An indoor concrete floor self-adaptive pressure control finishing device and method

Abstract

The application discloses an indoor concrete floor self-adaptive pressure control surface collecting device and method, and relates to the field of indoor construction. The device comprises a surface collecting disc, which is rotationally connected to the bottom of a mounting plate. Opposite ends of the mounting plate are rotationally connected with connecting rods, and the mounting plate is slidingly matched with the connecting rods. The connecting rods are used for providing a downward pressure to the mounting plate, and the size of the downward pressure is adjusted by a pressure adjusting mechanism. The application is used to solve the problem that the surface collecting pressure cannot be actively adjusted in the prior art, to realize active control of the surface collecting pressure, and to improve the automation and intelligent level of construction operation.

Description

Technical Field

[0001] This invention relates to the field of indoor construction, specifically to an adaptive pressure control finishing device and method for indoor concrete floors. Background Technology

[0002] As building construction moves towards intelligence and automation, the finishing and polishing of indoor concrete floors has a significant impact on construction quality. However, traditional equipment is generally bulky, has low flexibility, and relies on manual operation, making it difficult to operate efficiently in indoor environments with limited space and complex floor conditions.

[0003] During indoor construction, due to uneven ground surfaces, numerous corners, and frequent changes in equipment posture, conventional rigid disc structures struggle to fully conform to the ground, easily leading to insufficient or excessive finishing in certain areas. Furthermore, different concrete materials and construction stages require varying finishing pressures, and the limited precision of manual control results in significant fluctuations in construction quality. While some floating or elastically suspended finishing discs exist in existing technologies, they are mostly passive adaptive structures, lacking active pressure adjustment and posture sensing capabilities, thus failing to meet the high-precision construction requirements of indoor concrete floors. Summary of the Invention

[0004] This invention provides an adaptive pressure control finishing device and method for indoor concrete floors, which solves the problem of the inability to actively adjust the finishing pressure in the prior art, realizes active control of the finishing pressure, and improves the automation and intelligence level of construction operations.

[0005] This invention is achieved through the following technical solution:

[0006] An adaptive pressure control finishing device for indoor concrete floors includes a finishing plate rotatably connected to the bottom of a mounting plate. Connecting rods are rotatably connected to opposite ends of the mounting plate, and the mounting plate slides along the connecting rods. The connecting rods provide downward pressure to the mounting plate, and the magnitude of the downward pressure is adjusted by a pressure regulating mechanism.

[0007] To address the problem of existing technologies' inability to actively adjust finishing pressure, this invention first proposes an adaptive pressure control finishing device for indoor concrete floors. The finishing plate can be implemented using existing technology, with an installation plate providing a mounting position. Connecting rods are installed at opposite ends of the installation plate, allowing rotation and sliding relative to the plate. This device drives the connecting rods through a pressure adjustment mechanism, thereby providing different levels of downward pressure to the installation plate. This meets the varying finishing pressure requirements of different concrete materials and construction stages, ensuring full contact between the finishing plate and the initially set concrete floor, avoiding insufficient or excessive finishing. This achieves active control of the finishing pressure, improving the automation and intelligence of the construction operation.

[0008] Furthermore, each end of the mounting plate is fixedly connected to a connector, and a pin is provided on the connector; a strip hole is opened on the connecting rod, and the width of the strip hole is equal to the outer diameter of the pin; the pin moves through the strip hole on the connecting rod on the same side.

[0009] In this design, the pin moves through the slotted hole, allowing it to slide along or rotate within the hole, thus enabling the connecting rod to rotate and slide relative to the mounting plate. Since the connecting parts at both ends of the mounting plate can rotate under the action of their respective pins, the mounting plate and its connected dough tray can freely pitch and rotate, ensuring the dough tray has a degree of freedom in the pitch direction and guaranteeing the adaptive effect of this application.

[0010] Furthermore, the long axis of the connecting rod and the long axis of the strip hole are parallel to each other and are both arranged at an inclination; the strip hole is located at the bottom end of the connecting rod, and the top end of the connecting rod is connected to the pressure regulating mechanism.

[0011] This design arranges both the connecting rod and the slotted hole at an angle. A pressure regulating mechanism drives the top of the connecting rod to rotate downwards, thus pressing down on the connecting rod. This downward pressure is applied to the pin through the wall of the slotted hole, and then transmitted to the dough-collecting plate via the mounting plate. It can be seen that active control of the dough-collecting pressure can be achieved simply by adjusting the direction of the force and / or torque exerted by the pressure regulating mechanism on the top of the connecting rod.

[0012] In addition, the structure of this solution ensures that the dough receiving plate has a degree of freedom in the pitch direction, while also having the ability to adaptively adjust its height in the vertical direction.

[0013] Furthermore, the pressure regulating mechanism includes a torsion elastic element connected to the connecting rod, a torque output rod for causing the torsion elastic element to undergo torsional deformation, and a first driving element for driving the torque output rod to rotate.

[0014] This solution uses a first driving component to drive a torque output rod to rotate, which in turn drives a torsional elastic component to undergo torsional deformation. This changes the torque on the connecting rod, thereby altering the force exerted by the connecting rod on the lower pin and thus enabling active adjustment of the surface pressure.

[0015] Furthermore, the torsion elastic element is a spiral spring; the spiral spring has a flattening part at one radially inward end and a hook part at one radially outward end; the connecting rod has a slot that matches the flattening part, and the slot is used to clamp the flattening part; the torque output rod has a push rod that matches the hook part, and the first driving member drives the push rod to enter or disengage from the hook part.

[0016] This design uses a spiral spring to connect the connecting rod and the torque output rod. The connecting rod clamps the flat part inside the spiral spring through a slot, so when the spiral spring twists, it inevitably applies a torque to the connecting rod. By controlling the winding or releasing of the spiral spring, the magnitude of the output torque can be flexibly adjusted. The torque output rod enters the hook part at the outer end of the spiral spring through a push rod.

[0017] In operating conditions where no additional downforce is required, the torque output rod can be reversed until the push rod disengages from the hook. In this state, the torque output rod will not directly contact the spiral spring, so the spiral spring will not apply additional torque and will not hinder the adaptive adjustment of this application.

[0018] Furthermore, it also includes a first ranging sensor and a second ranging sensor;

[0019] The measuring end of the first ranging sensor faces downward and is at the same height as the top of the connecting rod, and is used to measure the distance from itself to the connecting rod;

[0020] The second distance sensor is mounted on the connecting rod with its measuring end facing downwards, and is used to measure the distance from itself to the corresponding pin.

[0021] In practical application, the first distance sensor can be installed in any position, as long as the conditions defined in this scheme are met. Since the distance between the first distance sensor and the top of the connecting rod is known, the connecting rod angle at any given time can be obtained using its measurement data and trigonometric relationships. Simultaneously, this scheme can also measure the effective length of the connecting rod at any given time using the second distance sensor. This effective length refers to the length of the connecting rod that participates in transmitting force to the pin. Based on the connecting rod angle and effective length, the output torque of the pressure adjustment mechanism can be calculated based on the required downward pressure on the dough tray, thus achieving truly precise control of the downward pressure on the dough tray.

[0022] Furthermore, once the effective length of the connecting rod and its angle with the vertical direction are known, the vertical offset of the bottom surface of the dough tray relative to the hinge point of the connecting rod can be calculated, thus obtaining the relative height of the dough tray. This relative height value can be used to determine whether the dough tray has been raised too high or pressed down too much, and it can also provide scientific and reasonable data support for the detection of ground flatness.

[0023] Furthermore, among the pins on both sides, a cam is provided on one of the pins; the second ranging sensor is mounted on the connecting rod on the side without the cam.

[0024] It also includes a third distance sensor, which is mounted on a connecting rod on one side with a cam, with the measuring end facing down, and is used to measure the distance from itself to the corresponding cam.

[0025] It's easy to understand that the pins on both sides in this design refer to the pins located on the connectors at both ends of the mounting plate. A cam is fixedly fitted onto one side of the pin, while no cam is provided on the other side. Correspondingly, the second ranging sensor is installed on the connecting rod without a cam, and the third ranging sensor is installed on the connecting rod with a cam.

[0026] The second and third distance sensors are installed in the same way and in the same direction; the difference is that one measures the distance to the pin (i.e., the effective length of the connecting rod), while the other measures the distance to the outer wall of the cam sleeved on the pin. By subtracting the distances measured by the two, the rotational position of the cam in the current state can be obtained, and thus the pitch angle of the take-up plate can be obtained. Since the pitch angle of the take-up plate is adaptive to the ground topography, the topographic features of the working ground can be obtained through the pitch angle of the take-up plate.

[0027] Furthermore, it also includes a back plate for connecting to external walking equipment, a cross plate mounted between the two side links, and a lateral movement module for driving the cross plate to move laterally relative to the back plate.

[0028] The dough-collecting device of this application is connected to an external mobile device via a backplate and can be integrated into manual or automated equipment for operation. Furthermore, due to limited indoor access conditions, the diameter of the dough-collecting tray cannot be designed to be too large; therefore, a lateral movement module is used to increase the working range of the dough-collecting device.

[0029] Furthermore, the lateral movement module includes a second driving component, a lead screw connected to the output end of the second driving component, and a linear guide slider that matches the lead screw; an extension plate is connected between the linear guide slider and the transverse plate; the extension plate and the linear guide slider are rotatably engaged.

[0030] This design uses a motor to drive a lead screw, causing the linear guide slider to move linearly along the lead screw, which in turn drives the extension plate, cross plate, and dough collection plate to perform synchronous lateral reciprocating motion. Furthermore, the rotational engagement between the extension plate and the linear guide slider allows the dough collection plate to have a degree of freedom in the roll angle direction.

[0031] The surface finishing method based on the adaptive pressure control finishing device for indoor concrete floors in this application includes:

[0032] The dough collection device is driven to move on the working ground, so that the dough collection plate is in close contact with the ground; the effective length and tilt angle of the connecting rod are monitored in real time, and the pressure adjustment mechanism is controlled based on the effective length and tilt angle of the connecting rod.

[0033] This method uses the effective length and tilt angle of the connecting rod to provide feedback control of the pressure regulating mechanism, which helps to ensure that the downward pressure on the mounting plate always meets the set requirements.

[0034] Compared with the prior art, the present invention has at least the following advantages and beneficial effects:

[0035] 1. The present invention provides an adaptive pressure control finishing device and method for indoor concrete floors, which can provide different levels of downward pressure to meet the different requirements of finishing pressure for different concrete materials and construction stages. This allows the finishing plate to fully adhere to the concrete floor in its initial setting state, and avoids insufficient or excessive finishing. It achieves active control of finishing pressure and improves the automation and intelligence level of construction operations.

[0036] 2. The present invention provides an adaptive pressure control finishing device and method for indoor concrete floors, which enables the finishing plate to have three degrees of freedom: pitch angle, roll angle, and vertical direction, thus ensuring a strong adaptive function.

[0037] 3. The present invention provides an adaptive pressure control finishing device and method for indoor concrete floors. Based on the connecting rod angle and effective length, the output torque of the pressure adjustment mechanism can be calculated based on the required finishing plate pressure, thereby achieving precise control of the finishing plate pressure.

[0038] 4. The present invention provides an adaptive pressure control finishing device and method for indoor concrete floors, which integrates finishing plate posture detection and pressure control, and can synchronize finishing operations with floor flatness detection, thereby improving the automation and intelligence level of construction operations. Attached Figure Description

[0039] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0040] Figure 1 This is a schematic diagram of a specific embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the structure of a specific embodiment of the present invention from another perspective;

[0042] Figure 3 This is a partial structural diagram of a specific embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram of the pressure regulating mechanism in a specific embodiment of the present invention;

[0044] Figure 5 This is a schematic diagram of the torsional elastic element in a specific embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the connecting rod in a specific embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of the structure of the lateral movement module in a specific embodiment of the present invention.

[0047] The attached diagram shows the markings and corresponding component names:

[0048] 1-Receiving plate, 2-Mounting plate, 3-Connecting rod, 4-Connector, 5-Pin, 6-Strip hole, 7-Torque elastic element, 701-Flattening part, 702-Hook part, 8-Torque output rod, 9-First driving element, 10-Push rod, 11-Back plate, 12-Cross plate, 13-Second driving element, 14-Screw screw, 15-Linear guide rail slider, 16-Extension plate, 17-First ranging sensor, 18-Second ranging sensor, 19-Cam, 20-Third ranging sensor, 21-Slot, 22-Power source, 23-Fourth ranging sensor, 24-Rubber anti-collision ring, 25-Protective frame, 26-Anti-loosening bolt, 27-Smooth rod section, 28-Proximity switch. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments and accompanying drawings. The illustrative embodiments and descriptions of this invention are for explaining the invention only and are not intended to limit the invention. In the description of this application, it should be understood that terms such as "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "high," "low," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this application.

[0050] Example 1:

[0051] like Figures 1 to 6 The invention relates to an adaptive pressure control finishing device for indoor concrete floors, comprising a finishing plate 1, which is rotatably connected to the bottom of a mounting plate 2. Both ends of the mounting plate 2 are rotatably connected to connecting rods 3, and the mounting plate 2 slides along the connecting rods 3. The connecting rods 3 are used to provide downward pressure to the mounting plate 2, and the magnitude of the downward pressure is adjusted by a pressure regulating mechanism.

[0052] In this embodiment, a power source 22 for driving the dough collection plate 1 to rotate is provided, and the power source 22 is detachably connected to the mounting plate 2.

[0053] The long axis of the mounting plate 2 is radially distributed along the receiving plate 1. Both ends of the mounting plate 2 along the long axis are fixedly connected to the connecting parts 4, and the connecting parts 4 are provided with pins 5. The connecting rod 3 has a strip hole 6, the width of which is equal to the outer diameter of the pin 5. The pin 5 moves through the strip hole 6 on the connecting rod 3 on the same side.

[0054] In this embodiment, the connector 4 is L-shaped and preferably made of angle steel. The bottom surface of the connector 4 is connected to the mounting plate 2 by bolts. The pin 5 extends radially outward from the outer side wall of the connector 4, and the inner wall of the connecting rod 3 abuts against the outer side wall of the connector 4. Therefore, the L-shaped connector 4 can provide radial restraint for the bottom end of the connecting rod 3, preventing the connecting rod 3 from bending inward.

[0055] The long axis of the connecting rod 3 is parallel to the long axis of the strip hole 6 and is arranged at an inclination; the strip hole 6 is located at the bottom end of the connecting rod 3 and the top end of the connecting rod 3 is connected to the pressure regulating mechanism.

[0056] The pressure regulating mechanism includes a torsion elastic element 7 connected to the connecting rod 3, a torque output rod 8 for causing the torsion elastic element 7 to undergo torsional deformation, and a first driving element 9 for driving the torque output rod 8 to rotate. It also includes a cover for protecting the torque output rod 8 and the torsion elastic element 7; the structure without the cover can be seen in [reference needed]. Figure 4 The first driving component 9 is preferably a servo motor or a stepper motor.

[0057] In this embodiment, the torsion elastic element 7 is a spiral spring; the spiral spring has a flattening part 701 at one radially inward end and a hook part 702 at one radially outward end; the connecting rod 3 has a slot 21 that matches the flattening part 701, and the slot 21 is used to clamp the flattening part 701; the torque output rod 8 has a push rod 10 that matches the hook part 702, and the first driving member 9 drives the push rod 10 to enter or disengage from the hook part 702.

[0058] This embodiment also includes a backplate 11 for connecting to an external walking device and a cross plate 12 spanned between the two connecting rods 3. The slots 21 of the connecting rods 3 move through the cross plate 12, ensuring that the cross plate 12 does not interfere with the rotation of the connecting rods 3. In this embodiment, the first drive members 9 located on both sides of the cross plate 12 are linked, causing the connecting rods 3 on both sides to move synchronously and always maintain the same tilt angle.

[0059] Example 2:

[0060] An adaptive pressure control finishing device for indoor concrete floors, based on Example 1, such as... Figures 1 to 6 As shown, it also includes a first ranging sensor 17, a second ranging sensor 18, and a third ranging sensor 20.

[0061] The measuring end of the first ranging sensor 17 faces downward and is at the same height as the top of the connecting rod 3, and is used to measure the distance from itself to the connecting rod 3;

[0062] The second ranging sensor 18 and the third ranging sensor 20 are respectively mounted on the connecting rods 3 on both sides. The measuring ends of both sensors extend downward in the length direction of the connecting rods and are located above their respective pins 5.

[0063] In the pins 5 of the connecting rods 3 on both sides, a cam 19 is provided on one side of the pin 5; the second distance sensor 18 is installed on the connecting rod 3 on the side without the cam 19, and is used to measure the distance from itself to the corresponding pin 5; the third distance sensor 20 is installed on the connecting rod 3 on the side with the cam 19, and is used to measure the distance from itself to the corresponding cam 19.

[0064] In this embodiment, the base circle of cam 19 and the cross-sectional circle of pin 5 are coaxial. The radial dimensions of the cam are different for each of the 360° angles.

[0065] Example 3:

[0066] An adaptive pressure control finishing device for indoor concrete floors, based on embodiment 1 or 2, such as... Figures 1 to 7 As shown, it also includes a back plate 11 for connecting to an external vehicle, a cross plate 12 mounted between the two connecting rods 3, and a lateral movement module for driving the cross plate 12 to move laterally relative to the back plate 11.

[0067] The lateral movement module includes a second drive unit 13, a lead screw 14 connected to the output end of the second drive unit 13, and a linear guide slider 15 matching the lead screw 14; an extension plate 16 connects the linear guide slider 15 and the transverse plate 12; the extension plate 16 and the linear guide slider 15 are rotatably coupled. The second drive unit 13 is preferably a stepper motor or a servo motor.

[0068] In a more preferred embodiment, an anti-loosening bolt 26 is connected to the linear guide slider 15. The anti-loosening bolt 26 has a smooth rod section 27 that passes through the extension plate 16, through which the extension plate 16 can rotate freely.

[0069] In a more preferred embodiment, a fourth distance sensor 23 is also included, which is fixedly connected to the top of the linear guide slider 15. The fourth distance sensor 23 is directed to measure the distance from itself to the top of the extension plate 16, and then the roll angle of the dough-collecting device is calculated from the distance.

[0070] In a more preferred embodiment, both ends of the lateral movement module are provided with proximity switches 28 to limit the lateral endpoint position of the linear guide slider 15 and to perform timely reversal.

[0071] In a more preferred embodiment, the dough receiving tray 1 has a protective frame 25, with a rubber anti-collision ring 24 fitted onto the outer wall of the protective frame, and a pressure sensor positioned between the outer wall of the protective frame and the rubber anti-collision ring 24. The rubber anti-collision ring 24 acts as a buffer to prevent destructive collisions between the dough receiving tray 1 and the interior wall. When the rubber anti-collision ring 24 is compressed, the pressure sensor detects an abnormal signal. Based on this abnormal signal, a reversing command is immediately sent to the lateral movement module, causing the tray to automatically avoid the wall and prevent mechanical collisions. The pressure sensor is preferably a thin-film pressure sensor arranged in a circumferential configuration.

[0072] In a more preferred embodiment, a lidar may also be installed on the vehicle carrying the dough collection device of this application to scan the surrounding environment map data and locate the current dough collection position.

[0073] Example 4:

[0074] An adaptive pressure control method for finishing indoor concrete floors, based on, for example Figures 1 to 7 The dough-collecting device shown includes:

[0075] The dough collection device is mounted on the vehicle via the back plate 11;

[0076] The dough collection device is driven by a vehicle to move on the working ground, so that the dough collection tray 1 is in close contact with the ground;

[0077] The effective length and tilt angle of link 3 are monitored in real time, and the pressure regulating mechanism is controlled based on the feedback of the effective length and tilt angle of link 3.

[0078] The expected downward pressure of the receiving plate 1 on the ground is taken as Let's take an example to illustrate:

[0079] It is known that the distance between the measuring end of the first ranging sensor 17 and the hinge point at the top of the connecting rod 3 is L1;

[0080] The measurement data of the first ranging sensor 17 is acquired in real time as L2;

[0081] Calculate the inclination angle θ of the connecting rod: sinθ = L1 / L2.

[0082] The measurement data of the second ranging sensor 18 at this time is taken as the effective length L of the connecting rod;

[0083] At this point, the feedback control scheme for the pressure regulating mechanism can be calculated, which is to rotate the output end of the first driving member 9 in the direction of the torsional elastic member 7, and the rotation angle is... for:

[0084] ;

[0085] In the formula, k is the torsional stiffness of the torsional elastic element.

[0086] Based on the real-time calculation By issuing a pulse command, the first driving component 9 is driven to work according to the command, thus achieving precise pressure closed-loop control.

[0087] In a more preferred embodiment, the height of the dough receiving plate 1 can also be obtained in real time:

[0088] ;

[0089] In the formula: H is the real-time height of the bottom surface of the receiving plate from a certain fixed reference datum surface; H0 is the vertical distance from the hinge point at the top of the connecting rod 3 to the fixed reference datum surface.

[0090] The height value H can be used to determine in real time whether the receiving plate has been raised too high or pressed down too much, and at the same time, it provides a benchmark for subsequent ground flatness inspection.

[0091] In a more preferred embodiment, parameters such as the pitch angle and roll angle of the receiving plate 1 can also be obtained in real time, which can provide a benchmark for subsequent ground flatness detection.

[0092] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0093] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Additionally, the term "connection" as used herein, unless otherwise specified, can refer to a direct connection or an indirect connection via other components.

Claims

1. An adaptive pressure control finishing device for indoor concrete floors, comprising a finishing plate (1), characterized in that, The dough receiving plate (1) is rotatably connected to the bottom of the mounting plate (2). Both ends of the mounting plate (2) are rotatably connected to connecting rods (3), and the mounting plate (2) slides along the connecting rods (3). The connecting rods (3) are used to provide downward pressure to the mounting plate (2), and the magnitude of the downward pressure is adjusted by a pressure adjustment mechanism.

2. The adaptive pressure control finishing device for indoor concrete floors according to claim 1, characterized in that, The mounting plate (2) is fixedly connected to the two ends of the mounting plate (2), and the connecting plate (4) is provided with a pin (5); the connecting rod (3) is provided with a strip hole (6), the width of the strip hole (6) is equal to the outer diameter of the pin (5); the pin (5) moves through the strip hole (6) on the connecting rod (3) on the same side.

3. The adaptive pressure control finishing device for indoor concrete floors according to claim 2, characterized in that, The long axis of the connecting rod (3) is parallel to the long axis of the strip hole (6) and is arranged at an inclination; the strip hole (6) is located at the bottom end of the connecting rod (3) and the top end of the connecting rod (3) is connected to the pressure regulating mechanism.

4. The adaptive pressure control finishing device for indoor concrete floors according to claim 2, characterized in that, The pressure regulating mechanism includes a torsion elastic element (7) connected to the connecting rod (3), a torque output rod (8) for driving the torsion elastic element (7) to undergo torsional deformation, and a first driving element (9) for driving the torque output rod (8) to rotate.

5. The adaptive pressure control finishing device for indoor concrete floors according to claim 4, characterized in that, The torsion elastic element (7) is a spiral spring; a flat part (701) is provided at one radially inward end of the spiral spring, and a hook part (702) is provided at one radially outward end of the spiral spring; the connecting rod (3) has a slot (21) that matches the flat part (701), and the slot (21) is used to clamp the flat part (701); the torque output rod (8) has a push rod (10) that matches the hook part (702), and the first driving member (9) drives the push rod (10) to enter or disengage from the hook part (702).

6. The adaptive pressure control finishing device for indoor concrete floors according to claim 2, characterized in that, It also includes a first ranging sensor (17) and a second ranging sensor (18); The measuring end of the first distance sensor (17) is facing downward and at the same height as the top of the connecting rod (3), and is used to measure the distance from itself to the connecting rod (3); The second distance sensor (18) is mounted on the connecting rod (3) with the measuring end facing down, and is used to measure the distance from itself to the corresponding pin (5).

7. The adaptive pressure control finishing device for indoor concrete floors according to claim 6, characterized in that, In the two pins (5) on both sides, a cam (19) is provided on one of the pins (5); the second distance sensor (18) is installed on the connecting rod (3) on the side without the cam (19); It also includes a third distance sensor (20), which is mounted on a connecting rod (3) on one side where a cam (19) is provided, with the measuring end facing down, and is used to measure the distance from itself to the corresponding cam (19).

8. The adaptive pressure control finishing device for indoor concrete floors according to claim 1, characterized in that, It also includes a back plate (11) for connecting to an external walking device, a cross plate (12) mounted between the two side connecting rods (3), and a lateral movement module for driving the cross plate (12) to move laterally relative to the back plate (11).

9. The adaptive pressure control finishing device for indoor concrete floors according to claim 8, characterized in that, The lateral movement module includes a second drive unit (13), a lead screw (14) connected to the output end of the second drive unit (13), and a linear guide slider (15) matching the lead screw (14); an extension plate (16) is connected between the linear guide slider (15) and the cross plate (12); the extension plate (16) and the linear guide slider (15) are rotatably engaged.

10. A surface finishing method for an indoor concrete floor using an adaptive pressure control surface finishing device according to any one of claims 1 to 9, characterized in that, include: Drive the dough collection device to move on the working ground so that the dough collection disc (1) is in close contact with the ground; The effective length and tilt angle of the link (3) are monitored in real time, and the pressure regulating mechanism is controlled based on the feedback of the effective length and tilt angle of the link (3).

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