner of the frame;
and the second auxiliary support (not marked in the figure) is arranged at a fourth corner of the rack, and the fourth corner and the third corner are distributed in a diagonal manner. The first auxiliary support and the second auxiliary support are retracted below the troweling machine frame when the troweling machine works.
After the troweling machine work, will troweling machine top to certain height through first jack and second jack, at this moment, first auxiliary stand and second auxiliary stand expand and support the troweling machine, and the operator of being convenient for uses the water pipe to wash.
The full-automatic cement troweling robot in the embodiment provided by the invention can run in a full-automatic manner, can automatically avoid obstacles and can run along tracks. This full-automatic cement troweling robot has improved work efficiency greatly, has reduced workman's intensity of labour, has improved the quality of troweling.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these should also be construed as being within the scope of the present invention.
Claims (8)
1. The utility model provides a full-automatic cement troweling robot which characterized in that includes:
a frame;
the first travelling mechanism and the second travelling mechanism are symmetrically and relatively independently arranged on two sides of the rack;
wherein the first travel mechanism comprises:
the bearing box is arranged on the frame;
the first transmission device is arranged in the vertical direction, penetrates through the upper end surface and the lower end surface of the bearing box and is rotatably connected with the bearing box;
the first transmission device includes:
a first driving device fixed to the bearing housing, the first driving device being driven by the first control device;
the first shaft is fixedly connected with the output end of the first driving device and fixedly connected with the wiping disc;
the second transmission device is horizontally arranged and fixed on the rack, penetrates through the rear end face of the bearing box and extends into the bearing box, the first transmission device is not contacted, and the second transmission device is fixedly connected with the bearing box;
the supporting device is horizontally arranged and fixed on the rack, penetrates through the front end face of the bearing box and extends into the bearing box, the first transmission device is not contacted, and the supporting device is fixedly connected with the bearing box;
the wiping disc is fixedly connected with the output end of the first transmission device, and a plurality of circumferentially and equidistantly arranged wiping leaves of the wiping disc;
the first control device is arranged on the first transmission device and used for driving the first transmission device;
the second control device is arranged on the second transmission device and used for driving the second transmission device;
the second travelling mechanism has the same structure as the first travelling mechanism, and comprises a third control device and a fourth control device;
the obstacle avoidance module is arranged at the front end of the rack and used for detecting whether an obstacle exists in front of the troweling machine;
the tracking modules are arranged at the left end, the right end and the rear end of the rack;
the control module is arranged in the middle of the rack and is electrically connected with the obstacle avoidance module, the tracking module, the first control device, the second control device, the third control device and the fourth control device;
the power supply module is arranged on the rack and used for supplying power to the control module, the first control device, the second control device, the third control device and the fourth control device;
still include closing device, closing device includes:
the disc is sleeved on the first shaft and positioned above the wiping disc;
the first fixed block is horizontally arranged and fixed on the rack;
the second fixed block is perpendicular to the first fixed block and is fixedly connected with the first fixed block;
the pressing block is perpendicular to the second fixing block and is connected with the second fixing block through a pin shaft, and the pressing block is arranged above the disc and is abutted against the disc;
one end of the spring is fixed on the first fixing block, and the other end of the spring is fixed on the end part, far away from the disc, of the pressing block;
further comprising:
the gyroscope module is arranged on the rack, is electrically connected with the control module and is used for monitoring the state of the troweling machine during movement;
the limit switch is arranged on the rack, is electrically connected with the control module and is used for monitoring the state of the bearing box during left-right swinging;
the distance measuring modules are arranged at the front end, the rear end, the left end and the right end of the rack, are electrically connected with the control module, and are used for measuring the distance between the periphery of the troweling machine and the wall surface;
the surface quality detection module is arranged on the plastering plate, is electrically connected with the control module and is used for detecting the roughness of the cement surface after plastering;
and the human-computer interaction interface is arranged on the rack and is electrically connected with the control module.
2. The fully automatic cement troweling robot according to claim 1, wherein the second transmission device comprises:
the second driving device is fixed on the rack and driven by the second control device;
the second shaft is fixedly connected with the output end of the second driving device and fixedly connected with the bearing box;
the support device includes:
the supporting seat is fixed on the rack;
the third shaft is rotatably connected with the supporting seat and fixedly connected with the bearing box.
3. The fully automatic cement troweling robot according to claim 2, characterized in that the first driving device comprises:
a direct current motor;
the first brushless speed reducer is fixedly connected with the direct current motor and is connected with the first shaft through a first coupler;
the second driving device includes:
a servo motor;
the second brushless speed reducer is fixedly connected with the servo motor;
the fourth shaft is perpendicular to the second shaft and is connected with the second brushless speed reducer through a second coupling;
the first meshing gear is arranged on the fourth shaft;
the second meshing gear is arranged on the second shaft and is in meshed connection with the first meshing gear;
the first control device is a direct current brushless motor driver, and the second control device is a direct current servo motor driver.
4. The fully automatic cement troweling robot according to claim 3, characterized in that the first transmission device further comprises:
the first bearing block is fixed on the upper end surface of the bearing box;
the first bearing is arranged in the first bearing seat and is fixedly connected with the first shaft;
the second bearing block is fixed on the lower end surface of the bearing box;
the second bearing is arranged in the second bearing seat and is fixedly connected with the first shaft;
the second transmission further includes:
the gearbox is fixed on the rack, the upper end surface of the gearbox is rotatably connected with the fourth shaft, and the front end surface of the gearbox is rotatably connected with the second shaft;
the supporting seat includes:
the fourth bearing seat is fixed on the frame;
and the fourth bearing is arranged in the fourth bearing seat and fixedly connected with the third shaft.
5. The fully automatic cement finishing robot according to claim 2, wherein the line on which the third shaft is located coincides with the line on which the second shaft is located.
6. The full-automatic cement smearing robot as claimed in claim 1, wherein the pressing block comprises a first pressing block and a second pressing block, the first pressing block and the second pressing block are integrally formed, the cross section of the first pressing block is rectangular, the first pressing block is fixedly connected with the spring, the second pressing block is provided with an annular opening, the inner diameter of the annular opening is larger than the diameter of the first shaft, the second pressing block abuts against the disc, and the pin shaft is arranged in the middle of the first pressing block and the second pressing block.
7. The full-automatic cement smearing robot as claimed in claim 1, wherein the obstacle avoidance module is an infrared sensor or an ultrasonic distance sensor, and the tracking module is an infrared sensor; the power module includes:
a direct current power supply;
the DCDC voltage reduction module is electrically connected with the direct-current power supply and the control module;
and the power supply decomposer is electrically connected with the direct current power supply, and the power supply decomposer is respectively and electrically connected with the first control device, the second control device, the third control device and the fourth control device.
8. The fully automatic cement smearing robot as claimed in claim 1, further comprising:
the first jack is arranged at a first corner of the rack;
the second jack is arranged at a second corner of the rack, and the second corner and the first corner are distributed in a diagonal manner;
the first auxiliary support is arranged at the third corner of the rack;
the second auxiliary support is arranged at a fourth corner of the rack, and the fourth corner and the third corner are distributed in a diagonal manner.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811258385.6A CN109057359B (en) | 2018-10-26 | 2018-10-26 | Full-automatic cement trowelling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811258385.6A CN109057359B (en) | 2018-10-26 | 2018-10-26 | Full-automatic cement trowelling robot |
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| CN109057359A CN109057359A (en) | 2018-12-21 |
| CN109057359B true CN109057359B (en) | 2021-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811258385.6A Active CN109057359B (en) | 2018-10-26 | 2018-10-26 | Full-automatic cement trowelling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109811622B (en) * | 2019-02-21 | 2021-07-16 | 南通理工学院 | Vertical double-shaft cement leveling robot |
| CN110185267A (en) * | 2019-05-23 | 2019-08-30 | 青岛辰芯科技有限公司 | Trowelling machine |
| CN110181349A (en) * | 2019-06-04 | 2019-08-30 | 广东博智林机器人有限公司 | Ground smoothes out equipment |
| 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 |
| CN110195507B (en) * | 2019-06-28 | 2021-04-30 | 广东博智林机器人有限公司 | Floating robot |
| CN110195505B (en) * | 2019-06-28 | 2021-04-27 | 广东博智林机器人有限公司 | Floating robot |
| CN110185245B (en) * | 2019-06-28 | 2021-04-06 | 广东博智林机器人有限公司 | Trowelling mechanism |
| CN110195398A (en) * | 2019-06-28 | 2019-09-03 | 广东博智林机器人有限公司 | Smooth out robot |
| CN110195506B (en) * | 2019-06-28 | 2021-02-19 | 广东博智林机器人有限公司 | Floating robot |
| CN110541549B (en) * | 2019-08-15 | 2021-08-24 | 广东博智林机器人有限公司 | Floating robot |
| CN112900815B (en) * | 2019-11-19 | 2022-08-12 | 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 |
| CN113431308B (en) * | 2021-07-16 | 2022-12-23 | 广东博智林机器人有限公司 | Troweling robot |
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| CN109057359A (en) | 2018-12-21 |
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