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A platform for research: civil engineering, architecture and urbanism
Spreading-leveling-trowelling integrated automatic operation robot equipment
The invention discloses a spreading-leveling-trowelling integrated automatic operation robot equipment. The spreading-leveling-trowelling integrated automatic operation robot equipment comprises a lightweight concrete spreader, a guide straight arm system, a lifting positioning mechanism, leveling and trowelling modules and an electrical control system, wherein the lightweight concrete spreader comprises three spreading arms which are connected through two telescopic cylinders; the guide straight arm system comprises linear walking modules which are symmetrically arranged on both sides of twolinear 204 profile guide rails and a straight arm truss and do a linear motion; the lifting positioning mechanism is installed in the linear walking modules, the precise positioning problem of a leveling and trowelling mechanism is solved, and additionally, the vibration of a laser compensating mechanism is utilized; the leveling module is connected with the lifting positioning mechanism through two telescopic arms; and the trowelling module is connected with the other lifting mechanism through a platform. Pushing force is provided through a creeping crawling mechanism of the leveling and trowelling modules on a straight arm, so that the automation of the leveling and trowelling modules is realized, and the integrated operation is realized with a designed task priority control method of adouble-arm coordination system based on a space spring damping parallel model.
本发明公开了一种布料‑整平‑抹平一体化自动作业机器人装备，它包括轻量化混凝土布料机、导向平直臂系统、升降定位机构、整平与抹平模块及电气控制系统；轻量化混凝土布料机包括三个由两个伸缩缸连接布料臂；导向平直臂系统包括直线行走模组在两个直线204型材导轨和一个平直臂桁架两侧成对称布置，进行直线运动；升降定位机构安装于直线行走模组中，提供整平抹平机构的精确定位问题，同时利用激光补偿机构的振动；整平模块通过两个伸缩臂与升降定位机构连接；抹平模块通过一个平台与另一个升降机构连接。通过平直臂上的整平抹平模块的蠕行爬行机构提供推动力，实现了整平抹平模块的自动化，通过设计的基于空间弹簧阻尼并联模型的双臂协调系统任务优先级控制方法，实现了一体化的作业。
Spreading-leveling-trowelling integrated automatic operation robot equipment
The invention discloses a spreading-leveling-trowelling integrated automatic operation robot equipment. The spreading-leveling-trowelling integrated automatic operation robot equipment comprises a lightweight concrete spreader, a guide straight arm system, a lifting positioning mechanism, leveling and trowelling modules and an electrical control system, wherein the lightweight concrete spreader comprises three spreading arms which are connected through two telescopic cylinders; the guide straight arm system comprises linear walking modules which are symmetrically arranged on both sides of twolinear 204 profile guide rails and a straight arm truss and do a linear motion; the lifting positioning mechanism is installed in the linear walking modules, the precise positioning problem of a leveling and trowelling mechanism is solved, and additionally, the vibration of a laser compensating mechanism is utilized; the leveling module is connected with the lifting positioning mechanism through two telescopic arms; and the trowelling module is connected with the other lifting mechanism through a platform. Pushing force is provided through a creeping crawling mechanism of the leveling and trowelling modules on a straight arm, so that the automation of the leveling and trowelling modules is realized, and the integrated operation is realized with a designed task priority control method of adouble-arm coordination system based on a space spring damping parallel model.
本发明公开了一种布料‑整平‑抹平一体化自动作业机器人装备，它包括轻量化混凝土布料机、导向平直臂系统、升降定位机构、整平与抹平模块及电气控制系统；轻量化混凝土布料机包括三个由两个伸缩缸连接布料臂；导向平直臂系统包括直线行走模组在两个直线204型材导轨和一个平直臂桁架两侧成对称布置，进行直线运动；升降定位机构安装于直线行走模组中，提供整平抹平机构的精确定位问题，同时利用激光补偿机构的振动；整平模块通过两个伸缩臂与升降定位机构连接；抹平模块通过一个平台与另一个升降机构连接。通过平直臂上的整平抹平模块的蠕行爬行机构提供推动力，实现了整平抹平模块的自动化，通过设计的基于空间弹簧阻尼并联模型的双臂协调系统任务优先级控制方法，实现了一体化的作业。
Spreading-leveling-trowelling integrated automatic operation robot equipment
一种布料-整平-抹平一体化自动作业机器人装备
ZHONG GUOLIANG (author) / SHI ZHUN (author) / DOU WEIQIANG (author) / YI HONGDONG (author)
2021-03-05
Patent
Electronic Resource
Chinese
IPC:
E04G
SCAFFOLDING
,
Baugerüste
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