CN111519880A - Parallel floating robot and control method thereof - Google Patents
Parallel floating robot and control method thereof Download PDFInfo
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- CN111519880A CN111519880A CN202010348986.7A CN202010348986A CN111519880A CN 111519880 A CN111519880 A CN 111519880A CN 202010348986 A CN202010348986 A CN 202010348986A CN 111519880 A CN111519880 A CN 111519880A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
- E04F21/245—Rotary power trowels, i.e. helicopter trowels
Abstract
The invention relates to a parallel floating robot, which comprises a floating disc rotating driving mechanism, two floating disc adjusting mechanisms and two floating discs, wherein the floating disc rotating driving mechanism, the two floating disc adjusting mechanisms and the two floating discs are arranged on a rack; the plastering plate rotating and driving mechanism is simultaneously associated with the two plastering plates, and the free ends of the two plastering plate adjusting mechanisms are respectively associated with the two plastering plates; the adjustment mechanism for the wiping plate comprises: the three-degree-of-freedom parallel mechanism is provided with a movable platform with two rotational degrees of freedom and one translational degree of freedom, the smearing plate is positioned below the movable platform, a smearing plate shaft of the smearing plate penetrates through the movable platform and then is connected with the output end of the smearing plate rotation driving mechanism, and the smearing plate shaft is in sliding connection with the movable platform through a sliding bearing; and the spatula adjusting sleeve is sleeved outside the spatula shaft positioned at the lower part of the movable platform, one end of the spatula adjusting sleeve is fixedly connected with the movable platform, and the other end of the spatula adjusting sleeve is connected with the spatula of the spatula through a spatula inclination adjusting rod. The invention can complete the inclination angle adjustment of the troweling sheet of the troweling plate while the troweling plate rotates, and solves the problem that the inclination angle of the troweling plate and the inclination angle of the troweling sheet of the prior ground troweling machine cannot be adjusted simultaneously in real time.
Description
Technical Field
The invention relates to a floating robot and a control method thereof, in particular to a parallel floating robot for building construction and a control method thereof, belonging to the technical field of building construction equipment.
Background
The floor trowelling machine is important equipment for building construction, and is divided into two types, namely linear trowelling and rotary trowelling according to trowelling motion according to the existing documents. The linear trowelling machine adopts a linear scraper and performs linear movement perpendicular to the direction of the scraper to finish trowelling movement. The rotary trowelling machine adopts a rotary trowelling disc, and the trowelling machine moves linearly along the ground while the trowelling disc rotates, so that the ground is trowelled. The rotary trowelling machine is classified into a blade type rotary trowelling machine and a disc type rotary trowelling machine according to different trowelling disc types.
The trowelling disc of the blade type rotary trowelling machine has large acting force with the ground, the control is relatively easy, the trowelling disc control difficulty of the disc type rotary trowelling machine is relatively large, and the leveling effect is better than that of the blade type trowelling machine. Compared with a linear trowelling machine, the rotary trowelling machine has the advantages of high operation difficulty, more flexible operation and better application prospect.
In addition, the floor troweling machine may be classified into manual operation, semi-automatic operation, and full-automatic operation according to the manipulation manner. The manual operation is divided into manual driving operation, manual walking operation and remote control operation. There is currently no trowelling machine that operates fully automatically.
When the disc-type rotary trowelling machine works, the two directions of the trowelling disc need to be controlled to swing independently, for example, two forms of disc-type ground trowelling machines disclosed in US5584598 and US7232277 disclose trowelling disc posture adjusting devices, the traditional series connection form is adopted, and a mechanism for adjusting the trowelling disc advance of the trowelling machine by adopting a parallel mechanism is not reported at present. Although the troweling machine disclosed in US5584598 can adjust the angle between the troweling sheet on the troweling plate and the ground through the adjusting nut, the troweling machine cannot be adjusted in real time. No report is found on a device for simultaneously adjusting the posture of the swabbing disc and the angle of the swabbing disc.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide a parallel trowelling robot capable of simultaneously performing two-directional swinging of a trowelling plate of a ground trowelling machine and adjustment of an inclination angle of a trowelling plate and a trowelling piece of the trowelling plate, wherein the two-directional swinging of the trowelling plate and the inclination angle of the trowelling plate and the trowelling piece of the trowelling plate can be independently decoupled, and the parallel trowelling robot has functions of automatic deviation rectification and automatic operation, overcomes the disadvantages of the existing devices, and is more beneficial to control of the acting force between the trow; the invention also aims to provide a control method of the parallel floating robot, which detects the position and the posture of the floating disc in real time, compares the detected position and the posture with the motion planning path of the ground floating machine, and then adjusts the posture of the floating disc in real time through the floating disc adjusting device according to the motion deviation condition so as to enable the floating disc to move according to a preset track.
In order to achieve the purpose, the invention adopts the following technical scheme: a parallel floating robot comprises a frame, a floating disc rotating driving mechanism, a floating disc adjusting mechanism and a floating disc; the wiping disc rotating and driving mechanism, the two wiping disc adjusting mechanisms and the two wiping disc mechanisms are all arranged on the rack, and the wiping disc rotating and driving mechanism is simultaneously associated with the two wiping discs and is used for driving the two wiping discs to rotate; the free ends of the two wiping disc adjusting mechanisms are respectively associated with the two wiping discs and are used for respectively adjusting the postures and the inclination angles of the two wiping discs;
the adjustment mechanism for the wiping plate comprises: the three-degree-of-freedom parallel mechanism is provided with a movable platform with two rotational degrees of freedom around an X axis and a Y axis and a translational degree of freedom along a Z axis, the swabbing disc is positioned below the movable platform, a swabbing disc shaft of the swabbing disc penetrates through the movable platform and then is connected with the output end of the swabbing disc rotation driving mechanism, and the swabbing disc shaft is connected with the movable platform in a sliding manner through a sliding bearing; the wiping disc adjusting sleeve is sleeved outside the wiping disc shaft positioned at the lower part of the movable platform, one end of the wiping disc adjusting sleeve is fixedly connected with the movable platform, and the other end of the wiping disc adjusting sleeve is connected with a wiping sheet of the wiping disc through a wiping sheet inclination adjusting rod; two rotational degrees of freedom of the movable platform drive the wiping disc adjusting sleeve to swing around an X axis and a Y axis so as to realize the adjustment of the postures of the wiping disc in two directions; the translational freedom degree of the movable platform drives the smearing plate adjusting sleeve to move along the smearing plate shaft, and then the smearing piece inclination adjusting rod is driven to rotate, so that the inclination angle of the smearing pieces on the smearing plate is adjusted.
The parallel troweling robot preferably includes: the speed reducer is arranged on the rack, the driving motor is arranged on the speed reducer, and an output shaft of the driving motor is connected with an input shaft of the speed reducer; the power shaft is rotatably arranged on the rack through a power shaft supporting bearing, one end of the power shaft is connected with an output shaft of the speed reducer through a power shaft coupler, and the power shaft, the driving motor, the speed reducer and the power shaft coupler are coaxially arranged; the power shaft synchronous belt pulley and the power shaft gear are arranged on the power shaft; the intermediate shaft is mounted on the rack through an intermediate shaft support bearing, and the intermediate shaft is arranged in parallel with the axis of the power shaft; an intermediate shaft synchronous pulley and an intermediate shaft gear mounted on the intermediate shaft, the intermediate shaft gear meshing with the power shaft gear to transmit power from the power shaft to the intermediate shaft; the two plastering plate power input shafts are rotatably arranged on the rack through plastering plate power input shaft supporting bearings respectively, are arranged in parallel with the axis of the power shaft, and are connected with plastering plate shafts of the two plastering plates through plastering plate couplers respectively; the two swabbing disc power input shaft synchronous belt pulleys are respectively arranged on the swabbing disc power input shaft, one of the swabbing disc power input shaft synchronous belt pulleys is connected with the power shaft synchronous belt pulley through a swabbing disc synchronous belt, the other swabbing disc power input shaft synchronous belt pulley is connected with the intermediate shaft synchronous belt pulley through another swabbing disc synchronous belt, and therefore power is transmitted from the power shaft to the two swabbing disc power input shafts through the two swabbing disc synchronous belts respectively.
The parallel floating robot is preferably characterized in that the three-degree-of-freedom parallel mechanism comprises a first moving branched chain, a second moving branched chain, a third moving branched chain and the moving platform which are arranged in a triangular shape, one end of the first moving branched chain, one end of the second moving branched chain and one end of the third moving branched chain are movably connected with the frame, and the other end of the first moving branched chain, the other end of the second moving branched chain and the other end of the third moving branched chain form free ends and are respectively movably connected with the moving platform.
The parallel floating robot preferably comprises a first moving branch chain, a second moving branch chain and a third moving branch chain, wherein the first moving branch chain, the second moving branch chain and the third moving branch chain respectively comprise an electric cylinder, a revolute pair and a universal joint, the fixed end of the electric cylinder is connected with the rack through the revolute pair, and the output end of the electric cylinder is connected with the moving platform through the universal joint; the first moving branched chain, the second moving branched chain and the third moving branched chain jointly act to enable the moving platform to have two rotational degrees of freedom around an X axis and a Y axis and one translational degree of freedom along a Z axis.
The parallel floating robot is preferably arranged in parallel with an axis of a rotation pair between the electric cylinder in the first moving branch chain and the frame, an axis of a rotation pair between universal joints connected with the electric cylinder and an output end of the electric cylinder, an axis of a rotation pair between the electric cylinder in the second moving branch chain and the frame, and an axis of a rotation pair between universal joints connected with the electric cylinder and an output end of the electric cylinder;
meanwhile, the electric cylinder in the third moving branch chain and the axis of the rotating pair between the racks and the axis of the rotating pair between the universal joints connected with the electric cylinder and the output end of the electric cylinder are arranged in parallel and are perpendicular to the axis of the rotating pair between the electric cylinder in the first moving branch chain and the racks and the axis of the rotating pair between the electric cylinder in the second moving branch chain and the racks.
The parallel floating robot is preferably arranged in a way that a universal joint in the first motion branch chain and the movable platform connecting axis are coaxial and collinear with each other, and a universal joint in the second motion branch chain and the movable platform connecting axis are coaxial and collinear with each other;
meanwhile, the universal joint in the third motion branch chain and the movable platform connecting axis, and the universal joint in the first motion branch chain and the movable platform connecting axis are arranged in a coplanar and vertical mode.
The parallel floating robot preferably further comprises position and attitude detection sensors and a power supply and control system which are installed on the rack, wherein the power supply and control system comprises a power supply and a floating machine controller, the power supply supplies power to the parallel floating robot, the position and attitude detection sensors are connected with the input end of the floating machine controller, and the output end of the floating machine controller is connected with the driving motor and each electric cylinder.
According to the control method of the parallel floating robot, a floating machine controller receives information of a position and posture detection sensor, controls a driving motor and each electric cylinder in real time, adjusts the posture and the rotating speed of a floating disc and the inclination angle of a floating disc floating sheet, and realizes that the parallel floating robot moves according to a preset track, and the specific control method is as follows:
1) establishing a parallel floating robot coordinate system, defining an X axis as a direction that one floating plate points to the other floating plate, and a Z axis is vertical upwards, and assuming that one floating plate rotates around a-Z axis and the other floating plate rotates around the Z axis; when one smearing plate inclines around the X axis and the other smearing plate inclines around the-X axis, the parallel smearing robots are stressed by the force in the X direction; when one smearing disc inclines around the Y axis and the other smearing disc inclines around the Y axis, the parallel smearing robots are stressed by the force in the Y direction; when one smearing disc inclines around the Y axis and the other smearing disc inclines around the-Y axis, the parallel smearing robots are stressed by the moment in the-Z direction; by analogy, the stress in any direction in the horizontal plane of the parallel floating robot or the combination of the force and the moment is obtained;
2) controlling the inclination angle of the wiping plate: establishing a parallel floating robot coordinate system according to the step 1), and assuming A1O＝A3O＝L1，A2To A1A3Is a distance h1，A1Coordinate (-L) of1,0,0)，A2Coordinates (0, h)1,0)，A3Coordinate (L) of10,0), on a moving platform B1Points and B3The coordinates of the midpoint C of the point are (0,0, Zc), B1C＝B3C＝L2，B2To B1B3Is a distance h2The movable platform rotates α degrees around the axis of the C point parallel to the Y axis and rotates β degrees around the axis of the C point parallel to the X axis, and when B is in the process1The point coordinate is (-L)2cosα,0,Zc+L2sinα)，
B2The point coordinate is (0, h)2cosβ,Zc+h2sinβ)，
B3The point coordinate is (L)2cosα,0,Zc-L2sinα)，
By the aboveThe inverse kinematics model calculates the distance from the axis of the rotating pair to the axis of the universal joint and calculates the extension length of the electric cylinder;
3) controlling the inclination angle of a cleaning disc and a cleaning sheet: assuming that the distance from the rotating center of the spatula to the axis of the end part of the spatula inclination adjusting rod is l, and the included angle between the connecting line of the rotating center of the spatula to the axis of the end part of the spatula inclination adjusting rod and the horizontal plane is gamma0When the smear is parallel to the ground, if the rotation angle of the smear is required, Z in the step 2)cCorresponding increase l (sin gamma)0-sin(γ0-) and calculating the extension length of the output shaft of the electric cylinder 11 according to the inverse kinematics model of the swabbing regulating mechanism in the step 2) for controlling the swabbing regulating mechanism, thereby realizing the regulation of the inclination angle of the swabbing plate and the regulation of the inclination angle of the swabbing plate.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the parallel floating robot provided by the invention adopts two independent space two-rotation one-movement three-freedom-degree parallel mechanisms, and independently adjusts the two-direction inclination angles of two sets of floating discs and the inclination angles of the floating disc and the ground, the inclination angle adjustment of the floating disc and the floating sheet is not limited by the continuous rotation of the floating discs, the inclination angle adjustment of the floating disc and the floating sheet can be completed while the floating discs rotate, and the problem that the inclination angles of the floating discs and the floating sheet of the existing ground floating machine cannot be adjusted simultaneously in real time is solved. 2. The moving branched chain in the three-degree-of-freedom parallel mechanism only comprises the revolute pair and the universal joint, the moving branched chain is simple in structure, the number of the moving pairs is reduced, the problems of high machining difficulty and the like of the spherical hinge are solved, machining and manufacturing are easy, cost is low, and precision is easy to guarantee. 3. The three moving branched chains have the advantages that the structures of the three moving branched chains are completely consistent (all RPUs), the manufacture is convenient, the three moving branched chains have specific position relations, the decoupling of the rotational freedom degree and the Z-direction moving freedom degree in the X direction and the Y direction of the mechanism is realized, the tail end moving platform of the mechanism obtains a higher rotation angle range and better output precision, the control and the use are simple, and the interference is not easy to cause. The parallel floating robot has the advantages of simple structure, small number of kinematic pairs, decoupling control of the inclination angle of the floating disc and the inclination angle of the floating disc blades, easiness in control and wide application prospect.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a parallel troweling robot according to the present invention;
FIG. 2 is a schematic structural view of a rotary drive mechanism for a wiper according to the present invention;
FIG. 3 is a schematic structural diagram of a wiper adjusting mechanism according to the present invention;
FIG. 4 is a schematic view of the working principle of the parallel troweling robot of the present invention;
fig. 5 is a schematic diagram of kinematic modeling of the adjustment mechanism of the swabbing serving as an example of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
As shown in fig. 1, the parallel troweling robot according to the present invention includes a frame 10, a trowel rotation driving mechanism 20, a trowel adjusting mechanism 30, and a trowel 40. The rotating driving mechanism 20 of the plastering plate, the adjusting mechanism 30 of the plastering plate and the mechanism 40 of the plastering plate are all arranged on the frame 10, and the rotating driving mechanism 20 of the plastering plate is simultaneously associated with the two plastering plates 40 and is used for driving the two plastering plates 40 to rotate. The free ends of the two plastering plate adjusting mechanisms 30 are respectively associated with the two plastering plates 40 and are used for respectively adjusting the postures and the inclination angles of the two plastering plate mechanisms 40.
As shown in fig. 3, the spatula adjustment mechanism 30 includes: the three-degree-of-freedom parallel mechanism is provided with a movable platform 31 with two rotational degrees of freedom around an X axis and a Y axis and a translational degree of freedom along a Z axis, a swabbing disc 40 is positioned below the movable platform 31, a swabbing disc shaft 41 of the swabbing disc 40 penetrates through the movable platform 31 and then is connected with the output end of the swabbing disc rotation driving mechanism 20, and the swabbing disc shaft 41 is connected with the movable platform 31 in a sliding manner through a sliding bearing 32; and the smearing plate adjusting sleeve 32 is sleeved outside the smearing plate shaft 41 positioned at the lower part of the movable platform 31, one end of the smearing plate adjusting sleeve 32 is fixedly connected with the movable platform 31, and the other end of the smearing plate adjusting sleeve 32 is connected with a smearing plate 43 of the smearing plate 40 through a smearing plate inclination adjusting rod 42. The two rotational degrees of freedom of the movable platform 31 drive the swabbing disc adjusting sleeve 32 to swing around the X axis and the Y axis so as to realize the adjustment of the postures of the swabbing disc 40 in two directions; the translational degree of freedom of the movable platform 31 drives the spatula adjusting sleeve 32 to move along the spatula shaft 41 (i.e. the Z axis), and further drives the spatula inclination adjusting rod 42 to rotate, so as to adjust the inclination angle of the spatula on the spatula 40.
In the above embodiment, preferably, as shown in fig. 2, the wiper rotary drive mechanism 20 includes: the driving motor 201 and the speed reducer 202, the speed reducer 202 is installed on the frame 10, the driving motor 201 is installed on the speed reducer 202, and the output shaft of the driving motor 201 is connected with the input shaft of the speed reducer 202; a power shaft 204 rotatably mounted on the frame 10 through a power shaft support bearing 205, wherein one end of the power shaft 204 is connected with an output shaft of the speed reducer 202 through a power shaft coupler 203, and the power shaft 204 is coaxially arranged with the driving motor 201, the speed reducer 202 and the power shaft coupler 203; a power shaft synchronous pulley 206 and a power shaft gear 207 which are arranged on the power shaft 204; an intermediate shaft 209, which is mounted on the frame 10 through an intermediate shaft support bearing 208, and the intermediate shaft 209 is arranged parallel to the axis of the power shaft 204; a counter shaft synchronous pulley 210 and a counter shaft gear 211 mounted on the counter shaft 209, and the counter shaft gear 211 is meshed with the power shaft gear 207 to transmit power from the power shaft 204 to the counter shaft 209; the two plastering plate power input shafts 214 are rotatably mounted on the rack 10 through plastering plate power input shaft support bearings 212 respectively, the two plastering plate power input shafts 214 are arranged in parallel with the axis of the power shaft 204, and one ends of the two plastering plate power input shafts 214 are connected with plastering plate shafts 41 of the two plastering plates 40 through plastering plate couplers 43 respectively; the two swabbing power input shaft synchronous pulleys 213 are respectively arranged on the swabbing power input shaft 214, one swabbing power input shaft synchronous pulley 213 is connected with the power shaft synchronous pulley 206 through a swabbing synchronous belt (not marked in the figure), the other swabbing power input shaft synchronous pulley 213 is connected with the intermediate shaft synchronous pulley 210 through another swabbing synchronous belt (not marked in the figure), and therefore power is respectively transmitted to the two swabbing power input shafts 214 from the power shaft 204 through the two swabbing synchronous belts.
In the above embodiment, preferably, as shown in fig. 3, the three-degree-of-freedom parallel mechanism includes a first moving branched chain 301, a second moving branched chain 302, a third moving branched chain 303 and a moving platform 31 which are arranged in a triangle, one end of the first moving branched chain 301, one end of the second moving branched chain 302 and one end of the third moving branched chain 303 are movably connected with the rack 10, and the other end of the first moving branched chain 301, the other end of the second moving branched chain 302 and the other end of the third moving branched chain 303 form free ends and are respectively movably connected with the moving platform 31.
In the above embodiment, preferably, each of the first moving branch chain 301, the second moving branch chain 302 and the third moving branch chain 303 includes an electric cylinder 11, a revolute pair 12 and a universal joint 13, a fixed end of the electric cylinder 11 is connected to the frame 10 through the revolute pair 12, an output end of the electric cylinder 11 is connected to the moving platform 31 through the universal joint 13, and an output end of the electric cylinder 11 moves linearly along its own axis to input motion to the moving branch chain. Therefore, the first moving branch chain 301, the second moving branch chain 302 and the third moving branch chain 303 are respectively connected with the moving platform 31 and the frame 10 to form a space closed-loop mechanism, and the moving platform 31 is moved by using the input motion of the electric cylinder 11 in the three moving branch chains, specifically: the first moving branch chain 301 and the second moving branch chain 302 are used for jointly realizing the rotational freedom degree of the movable platform 31 around the Y-axis direction; the third moving branch chain 303 is used for realizing the rotational freedom degree of the moving platform 31 around the X-axis direction; the first moving branch chain 301, the second moving branch chain 302 and the third moving branch chain 303 are used to jointly realize the moving freedom of the moving platform 31 along the Z-axis direction, that is, the three moving branch chains act together to make the moving platform 31 have two rotational freedom degrees around the X-axis and the Y-axis and one translational freedom degree along the Z-axis.
In the above embodiment, it is preferable that the axis of the revolute pair 12 between the electric cylinder 11 and the frame 10 in the first moving branch chain 301, the axis of the revolute pair 13 between the universal joints to which the electric cylinder 11 is connected at the output end thereof, the axis of the revolute pair 12 between the electric cylinder 11 and the frame 10 in the second moving branch chain 302, and the axis of the revolute pair 13 between the electric cylinder 11 and the universal joints to which the output end thereof is connected are arranged in parallel.
Meanwhile, the axes of the revolute pair 12 between the electric cylinder 11 and the frame 10 in the third moving branch chain 303 and the axes of the revolute pair 12 between the electric cylinder 11 and the universal joint 13 connected to the output end of the electric cylinder 11 are arranged in parallel and perpendicular to the axes of the revolute pair 12 between the electric cylinder 11 and the frame 10 in the first moving branch chain 301 and the revolute pair 12 between the electric cylinder 11 and the frame 10 in the second moving branch chain 302.
In the above embodiment, it is preferable that the universal joint 13 in the first moving branch 301 and the moving platform 31 connection axis are coaxially and collinearly arranged, and the universal joint 13 in the second moving branch 302 and the moving platform 31 connection axis are coaxially and collinearly arranged.
Meanwhile, the universal joint 13 in the third moving branch chain 303 and the moving platform 31 are connected on the axis, and the universal joint 13 in the first moving branch chain 301 and the moving platform 31 are arranged in a coplanar and vertical mode.
In the above embodiment, preferably, as shown in fig. 1 and 4, the parallel floating robot further includes a position and posture detecting sensor 50 and a power supply and control system 60 mounted on the frame 10, the power supply and control system 60 includes a power supply and a floating controller, the power supply provides power for the parallel floating robot, the position and posture detecting sensor 50 is connected to an input end of the floating controller, and an output end of the floating controller is connected to the driving motor 201 and each electric cylinder 11.
Based on the parallel trowelling robot provided by the above embodiment, the present invention further provides a control method of the parallel trowelling robot, where the trowelling machine controller receives information from the position and posture detection sensor, controls the driving motor 201 and each electric cylinder 11 in real time, and adjusts the posture and rotation speed of the trowelling disk 40 and the inclination angle of the trowelling disk and the trowelling piece, so as to implement the parallel trowelling robot to move according to a predetermined track, and the specific control method is as follows:
1) establishing a parallel floating robot coordinate system (as shown in fig. 2), defining an X axis as a direction that one floating disc 40 points to the other floating disc 40, and a Z axis is vertically upward, and assuming that one floating disc 40 rotates around a-Z axis and the other floating disc 40 rotates around the Z axis; when one of the troweling trays 40 inclines around the X axis and the other troweling tray 40 inclines around the-X axis, the parallel troweling robots are stressed by the force in the X direction; when one of the troweling trays 40 inclines around the Y axis and the other troweling tray 40 inclines around the-Y axis, the parallel troweling robots are stressed by Y-direction force; when one of the troweling discs 40 inclines around the Y axis and the other troweling disc 40 inclines around the-Y axis, the parallel troweling robots are subjected to a moment in the-Z direction; by analogy, the stress in any direction in the horizontal plane of the parallel floating robot or the combination of the force and the moment can be obtained.
2) Controlling the inclination angle of the wiping plate: establishing an inverse kinematics model (as shown in fig. 5) of the swabbing adjusting mechanism 30, establishing a parallel floating robot coordinate system according to the step 1), and establishing an inverse kinematics model of the swabbing adjusting mechanism 30. Suppose A1O＝A3O＝L1，A2To A1A3Is a distance h1，A1Coordinate (-L) of1,0,0)，A2Coordinates (0, h)1,0)，A3Coordinate (L) of10,0), on the movable platform 31B1Points and B3The coordinate of the midpoint C of the point is (0,0, Z)c)，B1C＝B3C＝L2，B2To B1B3Is a distance h2The movable platform 31 rotates around the axis parallel to the Y axis at the point C by α degrees and rotates around the axis parallel to the X axis at the point C by β degrees, and at the moment B1The point coordinate is (-L)2cosα,0,Zc+L2sinα)，
B2The point coordinate is (0, h)2cosβ,Zc+h2sinβ)，
B3The point coordinate is (L)2cosα,0,Zc-L2sinα)，
The distance from the axis of the revolute pair 12 to the axis of the universal joint 13 can be calculated through the inverse kinematics model, and the extension length of the electric cylinder 11 can be calculated.
3) Controlling the inclination angle of a cleaning disc and a cleaning sheet: assuming that the distance from the rotation center of the spatula to the axis of the end part of the spatula inclination adjusting rod 42 is l, the included angle between the line connecting the rotation center of the spatula to the axis of the end part of the spatula inclination adjusting rod 42 and the horizontal plane is gamma0When the smear is parallel to the ground, if the rotation angle of the smear is required, Z in the step 2)cCorresponding increase l (sin gamma)0-sin(γ0-) and calculating the extension length of the output shaft of the electric cylinder 11 according to the inverse kinematics model of the swabbing adjusting mechanism 30 in the step 2) for controlling the swabbing adjusting mechanism 30, thereby realizing the adjustment of the tilting angle of the swabbing plate and the adjustment of the tilting angle of the swabbing plate.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A parallel floating robot is characterized by comprising a frame (10), a floating disc rotating driving mechanism (20), a floating disc adjusting mechanism (30) and a floating disc (40); the wiping disc rotating and driving mechanism (20), the two wiping disc adjusting mechanisms (30) and the two wiping disc mechanisms (40) are all arranged on the rack (10), and the wiping disc rotating and driving mechanism (20) is simultaneously associated with the two wiping discs (40) and is used for driving the two wiping discs (40) to rotate; the free ends of the two smearing plate adjusting mechanisms (30) are respectively associated with the two smearing plates (40) and are used for respectively adjusting the postures and the inclination angles of the two smearing plates (40);
the spatula adjustment mechanism (30) comprises:
the three-degree-of-freedom parallel mechanism is provided with a movable platform (31) with two rotational degrees of freedom around an X axis and a Y axis and one translational degree of freedom along a Z axis, the swabbing disc (40) is positioned below the movable platform (31), a swabbing disc shaft (41) of the swabbing disc (40) penetrates through the movable platform (31) and then is connected with the output end of the swabbing disc rotation driving mechanism (20), and the swabbing disc shaft (41) is in sliding connection with the movable platform (31) through a sliding bearing (32);
the trowelling disc adjusting sleeve (32) is sleeved outside the trowelling disc shaft (41) positioned at the lower part of the movable platform (31), one end of the trowelling disc adjusting sleeve (32) is fixedly connected with the movable platform (31), and the other end of the trowelling disc adjusting sleeve (32) is connected with a trowelling sheet of the trowelling disc (40) through a trowelling sheet inclination adjusting rod (42);
the two rotational degrees of freedom of the movable platform (31) drive the swabbing disc adjusting sleeve (32) to swing around an X axis and a Y axis so as to realize the adjustment of the postures of the swabbing disc (40) in two directions; the translational degree of freedom of the movable platform (31) drives the spatula adjusting sleeve (32) to move along the spatula shaft (41), so that the spatula inclination adjusting rod (42) is driven to rotate, and the spatula inclination angle on the spatula (40) is adjusted.
2. The parallel trowelling robot of claim 1, wherein the trowel rotation drive mechanism (20) includes:
the device comprises a driving motor (201) and a speed reducer (202), wherein the speed reducer (202) is installed on the rack (10), the driving motor (201) is installed on the speed reducer (202), and an output shaft of the driving motor (201) is connected with an input shaft of the speed reducer (202);
the power shaft (204) is rotatably mounted on the rack (10) through a power shaft support bearing (205), one end of the power shaft (204) is connected with an output shaft of the speed reducer (202) through a power shaft coupler (203), and the power shaft (204) is coaxially arranged with the driving motor (201), the speed reducer (202) and the power shaft coupler (203);
a power shaft synchronous pulley (206) and a power shaft gear (207) mounted on the power shaft (204);
the intermediate shaft (209) is mounted on the frame (10) through an intermediate shaft support bearing (208), and the intermediate shaft (209) is arranged in parallel with the axis of the power shaft (204);
a countershaft synchronous pulley (210) and a countershaft gear (211) mounted on said countershaft (209) with said countershaft gear (211) meshing with said power shaft gear (207) to transfer power from said power shaft (204) to said countershaft (209);
the two plastering plate power input shafts (214) are rotatably mounted on the rack (10) through plastering plate power input shaft supporting bearings (212) respectively, the two plastering plate power input shafts (214) are arranged in parallel with the axis of the power shaft (204), and one ends of the two plastering plate power input shafts (214) are connected with plastering plate shafts (41) of the two plastering plates (40) through plastering plate couplers (43) respectively;
the novel power transmission device comprises a swabbing power input shaft synchronous pulley (213), wherein the swabbing power input shaft synchronous pulley (213) is respectively installed on the swabbing power input shaft (214), one of the swabbing power input shaft synchronous pulley (213) is connected with the power shaft synchronous pulley (206) through a swabbing synchronous belt, the other swabbing power input shaft synchronous pulley (213) is connected with the middle shaft synchronous pulley (210) through another swabbing synchronous belt, and therefore power is transmitted to the two swabbing power input shafts (214) from the power shaft (204) through the two swabbing synchronous belts.
3. The parallel floating robot according to claim 1, wherein the three-degree-of-freedom parallel mechanism comprises a first moving branched chain (301), a second moving branched chain (302), a third moving branched chain (303) and the movable platform (31) which are arranged in a triangular shape, one end of the first moving branched chain (301), one end of the second moving branched chain (302) and one end of the third moving branched chain (303) are movably connected with the frame (10), and the other end of the first moving branched chain (301), the other end of the second moving branched chain (302) and the other end of the third moving branched chain (303) form free ends and are respectively movably connected with the movable platform (31).
4. The parallel floating robot according to claim 3, wherein the first moving branch chain (301), the second moving branch chain (302) and the third moving branch chain (303) each comprise an electric cylinder (11), a revolute pair (12) and a universal joint (13), the fixed end of the electric cylinder (11) is connected with the frame (10) through the revolute pair (12), and the output end of the electric cylinder (11) is connected with the moving platform (31) through the universal joint (13);
the first moving branch chain (301), the second moving branch chain (302) and the third moving branch chain (303) jointly act to enable the moving platform (30) to have two rotational degrees of freedom around an X axis and a Y axis and one translational degree of freedom along a Z axis.
5. The parallel trowelling robot according to claim 4, characterized in that the axes of the revolute pairs (12) between the electric cylinders (11) in the first moving branch (301) and the frame (10), the axes of the revolute pairs (13) between the electric cylinders (11) and the output ends of the electric cylinders, the axes of the revolute pairs (12) between the electric cylinders (11) in the second moving branch (302) and the frame (10), and the axes of the revolute pairs (13) between the electric cylinders (11) and the output ends of the electric cylinders are arranged in parallel;
meanwhile, the axes of the revolute pair (12) between the electric cylinder (11) in the third moving branch chain (303) and the rack (10) and the axes of the revolute pair (12) between the electric cylinder (11) and the universal joint (13) connected with the output end of the electric cylinder (11) are arranged in parallel and are perpendicular to the axes of the revolute pair (12) between the electric cylinder (11) in the first moving branch chain (301) and the rack (10) and the axes of the revolute pair (12) between the electric cylinder (11) in the second moving branch chain (302) and the rack (10).
6. The parallel trowelling robot according to claim 4, characterized in that the universal joint (13) in the first kinematic branch (301) is coaxially and collinearly arranged with the mobile platform (31) connection axis, and the universal joint (13) in the second kinematic branch (302) is coaxially and collinearly arranged with the mobile platform (31) connection axis;
meanwhile, the universal joint (13) in the third moving branch chain (303) is in coplanar vertical arrangement with the connecting axis of the movable platform (31), and the universal joint (13) in the first moving branch chain (301) is in coplanar vertical arrangement with the connecting axis of the movable platform (31).
7. The parallel trowelling robot according to claim 4, characterized in that it further comprises position and attitude detection sensors (50) mounted on said frame (10) and a power supply and control system (60), said power supply and control system (60) comprising a power supply and a trowelling controller, said power supply providing power supply for said parallel trowelling robot, said position and attitude detection sensors (50) being connected to the input of said trowelling controller, the output of said trowelling controller being connected to said drive motor (201) and to each electric cylinder (11).
8. A control method for parallel troweling robots according to claim 7, characterized in that a troweling machine controller receives information from position and attitude detection sensors, controls a driving motor (201) and each electric cylinder (11) in real time, and adjusts the attitude and rotation speed of a troweling plate (40) and the inclination angle of a troweling plate wiper to realize the movement of the parallel troweling robots according to a predetermined trajectory, and the specific control method is as follows:
1) establishing a parallel floating robot coordinate system, defining an X axis as a direction that one floating disc (40) points to the other floating disc (40), and a Z axis is vertical upwards, and assuming that one floating disc (40) rotates around a-Z axis and the other floating disc (40) rotates around the Z axis; when one smearing plate (40) inclines around an X axis and the other smearing plate (40) inclines around a-X axis, the parallel smearing robots bear force in the X direction; when one smearing plate (40) inclines around the Y axis and the other smearing plate (40) inclines around the-Y axis, the parallel smearing robots bear force in the Y direction; when one smearing plate (40) inclines around the Y axis and the other smearing plate (40) inclines around the-Y axis, the parallel smearing robots bear a-Z-direction moment; by analogy, the stress in any direction in the horizontal plane of the parallel floating robot or the combination of the force and the moment is obtained;
2) controlling the inclination angle of the wiping plate: establishing a parallel floating robot coordinate system according to the step 1), and assuming A1O＝A3O＝L1，A2To A1A3Is a distance h1，A1Coordinate (-L) of1,0,0)，A2Coordinates (0, h)1,0)，A3Coordinate (L) of10,0), B on a moving platform (31)1Points and B3The coordinates of the midpoint C of the point are (0,0, Zc), B1C＝B3C＝L2，B2To B1B3Is a distance h2The movable platform (31) rotates around the axis parallel to the Y axis at the point C by α degrees and rotates around the axis parallel to the X axis at the point C by β degrees, and at the moment B1The point coordinate is (-L)2cosα,0,Zc+L2sinα)，
B2The point coordinate is (0, h)2cosβ,Zc+h2sinβ)，
B3The point coordinate is (L)2cosα,0,Zc-L2sinα)，
Calculating the distance from the axis of the revolute pair (12) to the axis of the universal joint (13) through the inverse kinematics model, and calculating the extension length of the electric cylinder (11);
3) controlling the inclination angle of a cleaning disc and a cleaning sheet: assuming that the distance from the rotating center of the spatula to the axis of the end part of the spatula inclination adjusting rod (42) is l, the connecting line from the rotating center of the spatula to the axis of the end part of the spatula inclination adjusting rod (42) and the horizontal included angle are gamma0When the smear is parallel to the ground, if the rotation angle of the smear is required, Z in the step 2)cCorresponding increase l (sin gamma)0-sin(γ0-) and calculating the extension length of the output shaft of the electric cylinder 11 according to the inverse kinematics model of the swabbing adjusting mechanism (30) in the step 2) for controlling the swabbing adjusting mechanism (30), thereby realizing the adjustment of the tilting angle of the swabbing plate and the adjustment of the tilting angle of the swabbing plate.
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