CN-121539103-B - Modular cable-driven trowelling robot capable of realizing multi-angle self-adaption

Abstract

The invention provides a modularized cable-driven trowelling robot capable of realizing multi-angle self-adaption, and belongs to the technical field of concrete ground construction. The modularized multi-angle self-adaptive cable-driven trowelling robot comprises an outer frame which is suspended by a plurality of cable-driven mechanisms through a steel cable and can be controlled to move in a three-dimensional space, wherein a trowel Z-axis lifting mechanism is arranged on the outer frame, and a trowel X, Y-axis adjusting mechanism is arranged below the trowel Z-axis lifting mechanism. According to the invention, the cable drive mechanism is arranged, the Z-axis lifting mechanism of the spatula is responsible for executing the overall height adjustment of the tail end, the X, Y-axis adjusting mechanism of the spatula is responsible for adjusting the pitching and rolling angles of the rotating disc mechanism of the spatula, and the rotating disc mechanism of the spatula drives the main body of the spatula to rotate so as to execute trowelling operation, so that dead angle-free coverage movement is realized through cable drive, and the precise control of the gesture of the spatula is realized through the X, Y-axis adjusting mechanism of the spatula, so that the robot has both large-scale operation capability and fine construction capability.

Inventors

• HUANG CHENGUANG
• REN RUI
• CHEN KAI
• LI RAN
• PENG ZIXIANG
• LUO JIE
• Meng Kunlin
• WU JIAXIONG
• LIU JUNWEN
• HONG YUANQIAN

Assignees

• 中国建筑第四工程局有限公司

Dates

Publication Date

20260512

Application Date

20260116

Claims (3)

1. 1. A modularized multi-angle self-adaptive cable-driven trowelling robot is characterized by comprising an outer frame (1) which is suspended by a plurality of cable-driven mechanisms through a cable and can be controlled to move in a three-dimensional space, wherein a trowelling Z-axis lifting mechanism is arranged on the outer frame (1), a trowelling X, Y-axis adjusting mechanism is arranged below the trowelling Z-axis lifting mechanism, a trowelling turntable mechanism is arranged below the trowelling X, Y-axis adjusting mechanism, a trowelling main body (404) is arranged on the trowelling turntable mechanism, the trowelling Z-axis lifting mechanism comprises a mounting plate (201) fixed on the outer frame (1), an electric cylinder (202) and a linear guide rail (203) are fixedly arranged on the mounting plate (201), the trowelling X, Y-axis adjusting mechanism comprises a lifting straight plate (301), a Y-axis adjusting plate (303), a Y-axis adjusting motor (304) and an X-axis adjusting motor (305), the lifting straight plate (301) is fixedly connected with the output end of the electric cylinder (202), the Y-axis adjusting plate (302) is rotatably connected with the X-axis adjusting plate (302) through a Y-axis adjusting motor (303) in a rotary mode, the X-axis adjusting plate (303) is rotatably connected with the X-axis adjusting plate (302) through the Y-axis adjusting motor (302), the spatula rotating disc mechanism comprises a rotating motor (401) and a spatula mounting assembly, wherein the rotating motor (401) is fixedly mounted at the output end of the spatula X, Y shaft adjusting mechanism, the spatula mounting assembly is fixedly connected with the output shaft of the rotating motor (401), a spatula angle adjusting structure is further arranged on the spatula mounting assembly, the spatula angle adjusting structure comprises an adjusting disc (402) and a plurality of angle adjusting screws (403), the adjusting disc (402) is rotatably mounted on the spatula mounting assembly, one end of each angle adjusting screw (403) is hinged to one spatula main body (404), and the other end of each angle adjusting screw (403) is in contact with the adjusting disc (402).
2. 2. The modularized multi-angle self-adaptive cable-driven trowelling robot of claim 1, wherein the outer frame (1) is provided with a margin scraping mechanism, the margin scraping mechanism comprises a first mounting frame (501) and a second mounting frame (502), the first mounting frame (501) and the second mounting frame (502) are respectively fixedly arranged on two sides of the outer frame (1), sliding rods (503) are slidably arranged on the first mounting frame (501) and the second mounting frame (502), a lifting plate (504) is fixedly arranged at the other end of the sliding rods (503), and a scraping plate (505) is arranged below the lifting plate (504).
3. 3. The modular multi-angle self-adaptive cable-driven trowelling robot of claim 2, wherein damping springs (506) are arranged between the first mounting frame (501) and the second mounting frame (502) and between the first mounting frame and the lifting plate (504), adjusting bolts (507) are arranged on the lifting plate (504), and the other ends of the adjusting bolts (507) are connected with the scraping plates (505).

Description

Modular cable-driven trowelling robot capable of realizing multi-angle self-adaption Technical Field The invention relates to the technical field of concrete ground construction, in particular to a modularized multi-angle self-adaptive cable-driven trowelling robot. Background The trowelling of concrete floor is the key process in the building decoration engineering, directly influences roughness, intensity and apparent mass of terrace, and under the general circumstances, workman holds or promotes the machine that has rotatory trowelling to carry out the operation, and this kind of mode intensity of labour is very big, and construction quality highly relies on workman's experience and physical power, and inefficiency, and in large tracts of land construction, be difficult to guarantee the uniformity of roughness, personnel also have the potential safety hazard for a long time operation heavy equipment. In the prior art, when the trowelling operation is carried out, the problem that the trowelling device is inconvenient to move and route errors are easy to occur often occurs, so that the flatness and the integrity of the trowelling operation cannot be ensured, and further the follow-up process is influenced. Disclosure of Invention In order to overcome the above disadvantages, the present invention provides a modular multi-angle self-adaptive cable-driven trowelling robot that overcomes or at least partially solves the above-described problems. The invention is realized in the following way: The invention provides a modularized multi-angle self-adaptive cable-driven trowelling robot which comprises an outer frame which is suspended by a plurality of cable-driven mechanisms through a cable and can be controlled to move in a three-dimensional space, wherein a trowel Z-axis lifting mechanism is arranged on the outer frame, a trowel X, Y-axis adjusting mechanism is arranged below the trowel Z-axis lifting mechanism, a trowel rotating disc mechanism is arranged below the trowel X, Y-axis adjusting mechanism, and a trowel main body is arranged on the trowel rotating disc mechanism. In a preferred scheme, the spatula Z-axis lifting mechanism comprises a mounting plate fixed on the outer frame, and an electric cylinder and a linear guide rail are fixedly mounted on the mounting plate. In a preferred scheme, the spatula X, Y shaft adjusting mechanism comprises a lifting straight plate, a Y-axis adjusting plate, an X-axis adjusting plate, a Y-axis adjusting motor and an X-axis adjusting motor, wherein the lifting straight plate is fixedly connected with the output end of the electric cylinder, the Y-axis adjusting plate is rotationally connected with the lifting straight plate through a Y-axis rotating shaft and is driven by the Y-axis adjusting motor, the X-axis adjusting plate is rotationally connected with the Y-axis adjusting plate through an X-axis rotating shaft and is driven by the X-axis adjusting motor, and the Y-axis adjusting plate and the X-axis adjusting plate are in a shape like a Chinese character 'Hui'. In a preferred embodiment, the spatula turntable mechanism includes a rotating motor fixedly mounted to the output end of the spatula X, Y shaft adjustment mechanism and a spatula mounting assembly fixedly connected to the output shaft of the rotating motor. In a preferred scheme, the spatula mounting assembly is further provided with a spatula angle adjusting structure, the spatula angle adjusting structure comprises an adjusting disc and a plurality of angle adjusting screws, the adjusting disc is rotatably mounted on the spatula mounting assembly, one end of each angle adjusting screw is hinged with one spatula body, and the other end of each angle adjusting screw is in contact with the adjusting disc. In a preferred scheme, be provided with surplus scraping mechanism on the outer frame, surplus scraping mechanism includes first mounting bracket and second mounting bracket, first mounting bracket and second mounting bracket set firmly in the both sides of outer frame respectively, all slide on first mounting bracket and the second mounting bracket and be provided with the slide bar, the other end of slide bar has set firmly the lifter plate, the below of lifter plate is provided with the scraper blade. In a preferred scheme, damping springs are arranged between the first mounting frame and the second mounting frame and between the first mounting frame and the lifting plate, adjusting bolts are arranged on the lifting plate, and the other ends of the adjusting bolts are connected with the scraping plates. The invention provides a modularized cable-driven trowelling robot capable of realizing multi-angle self-adaption, which has the beneficial effects that: 1. Through setting up the cable and driving the mechanism, the spatula Z axle elevating system is responsible for carrying out terminal whole height adjustment, and the spatula X, Y axle adjustment mechanism is responsible for adjusting the every s