CN110158964A - The control method of trowelling machine - Google Patents
The control method of trowelling machine Download PDFInfo
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- CN110158964A CN110158964A CN201910434236.9A CN201910434236A CN110158964A CN 110158964 A CN110158964 A CN 110158964A CN 201910434236 A CN201910434236 A CN 201910434236A CN 110158964 A CN110158964 A CN 110158964A
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- trowelling machine
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 251
- 238000007667 floating Methods 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 16
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- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 abstract description 5
- 238000005336 cracking Methods 0.000 abstract description 3
- 230000010355 oscillation Effects 0.000 description 9
- 238000010276 construction Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
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- 208000033748 Device issues Diseases 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
- 238000010327 methods by industry Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000011505 plaster Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/10—Devices for levelling, e.g. templates or boards
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The present invention provides a kind of control methods of trowelling machine, the trowelling machine includes capableing of two of opposite direction rotating each swing driving mechanism swung in multiple freedom degrees smeared disc mechanism and smear disc mechanism described in respectively driving two, it is characterized in that, the control method includes: the operating control signal in response to the trowelling machine received, at least one of disc mechanism is smeared described in driving to be rotated, and at least one of two swing driving mechanisms of driving is swung, to smear the angle between at least one of disc mechanism and plane to be processed described in change, to control the trowelling machine movement.Technical solution of the present invention, it is sitting on trowelling machine without operator and manipulates the mobile operation for smearing disk machine, reduce weight when trowelling machine integrally uses, so that trowelling machine can be adapted for the floating work after processing initial set, ground is smoothed out, receipts face, prevents concrete cracking.
Description
Technical field
The present invention relates to technical field of construction equipment, in particular to a kind of control method of trowelling machine.
Background technique
Ground floating is one of important procedure in mattess forming process, and main effect is to mixed after initial set
Solidifying soil face is smoothed out, receipts face and polishing action, the quality that this procedure is implemented directly influence whether later concrete is opened
It splits and the problems such as the levelness on ground.As the requirement to construction quality is higher and higher, the quality of ground moulding is just aobvious wherein
Must be especially important, it is directly related to the achievable degree of subsequent new process engineering method, as floor tile plaster new process and timber floor are installed
Exempt from secondary levelling technology etc..
Currently, ground smoothes out work, there are mainly three types of modes, the first is manually to be carried out ground floating using spatula, needed
The mode of manual polishing, repetition measurement is wanted, is constantly corrected, until reaching target call, this floating mode, inefficiency smoothes out matter
It measures not high；Second is to need manpower to help operation, by manual drive, smearing disk rotation makes for walking using hand-held trowelling machine
It being driven with gasoline engine, compares artificial floating, hand steered trowelling machine is relatively laborsaving, but due to manual drive, and it is inefficient, and gasoline engine
Acutely, handling time cannot be too long, and smearing effect is general for vibration；The third is using driving trowelling machine, and people can sit
On trowelling machine, operation trowelling machine movement, compared to above two mode, the method is laborsaving, and efficiency is higher, but due to it
Body characteristic issues, this equipment quality is larger, only preferable to the mattess polishing effect after final set, the ground after carrying out initial set
When smoothing out work, equipment often leaves biggish floating trace, smoothes out and receive the ineffective of face.
It follows that trowelling machine in the prior art, it is difficult to can also be smoothed out to ground after initial set while taking into account efficient.
Summary of the invention
The main purpose of the present invention is to provide a kind of control methods of trowelling machine, are deposited with solving trowelling machine in the prior art
Be difficult to while taking into account efficient can also to initial set after ground smooth out the technical issues of.
To achieve the goals above, the present invention provides a kind of control methods of trowelling machine, which comprises described to smear
Flat machine include be capable of two of opposite direction rotating smear disc mechanism and smear described in respectively driving two disc mechanism each multiple
Two swing driving mechanisms that freedom degree is swung, which is characterized in that the control method includes: in response to smearing described in receiving
The operating control signal of flat machine is smeared at least one of disc mechanism described in driving and is rotated, and drives two wobble drive machines
At least one of structure is swung, to smear the angle between at least one of disc mechanism and plane to be processed described in change, from
And control the trowelling machine movement.
Further, control method further include: the multiple freedom degree is two freedom degrees, the swing driving mechanism packet
The first wobble drive clamp mechanism and the second wobble drive clamp mechanism are included, smears disk machine described in the first wobble drive clamp mechanism control
Structure is swung in a first direction, is smeared disc mechanism described in the second libron mechanism controls and is swung in a second direction.
Further, control method further include: the operating control signal includes advance control signal or retrogressing control
Signal controls signal in response to the advance or the retrogressing controls signal, the first pendulum of described two swing driving mechanisms
Dynamic driving clamp mechanism respectively drives described two floating mechanisms and swings in opposite direction in said first direction.
Further, control method further include: the operating control signal includes left lateral control signal or right lateral control
Signal controls signal in response to the left lateral or the right lateral controls signal, the second pendulum of described two swing driving mechanisms
Dynamic driving clamp mechanism respectively drives described two floating mechanisms and swings in opposite direction in this second direction.
Further, control method further include: the operating control signal includes turn left control signal or control of turning right
Signal controls signal or right-hands rotation control signal in response to the left-hand rotation, in described two swing driving mechanisms at least
One the first wobble drive clamp mechanism drives the floating mechanism to swing in said first direction.
Further, the also described trowelling machine of trowelling machine further includes rotary drive mechanism, the rotary drive mechanism driving two
Disc mechanism opposite direction rotating, the control method are smeared described in a further include: in response to receiving speed regulating control signal, the rotation is driven
Motivation structure smears the revolving speed of disc mechanism described in capable of adjusting two.
It applies the technical scheme of the present invention, by issuing advancement commands to remote controler, remote controler can receive advancement commands,
And then the control signal that advances is issued, the disc mechanism of smearing on the swing driving mechanism driving of control one left side is swung laterally to left height
Right low state, the disc mechanism of smearing for controlling another swing driving mechanism driving the right are swung laterally to right high left low shape
State, the inboard friction power that two such smears disc mechanism increase, driving force forward, two resultant forces for smearing disc mechanism drive trowelling machine to
Preceding movement.Similarly, instruction is retreated by issuing to remote controler, the remote controler can receive retrogressing instruction, and then issue and retreat
Signal is controlled, the disc mechanism of smearing on the swing driving mechanism driving of control one left side is swung laterally to the state of left low and right high,
The disc mechanism of smearing for controlling another swing driving mechanism driving the right is swung laterally to the state of right low left high, two such
The outboard friction power for smearing disc mechanism increases, and backward, two resultant force driving trowelling machines for smearing disc mechanism move driving force backward.This hair
Bright technical solution is sitting on trowelling machine without operator and manipulates the mobile operation for smearing disk machine, reduces trowelling machine entirety
Weight when use smoothes out ground, receipts face so that trowelling machine can be adapted for the floating work after processing initial set, prevents
Only concrete cracking.Simultaneously as eliminating the seating space and operating space of operator, it can also suitably reduce trowelling machine
Volume so that trowelling machine is adapted to more workplaces.Due to the mode of operation using remote controler, can also reduce
Manpower expends.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The Figure of description for constituting a part of the invention is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the schematic perspective view of trowelling machine according to the present invention；
Fig. 2 shows the right side structural representations of the trowelling machine of Fig. 1；
Fig. 3 shows the backsight structural representation of the trowelling machine of Fig. 1；
Fig. 4 shows the overlooking structure diagram of the trowelling machine of Fig. 1；
Fig. 5 shows the control flow schematic diagram of the control method of trowelling machine of the invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Term be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, mechanism and/or their combination.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the trowelling machine include base body 10, two smear disc mechanism 20, rotation driving
Mechanism 60, swing driving mechanism.It smears disc mechanism 20 for two to be arranged on base body 10 parallel, the setting of rotary drive mechanism 60 exists
On base body 10, the drive connection of disc mechanism 20 is smeared with two respectively, rotary drive mechanism 60 smears disc mechanism for driving two
20 opposite direction rotatings carry out floating operation.Two swing driving mechanisms are arranged on base body 10, smear disc mechanism with two respectively
20 are drivingly connected, and swing driving mechanism smears the swing of disc mechanism 20 for driving and carries out mobile operation.
Specifically, swing driving mechanism includes that can drive to smear the wobble drive that disc mechanism 20 is swung in multiple degrees of freedom
Clamp mechanism.In a possible example, swing driving mechanism for example can be driving and smear disc mechanism 20 in both direction swing
The first wobble drive clamp mechanism 30 and the second wobble drive clamp mechanism 40, the first wobble drive clamp mechanism control described in smear disk machine
Structure is swung in a first direction, is smeared disc mechanism described in the second libron mechanism controls and is swung in a second direction.First direction and
Second direction can be mutually orthogonal directions.
Wherein, swing driving mechanism includes the first wobble drive clamp mechanism 30 and the second wobble drive clamp mechanism 40.First
Wobble drive clamp mechanism 30 respectively with smear disc mechanism 20 and be drivingly connected, smear disc mechanism 20 for driving and swing in a first direction.?
In the present embodiment, for convenience of description, first party is swung up and is described as control and smears disc mechanism 20 and swing laterally.Second pendulum
Dynamic driving clamp mechanism 40 respectively with smear disc mechanism 20 and be drivingly connected, smear disc mechanism 20 for driving and swing in a second direction, i.e.,
Longitudinal oscillation.As shown in Figures 2 and 3, it smears disc mechanism 20 to be mounted on the second wobble drive clamp mechanism 40, the second wobble drive
20 longitudinal oscillation of disc mechanism is smeared in the drive of mechanism 40, and the second wobble drive clamp mechanism 40 is mounted on the first wobble drive clamp mechanism 30
On, the first wobble drive clamp mechanism 30 drives the horizontal swing of the second wobble drive clamp mechanism 40, the first wobble drive clamp mechanism 30
It is mounted on base body 10.The second wobble drive clamp mechanism 40 can be driven together with smearing by the first wobble drive clamp mechanism 30
Disc mechanism 20 is swung laterally, and on this basis, the second wobble drive clamp mechanism 40, which can also drive, smears the progress of disc mechanism 20
Longitudinal oscillation, and then may be implemented to smear the multi-angle pose adjustment of disc mechanism 20.Only pass through 30 band of the first wobble drive clamp mechanism
It is dynamic to smear disc mechanism 20 and swung laterally, or disc mechanism 20 is only smeared by the drive of the second wobble drive clamp mechanism 40 and carries out longitudinal direction
It is also feasible for swinging.
As shown in figure 3, the first wobble drive clamp mechanism 30 includes rack 31 and sideway actuator 32, rack 31 can laterally be put
It is hinged on base body 10 dynamicly, sideway actuator 32 is mounted on base body 10 and is drivingly connected with rack 31, sideway
Actuator 32 is for driving rack 31 to swing laterally.Specifically, rack 31 is connect by hinged shaft assembly 33 with base body 10.
Hinged shaft assembly 33 includes articulated shaft and bearing, and sideway movement can be allowed more steady.Smearing disc mechanism 20 can cut with scissors to longitudinal oscillation
Connect in rack 31, the second wobble drive clamp mechanism 40 include pitch actuator, pitch actuator be mounted in rack 31 and with
The drive connection of disc mechanism 20 is smeared, pitch actuator smears 20 longitudinal oscillation of disc mechanism for driving.Pass through specifically, smearing disc mechanism 20
Hinged shaft assembly 41 is connect with rack 31, and hinged shaft assembly 41 includes articulated shaft and bearing, and pitch movement can be allowed more steady.
Sideway actuator 32 and pitch actuator are the components such as electric pushrod, electric cylinder, linear motor.
The trowelling machine uses power drive mode, and as shown in Figure 1 and Figure 4, trowelling machine further includes battery means 50, battery machine
Structure 50 is mounted on base body 10, and battery means 50 are used to power to rotary drive mechanism 60, swing driving mechanism, can also be with
Meet the automatically controlled requirement for using remote controler.Correspondingly, rotary drive mechanism 60 includes motor 61, axis mechanism 62, rotation deceleration
Device 64, motor 61 are connect by retarder 64 with axis mechanism 62, and axis mechanism 62 smears the drive connection of disc mechanism 20 with two respectively, are used
The rotation of disc mechanism 20, which is smeared, in driving carries out floating operation.Axis mechanism 62 is the rotating assembly of Hooks coupling universal coupling connection.Rotating assembly
It can be flexible shaft, to be adapted to smear the swing attitudes vibration of disc mechanism 20.Rotation retarder 64 is mounted on axis mechanism 62 and electricity
Between machine 61.By rotation retarder 64 can the output revolving speed to motor 61 adjust the speed, allow smear disc mechanism 20 be suitble to
Rotational speed.Specifically, retarder 64 can be controlled by remote controler to achieve the purpose that speed regulation.When in use, battery machine
Structure 50 is powered, and motor 61 rotates, and rotation retarder 64 is driven to move, and smears 20 turns of disc mechanism finally by the rotation driving of retarder 64
It is dynamic, it realizes and smoothes out operation.Rotating retarder 64 can be certainty ratio retarder, can also be variable proportion retarder.
Fig. 5 shows the control method of trowelling machine of the invention.Trowelling machine includes being capable of opposite direction rotating and left and right is adjacent sets
Two set smear disc mechanism 20 and respectively drive two two swing driving mechanisms for smearing the swing of disc mechanism 20.It needs to illustrate
It is that in the inventive solutions, two of opposite direction rotating smear disc mechanism 20 and refer to that two are smeared 20 rotation direction of disc mechanism
On the contrary, the disc mechanism 20 of smearing on the left side rotates clockwise, the disc mechanism 20 of smearing on the right rotates counterclockwise, or vice versa.
Control method includes: the operational order that user's input is received by remote controler.After receiving operational order, manipulation
The controller of device and trowelling machine establishes signal connection, and sends corresponding operation control signal, smoothes out machine controller in response to institute
The operating control signal received is stated, is respectively driven and described smeared at least one of disc mechanism and rotated and drive two swings
At least one of driving mechanism is swung, to smear the folder between at least one of disc mechanism and plane to be processed described in change
Angle, to control the trowelling machine movement.
In a possible example, the operational order that user sends is advancement commands, and trowelling machine receives remote controler hair
After the advance control signal sent, two swing driving mechanism movements are controlled respectively to execute advance control.Specifically, advance and control
The disc mechanism 20 of smearing that signal controls the first wobble drive clamp mechanism driving left side an of swing driving mechanism is swung laterally to a left side
High right low state, the control signal that advances control the first wobble drive clamp mechanism driving the right of another swing driving mechanism
The horizontal swing of disc mechanism 20 is smeared to right high left low state.
In a possible example, the operational order that user sends is to retreat instruction.Trowelling machine receives remote controler hair
The retrogressing control signal sent controls two wobble drive machine movements respectively to execute retrogressing control.Specifically, refer to relative to advance
Order, retreat the first wobble drive clamp mechanism driving left side of control signal one swing driving mechanism of control smears 20 cross of disc mechanism
To the state for being rocked to left low and right high, the first wobble drive clamp mechanism that control signal controls another swing driving mechanism is retreated
The state for smearing the horizontal swing of disc mechanism 20 to right low left high on driving the right.
To sum up, when executing advancement commands or retreating instruction, the first wobble drive clamp mechanism of two swing driving mechanisms
Two floating mechanisms 20 are respectively driven to swing in opposite direction in a first direction.Those skilled in the art should know, when smearing
When the direction of rotation of disc mechanism changes, when being advanced or retreating control, the first son driving of two swing driving mechanisms
The specific swaying direction in a first direction of mechanism may change.
It applies the technical scheme of the present invention, by issuing advancement commands to remote controler, remote controler can receive advancement commands,
And then advance control signal is issued, control a swing driving mechanism driving left side smears the horizontal swing of disc mechanism 20 to the left high right side
Low state, control another swing driving mechanism driving the right smears the horizontal swing of disc mechanism 20 state low to a right high left side,
The inboard friction power that two such smears disc mechanism 20 increases, and forward, two are smeared the resultant force driving trowelling machine of disc mechanism 20 to driving force
It travels forward.Similarly, instruction is retreated by issuing to remote controler, remote controler can receive retrogressing instruction, and then issue and retreat control
Signal processed controls the state for smearing the horizontal swing of disc mechanism 20 to left low and right high on a swing driving mechanism driving left side, control
The state for smearing the horizontal swing of disc mechanism 20 to right low left high on another swing driving mechanism driving the right, two such smear disk machine
The outboard friction power of structure 20 increases, and backward, two resultant force driving trowelling machines for smearing disc mechanism 20 move driving force backward.That is this hair
Bright technical solution is controlled two floating mechanisms respectively by swing driving mechanism and swung, and is added to change and smear disc mechanism with generation
The contact position of work plane makes trowelling machine execute advance or back operation by frictional force.
Technical solution of the present invention is sitting on trowelling machine without operator and manipulates the mobile operation for smearing disk machine, reduces
Weight when trowelling machine integrally uses carries out ground so that trowelling machine can be adapted for the floating work after processing initial set
It smoothes out, receive face, prevent concrete cracking.Simultaneously as eliminating the seating space and operating space of operator, can also fit
When the volume for reducing trowelling machine, so that trowelling machine is adapted to more workplaces.Due to the operation side using remote controler
Formula can also reduce manpower consuming.
In a possible example, the operational order that user sends is right lateral instruction, and trowelling machine receives remote controler hair
After the right lateral control signal sent, two swing driving mechanism movements are controlled respectively to execute right lateral control.Right lateral controls signal control
That makes a swing driving mechanism driving left side smears 20 longitudinal oscillation of disc mechanism to the state that the front is high and the back is low, and right lateral controls signal control
That makes another swing driving mechanism driving the right smears 20 longitudinal oscillation of disc mechanism to low early and high after state.When in use, right
Remote controler issues right lateral instruction, and remote controler can receive right lateral instruction, and then issue right lateral and control signal, so that disk is smeared on the left side
The disc mechanism 20 of smearing on 20 longitudinal oscillation of mechanism to the state that the front is high and the back is low, the right is swung laterally to low early and high after state, the left side
Smear 20 rear side frictional force of disc mechanism increase, the right smear 20 front side frictional force of disc mechanism increase, all to the right, two are smeared driving force
The resultant force driving trowelling machine of disc mechanism 20 moves right.
In a possible example, the operational order that user sends is left lateral instruction, and trowelling machine receives remote controler hair
The left lateral control signal sent controls two wobble drive machine movements respectively to execute left lateral control.Left lateral controls signal control one
20 longitudinal oscillation of disc mechanism is smeared to low early and high after state in a swing driving mechanism driving left side, and it is another that left lateral controls signal control
The disc mechanism 20 of smearing on one swing driving mechanism driving the right is swung laterally to the state that the front is high and the back is low.When in use, to remote control
Device issues left lateral instruction, and remote controler can receive left lateral instruction, and then issue left lateral and control signal, so that disc mechanism is smeared on the left side
20 are rocked to low early and high after state, the disc mechanism 20 of smearing on the right is rocked to the state that the front is high and the back is low, and disc mechanism 20 is smeared on the left side
Front side frictional force increases, and the increase of 20 rear side frictional force of disc mechanism is smeared on the right, and all to the left, two are smeared the conjunction of disc mechanism 20 to driving force
Power drive trowelling machine moves downward.
To sum up, when executing right lateral instruction or left lateral instructs, the second wobble drive clamp mechanism of two swing driving mechanisms
It respectively drives two floating mechanisms 20 to swing in opposite direction in a second direction, controls two respectively by swing driving mechanism
It smoothes out mechanism to swing, to change the working face for smearing disc mechanism and the contact position for processing plane, that is, changes and smear disc mechanism
Angle between working face and plane to be processed makes trowelling machine execute right lateral or left lateral operation by frictional force.Art technology
Personnel should know, when the direction of rotation for smearing disc mechanism changes, when carrying out right lateral or left lateral controls, and two wobble drives
The specific swaying direction in a second direction of the sub- driving mechanism of the second of mechanism may change.
In a possible example, the operational order that user sends is row instruction of turning right, and trowelling machine receives remote controler
The right-hand rotation of transmission controls signal, controls two wobble drive machine movements respectively to execute right-hand rotation control.Control signal of turning right controls
The state for smearing the horizontal swing of disc mechanism 20 to right low left high on one swing driving mechanism driving left side, control signal control of turning right
The state for smearing the horizontal swing of disc mechanism 20 to right low left high on another swing driving mechanism driving the right.When in use, to distant
It controls device and issues instruction of turning right, remote controler can receive right-hand rotation instruction, and then issue control signal of turning right, so that disk machine is smeared on the left side
The increasing of 20 right side frictional force of disc mechanism is smeared on the state for smearing the horizontal swing of disc mechanism 20 to right low left high of structure 20 and the right, the left side
Greatly, driving force is upward, and the increase of 20 right side frictional force of disc mechanism is smeared on the right, and driving force is downward, and generation makes trowelling machine up time to the right
The torque of needle rotation, drives trowelling machine right turn movements.
In a possible example, the operational order that user sends is row instruction of turning left, and trowelling machine receives remote controler
The left-hand rotation of transmission controls signal, controls two wobble drive machine movements respectively to execute left-hand rotation control.The control signal that turns left controls
The state for smearing the horizontal swing of disc mechanism 20 to left low and right high on one swing driving mechanism driving left side, control signal control of turning left
The state for smearing the horizontal swing of disc mechanism 20 to left low and right high on another swing driving mechanism driving the right.When in use, to distant
It controls device and issues instruction, remote controler can receive left-hand rotation instruction, and then issue control signal, so that disk machine is smeared on the left side
The increasing of 20 left side frictional force of disc mechanism is smeared on the state for smearing the horizontal swing of disc mechanism 20 to left low and right high of structure 20 and the right, the left side
Greatly, driving force is downward, and the increase of 20 left side frictional force of disc mechanism is smeared on the right, and driving force is upward, and generation makes trowelling machine inverse time to the left
The torque of needle rotation, drives trowelling machine counterclockwise motion.
To sum up, when executing right-hand rotation instruction or turning left instruction, first pendulum of at least one of two swing driving mechanisms
The dynamic corresponding mechanism 20 that smoothes out of driving clamp mechanism driving is swung in said first direction, to change the working face for smearing disc mechanism
With the contact position of generation processing plane, that is, changes the angle smeared between the working face of disc mechanism and plane to be processed, make trowelling machine
Operation of turning right or turn left is executed by frictional force.Those skilled in the art should know, when the direction of rotation for smearing disc mechanism changes
When change, when being turned right or turning left to control, the first driving clamp mechanism of two swing driving mechanisms it is upward first
Specific swaying direction may change.
It should also be noted that, in the inventive solutions, two of opposite direction rotating smear disk machine in above-described embodiment
Structure 20 refers to that the disc mechanism 20 of smearing on the left side rotates clockwise, and the disc mechanism 20 of smearing on the right rotates counterclockwise.On being equal to
A kind of embodiment for stating embodiment can also allow the disc mechanism 20 of smearing on the left side to rotate counterclockwise, and disc mechanism 20 is smeared on the right
Rotate clockwise, the embodiment just correspond to be above-mentioned embodiment back to front, by taking attached drawing 4 as an example, the embodiment party
The advance control mode of formula is then the retrogressing control mode of embodiment in Fig. 4, and the retrogressing control mode in the embodiment is then
It is the advance control mode in Fig. 4 in embodiment, the right-hand rotation control mode in the embodiment is then in Fig. 4 in embodiment
Left-hand rotation control mode, right-hand rotation control mode in the embodiment then left-hand rotation control mode in Fig. 4 in embodiment.The implementation
Mode is also contained within protection scope of the present invention.
More preferably, trowelling machine further includes rotary drive mechanism 60, and rotary drive mechanism 60 drives two and smears disc mechanism
20 opposite direction rotatings, control method further include: signal is established with trowelling machine by remote controler and is connect；Remote controler receives speed-regulating instruction,
Remote controler issues speed regulating control signal, drives two in response to speed regulating control signal control rotary drive mechanism 60 and smears disc mechanism 20
Revolving speed.When in use, speed-regulating instruction is issued to remote controler, allows the revolving speed of remote control control rotary drive mechanism 60, realized pair
Smear the adjustment of 20 revolving speed of disc mechanism.
As an alternative embodiment, remote controler passes through wire communication and swing driving mechanism and rotary drive mechanism
60 establish signal connection.In this embodiment, remote controler and swing driving mechanism and rotation can be established by the way of wiring
Turn the signal connection of driving mechanism 60.
As another optional embodiment, remote controler can also by wireless communication with swing driving mechanism and rotation
Driving mechanism 60 establishes signal connection.In this embodiment, can wirelessly be connected using bluetooth, zigbee, wifi, infrared ray etc.
The mode of connecing is established remote controler and is connect with the signal of swing driving mechanism and rotary drive mechanism 60.
Other than above-mentioned trowelling machine, it is two other that the control method of trowelling machine of the invention can also be used to control
Smearing disc mechanism 20 can be by automatically controlled mode come the trowelling machine of angular adjustment.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, any occurrence should be construed as merely illustratively, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is limiting the scope of the invention；The noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of control method of trowelling machine, the trowelling machine includes capableing of two of opposite direction rotating to smear disc mechanism and drive respectively
Each two swing driving mechanism swung in multiple freedom degrees of disc mechanism are smeared described in two dynamic, which is characterized in that described
Control method includes:
In response to the operating control signal of the trowelling machine received, at least one of disc mechanism is smeared described in driving and is revolved
Turn, and drive two swing driving mechanisms at least one swung, with change described in smear at least one of disc mechanism with
Angle between plane to be processed, to control the trowelling machine movement.
2. the control method of trowelling machine according to claim 1, it is characterised in that: the multiple freedom degree is two freedom
Degree, each swing driving mechanism include the first wobble drive clamp mechanism and the second wobble drive clamp mechanism, and described first swings
Disc mechanism is smeared described in driving clamp mechanism control to swing in a first direction, smears disc mechanism described in the second libron mechanism controls
It swings in a second direction.
3. the control method of trowelling machine according to claim 2, the operating control signal include advance control signal or
Person retreats control signal, controls signal in response to the advance or the retrogressing controls signal, described two wobble drive machines
First wobble drive clamp mechanism of structure respectively drives described two floating mechanisms and swings in opposite direction in said first direction.
4. the control method of trowelling machine according to claim 2, the operating control signal include left lateral control signal or
Person's right lateral controls signal, controls signal in response to the left lateral or the right lateral controls signal, described two wobble drive machines
Second wobble drive clamp mechanism of structure respectively drives described two floating mechanisms and swings in opposite direction in this second direction.
5. the control method of trowelling machine according to claim 2, the operating control signal include turn left control signal or
Person, which turns right, controls signal, controls signal in response to the left-hand rotation or the right-hand rotation controls signal, described two wobble drive machines
The first wobble drive clamp mechanism of at least one of structure drives the floating mechanism to swing in said first direction.
6. the control method of trowelling machine according to claim 1, which is characterized in that the trowelling machine further includes rotation driving
Disc mechanism opposite direction rotating, the control method further include: in response to connecing are smeared described in described rotary drive mechanism driving two by mechanism
Receive speed regulating control signal, the rotary drive mechanism can adjust two described in smear the revolving speed of disc mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910434236.9A CN110158964B (en) | 2019-05-23 | 2019-05-23 | Trowelling machine control method |
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| CN201910434236.9A CN110158964B (en) | 2019-05-23 | 2019-05-23 | Trowelling machine control method |
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| CN110158964A true CN110158964A (en) | 2019-08-23 |
| CN110158964B CN110158964B (en) | 2022-01-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110821121A (en) * | 2019-11-19 | 2020-02-21 | 广东博智林机器人有限公司 | Concrete floor leveling device |
| CN113530177A (en) * | 2021-07-14 | 2021-10-22 | 苏州方石科技有限公司 | Floor finishing robot and control method thereof |
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| JP2018012943A (en) * | 2016-07-20 | 2018-01-25 | 大成建設株式会社 | Floor finishing robot |
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| CN203308063U (en) * | 2013-06-18 | 2013-11-27 | 济南蓝海传动机械有限公司 | Automatic wall trowelling machine with automatic scraper angle adjusting function |
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| CN113530177B (en) * | 2021-07-14 | 2022-08-19 | 苏州方石科技有限公司 | Ground surface finishing robot and control method thereof |
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|---|---|
| CN110158964B (en) | 2022-01-07 |
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