A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Plastering device and plastering robot
The invention discloses a plastering device and a plastering robot. The plastering device comprises a scraper blade, a torque sensor and a motor module, and the plastering robot comprises a control platform and the plastering device. The torque sensor is arranged to detect the contact force between the scraper blade and the wall surface in real time, and the motor module outputs a proper rotatingtorque by calculating and controlling the rotation of the motor module according to the detected contact force, so that the contact force between the scraper blade and the wall surface is controlled in real time, and the active compliance control over the plastering device is realized. The plastering device is controlled by the control platform to automatically carry out a plastering process on the wall surface, so that the automation degree and the plastering quality are improved.
本发明公开了一种抹灰装置和抹灰机器人，抹灰装置包括刮板、扭矩传感器、电机模块，抹灰机器人包括控制平台与抹灰装置。通过设置扭矩传感器来实时检测刮板与墙面的接触力，并根据检测得到的接触力，通过计算并控制电机模块的转动，使电机模块输出一个合适的转动扭矩，实时控制刮板与墙面的接触力大小，实现抹灰装置的主动柔顺控制。通过控制平台控制抹灰装置在墙面自动进行抹灰工艺，提高自动化程度与抹灰质量。
Plastering device and plastering robot
The invention discloses a plastering device and a plastering robot. The plastering device comprises a scraper blade, a torque sensor and a motor module, and the plastering robot comprises a control platform and the plastering device. The torque sensor is arranged to detect the contact force between the scraper blade and the wall surface in real time, and the motor module outputs a proper rotatingtorque by calculating and controlling the rotation of the motor module according to the detected contact force, so that the contact force between the scraper blade and the wall surface is controlled in real time, and the active compliance control over the plastering device is realized. The plastering device is controlled by the control platform to automatically carry out a plastering process on the wall surface, so that the automation degree and the plastering quality are improved.
本发明公开了一种抹灰装置和抹灰机器人，抹灰装置包括刮板、扭矩传感器、电机模块，抹灰机器人包括控制平台与抹灰装置。通过设置扭矩传感器来实时检测刮板与墙面的接触力，并根据检测得到的接触力，通过计算并控制电机模块的转动，使电机模块输出一个合适的转动扭矩，实时控制刮板与墙面的接触力大小，实现抹灰装置的主动柔顺控制。通过控制平台控制抹灰装置在墙面自动进行抹灰工艺，提高自动化程度与抹灰质量。
Plastering device and plastering robot
抹灰装置和抹灰机器人
JIANG XIN (author) / LI KANG (author) / CHEN DAYUAN (author) / LIU YUNHUI (author)
2020-12-18
Patent
Electronic Resource
Chinese
Plastering mechanism, plastering robot and application method of plastering mechanism
| European Patent Office | 2020