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A parallel troweling robot and its control method

A robot and parallel technology, applied in the direction of architecture, building structure, etc., can solve problems such as inability to adjust in real time, and achieve the effects of not being easy to interfere, reducing the number, and controlling decoupling

Active Publication Date: 2021-05-18
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the troweling machine disclosed in US5584598 can adjust the angle between the smear on the smear plate and the ground by adjusting the nut, it cannot be adjusted in real time.
There is no report on the device for adjusting the attitude of the wiper and the angle of the wiper at the same time

Method used

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  • A parallel troweling robot and its control method
  • A parallel troweling robot and its control method
  • A parallel troweling robot and its control method

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Embodiment Construction

[0027] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but only to illustrate the essence of the technical solutions of the present invention.

[0028] Such as figure 1 As shown, the parallel troweling robot provided by the present invention includes a frame 10 , a trowel rotating drive mechanism 20 , a trowel adjustment mechanism 30 and a trowel 40 . The wiper rotating drive mechanism 20 , the two wiper adjustment mechanisms 30 and the two wiper mechanisms 40 are all installed on the frame 10 , and the wiper rotation drive mechanism 20 is simultaneously associated with the two wiper plates 40 for driving the two wiper plates 40 to rotate. The free ends of the two wiper adjustment mec...

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Abstract

The invention relates to a parallel troweling robot, which comprises a rotary drive mechanism of a wiper disc installed on a frame, an adjustment mechanism of two wiper discs and two wiper discs; The free ends are respectively associated with the two wipers; the wiper adjustment mechanism includes: a three-degree-of-freedom parallel mechanism, on which there is a moving platform with two rotational degrees of freedom and a translational degree of freedom, the wiper is located under the movable platform, and the wiper axis of the wiper After passing through the moving platform, it is connected with the output end of the wiper rotation drive mechanism, and the wiper shaft is slidingly connected with the moving platform through a sliding bearing; the wiper adjustment sleeve is sleeved outside the wiper shaft at the lower part of the moving platform, and one end It is fixedly connected with the moving platform, and the other end is connected with the smear of the smear plate through the smear tilt adjustment rod. The invention can complete the adjustment of the inclination angle of the smear plate while the smear plate is rotating, which solves the problem that the inclination angle of the smear plate and the smear angle of the smear plate of the existing floor troweling machine cannot be adjusted in real time at the same time.

Description

technical field [0001] The invention relates to a troweling robot and a control method thereof, in particular to a parallel troweling robot for building construction and a control method thereof, belonging to the technical field of building construction equipment. Background technique [0002] Ground troweling machine is an important equipment for building construction. According to the existing literature, ground troweling machine is divided into two types: linear troweling and rotary troweling according to the troweling movement. The linear troweling machine adopts a linear scraper, and the troweling machine moves in a straight line perpendicular to the direction of the scraper to complete the troweling movement. The rotary troweling machine adopts a rotating trowel, and the trowel moves along the ground in a straight line while the trowel rotates, so as to smooth the ground. According to the different forms of the wiper, the rotary trowel is divided into a blade-type rot...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E04F21/24
CPCE04F21/245
Inventor 关立文
Owner TSINGHUA UNIV
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