CN113530178B - Floor finishing robot and control method thereof - Google Patents
Floor finishing robot and control method thereof Download PDFInfo
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- CN113530178B CN113530178B CN202110795755.5A CN202110795755A CN113530178B CN 113530178 B CN113530178 B CN 113530178B CN 202110795755 A CN202110795755 A CN 202110795755A CN 113530178 B CN113530178 B CN 113530178B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 181
- 238000005498 polishing Methods 0.000 description 14
- 238000004140 cleaning Methods 0.000 description 8
- 238000010276 construction Methods 0.000 description 6
- 238000009499 grossing Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
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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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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
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Abstract
The invention provides a ground finishing robot and a control method thereof. The ground surface plastering robot comprises a rack, two driving plastering disc mechanisms and a driven plastering disc mechanism. The two driving wiping disc mechanisms are arranged on the rack, and the driven wiping disc mechanism is arranged on the rack and is positioned at the rear sides of the two driving wiping disc mechanisms. When the device is used, the two driving plate wiping mechanisms drive the driven plate wiping mechanism to move forward through the rack. By applying the technical scheme of the invention, when the two driving plastering plate mechanisms drive the ground plastering robot to move, although the concrete ground can be plastered, a certain working trace is easily left on the ground by the edge of the driving plastering plate mechanism because a certain angle is formed between the driving plastering plate mechanism and the ground. At the moment, the secondary operation on the concrete ground by the driven plastering plate mechanism can clear the working traces left on the ground by the driving plastering plate mechanism.
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 mainly adopt a single-disc smearing robot or a double-disc smearing robot, the single-disc smearing robot generally comprises a vehicle body and a smearing disc mechanism arranged on the vehicle body, and the vehicle body moves to drive the smearing disc mechanism to smear 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 caterpillar tracks on the vehicle body of the single-disc troweling robot easily scratch the concrete ground; 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 edge of the smearing disc is easy to leave certain working traces on the ground, so that the smearing effect is not ideal, and the smearing needs to be repeated.
Disclosure of Invention
The invention mainly aims to provide a floor-finishing robot and a control method thereof, and aims 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; the two driving plate wiping mechanisms are arranged on the rack; the driven wiping disc mechanism is arranged on the rack and is positioned at the rear sides of the two driving wiping disc mechanisms; the two driving plate wiping mechanisms drive the driven plate wiping mechanism to advance through the rack.
In one embodiment, there are at least two driven wiper mechanisms.
In one embodiment, two driven plastering mechanisms are respectively arranged at the rear side of the two driving plastering mechanisms.
In one embodiment, the driven spatula mechanism has a radius of gyration greater than or equal to the radius of gyration of the driving spatula mechanism.
In one embodiment, the floor surface finishing robot comprises two double-disc type finishing robots, wherein one double-disc type finishing robot comprises two driving finishing disc mechanisms, the other double-disc type finishing robot comprises two driven finishing disc mechanisms, and the two double-disc type finishing robots are connected in parallel through a rack.
In one embodiment, the frame comprises a connecting rod, and the two double-disc type polishing robots are respectively hinged with the connecting rod.
In one embodiment, the frame further comprises a bearing, the bearing is mounted on the connecting rod, and the two double-disc type polishing robots are connected with the bearing through connecting shafts respectively.
In order to achieve the above object, according to another aspect of the present invention, there is provided a control method of a floor-finishing robot, the control method being for controlling the floor-finishing robot, the control method including a forward motion mode in which: controlling the two driving plate wiping mechanisms to be arranged at an angle relative to the ground, and driving the rack to move on the ground by the two driving plate wiping mechanisms; the driven plastering plate mechanism is controlled to be arranged in parallel with the ground.
In one embodiment, the floor finishing robot includes two driven trowel mechanisms, the control method further includes a reverse movement mode in which: the two driven plastering mechanisms are controlled to be arranged at an angle relative to the ground, and the two driven plastering mechanisms drive the rack to move on the ground; two driving plate wiping mechanisms are controlled to be arranged in parallel with the ground.
In one embodiment, the control method further comprises a coordinated movement mode in which: one or two of the two driving plastering disk mechanisms are controlled to be arranged at an angle relative to the ground, and one or two of the two driven plastering disk mechanisms are also controlled to be arranged at an angle relative to the ground.
By applying the technical scheme of the invention, when the two driving plastering disc mechanisms drive the ground plastering robot to move, although the concrete ground can be plastered, a certain working mark is easily left on the ground at the edge of the driving plastering disc mechanism because a certain angle is formed between the driving plastering disc mechanism and the ground. At the moment, the secondary operation on the concrete ground by the driven plastering plate mechanism can clear the working traces left on the ground by the driving plastering plate mechanism.
In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. 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 structural diagram of the floor finishing robot of fig. 1.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Fig. 1 and 2 show an embodiment of the floor-finishing robot of the present invention, which comprises a frame 10, two driving trowel mechanisms 20 and a driven trowel mechanism 30. Two driving plastering plate mechanisms 20 are arranged on the frame 10, and a driven plastering plate mechanism 30 is also arranged on the frame 10 and is positioned at the rear side of the two driving plastering plate mechanisms 20. In use, the two drive swabbing mechanisms 20 drive the driven swabbing mechanism 30 to advance through the frame 10.
By applying the technical scheme of the invention, when the two driving troweling mechanisms 20 drive the ground troweling robot to move, although the concrete ground can also be trowelled, as a certain angle exists between the driving troweling mechanisms 20 and the ground, certain working traces are easily left on the edge of the driving troweling mechanisms 20 on the ground. At this time, the operation trace left on the ground by the driving trowel mechanism 20 can be removed by the secondary operation of the driven trowel mechanism 30 on the concrete ground.
In the technical solution of the present invention, the description of the driving trowel mechanism 20 and the driven trowel mechanism 30 is named only from the realization of functions, that is, the driving trowel mechanism 20 and the driven trowel mechanism 30 may be trowel mechanisms with different structures or trowel mechanisms with the same structures.
When the driving trowelling mechanism 20 and the driven trowelling mechanism 30 are trowelling mechanisms with different structures, the driving trowelling mechanism 20 is a trowelling mechanism capable of moving at an angle relative to the ground, and the driven trowelling mechanism 30 is a trowelling mechanism fixed in parallel with the ground.
When the driving trowelling mechanism 20 and the driven trowelling mechanism 30 are the same in structure, both the driving trowelling mechanism 20 and the driven trowelling mechanism 30 may be a mechanism that moves at an angle with respect to the ground. Two cleaning disc mechanisms are called as a driving cleaning disc mechanism 20 because the two cleaning disc mechanisms play a role of driving movement through the frame 10; the other mechanism is called driven one 30 because it does not participate in the movement of the frame 10, and is parallel to the ground.
As shown in fig. 2, in the present embodiment, there are two driven roulette mechanisms 30. Preferably, the two driven trowel mechanisms 30 are respectively disposed at the rear sides of the two driving trowel mechanisms 20. This allows the two driven wiping disk mechanisms 30 to wipe the traces from the driving wiping disk mechanism 20 moving in front.
As an alternative embodiment not shown in the drawings, the driven spatula mechanism 30 may be more, so that the operation trace left on the floor surface by the driving spatula mechanism 20 can be completely clear.
Similarly, in this embodiment, when the drive trowel mechanism 20 and the driven trowel mechanism 30 are the same in structure, both the drive trowel mechanism 20 and the driven trowel mechanism 30 may be moved at an angle with respect to the floor surface. Two cleaning disc mechanisms are called as a driving cleaning disc mechanism 20 because the two cleaning disc mechanisms play a role of driving movement through the frame 10; the other two mechanism are called driven mechanism 30 because they do not participate in the action of driving the frame 10, and they are parallel to the ground. In the practical application process, any two smearing plate mechanisms can be selected to move relative to the ground in an angle, and the other two smearing plate mechanisms are parallel to the ground. In addition, as other alternative embodiments, all the swabbing mechanisms can participate in angular movement relative to the ground, so that the ground smearing robot has better movement performance.
In the technical solution of the present embodiment, the radius of gyration of the driven swabbing mechanism 30 is greater than or equal to the radius of gyration of the driving swabbing mechanism 20, so that the driven swabbing mechanism 30 can better cover the motion track of the driving swabbing mechanism 20, thereby better removing the trace generated by the driving swabbing mechanism 20. As shown in fig. 1, the radius of gyration of the driving spatula mechanism 20 is R1, and the radius of gyration of the driven spatula mechanism 30 is R2, i.e., R2 is greater than or equal to R1. A specific implementation may be to make the spatula of the driven spatula mechanism 30 larger than the spatula of the driving spatula mechanism 20.
As shown in fig. 1 and fig. 2, in the technical solution of this embodiment, the floor surface troweling robot includes two double-disc troweling robots, one of the double-disc troweling robots includes two driving troweling tray mechanisms 20, the other of the double-disc troweling robots includes two driven troweling tray mechanisms 30, and the two double-disc troweling robots are connected through a rack 10. The implementation mode is realized by adopting two double-disc type polishing robots connected in parallel, wherein one of the double-disc type polishing robots is used for driving the ground polishing robot to move, and the other double-disc type polishing robot is used for cleaning the previous working trace left on the ground.
The advancing principle of the double-disc type polishing robot is as follows:
the opposite rotation means that the rotation directions of the two wiping disc mechanisms are opposite, the left wiping disc mechanism rotates clockwise, and the right wiping disc mechanism rotates anticlockwise. The left plastering plate mechanism is driven to transversely swing to a state of high left and low right through the swing driving mechanism, the right plastering plate mechanism is driven to transversely swing to a state of high right and low left, the friction force of the inner sides of the two plastering plate mechanisms is increased, the driving force is forward, and the resultant force of the two plastering plate mechanisms drives the double-disc plastering robot to move forward. Similarly, when the double-disc type plastering robot is driven to move backwards, the inner sides of the two plastering disc mechanisms are driven to be relatively higher, and the outer sides of the two plastering disc mechanisms are driven to be relatively lower, so that the friction force of the outer sides of the two plastering disc mechanisms is increased, and the driving force is backward.
When the double-disc type plastering robot is driven to move rightwards, the left plastering disc mechanism is driven to longitudinally swing to a state of high front and low back through the swing driving mechanism, and the right plastering disc mechanism is driven to longitudinally swing to a state of high back and low front, so that the two plastering disc mechanisms generate leftward driving force. Similarly, when the double-disc type plastering robot is driven to move leftwards, the swing driving mechanism drives the left plastering disc mechanism to swing longitudinally to a state of low front and high back, and drives the right plastering disc mechanism to swing longitudinally to a state of low back and high front, so that the two plastering disc mechanisms generate rightward driving force.
When the double-disc type plastering robot is driven to rotate left, the swing driving mechanism is controlled to drive the left plastering disc mechanism to swing transversely to a state of low left and high right, and the swing driving mechanism is controlled to drive the right plastering disc mechanism to swing transversely to a state of low left and high right. The left side of the smearing plate mechanism and the right side of the smearing plate mechanism swing transversely to a low left state and a high right state, the left side of the smearing plate mechanism is increased in friction force, the driving force is downward, the left side of the smearing plate mechanism on the right side is increased in friction force, the driving force is upward, the moment for enabling the double-disc type smearing robot to rotate anticlockwise left is generated, and the double-disc type smearing robot is driven to rotate left. Similarly, the swing mode of driving the double-disc type plastering robot to turn right is opposite to that of driving the double-disc type plastering robot to turn left.
As shown in fig. 1, in the technical solution of this embodiment, the frame 10 includes a connecting rod 11, and the two double-disc type troweling robots are respectively hinged to the connecting rod 11. Preferably, the number of the connecting rods 11 is two, and the two double-disc type polishing robots can be connected in parallel more stably through the two connecting rods.
Preferably, the double-disc type polishing robot with the driving function adopts low rotating speed, and the double-disc type polishing robot with the driven function adopts high rotating speed, so that the machine has controllability and good working effect.
As shown in fig. 2, in the technical solution of the present embodiment, the frame 10 further includes a bearing 12, the bearing 12 is installed on the connecting rod 11, and the two double-disc type troweling robots are connected to the bearing 12 through connecting shafts 13, respectively. By adopting the structure, the two double-disc type polishing robots form a revolute pair at the joint, and when the two double-disc type polishing robots work in an uneven area, the posture of one machine body can be kept from being influenced by the change of the posture of the other machine body, so that a better motion effect is achieved.
By adopting the technical scheme of the invention, the working efficiency of the ground finishing robot on concrete ground construction can be improved, and meanwhile, the ground finishing robot has good controllability and good ground finishing effect. The ground surface troweling robot walks once and is better than the existing double-disc troweling machine twice, and the troweling machine construction efficiency is improved.
The invention also provides a control method of the ground finishing robot, the control method is used for controlling the ground finishing robot, the control method comprises a forward motion mode, and under the forward motion mode: controlling the two driving plastering disc mechanisms 20 to be arranged at an angle relative to the ground, and driving the rack 10 to move on the ground by the two driving plastering disc mechanisms 20; the driven plastering plate mechanism 30 is controlled to be arranged parallel to the ground.
The control method can be applied to the case where the above-described "driving and driven troweling mechanisms 20 and 30 are troweling mechanisms having different structures", or the case where the above-described "driving and driven troweling mechanisms 20 and 30 are troweling mechanisms having the same structure".
As another optional embodiment, the control method further comprises a reverse movement mode, in which: controlling the two driven plastering mechanisms 30 to be arranged at an angle relative to the ground, and driving the rack 10 to move on the ground by the two driven plastering mechanisms 30; two drive plastering plate mechanisms 20 are controlled to be arranged parallel to the ground.
In this embodiment, the two driven troweling mechanisms 30 function to drive the floor-leveling robot to move, and the two driving troweling mechanisms 20 function to clean the work traces left on the floor by the driven troweling mechanisms 30.
More preferably, the technical solution of the present invention further provides an implementation manner, and the control method further includes a cooperative motion mode, where: one or both of the two drive swabbing mechanisms 20 are controlled to be disposed at an angle relative to the ground, while one or both of the two driven swabbing mechanisms 30 are also controlled to be disposed at an angle relative to the ground.
In the above embodiment, the floor-levelling robot may be controlled to move left, right, etc. by taking fig. 1 as an example. The left movement can be realized by controlling the angle arrangement of one driving plastering plate mechanism 20 and one driven plastering plate mechanism 30 which are positioned at the left side relative to the ground; the right movement can be realized by controlling the angle arrangement of one driving swabbing mechanism 20 and one driven swabbing mechanism 30 on the right side relative to the ground; the left turn can be realized by controlling the angle arrangement of one driving swabbing mechanism 20 positioned on the left side and one driven swabbing mechanism 30 positioned on the right side relative to the ground; the right turn can be achieved by controlling the angle of one driven swabbing mechanism 20 on the right and one driven swabbing mechanism 30 on the left relative to the ground. The movement control methods all lie in that the plate wiping mechanism is arranged in parallel with the ground, and the plate wiping mechanism is superior in cleaning the left traces of the moving plate wiping mechanism.
Specifically, use in two double plate formula smoothing robots, double plate formula smoothing robot can change the Y axle angle of its one or two smoothing disc heads and ground, realizes whole side and moves the function, and at this moment, double plate drive platform changes the Y axle angle of its one or two smoothing disc heads and ground simultaneously, and the trend is the same. In addition, the four-disc overall forward and backward movement is realized through the forward and backward movement of the double-disc type polishing robot, and the Y-axis position of the double-disc type polishing robot is at a zero position; the left turn and the right turn of the four-disk whole body of the ground floating robot are realized through the left turn and the right turn of the double-disk floating robot, and meanwhile, the left turn and the right turn of the four-disk whole body are realized through the left turn, the left shift, the right turn, the superposition and the right shift of the double-disk driving platform. And (4) no teaching. More preferably, the double-disc type troweling robot can simultaneously change the X, Y shaft angle between one or two troweling heads and the ground, so that the whole front-back, left-turning, right-turning, left-moving and right-moving are realized, at the moment, the motion trend of the ground troweling robot is completely synchronous, and the power and troweling efficiency are doubled.
Compared with the traditional double-disc type ground floating robot, the ground floating robot has the advantages that the construction efficiency is doubled, and the robot is more flexible.
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 it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A control method of a floor finishing robot, characterized in that the floor finishing robot comprises:
a frame (10);
two driving plate wiping mechanisms (20) arranged on the rack (10);
the driven wiping disc mechanism (30) is arranged on the rack (10) and is positioned at the rear side of the two driving wiping disc mechanisms (20);
the two driving plate wiping mechanisms (20) drive the driven plate wiping mechanism (30) to move forwards through the rack (10);
the control method comprises a forward motion mode in which:
controlling the two driving plate wiping mechanisms (20) to be arranged at an angle relative to the ground, and driving the rack (10) to move on the ground by the two driving plate wiping mechanisms (20);
the driven plastering plate mechanism (30) is controlled to be arranged in parallel with the ground.
2. Control method according to claim 1, characterized in that the floor finishing robot comprises two driven trowel mechanisms (30), the control method further comprising a reverse movement mode in which:
the two driven wiping disc mechanisms (30) are controlled to be arranged at an angle relative to the ground, and the two driven wiping disc mechanisms (30) drive the rack (10) to move on the ground;
two driving plate wiping mechanisms (20) are controlled to be arranged in parallel with the ground.
3. The control method according to claim 2, characterized in that the control method further includes a coordinated movement mode in which:
one or two of the two driving swabbing mechanisms (20) are controlled to be arranged at an angle relative to the ground, and one or two of the two driven swabbing mechanisms (30) are controlled to be arranged at an angle relative to the ground.
4. Control method according to claim 1, characterized in that the number of driven spatula mechanisms (30) is at least two.
5. The control method according to claim 4, wherein two driven roulette mechanisms (30) are provided on the rear side of the two driving roulette mechanisms (20), respectively.
6. The control method according to any one of claims 1, 4, and 5, wherein a radius of gyration of the driven spatula mechanism (30) is greater than or equal to a radius of gyration of the driving spatula mechanism (20).
7. The control method according to claim 5, wherein the floor-finishing robot comprises two double-disc-type finishing robots, one of the double-disc-type finishing robots comprises two driving trowel mechanisms (20), the other double-disc-type finishing robot comprises two driven trowel mechanisms (30), and the two double-disc-type finishing robots are connected in parallel through the machine frame (10).
8. The control method according to claim 7, characterized in that the frame (10) comprises a connecting rod (11), and the two double-disc type troweling robots are respectively hinged with the connecting rod (11).
9. The control method according to claim 8, wherein the frame (10) further comprises a bearing (12), the bearing (12) is mounted on the connecting rod (11), and the two double-disc type troweling robots are respectively connected with the bearing (12) through connecting shafts (13).
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