CN113530177B - Ground surface finishing robot and control method thereof - Google Patents
Ground surface finishing robot and control method thereof Download PDFInfo
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- CN113530177B CN113530177B CN202110795733.9A CN202110795733A CN113530177B CN 113530177 B CN113530177 B CN 113530177B CN 202110795733 A CN202110795733 A CN 202110795733A CN 113530177 B CN113530177 B CN 113530177B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 234
- 230000000694 effects Effects 0.000 abstract description 11
- 238000005498 polishing Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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Abstract
The invention provides a ground finishing robot and a control method thereof. The floor polishing robot comprises a frame, 4 smearing disc mechanisms, 4 swinging driving mechanisms and a rotating driving mechanism. Wherein, 4 wipe set mechanism and be square array setting in the frame, 4 swing actuating mechanism set up in the frame to with 4 wipe set mechanism drive connection respectively, rotary driving mechanism and 4 wipe set mechanism drive connection respectively. When the device is used, the swing driving mechanism swings in the process of driving the wiping disk mechanism, and the rotating driving mechanism rotates the wiping disk mechanism. By applying the technical scheme of the invention, the angles between the 4 plastering plate mechanisms and the ground can be respectively changed, so that the operation of the ground plastering robot has higher motion flexibility compared with the prior double-disc ground plastering robot, and the plastering effect is better than that of the prior double-disc ground plastering robot.
Description
Technical Field
The invention relates to the technical field of concrete floor construction, in particular to a floor finishing robot and a control method of the floor finishing robot.
Background
At present, in the field of concrete floor construction, a floor finishing robot is appeared in order to improve the construction efficiency. Most structures are mainly single-disc or double-disc polishing robots, the single-disc polishing robots generally comprise vehicle bodies and a polishing disc mechanism installed on the vehicle bodies, and the vehicle bodies move to drive the polishing disc mechanism to perform polishing on the ground. The double-disc smearing robot is generally formed by a main body and two smearing disc mechanisms arranged on the main body, and the advancing control can be realized by adjusting the swinging angles of the two smearing disc mechanisms.
In the prior art, the wheels or the crawler belts on the vehicle body of the single-disc plastering robot are easy to scratch the concrete floor; similarly, the double-disc smearing robot realizes the advancing mode by adjusting the swinging angles of the two smearing disc mechanisms, and as the smearing discs have certain angles relative to the horizontal plane, the edges of the smearing discs are easy to leave certain working traces on the ground, so that the smearing effect is not ideal, and repeated smearing is needed.
Disclosure of Invention
The invention mainly aims to provide a floor finishing robot and a control method thereof, so as to solve the technical problem that the floor finishing robot in the prior art is easy to leave marks on the floor in the movement process.
In order to achieve the above object, according to one aspect of the present invention, there is provided a floor finishing robot comprising: a frame; 4 smearing plate mechanisms which are arranged on the rack in a square array; the 4 swing driving mechanisms are arranged on the rack, are respectively in driving connection with the 4 wiping disc mechanisms and are used for driving the wiping disc mechanisms to swing; and the rotary driving mechanism is respectively in driving connection with the 4 plastering plate mechanisms and is used for driving the plastering plate mechanisms to rotate.
In one embodiment, the radius of gyration of each swabbing mechanism is equal.
In one embodiment, the number of the rotary driving mechanisms is 4, and 1 rotary driving mechanism is correspondingly connected with 1 wiping disk mechanism in a driving way.
In one embodiment, the number of the rotary driving mechanisms is two, 1 rotary driving mechanism is respectively connected with 2 plastering mechanisms in a driving way, and the other 1 rotary driving mechanism is respectively connected with the other 2 plastering mechanisms in a driving way.
In order to achieve the above object, according to another aspect of the present invention, a control method of a floor troweling robot is provided, the control method is used for controlling the floor troweling robot, the control method includes a traceless walking mode, in the traceless walking mode, 2 troweling plate mechanisms of a first side of 4 sides of a square array are controlled to be arranged at an angle relative to a floor, 2 troweling plate mechanisms of a second side of the 4 sides of the square array are controlled to be arranged in parallel relative to the floor, and the 2 troweling plate mechanisms of the first side drive the 2 troweling plate mechanisms of the second side to move towards the front side of the first side.
In one embodiment, in the traceless travel mode, the 2 wiper mechanisms of the first side rotate in opposite directions, the 2 wiper mechanisms of the first side incline toward the relatively close inner side, and the movement direction of the relatively close inner side of the 2 wiper mechanisms of the first side is opposite to the movement direction of the front side of the first side.
In one embodiment, the control method further includes a traceless rotation mode, and in the traceless rotation mode, the 2 swabbing mechanisms controlling the first diagonal line of the 2 diagonal lines in the square array are arranged at an angle relative to the ground, the 2 swabbing mechanisms controlling the second diagonal line of the 2 diagonal lines in the square array are arranged in parallel relative to the ground, and the 2 swabbing mechanisms controlling the first diagonal line drive the 2 swabbing mechanisms controlling the second diagonal line to rotate clockwise or counterclockwise.
In one embodiment, in the traceless rotation mode, the 2 swabbing mechanisms of the first diagonal rotate towards each other, and the 2 swabbing mechanisms of the first diagonal are all inclined towards the first end of the first diagonal, or the 2 swabbing mechanisms of the first diagonal are all inclined towards the second end of the first diagonal.
In one embodiment, the control method further comprises a four-wheel drive walking mode, in the four-wheel drive walking mode, the 2 smearing plate mechanisms on the first side of the 4 sides in the square array are controlled to be arranged at an angle relative to the ground, the 2 smearing plate mechanisms on the second side of the 4 sides in the square array are controlled to be arranged at an angle relative to the ground, and the 2 smearing plate mechanisms on the first side and the 2 smearing plate mechanisms on the second side are enabled to move towards the front side of the first side together.
In one embodiment, in the four-wheel drive walking mode, the 2 swabbing mechanisms on the first side rotate oppositely, the 2 swabbing mechanisms on the first side incline towards the relatively close inner side, and the movement direction of the relatively close inner side of the 2 swabbing mechanisms on the first side is opposite to the movement direction of the front side of the first side; the 2 smearing plate mechanisms on the second side rotate oppositely, the 2 smearing plate mechanisms on the second side incline towards the inner side which is relatively close to the second side, and the movement direction of the inner side which is relatively close to the 2 smearing plate mechanisms on the second side is opposite to the movement direction of the front side of the second side.
In one embodiment, the control method further comprises a four-wheel drive rotation mode, in the four-wheel drive rotation mode, the 2 swabbing mechanisms controlling the first diagonal line in the 2 diagonal lines of the square array are arranged at an angle relative to the ground, the 2 swabbing mechanisms controlling the second diagonal line in the 2 diagonal lines of the square array are arranged at an angle relative to the ground, and the 2 swabbing mechanisms of the first diagonal line and the 2 swabbing mechanisms of the second diagonal line are rotated clockwise or anticlockwise together.
In one embodiment, in the four-wheel drive rotation mode, the 2 swabbing mechanisms of the first diagonal line rotate oppositely, and the 2 swabbing mechanisms of the second diagonal line rotate oppositely; the 2 smearing plate mechanisms of the first diagonal line are inclined towards the first end of the first diagonal line, and the 2 smearing plate mechanisms of the second diagonal line are inclined towards the first end of the first diagonal line; or the 2 smearing disk mechanisms of the first diagonal line are inclined towards the second end of the first diagonal line, and the 2 smearing disk mechanisms of the second diagonal line are inclined towards the second end of the first diagonal line.
By applying the technical scheme of the invention, the angles between the 4 plastering plate mechanisms and the ground can be respectively changed, so that the operation of the ground plastering robot has higher motion flexibility compared with the prior double-disc ground plastering robot, and the plastering effect is better than that of the prior double-disc ground plastering robot.
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 schematic top view of an embodiment of a floor-finishing robot according to the invention; and
fig. 2 shows a front view of the floor finishing robot of fig. 1;
fig. 3 shows a schematic view of the floor finishing robot of fig. 1 in a traceless walking mode;
fig. 4 shows a schematic view of the floor finishing robot of fig. 1 in a four-wheel drive walking mode;
FIG. 5 shows a schematic view of the floor finishing robot of FIG. 1 in a seamless rotation mode;
fig. 6 shows a schematic view of the floor finishing robot of fig. 1 in a four-wheel drive rotation mode.
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 accompanying drawings in conjunction with embodiments.
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 described 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, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Fig. 1 shows an embodiment of the floor-finishing robot of the present invention, which comprises a frame 10, 4 trowel disc mechanisms 20, 4 swing drive mechanisms 30, and a rotary drive mechanism 40. Wherein, 4 wipe set of mechanism 20 and be the square array setting in frame 10, 4 swing actuating mechanism 30 set up on frame 10 to with 4 wipe set of mechanism 20 drive connection respectively, rotary driving mechanism 40 and 4 wipe set of mechanism 20 drive connection respectively. In the use process, the swing driving mechanism 30 drives the swabbing mechanism 20 to swing, and the rotary driving mechanism 40 drives the swabbing mechanism 20 to rotate.
By applying the technical scheme of the invention, the angles between the 4 plastering plate mechanisms 20 and the ground can be respectively changed, so that the ground plastering robot has higher motion flexibility in operation compared with the conventional double-disc ground plastering robot, and has better plastering effect than the conventional double-disc ground plastering robot.
Before explaining the advantages of the floor-finishing robot of the present invention, reference may be made to the patent application with publication number CN 110158964 a regarding the motion principle of the double-disc floor-finishing robot. The floor finishing robot adopting the invention has the following specific advantages:
as shown in fig. 3, the floor finishing robot of the present embodiment may move in a traceless walking mode, in which the 2 troweling mechanisms 20 controlling the first side a1 of the 4 sides of the square array are disposed at an angle with respect to the floor, the 2 troweling mechanisms 20 controlling the second side a2 of the 4 sides of the square array are disposed in parallel with respect to the floor, and the 2 troweling mechanisms 20 of the first side a1 drive the 2 troweling mechanisms 20 of the second side a2 to move toward the front side of the first side a 1. In this movement mode, when the floor surface plastering robot is driven to travel by the 2 troweling plate mechanisms 20 of the first side a1, although the concrete floor surface can be leveled, since the 2 troweling plate mechanisms 20 of the first side a1 have a certain angle with the floor surface, the edge of the 2 troweling plate mechanisms 20 of the first side a1 easily leaves a certain operation mark on the floor surface. At this time, the second work of the 2 plastering plate mechanisms 20 on the second side a2 can remove the work traces left on the ground by the 2 plastering plate mechanisms 20 on the first side a1, thereby playing the role of walking without traces and improving the plastering effect.
In fig. 3, the first side a1 is the upper side of the 4 sides in the square array, and the second side a2 is the lower side of the 4 sides in the square array, and this makes it possible to realize the upward walking of the floor plastering robot. As another alternative embodiment, the first side a1 may also be the left side of the 4 sides in the square array, and the second side a2 is the right side of the 4 sides in the square array, which may implement the walking of the floor finishing robot toward the left. Similarly, the floor-finishing robot can walk to the right and walk downwards according to the difference defined by the first side a1 and the second side a2, so that the floor-finishing robot has higher motion flexibility.
As shown in fig. 4, the floor finishing robot of the present embodiment may adopt a four-wheel drive walking mode, in which the 2 troweling mechanisms 20 controlling the first side a1 of the 4 sides of the square array are disposed at an angle with respect to the floor, the 2 troweling mechanisms 20 controlling the second side a2 of the 4 sides of the square array are disposed at an angle with respect to the floor, and the 2 troweling mechanisms 20 of the first side a1 and the 2 troweling mechanisms 20 of the second side a2 are moved toward the front side of the first side a1 together. In this movement mode, the 2 troweling mechanisms 20 on the first side a1 and the 2 troweling mechanisms 20 on the second side a2 can drive the floor surface troweling robot to move towards the front side of the first side a1 together, and when the floor surface troweling robot is driven to move, the driving force is increased, and the operation power of the floor surface troweling robot is increased. Although the traveling power of the floor surface finishing robot is increased in this mode, the floor surface is also marked with some traveling traces as in the case of the double-disc floor surface finishing robot, but since the 2 troweling plate mechanisms 20 of the second side a2 correspond to the secondary construction of the double-disc floor surface finishing robot, the problem of the traveling traces is improved as compared with the double-disc floor surface finishing robot.
In fig. 4, in the four-wheel drive traveling mode, the first side a1 is the upper side of the 4 sides in the square array, and the second side a2 is the lower side of the 4 sides in the square array, so that the floor finishing robot can travel upward. As another alternative embodiment, in the four-wheel drive walking mode, the first side a1 may be the left side of the 4 sides in the square array, and the second side a2 may be the right side of the 4 sides in the square array, which may enable the floor-finishing robot to walk to the left. Similarly, the ground surface finishing robot can realize walking to the right and walking to the downward according to the difference of the first side a1 and the second side a2 definition in a four-wheel drive walking mode, so that the ground surface finishing robot has higher motion flexibility.
As shown in fig. 5, the floor-finishing robot of this embodiment may adopt a non-trace rotation mode, and in the non-trace rotation mode, the 2 troweling mechanisms 20 that control the first diagonal line c1 in the 2 diagonal lines of the square array are arranged at an angle with respect to the ground, the 2 troweling mechanisms 20 that control the second diagonal line c2 in the 2 diagonal lines of the square array are arranged in parallel with respect to the ground, and the 2 troweling mechanisms 20 of the first diagonal line c1 drive the 2 troweling mechanisms 20 of the second diagonal line c2 to rotate clockwise or counterclockwise. When the traditional double-disc type floor polishing robot rotates, because 2 disc cleaning mechanisms still have certain angles relative to a horizontal plane, certain working marks can be easily left on the floor by the edge of the disc cleaning mechanism. By adopting the technical scheme of the embodiment, the 2 troweling mechanisms 20 of the first diagonal line c1 are arranged at an angle relative to the ground, so that the ground troweling robot can be driven to rotate, and the 2 troweling mechanisms 20 of the second diagonal line c2 are arranged in parallel relative to the ground, so that troweling traces left on the ground by the 2 troweling mechanisms 20 of the first diagonal line c1 can be eliminated, and the effect of seamless rotation is achieved. More preferably, the floor plastering robot should rotate around the center of the first diagonal line c1, so as to achieve better effect of eliminating the rotation mark.
In the above embodiment, the first diagonal line c1 may be defined as a diagonal line at the position shown in the drawing, or may be defined as a diagonal line at another position in the drawing as another alternative embodiment.
As shown in fig. 6, the floor finishing robot of the present embodiment may adopt a four-wheel drive rotation mode, in which 2 of the roulette mechanisms 20 controlling the first diagonal line c1 of the 2 diagonal lines of the square array are disposed at an angle with respect to the ground, and 2 of the roulette mechanisms 20 controlling the second diagonal line c2 of the 2 diagonal lines of the square array are disposed at an angle with respect to the ground, so that the 2 of the roulette mechanisms 20 of the first diagonal line c1 and the 2 of the roulette mechanisms 20 of the second diagonal line c2 rotate together clockwise or counterclockwise. In the four-wheel driving mode, 2 plastering tray mechanisms 20 of the first diagonal line c1 and 2 plastering tray mechanisms 20 of the second diagonal line c2 can act on the ground, so that the driving force is improved, and the running power of the ground plastering robot is improved. Although the rotation power of the floor surface finishing robot is increased in this mode, the floor surface is also marked with some walking traces as in the case of the double-disc floor surface finishing robot, but since the 2 troweling plate mechanisms 20 of the second diagonal line c2 correspond to the secondary construction of the double-disc floor surface finishing robot, the problem of the rotation traces is improved as compared with the double-disc floor surface finishing robot.
In the technical solution of the present invention, in order to achieve higher movement flexibility of the floor surface troweling robot, the 4 troweling plate mechanisms 20 are mechanisms with the same structure or slightly different structures.
Preferably, in the technical solution of the present embodiment, the radius of gyration of each swabbing serving mechanism 20 is equal, so as to achieve higher motion flexibility of the floor-finishing robot.
In the technical solution of this embodiment, as shown in fig. 1 and fig. 2, 4 rotary driving mechanisms 40 are provided, and 1 rotary driving mechanism 40 is in corresponding driving connection with 1 swabbing mechanism 20, so that the 4 rotary driving mechanisms 40 can be controlled to realize relatively independent clockwise rotation or counterclockwise rotation according to different movement requirements. Thereby accommodating the movement of the first side a1 and the second side a2 based on different definitions in the traceless walking mode and the four-wheel drive walking mode described above. Preferably, in the present embodiment, the rotary drive mechanism 40 is directly attached to the swabbing mechanism 20.
As another optional embodiment not shown in the drawings, there are two rotary driving mechanisms 40, 1 rotary driving mechanism 40 is in driving connection with 2 swabbing mechanisms 20, and the other 1 rotary driving mechanism 40 is in driving connection with the other 2 swabbing mechanisms 20. This embodiment is slightly inferior to the above embodiment in terms of the movement flexibility of the floor plastering robot, but the cost is reduced compared to the above embodiment. In addition, as other alternative embodiments, 1 rotation driving mechanism 40 is also possible, which falls within the scope of the present invention.
It should be noted that, for a specific implementation manner of the swing driving mechanism 30 for driving the above-mentioned swabbing mechanism 20 to swing, reference may be made to the patent application with application publication No. CN 212534968U, and since the protection direction mainly related to the present invention does not relate to how to drive the swabbing mechanism 20 to swing, but relates to higher motion flexibility and better swabbing effect of the floor-scrubbing robot with the 4-swabbing mechanism, it is not described herein how to implement the swing of the swabbing mechanism 20.
The invention also provides a control method of the floor polishing robot, which is used for controlling the floor polishing robot and comprises a non-trace walking mode, wherein in the non-trace walking mode, 2 plastering mechanisms 20 of a first side a1 of 4 sides of the square array are controlled to be arranged at an angle relative to the ground, 2 plastering mechanisms 20 of a second side a2 of the 4 sides of the square array are controlled to be arranged in parallel relative to the ground, and the 2 plastering mechanisms 20 of the first side a1 drive the 2 plastering mechanisms 20 of the second side a2 to move towards the front side of the first side a 1. In this movement mode, when the floor surface plastering robot is driven to travel by the 2 troweling plate mechanisms 20 of the first side a1, although the concrete floor surface can be leveled, since the 2 troweling plate mechanisms 20 of the first side a1 have a certain angle with the floor surface, the edge of the 2 troweling plate mechanisms 20 of the first side a1 easily leaves a certain operation mark on the floor surface. At this time, the second work of the 2 plastering plate mechanisms 20 on the second side a2 can remove the work traces left on the ground by the 2 plastering plate mechanisms 20 on the first side a1, thereby playing the role of walking without traces and improving the plastering effect.
In fig. 3, the first side a1 is the upper side of the 4 sides in the square array, and the second side a2 is the lower side of the 4 sides in the square array, and this makes it possible to realize the upward walking of the floor plastering robot. As another alternative embodiment, the first side a1 may be the left side of the 4 sides in the square array, and the second side a2 may be the right side of the 4 sides in the square array, which may enable the floor-finishing robot to walk to the left. Similarly, the floor-finishing robot can walk to the right and walk downwards according to the difference defined by the first side a1 and the second side a2, so that the floor-finishing robot has higher motion flexibility.
Specifically, in the non-trace rotation mode in the present embodiment, in the non-trace travel mode, the 2 wiper mechanisms 20 of the first side a1 rotate toward each other, the 2 wiper mechanisms 20 of the first side a1 are inclined toward the relatively close inner side, and the movement direction of the relatively close inner side of the 2 wiper mechanisms 20 of the first side a1 is opposite to the movement direction of the front side of the first side a 1.
As shown in fig. 5, the control method further includes a non-mark rotation mode, in the non-mark rotation mode, the 2 roulette mechanisms 20 controlling the first diagonal line c1 of the 2 diagonal lines of the square array are arranged at an angle relative to the ground, the 2 roulette mechanisms 20 controlling the second diagonal line c2 of the 2 diagonal lines of the square array are arranged in parallel relative to the ground, and the 2 roulette mechanisms 20 controlling the first diagonal line c1 drive the 2 roulette mechanisms 20 controlling the second diagonal line c2 to rotate clockwise or counterclockwise. When the traditional double-disc type floor surface plastering robot rotates, because 2 plastering disc mechanisms still have a certain angle relative to a horizontal plane, certain working traces can be easily left on the floor surface at the edge of the plastering disc mechanism. By adopting the technical scheme of the embodiment, the 2 troweling mechanisms 20 of the first diagonal line c1 are arranged at an angle relative to the ground, so that the ground troweling robot can be driven to rotate, and the 2 troweling mechanisms 20 of the second diagonal line c2 are arranged in parallel relative to the ground, so that troweling traces left on the ground by the 2 troweling mechanisms 20 of the first diagonal line c1 can be eliminated, and the effect of seamless rotation is achieved. More preferably, the floor plastering robot should rotate around the center of the first diagonal line c1, so as to achieve better effect of eliminating the rotation mark.
In the above-described embodiment, the first diagonal line c1 may be defined as a diagonal line at the position shown in the drawing, or may be defined as a diagonal line at another position in the drawing as another alternative embodiment.
Specifically, in the present embodiment, in the traceless rotation mode, the 2 swabbing mechanisms 20 of the first diagonal c1 rotate in opposite directions, and the 2 swabbing mechanisms 20 of the first diagonal c1 are all inclined toward the first end of the first diagonal c1, so that counterclockwise rotation is achieved. In addition, the 2 swabbing mechanisms 20 of the first diagonal c1 can be inclined towards the second end of the first diagonal c1, so as to realize clockwise rotation.
As shown in fig. 4, the control method further includes a four-drive traveling mode in which the 2 roulette mechanisms 20 controlling the first side a1 of the 4 sides of the square array are disposed at an angle with respect to the ground, the 2 roulette mechanisms 20 controlling the second side a2 of the 4 sides of the square array are disposed at an angle with respect to the ground, and the 2 roulette mechanisms 20 of the first side a1 and the 2 roulette mechanisms 20 of the second side a2 are moved toward the front side of the first side a1 together. In this movement mode, the 2 troweling mechanisms 20 on the first side a1 and the 2 troweling mechanisms 20 on the second side a2 can drive the floor surface troweling robot to move towards the front side of the first side a1 together, and when the floor surface troweling robot is driven to move, the driving force is increased, and the operation power of the floor surface troweling robot is increased. Although the traveling power of the floor surface finishing robot is increased in this mode, the floor surface is also marked with some traveling traces as in the case of the double-disc floor surface finishing robot, but since the 2 troweling plate mechanisms 20 of the second side a2 correspond to the secondary construction of the double-disc floor surface finishing robot, the problem of the traveling traces is improved as compared with the double-disc floor surface finishing robot.
In fig. 4, in the four-wheel drive traveling mode, the first side a1 is the upper side of the 4 sides in the square array, and the second side a2 is the lower side of the 4 sides in the square array, so that the floor finishing robot can travel upward. As another alternative embodiment, in the four-wheel drive walking mode, the first side a1 may also be the left side of the 4 sides in the square array, and the second side a2 may be the right side of the 4 sides in the square array, which may implement the left walking of the floor finishing robot. Similarly, the floor plastering robot can realize walking towards the right and walking towards the lower according to the difference defined by the first side a1 and the second side a2 in the four-wheel drive walking mode, so that the floor plastering robot has higher motion flexibility.
Specifically, in the embodiment, as shown in fig. 4, in the four-wheel drive traveling mode, the 2 wiper mechanisms 20 of the first side a1 rotate toward each other, the 2 wiper mechanisms 20 of the first side a1 are inclined toward the relatively close inner side, and the movement direction of the relatively close inner side of the 2 wiper mechanisms 20 of the first side a1 is opposite to the movement direction of the front side of the first side a 1. At the same time, the 2 swabbing mechanisms 20 of the second side a2 rotate towards each other, the 2 swabbing mechanisms 20 of the second side a2 incline towards the relatively close inner side, and the movement direction of the relatively close inner side of the 2 swabbing mechanisms 20 of the second side a2 is opposite to the movement direction of the front side of the second side a 2. Therefore, the ground finishing robot can walk under four drives.
As shown in fig. 6, the control method further includes a four-wheel drive rotation mode, in which 2 of the roulette mechanisms 20 controlling the first diagonal line c1 of the 2 diagonal lines of the square array are disposed at an angle with respect to the ground, and 2 of the roulette mechanisms 20 controlling the second diagonal line c2 of the 2 diagonal lines of the square array are disposed at an angle with respect to the ground, so that the 2 of the roulette mechanisms 20 controlling the first diagonal line c1 and the 2 of the roulette mechanisms 20 controlling the second diagonal line c2 rotate together clockwise or counterclockwise. In the four-wheel drive rotation mode, the 2 swabbing mechanisms 20 of the first diagonal line c1 and the 2 swabbing mechanisms 20 of the second diagonal line c2 can both act on the ground, so that the driving force is improved, and the running power of the ground surface trowelling robot is improved. In this mode, although the rotation power of the floor surface finishing robot is increased, the floor surface is left with some walking traces as in the case of the double-disc floor surface finishing robot, but since the 2 trowel mechanism 20 of the second diagonal line c2 corresponds to the second construction of the double-disc floor surface finishing robot, the problem of the rotation traces is improved as compared with the double-disc floor surface finishing robot.
Specifically, in the technical solution of the present embodiment, as shown in fig. 6, in the four-wheel drive rotation mode, 2 swabbing mechanisms 20 on the first diagonal line c1 rotate toward each other, 2 swabbing mechanisms 20 on the second diagonal line c2 rotate toward each other, 2 swabbing mechanisms 20 on the first diagonal line c1 are all inclined toward the first end of the first diagonal line c1, and 2 swabbing mechanisms 20 on the second diagonal line c2 are all inclined toward the first end of the first diagonal line c1, so that the four-wheel drive counterclockwise rotation is realized. In addition, it is also possible to incline the 2 swashplate mechanisms 20 of the first diagonal c1 to the second end of the first diagonal c1, and incline the 2 swashplate mechanisms 20 of the second diagonal c2 to the second end of the first diagonal c1, thereby achieving clockwise rotation under four-wheel drive.
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 one 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 exemplary only and not as 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, it need not be discussed further in subsequent figures.
Spatially relative terms, such as "above … …", "above … …", "above … …, on a surface", "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 (11)
1. A control method of a floor finishing robot, characterized in that the floor finishing robot comprises:
a frame (10);
4 wiping disc mechanisms (20) which are arranged on the rack (10) in a square array;
the 4 swing driving mechanisms (30) are arranged on the rack (10), are respectively in driving connection with the 4 wiping disc mechanisms (20), and are used for driving the wiping disc mechanisms (20) to swing;
the rotary driving mechanism (40) is respectively connected with the 4 smearing disk mechanisms (20) in a driving way and is used for driving the smearing disk mechanisms (20) to rotate;
the control method comprises a traceless walking mode, wherein in the traceless walking mode, 2 wiping disc mechanisms (20) on a first side of 4 sides of a square array are controlled to be arranged at an angle relative to the ground, 2 wiping disc mechanisms (20) on a second side of the 4 sides of the square array are controlled to be arranged in parallel relative to the ground, and the 2 wiping disc mechanisms (20) on the first side drive the 2 wiping disc mechanisms (20) on the second side to move towards the front side of the first side.
2. The control method according to claim 1, wherein in the traceless travel mode, the 2 wiper mechanisms (20) of the first side rotate toward each other, the 2 wiper mechanisms (20) of the first side incline toward the relatively close inner side, and the movement direction of the relatively close inner side of the 2 wiper mechanisms (20) of the first side is opposite to the movement direction of the front side of the first side.
3. The control method according to claim 1, characterized in that the control method further comprises a traceless rotation mode, in the traceless rotation mode, 2 swabbing mechanisms (20) for controlling a first diagonal line of the 2 diagonal lines of the square array are arranged at an angle relative to the ground, 2 swabbing mechanisms (20) for controlling a second diagonal line of the 2 diagonal lines of the square array are arranged in parallel relative to the ground, and the 2 swabbing mechanisms (20) for the first diagonal line drive the 2 swabbing mechanisms (20) for the second diagonal line to rotate clockwise or counterclockwise.
4. The control method according to claim 3, wherein in the traceless rotation mode, the 2 spatula mechanisms (20) of the first diagonal rotate towards each other, the 2 spatula mechanisms (20) of the first diagonal are all inclined towards the first end of the first diagonal, or the 2 spatula mechanisms (20) of the first diagonal are all inclined towards the second end of the first diagonal.
5. The control method according to claim 1, characterized by further comprising a four-wheel drive walking mode, in which the 2 swabbing mechanisms (20) on the first side of the 4 sides in the square array are controlled to be arranged at an angle relative to the ground, the 2 swabbing mechanisms (20) on the second side of the 4 sides in the square array are controlled to be arranged at an angle relative to the ground, and the 2 swabbing mechanisms (20) on the first side and the 2 swabbing mechanisms (20) on the second side are moved together towards the front side of the first side.
6. The control method according to claim 5, characterized in that, in the four-wheel drive walking mode,
the 2 first side plastering disc mechanisms (20) rotate oppositely, the 2 first side plastering disc mechanisms (20) incline towards the relatively close inner sides, and the movement direction of the relatively close inner sides of the 2 first side plastering disc mechanisms (20) is opposite to the movement direction of the front side of the first side;
the 2 smearing plate mechanisms (20) on the second side rotate oppositely, the 2 smearing plate mechanisms (20) on the second side incline towards the relatively close inner side, and the movement direction of the relatively close inner side of the 2 smearing plate mechanisms (20) on the second side is opposite to the movement direction of the front side of the second side.
7. The control method according to claim 1, characterized in that the control method further comprises a four-wheel drive rotation mode, in which 2 roulette mechanisms (20) controlling a first diagonal line of 2 diagonal lines of the square array are disposed at an angle with respect to the ground, and 2 roulette mechanisms (20) controlling a second diagonal line of 2 diagonal lines of the square array are disposed at an angle with respect to the ground, and the 2 roulette mechanisms (20) of the first diagonal line and the 2 roulette mechanisms (20) of the second diagonal line are rotated clockwise or counterclockwise together.
8. The control method according to claim 7, characterized in that, in the four-wheel drive rotation mode,
the 2 smearing plate mechanisms (20) on the first diagonal line rotate oppositely, and the 2 smearing plate mechanisms (20) on the second diagonal line rotate oppositely;
the 2 spatula mechanisms (20) of the first diagonal line are all inclined towards the first end of the first diagonal line, and the 2 spatula mechanisms (20) of the second diagonal line are all inclined towards the first end of the first diagonal line;
or the 2 swabbing mechanisms (20) of the first diagonal line are all inclined towards the second end of the first diagonal line, and the 2 swabbing mechanisms (20) of the second diagonal line are all inclined towards the second end of the first diagonal line.
9. The control method according to claim 1, wherein the radius of gyration of each of said spatula mechanisms (20) is equal.
10. The control method according to claim 1, wherein the number of the rotary drive mechanisms (40) is 4, and 1 rotary drive mechanism (40) is in corresponding drive connection with 1 swabbing mechanism (20).
11. The control method according to claim 1, wherein the number of the rotary drive mechanisms (40) is two, 1 rotary drive mechanism (40) is in drive connection with 2 swabbing mechanisms (20), respectively, and the other 1 rotary drive mechanism (40) is in drive connection with the other 2 swabbing mechanisms (20), respectively.
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| CN113530177A (en) | 2021-10-22 |
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