CN110158964B - Trowelling machine control method - Google Patents
Trowelling machine control method Download PDFInfo
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- CN110158964B CN110158964B CN201910434236.9A CN201910434236A CN110158964B CN 110158964 B CN110158964 B CN 110158964B CN 201910434236 A CN201910434236 A CN 201910434236A CN 110158964 B CN110158964 B CN 110158964B
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- 239000003638 chemical reducing agent Substances 0.000 description 10
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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
Abstract
The invention provides a control method of a trowelling machine, the trowelling machine comprises two trowelling disk mechanisms which can rotate oppositely and a swing driving mechanism which respectively drives each of the two trowelling disk mechanisms to swing at a plurality of degrees of freedom, and the control method is characterized by comprising the following steps: and in response to the received operation control signal of the trowelling machine, at least one of the trowelling disk mechanisms is driven to rotate, and at least one of the two swing driving mechanisms is driven to swing, so that the included angle between at least one of the trowelling disk mechanisms and the plane to be machined is changed, and the trowelling machine is controlled to move. According to the technical scheme, an operator does not need to sit on the trowelling machine to operate the moving operation of the trowelling machine, so that the weight of the trowelling machine during the whole use is reduced, the trowelling machine can be suitable for trowelling work after initial setting is processed, the ground is trowelled and finished, and concrete is prevented from cracking.
Description
Technical Field
The invention relates to the technical field of construction equipment, in particular to a trowelling machine control method.
Background
The ground surface floating is an important process in the concrete ground surface forming process, the main function is to float, collect and polish the concrete ground surface after initial setting, and the implementation quality of the process directly influences the problems of whether the concrete cracks in the later period, the levelness of the ground surface and the like. With the increasing requirements on building quality, the quality of ground forming is particularly important, and the method is directly related to the realizable degree of a subsequent new process and method, such as a new floor tile thin-pasting process, a wood floor installation secondary-leveling-free technology and the like.
At present, three modes are mainly used for ground leveling work, the first mode is that a trowel is manually used for leveling the ground, a manual polishing and retesting mode is needed, and correction is continuously carried out until the target requirement is met, and the leveling mode has low efficiency and low leveling quality; the second type is to use a hand-held trowelling machine, which needs to be supported by hands to operate, the trowelling plate is driven by a gasoline engine in a rotating way by walking through manual driving, and compared with manual trowelling, the hand-held trowelling machine is relatively labor-saving, but the efficiency is not high due to manual driving, the gasoline engine vibrates violently, the manual operation time cannot be too long, and the trowelling effect is general; the third is to use the driving trowelling machine, and the people can sit on the trowelling machine, operates the trowelling machine motion, compares in above-mentioned two kinds of modes, and this method is laborsaving, and efficiency is higher, but because its own characteristic problem, this equipment quality is great, and only to the concrete ground polishing effect after the final set better, when carrying out the ground trowelling work after the initial set, equipment often can leave great trowelling trace, and the effect of trowelling and receipts face is not good.
Therefore, the trowelling machine in the prior art is difficult to trowel the ground after initial setting while achieving high efficiency.
Disclosure of Invention
The invention mainly aims to provide a trowelling machine control method to solve the technical problem that the trowelling machine in the prior art is difficult to trowel the ground after initial setting while achieving high efficiency.
In order to achieve the above object, the present invention provides a method for controlling a trowel, the method comprising: the trowelling machine comprises two trowelling disk mechanisms capable of rotating in opposite directions and two swing driving mechanisms for respectively driving each of the two trowelling disk mechanisms to swing in multiple degrees of freedom, and is characterized in that the control method comprises the following steps: and in response to the received operation control signal of the trowelling machine, at least one of the trowelling disk mechanisms is driven to rotate, and at least one of the two swing driving mechanisms is driven to swing, so that the included angle between at least one of the trowelling disk mechanisms and the plane to be machined is changed, and the trowelling machine is controlled to move.
Further, the control method further comprises: the multiple degrees of freedom are two degrees of freedom, swing actuating mechanism includes first swing drive sub-mechanism and second swing drive sub-mechanism, first swing drive sub-mechanism control wipe dish mechanism and swing in the first direction, second swing drive sub-mechanism control wipe dish mechanism and swing in the second direction.
Further, the control method further comprises: the operation control signal comprises a forward control signal or a backward control signal, and in response to the forward control signal or the backward control signal, the first swing driving sub-mechanisms of the two swing driving mechanisms respectively drive the two wiping disk mechanisms to swing in opposite directions in the first direction.
Further, the control method further comprises: the operation control signal comprises a left-line control signal or a right-line control signal, and in response to the left-line control signal or the right-line control signal, the second swing driving sub-mechanisms of the two swing driving mechanisms respectively drive the two wiping disk mechanisms to swing in the second direction along the opposite direction.
Further, the control method further comprises: the operation control signal includes a left-turn control signal or a right-turn control signal, and the first swing driving sub-mechanism of at least one of the two swing driving mechanisms drives the swabbing mechanism to swing in the first direction in response to the left-turn control signal or the right-turn control signal.
Further, the trowelling machine further comprises a rotary driving mechanism, the rotary driving mechanism drives the two trowelling disk mechanisms to rotate oppositely, and the control method further comprises the following steps: and in response to receiving a speed regulation control signal, the rotary driving mechanism can adjust the rotating speeds of the two swabbing mechanisms.
By applying the technical scheme of the invention, the remote controller can receive the forward command by sending the forward command to the remote controller, and further send forward control signals to control one swing driving mechanism to drive the left swabbing mechanism to swing transversely to the state of high left and low right, and control the other swing driving mechanism to drive the right swabbing mechanism to swing transversely to the state of high right and low left, so that the inner side friction force of the two swabbing mechanisms is increased, the driving force is forward, and the resultant force of the two swabbing mechanisms drives the trowelling machine to move forward. Similarly, the remote controller sends a back command, receives the back command and sends back control signals to control one swing driving mechanism to drive the left trowel mechanism to swing transversely to a state of low left and high right and control the other swing driving mechanism to drive the right trowel mechanism to swing transversely to a state of high left and low right, so that the friction force of the outer sides of the two trowel mechanisms is increased, the driving force is backward, and the trowel machine is driven by the resultant force of the two trowel mechanisms to move backward. According to the technical scheme, an operator does not need to sit on the trowelling machine to operate the moving operation of the trowelling machine, so that the weight of the trowelling machine during the whole use is reduced, the trowelling machine can be suitable for trowelling work after initial setting is processed, the ground is trowelled and finished, and concrete is prevented from cracking. Meanwhile, the riding space and the operating space of operators are saved, and the volume of the trowelling machine can be reduced appropriately, so that the trowelling machine can be suitable for more working occasions. And the labor consumption can be reduced due to the adoption of the operation mode of the remote controller.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a perspective view of a trowel according to the present invention;
FIG. 2 shows a schematic right view of the trowel of FIG. 1;
FIG. 3 shows a rear view schematic of the trowel of FIG. 1;
FIG. 4 shows a schematic top view of the trowel of FIG. 1;
fig. 5 is a control flow diagram illustrating a trowel control method according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, means, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 1, 2, 3 and 4, the trowel includes a base body 10, two trowel disk mechanisms 20, a rotary drive mechanism 60, and an oscillating drive mechanism. The two plastering plate mechanisms 20 are arranged on the base body 10 in parallel, the rotary driving mechanism 60 is arranged on the base body 10 and is respectively in driving connection with the two plastering plate mechanisms 20, and the rotary driving mechanism 60 is used for driving the two plastering plate mechanisms 20 to rotate oppositely for plastering operation. The two swing driving mechanisms are arranged on the base body 10 and are respectively in driving connection with the two plastering plate mechanisms 20, and the swing driving mechanisms are used for driving the plastering plate mechanisms 20 to swing to perform moving operation.
Specifically, the swing drive mechanism includes a swing drive sub-mechanism that can drive the scrub pad mechanism 20 to swing in a plurality of degrees of freedom. In one possible example, the swing drive mechanism may be, for example, a first swing drive sub-mechanism 30 and a second swing drive sub-mechanism 40 that drive the scrub roller mechanism 20 to swing in two directions, the first swing drive sub-mechanism controlling the scrub roller mechanism to swing in a first direction, and the second swing sub-mechanism controlling the scrub roller mechanism to swing in a second direction. The first direction and the second direction may be orthogonal to each other.
Wherein the swing driving mechanism comprises a first swing driving sub-mechanism 30 and a second swing driving sub-mechanism 40. The first swing driving sub-mechanisms 30 are respectively connected to the swabbing mechanism 20 for driving the swabbing mechanism 20 to swing in a first direction. In the present embodiment, for convenience of description, the swing in the first direction is described as controlling the transverse swing of the wiper mechanism 20. The second swing driving sub-mechanisms 40 are respectively in driving connection with the plastering mechanism 20 and are used for driving the plastering mechanism 20 to swing in a second direction, namely, to swing longitudinally. As shown in fig. 2 and 3, the roulette mechanism 20 is mounted on a second swing driver sub-mechanism 40, the second swing driver sub-mechanism 40 drives the roulette mechanism 20 to swing longitudinally, the second swing driver sub-mechanism 40 is mounted on a first swing driver sub-mechanism 30, the first swing driver sub-mechanism 30 drives the second swing driver sub-mechanism 40 to swing transversely, and the first swing driver sub-mechanism 30 is mounted on the base body 10. The first swing driving sub-mechanism 30 can drive the second swing driving sub-mechanism 40 to swing transversely together with the disc wiping mechanism 20, and on the basis, the second swing driving sub-mechanism 40 can also drive the disc wiping mechanism 20 to swing longitudinally, so that multi-angle posture adjustment of the disc wiping mechanism 20 can be realized. It is also possible to swing the spatula mechanism 20 laterally only by the first swing driver sub-mechanism 30, or to swing the spatula mechanism 20 longitudinally only by the second swing driver sub-mechanism 40.
As shown in fig. 3, the first swing driving sub-mechanism 30 includes a frame 31 and a yaw driving member 32, the frame 31 is laterally swingably hinged to the base body 10, the yaw driving member 32 is mounted on the base body 10 and is drivingly connected to the frame 31, and the yaw driving member 32 is used for driving the frame 31 to swing laterally. Specifically, the frame 31 is connected to the base body 10 by a hinge shaft assembly one 33. The first hinge shaft assembly 33 includes a hinge shaft and a bearing, which makes the yaw motion more stable. The swabbing mechanism 20 is longitudinally and swingably hinged on the frame 31, and the second swing driving sub-mechanism 40 includes a longitudinal swing driving member, which is mounted on the frame 31 and is drivingly connected with the swabbing mechanism 20, and is used for driving the swabbing mechanism 20 to swing longitudinally. Specifically, swabbing disk mechanism 20 is connected with frame 31 through articulated shaft subassembly two 41, and articulated shaft subassembly two 41 includes articulated shaft and bearing, can let the pitch motion more steady. The yaw driving member 32 and the pitch driving member are components such as an electric push rod, an electric cylinder, a linear motor, and the like.
The trowelling machine adopts an electric drive mode, as shown in fig. 1 and 4, the trowelling machine further comprises a battery mechanism, the battery mechanism is installed on the base body 10, and the battery mechanism is used for supplying power to the rotation drive mechanism 60 and the swing drive mechanism and can also meet the electric control requirement of using a remote controller. Correspondingly, the rotary driving mechanism 60 includes a motor 61, a shaft mechanism 62, and a rotary reducer 64, the motor 61 is connected to the shaft mechanism 62 through the reducer 64, and the shaft mechanisms 62 are respectively connected to the two troweling tray mechanisms 20 for driving the troweling tray mechanisms 20 to rotate for troweling operation. The shaft mechanism 62 is a rotating shaft assembly connected by a universal joint. The rotating shaft assembly may be a flexible shaft to adapt to the swing attitude change of the swabbing mechanism 20. A rotation reducer 64 is installed between the shaft mechanism 62 and the motor 61. The output speed of the motor 61 can be regulated by rotating the speed reducer 64, so that the swabbing mechanism 20 rotates at a suitable speed. Specifically, the speed reducer 64 can be controlled by a remote controller to achieve the purpose of speed regulation. When the trowelling machine is used, the battery mechanism supplies power, the motor 61 rotates to drive the rotating speed reducer 64 to move, and finally the trowelling disk mechanism 20 is driven to rotate through the rotating speed reducer 64, so that trowelling operation is achieved. The rotation reducer 64 may be a fixed-ratio reducer or a variable-ratio reducer.
Fig. 5 illustrates a method of controlling the trowel of the present invention. The trowelling machine comprises two trowelling disk mechanisms 20 which can rotate oppositely and are adjacently arranged at the left and the right, and two swing driving mechanisms which respectively drive the two trowelling disk mechanisms 20 to swing. In the technical solution of the present invention, the two swabbing mechanisms 20 rotating in opposite directions mean that the two swabbing mechanisms 20 rotate in opposite directions, the left swabbing mechanism 20 rotates clockwise, and the right swabbing mechanism 20 rotates counterclockwise, or vice versa.
The control method comprises the following steps: and receiving an operation instruction input by a user through a remote controller. After receiving an operation instruction, the controller establishes signal connection with a trowelling machine controller and sends a corresponding operation control signal, and the trowelling machine controller responds to the received operation control signal, and respectively drives at least one of the trowelling disk mechanisms to rotate and at least one of the two swing driving mechanisms to swing so as to change an included angle between at least one of the trowelling disk mechanisms and a plane to be machined, and thus the trowelling machine is controlled to move.
In one possible example, the operation instruction sent by the user is a forward instruction, and after the trowelling machine receives a forward control signal sent by a remote controller, the trowelling machine respectively controls the two swing driving mechanisms to move so as to execute forward control. Specifically, the forward control signal controls the first swing driver sub-mechanism of one swing driver mechanism to drive the left side of the erasing mechanism 20 to swing transversely to the left high and the right low state, and the forward control signal controls the first swing driver sub-mechanism of the other swing driver mechanism to drive the right side of the erasing mechanism 20 to swing transversely to the right high and the left low state.
In one possible example, the operation instruction sent by the user is a back instruction. The trowelling machine receives a backward control signal sent by the remote controller and respectively controls the two swing drivers to move so as to execute backward control. Specifically, with respect to the forward command, the reverse control signal controls the first swing drive sub-mechanism of one swing drive mechanism to drive the left roulette mechanism 20 to swing laterally to the low-left and high-right state, and the reverse control signal controls the first swing drive sub-mechanism of the other swing drive mechanism to drive the right roulette mechanism 20 to swing laterally to the high-left and low-right state.
In summary, when the forward command or the backward command is executed, the first swing drive sub-mechanisms of the two swing drive mechanisms respectively drive the two wiper mechanisms 20 to swing in opposite directions in the first direction. It will be understood by those skilled in the art that when the rotation direction of the roulette mechanism is changed, the specific swing direction in the first direction of the first sub-drive mechanism of the two swing drive mechanisms may be changed when the forward or backward control is performed.
By applying the technical scheme of the invention, the remote controller receives the forward command by sending the forward command to the remote controller, and then sends forward control signals to control one swing driving mechanism to drive the left swabbing mechanism 20 to swing transversely to the state of high left and low right, and control the other swing driving mechanism to drive the right swabbing mechanism 20 to swing transversely to the state of high right and low left, so that the inner side friction force of the two swabbing mechanisms 20 is increased, the driving force is forward, and the trowel machine is driven by the resultant force of the two swabbing mechanisms 20 to move forward. Similarly, by sending a back command to the remote controller, the remote controller receives the back command and further sends a back control signal to control one swing driving mechanism to drive the left trowel mechanism 20 to swing horizontally to a state of low left and high right, and control the other swing driving mechanism to drive the right trowel mechanism 20 to swing horizontally to a state of high left and low right, so that the friction force of the outer sides of the two trowel mechanisms 20 is increased, and the driving force is backward, and the trowel machine is driven by the resultant force of the two trowel mechanisms 20 to move backward. According to the technical scheme of the invention, the two trowelling disk mechanisms are respectively controlled to swing through the swing driving mechanism, so that the contact position of the trowelling disk mechanism and the substitute processing plane is changed, and the trowelling machine executes forward or backward operation by means of friction force.
According to the technical scheme, an operator does not need to sit on the trowelling machine to operate the moving operation of the trowelling machine, so that the weight of the trowelling machine during the whole use is reduced, the trowelling machine can be suitable for trowelling work after initial setting is processed, the ground is trowelled and finished, and concrete is prevented from cracking. Meanwhile, the riding space and the operating space of operators are saved, and the volume of the trowelling machine can be reduced appropriately, so that the trowelling machine can be suitable for more working occasions. And the labor consumption can be reduced due to the adoption of the operation mode of the remote controller.
In one possible example, the operation instruction sent by the user is a right-line instruction, and after the trowelling machine receives a right-line control signal sent by the remote controller, the trowelling machine respectively controls the two swing driving mechanisms to move so as to execute right-line control. The right row control signal controls one swing driving mechanism to drive the left wiping disk mechanism 20 to swing longitudinally to a state of high front and low back, and the right row control signal controls the other swing driving mechanism to drive the right wiping disk mechanism 20 to swing longitudinally to a state of low front and high back. When the trowelling machine is used, a right-going instruction is sent to the remote controller, the remote controller can receive the right-going instruction and further send a right-going control signal, so that the left trowelling mechanism 20 longitudinally swings to a state that the front part is high and the rear part is low, the right trowelling mechanism 20 transversely swings to a state that the front part is low and the rear part is high, the rear friction force of the left trowelling mechanism 20 is increased, the front friction force of the right trowelling mechanism 20 is increased, the driving force is rightward, and the trowelling machine is driven to move rightward by the combined force of the two trowelling mechanisms 20.
In one possible example, the operation command sent by the user is a left-going command, and the trowelling machine receives a left-going control signal sent by the remote controller and respectively controls the two swing driving machines to move so as to execute the left-going control. The left control signal controls one swing driving mechanism to drive the left erasing mechanism 20 to swing longitudinally to a state of low front and high back, and the left control signal controls the other swing driving mechanism to drive the right erasing mechanism 20 to swing transversely to a state of high front and low back. When the trowelling machine is used, a left-going instruction is sent to the remote controller, the remote controller can receive the left-going instruction and further send a left-going control signal, so that the left trowelling mechanism 20 swings to a state that the front part is low and the back part is high, the right trowelling mechanism 20 swings to a state that the front part is high and the back part is low, the friction force of the front side of the left trowelling mechanism 20 is increased, the friction force of the back side of the right trowelling mechanism 20 is increased, the driving force is leftward, and the trowelling machine is driven to move leftward by the combined force of the two trowelling mechanisms 20.
In summary, when a right-hand command or a left-hand command is executed, the second swing driving sub-mechanisms of the two swing driving mechanisms respectively drive the two floating disc mechanisms 20 to swing in opposite directions in the second direction, and the swing driving mechanisms respectively control the two floating disc mechanisms to swing, so as to change the contact positions of the working surfaces of the floating disc mechanisms and the plane to be machined, that is, change the included angle between the working surfaces of the floating disc mechanisms and the plane to be machined, so that the trowelling machine executes right-hand or left-hand operation by means of friction force. It will be appreciated by those skilled in the art that when the rotation direction of the roulette mechanism is changed, the specific swing direction in the second direction of the second sub-drive mechanism of the two swing drive mechanisms may be changed when the right-hand or left-hand control is performed.
In one possible example, the operation instruction sent by the user is a right-turn instruction, and the trowelling machine receives a right-turn control signal sent by the remote controller and respectively controls the two swing drivers to move so as to execute right-turn control. The right-turn control signal controls one swing driving mechanism to drive the left erasing mechanism 20 to swing transversely to a state of high left and low right, and the right-turn control signal controls the other swing driving mechanism to drive the right erasing mechanism 20 to swing transversely to a state of high left and low right. When the trowelling machine is used, a right-turning instruction is sent to the remote controller, the remote controller can receive the right-turning instruction and further send a right-turning control signal, so that the left trowelling disk mechanism 20 and the right trowelling disk mechanism 20 transversely swing to a high-left and low-right state, the right friction force of the left trowelling disk mechanism 20 is increased, the driving force is upward, the right friction force of the right trowelling disk mechanism 20 is increased, the driving force is downward, a moment for enabling the trowelling machine to clockwise rotate rightwards is generated, and the trowelling machine is driven to turn rightwards.
In one possible example, the operation instruction sent by the user is a left-turn instruction, and the trowelling machine receives a left-turn control signal sent by the remote controller and respectively controls the two swing driving machines to move so as to execute left-turn control. The left-turn control signal controls one swing driving mechanism to drive the left wiping disk mechanism 20 to swing transversely to a state of low left and high right, and the left-turn control signal controls the other swing driving mechanism to drive the right wiping disk mechanism 20 to swing transversely to a state of low left and high right. When the trowelling machine is used, a left-turning instruction is sent to the remote controller, the remote controller can receive the left-turning instruction and further send a left-turning control signal, so that the left trowelling disk mechanism 20 and the right trowelling disk mechanism 20 transversely swing to a state that the left is low and the right is high, the left friction force of the left trowelling disk mechanism 20 is increased, the driving force is downward, the left friction force of the right trowelling disk mechanism 20 is increased, the driving force is upward, a moment for enabling the trowelling machine to rotate anticlockwise left is generated, and the left-turning motion of the trowelling machine is driven.
In summary, when a right-turn command or a left-turn command is executed, the first swing driving sub-mechanism of at least one of the two swing driving mechanisms drives the corresponding trowel mechanism 20 to swing in the first direction, so as to change the contact position between the working surface of the trowel mechanism and the machining-substitute plane, that is, change the included angle between the working surface of the trowel mechanism and the machining-substitute plane, and enable the trowel machine to execute a right-turn operation or a left-turn operation by means of friction. It will be appreciated by those skilled in the art that when the direction of rotation of the roulette mechanism is changed, the specific swing direction in the first direction of the first drive sub-mechanism of the two swing drive mechanisms may be changed when the right-turn or left-turn control is performed.
In the present invention, the two swabbing mechanisms 20 rotating in opposite directions in the above embodiment mean that the left swabbing mechanism 20 rotates clockwise, and the right swabbing mechanism 20 rotates counterclockwise. As an embodiment equivalent to the above embodiment, the left swabbing mechanism 20 may be rotated counterclockwise and the right swabbing mechanism 20 may be rotated clockwise, which corresponds to the front-back inversion of the above embodiment, and as an example shown in fig. 4, the forward control method of the embodiment is the reverse control method of the embodiment in fig. 4, the reverse control method of the embodiment is the forward control method of the embodiment in fig. 4, the right turn control method of the embodiment is the left turn control method of the embodiment in fig. 4, and the right turn control method of the embodiment is the left turn control method of the embodiment in fig. 4. This embodiment is also included in the scope of the present invention.
More preferably, the troweling machine further comprises a rotary driving mechanism 60, the rotary driving mechanism 60 drives the two troweling plate mechanisms 20 to rotate oppositely, and the control method further comprises the following steps: establishing signal connection with the trowelling machine through a remote controller; the remote controller receives the speed regulating command, sends a speed regulating control signal, and controls the rotating driving mechanism 60 to drive the rotating speed of the two plastering plate mechanisms 20 in response to the speed regulating control signal. When the device is used, a speed regulating instruction is sent to the remote controller, so that the remote controller controls the rotating speed of the rotary driving mechanism 60, and the rotating speed of the plastering plate mechanism 20 is regulated.
As an alternative embodiment, the remote control establishes a signal connection with the swing drive mechanism and the rotation drive mechanism 60 by wired communication. In this embodiment, the signal connection of the remote control to the swing drive mechanism and the rotation drive mechanism 60 may be established by wire connection.
As another alternative, the remote control may also establish a signal connection with the swing drive mechanism and the rotation drive mechanism 60 via wireless communication. In this embodiment, the signal connection between the remote controller and the swing driving mechanism and the rotation driving mechanism 60 can be established by using wireless connection methods such as bluetooth, zigbee, wifi, infrared, and the like.
In addition to the trowels described above, the trowel control method of the present invention can also be used to control other trowel mechanisms in which both trowel mechanisms 20 are angularly adjustable in an electrically controlled manner.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A control method of a trowelling machine, the trowelling machine comprises two trowelling disk mechanisms which can rotate oppositely and two swing driving mechanisms which respectively drive each of the two trowelling disk mechanisms to swing at a plurality of degrees of freedom,
the plurality of degrees of freedom are two degrees of freedom, each swing driving mechanism comprises a first swing driving sub-mechanism and a second swing driving sub-mechanism, the first swing driving sub-mechanism controls the disc wiping mechanism to swing in a first direction, and the second swing driving sub-mechanism controls the disc wiping mechanism to swing in a second direction;
the disc wiping mechanism is arranged on the second swing driving sub-mechanism, the second swing driving sub-mechanism drives the disc wiping mechanism to swing along a second direction, the second swing driving sub-mechanism is arranged on the first swing driving sub-mechanism, the first swing driving sub-mechanism drives the second swing driving sub-mechanism to swing along a first direction, and the first swing driving sub-mechanism is arranged on the base body;
the first swing driving sub-mechanism comprises a rack and a horizontal swing driving piece, the rack is hinged on the base body in a horizontal swing mode, the horizontal swing driving piece is installed on the base body and is in driving connection with the rack, and the horizontal swing driving piece is used for driving the rack to swing transversely; the frame is connected with the base body through a hinge shaft component; the second swing driving sub-mechanism comprises a longitudinal swing driving piece, the longitudinal swing driving piece is installed on the rack and is in driving connection with the swabbing mechanism, and the longitudinal swing driving piece is used for driving the swabbing mechanism to swing longitudinally; the tray wiping mechanism is connected with the rack through a hinged shaft assembly;
the control method comprises the following steps: in response to the received operation control signal of the trowelling machine, at least one of the trowelling disk mechanisms is driven to rotate, and at least one of the two swing driving mechanisms is driven to swing, so that the included angle between at least one of the trowelling disk mechanisms and the plane to be machined is changed, and the trowelling machine is controlled to move;
the operation control signal includes a left-turn control signal or a right-turn control signal, and the first swing driving sub-mechanism of at least one of the two swing driving mechanisms drives the swabbing mechanism to swing in the first direction in response to the left-turn control signal or the right-turn control signal.
2. The trowel control method according to claim 1, wherein the operation control signal includes a forward control signal or a backward control signal, and in response to the forward control signal or the backward control signal, the first swing drive sub-mechanisms of the two swing drive mechanisms respectively drive the two trowel disc mechanisms to swing in opposite directions in the first direction.
3. The trowel control method according to claim 1, wherein the operation control signal includes a left-line control signal or a right-line control signal, and second swing driving sub-mechanisms of the two swing driving mechanisms respectively drive the two trowel mechanisms to swing in the second direction in opposite directions in response to the left-line control signal or the right-line control signal.
4. The method of claim 1, wherein the trowel further includes a rotary drive mechanism that drives the two trowel mechanisms to rotate toward each other, the method further comprising: and in response to receiving a speed regulation control signal, the rotary driving mechanism can adjust the rotating speeds of the two swabbing mechanisms.
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| CN201910434236.9A CN110158964B (en) | 2019-05-23 | 2019-05-23 | Trowelling machine control method |
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| CN201910434236.9A CN110158964B (en) | 2019-05-23 | 2019-05-23 | Trowelling machine control method |
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| CN110821121B (en) * | 2019-11-19 | 2021-03-09 | 广东博智林机器人有限公司 | Concrete floor leveling device |
| CN113530177B (en) * | 2021-07-14 | 2022-08-19 | 苏州方石科技有限公司 | Ground surface finishing robot and control method thereof |
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| CN203308063U (en) * | 2013-06-18 | 2013-11-27 | 济南蓝海传动机械有限公司 | Automatic wall trowelling machine with automatic scraper angle adjusting function |
| CN205529816U (en) * | 2016-04-29 | 2016-08-31 | 任鸿业 | Novel full -automatic cement way making machine |
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| JP2018012943A (en) * | 2016-07-20 | 2018-01-25 | 大成建設株式会社 | Floor finishing robot |
| CN109166297A (en) * | 2018-10-26 | 2019-01-08 | 南通理工学院 | A kind of remote control type cement plastering machine control system |
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| CN203308063U (en) * | 2013-06-18 | 2013-11-27 | 济南蓝海传动机械有限公司 | Automatic wall trowelling machine with automatic scraper angle adjusting function |
| CN205529816U (en) * | 2016-04-29 | 2016-08-31 | 任鸿业 | Novel full -automatic cement way making machine |
| JP2018012943A (en) * | 2016-07-20 | 2018-01-25 | 大成建設株式会社 | Floor finishing robot |
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