Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a high-precision epoxy terrace paving platform which is reasonable in design, safe, reliable and self-adaptively adjusted, and aims to solve the problems of low paving efficiency, poor precision and easiness in damaging paved ground of the traditional epoxy terrace.
The technical scheme adopted by the invention for solving the technical problems is that the self-adaptive adjustment high-precision epoxy terrace laying platform comprises:
The mobile frame is used for bearing each platform mechanism and moving;
The preliminary paving assembly is arranged in the middle area of the movable frame and is used for preliminarily paving the epoxy resin material on the ground to be constructed;
The travelling mechanism comprises travelling modules which are respectively positioned at two sides of the rear end of the movable frame and used for driving the movable frame to move, and the travelling modules are positioned between the preliminary paving mechanism and the auxiliary trowelling mechanism;
the auxiliary trowelling mechanism is arranged at the rear end of the movable frame and matched with the preliminary trowelling mechanism to further improve the trowelling effect of the epoxy resin;
The auxiliary detection mechanism is arranged at the front end of the movable frame and is matched with the travelling module in a cooperative manner to drive the movable frame to move along a preset path, and meanwhile, the flatness of the area to be paved with the epoxy resin is detected in real time;
And the central control system is respectively connected with the auxiliary detection and driving assembly, the primary paving assembly, the advancing driving assembly and the leveling adjustment assembly in a circuit way, and the structure of the central control system forms a control center for controlling and adjusting the operation state of the platform.
Further preferably, the moving frame includes:
The preliminary paving component is arranged on the paving driving frame;
the two travelling driving frames are respectively arranged at two sides of the rear end of the spreading driving frame, and the travelling modules are arranged on the travelling driving frames;
And the trowelling support is positioned between the two travelling driving frames, and the auxiliary trowelling mechanism is arranged on the trowelling support.
Further preferably, the traveling mechanism includes:
The steering driving module is arranged on the traveling driving frame and connected with the traveling module at the corresponding side so as to realize single-side rotation, thereby expanding the steering capability of the paving platform;
the advancing base frame is connected with the steering driving module and used for bearing and transmitting the rotation output of the driving structure;
the driving base frame is arranged below the travelling base frame, and the travelling module is arranged on the driving base frame and used for supporting and executing the moving action of the platform;
And the damping regulation and control assembly is arranged between the travelling base frame and the driving base frame to form an elastic connection structure so as to relieve the vibration influence of the platform in the running process.
Further, the steering driving module includes:
The steering motor is fixedly arranged on the travelling driving frame and is used for providing steering power;
The steering speed reducer is connected with the output end of the steering motor and used for changing the rotating speed and increasing the torque;
one end of the steering output shaft is connected with the output end of the steering speed reducer, and the other end of the steering output shaft is fixedly connected with the travelling base frame;
and the steering angle detection assembly is arranged at the steering output shaft and is electrically connected with the central control system and used for detecting the rotation angle of the steering output shaft in real time.
Furthermore, the advancing base frame is designed as a frame type supporting structure, is fixedly connected with the steering output shaft, and is provided with a plurality of shock absorber mounting seats at the bottom;
The driving base frame comprises a connecting base frame which is in sliding connection with the advancing base frame, connecting fixing seats matched with the shock absorber mounting seats are correspondingly arranged on the connecting base frame, and advancing frames for placing advancing modules are arranged at two sides of the connecting base frame;
the damping regulation and control assembly comprises:
at least two air dampers or hydraulic dampers disposed between the connection base frame and the traveling base frame;
The air compressor or the hydraulic pump is arranged in the non-operation side area of the movable frame, is connected with the air damper or the hydraulic damper and is used for adjusting the air pressure or the hydraulic oil pressure in the damper according to the instruction of the central control system, so that the telescopic adjustment of the damper is realized;
and the vehicle body height sensors are respectively arranged at two sides of the travelling frame and are used for monitoring the real-time height change of the platform and transmitting the monitoring signals to the central control system.
Further, the module of marcing includes two sets of subassembly of marcing, and two sets of subassembly of marcing set up respectively on two drive frames of marcing, every group the subassembly of marcing includes at least two subassembly of marcing, the subassembly of marcing includes:
The travelling base plate is horizontally provided with travelling base grooves, two travelling staggered rail grooves are symmetrically formed in the travelling base plate, and the two travelling staggered rail grooves are respectively positioned at two sides of the travelling base groove;
the two staggered base stations are respectively positioned at two sides of the travelling base groove;
the two staggered driving seats are in sliding fit with the staggered base station, guide posts are arranged on the staggered driving seats, staggered guide wheels matched with the staggered rail grooves are arranged on the guide posts, and lifting bases are arranged on the guide posts;
the nailing stabilization unit is arranged on the lifting base and used for stabilizing the position of the platform on the surface of the paved epoxy resin when the platform runs;
and a transmission driving part which is arranged on the travelling base plate and is used as a power output part for driving the two staggered base stations to reciprocate and stagger.
Further, the staggered rail groove comprises a first rail groove horizontally arranged in the central area of the travelling base plate, two ends of the first rail groove are respectively connected with an inclined rail groove in an inclined mode, and a second rail groove arranged at the other end of the inclined rail groove and parallel to the first rail groove;
The distance between the first rail groove and the travelling base groove is larger than the distance between the second rail groove and the travelling base groove, so that layered dislocation movement path planning of the staggered base platform is realized;
The pinning stabilizing unit includes:
The stable connecting frame is connected with the lifting base and used for supporting and positioning the driving structure;
The nail-puncturing frame body is arranged on the stable support frame, a nail-puncturing driving sliding plate which is in sliding fit with the nail-puncturing frame body is arranged in the nail-puncturing driving sliding plate, and a plurality of positioning nails which are used for puncturing the paved epoxy resin ground to prevent the platform from deviating from the ground are arranged on the nail-puncturing driving sliding plate;
And the puncture driving part is arranged on the puncture frame body so as to realize the extension and retraction of the ground positioning puncture.
Further preferably, the spreading driving frame is in a frame structural design, a storage mounting frame is arranged on the spreading driving frame, a strickling supporting frame is arranged at the bottom of the spreading driving frame, and the preliminary spreading assembly comprises:
The storage unit is fixed on the storage mounting frame through bolts and is used for storing epoxy resin materials;
the material distribution output unit is arranged in the spreading driving frame through a material distribution bracket;
The first-step scraping unit is arranged on the scraping support frame and used for primarily paving the epoxy resin storage material on the terrace;
the trowelling support is in a portal frame structure, an auxiliary trowelling mechanism matched swing arm mounting seat is arranged at the bottom of the trowelling support, and the auxiliary trowelling mechanism comprises:
The swing arm assembly is arranged on the swing arm mounting seat, drives the other parts to swing smoothly around the trowelling support, and is provided with a trowelling reference frame at the tail end;
The trowelling base frame is in sliding fit with the trowelling reference frame, a height adjusting and controlling assembly matched with the trowelling reference frame is arranged on the trowelling base frame, a group of rough trowelling supports are arranged on the trowelling base frame, and a group of fine trowelling supports are arranged on the trowelling base frame;
The rough trowelling assembly is arranged on the rough trowelling bracket;
and the fine trowelling assembly is arranged on the fine trowelling bracket.
Further preferably, the auxiliary probing mechanism comprises:
The detection support is at least provided with two detection supports and is arranged on the movable frame;
The probing balance arm is fixedly connected with the probing support through a balance rotating shaft, and auxiliary wheels are arranged at two ends of the probing balance arm;
And the detection angle detection assembly is arranged on the detection support, matched with the balance rotating shaft and electrically connected with the central control system and used for detecting the rotating angle of the balance rotating shaft in real time so as to acquire the posture change information of the detection balance arm relative to the detection support.
Further preferably, the hub control system includes:
The central processing unit is used as a core processor of the system and is used for carrying out real-time processing and comprehensive decision on the received ground elevation data, platform pose data and state data of each mechanism from the auxiliary probing mechanism, the primary paving assembly and the auxiliary trowelling mechanism, and generating and outputting control instructions to each execution unit according to a preset algorithm and program;
The input/output interface module is electrically connected with the main control unit and is used for realizing data and instruction transmission between the main control unit and each external execution component, and the input/output interface module is used for configuring corresponding input/output ports according to different types of signals so as to ensure accurate receiving of the signals and reliable sending of the instructions;
The man-machine interaction interface module is electrically connected with the main control unit and is arranged in an operation area of the mobile frame and used for an operator to perform operations such as parameter setting, mode selection, state monitoring, fault diagnosis, emergency stopping and the like;
The data storage and communication module is electrically connected with the main control unit and is used for storing system operation logs, historical elevation data, construction parameters, fault records and maintenance information, and communicating with an external construction dispatching center, a monitoring terminal or an upper computer in a wired or wireless mode to realize remote task issuing, data uploading and platform state monitoring, remote diagnosis and program updating;
the power management module provides stable and reliable power for the central control system and each electronic component connected with the central control system;
And the emergency safety control module is electrically connected with the main control unit and is used for triggering shutdown protection, alarm or automatic switching to a standby control strategy when the sensor detects abnormality, gesture unbalance, driving component failure or abnormal material distribution, integrating functions of an emergency stop button, overload protection, short-circuit protection, electric leakage protection and the like so as to ensure the safety of operators and equipment.
The invention is provided with an auxiliary detection mechanism, can accurately detect the ground elevation data of the area to be constructed in real time, and transmits the data to the central control system. Through laser or ultrasonic sensor that the front end set up, this platform can carry out matrix, multi-angle, all-round accurate detection to the ground elevation of unpaved region. Simultaneously, the cooperation of the exploration balance arm and the exploration angle detection assembly acquires the attitude change of the platform relative to the ground in real time. The raw data are filtered, fitted and fused through the preprocessing module, so that the accuracy and reliability of the ground elevation information input into the central control system are ensured, and a foundation is laid for the follow-up accurate adjustment.
The material storage unit not only can store epoxy resin, but also can ensure that the material is in an optimal rheological state by the built-in heating interlayer and the stirring motor, and the continuity and safety of material supply are ensured by the liquid level meter and the breather valve. The screw distributor adopted by the distributing output unit has the screw pitch gradually increased by 10-15% from the middle to the two ends, so that the uniform distribution output of the epoxy resin material is ensured. The height adjusting part and the guide vane part are matched with the angle-adjustable grounding scraping edge of the scraping blade in the primary scraping unit and are formed by the electric linear actuator/hydraulic cylinder, so that the preliminary thin layer of epoxy resin is uniformly paved together, and the accumulation or the deficiency of local materials is avoided.
The invention is arranged at the rear end of the movable frame and is followed by preliminary paving by an auxiliary trowelling mechanism. The swing arm assembly drives the coarse trowelling assembly and the fine trowelling assembly to swing stably. The rough trowelling roller has a larger diameter and specific surface textures, is used for carrying out preliminary compaction and rough trowelling on the epoxy resin after preliminary paving, and the internal or external vibration module can eliminate bubbles and improve compactness through high-frequency vibration. The subsequent fine trowelling roller has a smaller diameter and a smooth non-adhesive surface for fine trowelling of the coarse trowelled epoxy resin, ensuring high flatness and finish of the final terrace. Meanwhile, the height regulating and controlling component can regulate the height of the trowelling roller according to the central control instruction, and the adaptation to the requirements of different thickness or flatness is realized.
The two groups of travelling components in the travelling module comprise the staggered base stations and the staggered driving seats, and the unique design of the travelling staggered rail grooves is matched, so that layered dislocation movement of the staggered base stations is realized, and stable travelling of the platform on complex terrains is ensured. The optional transmission driving part is matched with the reverse gear set, so that accurate synchronous driving is realized. In addition, the steering driving module can realize single-side rotation, greatly expands the steering capability of the laying platform, enables the laying platform to flexibly operate in narrow spaces or irregular areas, and enhances the field adaptability.
The air damper or the hydraulic damper is arranged between the traveling base frame and the driving base frame to form elastic connection. The central control system can adjust the air/hydraulic pressure in the shock absorber according to the real-time height change of the platform by matching with the air compressor/hydraulic pump and the vehicle body height sensor, so as to realize the telescopic adjustment of the shock absorber. The method can effectively relieve the vibration influence of the platform in the running process, ensure the stability of the paving process, and more importantly, dynamically adapt the platform to the fluctuation of the ground, ensure the continuity and stability of paving operation, and particularly has excellent performance in the construction of uneven ground.
The positioning puncture nails are arranged on the puncture nail driving sliding plate in the puncture nail frame body, and the positioning puncture nails can be stretched out and retracted by the instruction of the central control system through driving the hydraulic rod/the electric push rod or the pneumatic/hydraulic driving cavity. When the platform advances, the positioning spikes penetrate into the surface of the paved epoxy resin, so that the position of the platform is effectively stabilized, the platform is prevented from shifting, and the accuracy of a construction path and the uniformity of the edge of the terrace are ensured.
Drawings
FIG. 1 is a three-dimensional schematic view of an overall structure at a first viewing angle in accordance with the present invention;
FIG. 2 is a three-dimensional schematic view of the overall structure at a second view angle according to the present invention;
FIG. 3 is a schematic view of a part of the structure of the auxiliary trowelling mechanism of the present invention in three dimensions;
FIG. 4 is a three-dimensional schematic of a portion of the structure of the present invention;
FIG. 5 is an enlarged schematic view of the invention at A;
FIG. 6 is an enlarged schematic view of the invention at B;
FIG. 7 is a diagram showing the assembly of the moving carriage, the traveling mechanism and the auxiliary penetration mechanism according to the present invention;
FIG. 8 is a schematic view of a portion of the travel mechanism of the present invention;
FIG. 9 is an enlarged schematic view of the present invention at C;
FIG. 10 is a schematic view of a traveling module according to the present invention;
fig. 11 is an enlarged schematic view of the invention at D.
The reference sign is 100, the mobile frame; 110, paving a driving frame; 120, advancing a driving frame; 130, a leveling bracket, 200, a preliminary paving assembly, 210, a storage unit, 211, a storage tank, 212, a level gauge, 213, a breather valve, 220, a dispensing output unit, 221, a dispensing bracket, 222, a screw dispenser, 230, a preliminary leveling unit, 231, a leveling blade, 240, a height adjusting part, 250, a rotation adjusting part, 300, a traveling mechanism, 310, a steering driving module, 311, a steering motor, 312, a steering speed reducer, 313, a steering output shaft, 314, a steering angle detection assembly, 320, a traveling pedestal, 321, a damper mounting seat, 330, a driving pedestal, 331, a connecting pedestal, 332, a connecting pedestal, 333, a traveling frame, 340, a damping adjusting part, 341, a vehicle height sensor, 350, a traveling module, 351, a traveling substrate, 3511, a traveling base groove, 3512, a staggered rail groove, 352, a staggered pedestal, 353, a staggered driving seat, 3532, a staggered guide wheel, 35base, 354, a nail fixing unit, 3541, a steady frame, 312, a steering speed reducer, 313, a steering angle detection assembly, 314, a swing arm, a light bracket, a light fixture, a bracket, a seat, a base, a 35, a driving pedestal, a base, a bracket, a connecting pedestal, a 332, a connecting pedestal, a 332, a fixing arm, a fixing frame, a base, a base, a, laser/ultrasonic sensor.
Detailed Description
Referring to fig. 1 to 11, an adaptively adjusted high precision epoxy flooring platform, comprising:
a moving frame 100 for carrying each platform mechanism and moving;
The preliminary paving assembly 200 is arranged in the middle area of the mobile frame 100 and is used for preliminary paving the epoxy resin material on the ground to be constructed;
A traveling mechanism 300 including traveling modules 350 respectively located at both sides of the rear end of the moving frame 100 for driving the moving frame 100 to move, and the traveling modules 350 are located between the preliminary paving mechanism and the auxiliary trowelling mechanism 400;
the auxiliary trowelling mechanism 400 is arranged at the rear end of the mobile frame 100 and is matched with the preliminary trowelling mechanism to further improve the trowelling effect of the epoxy resin;
The auxiliary probing mechanism 500 is arranged at the front end of the mobile frame 100 and is cooperatively matched with the travelling module 350 to drive the mobile frame 100 to move along a preset path, and simultaneously, the flatness of the area to be paved with the epoxy resin is probed in real time;
and the central control system is respectively connected with the auxiliary detection and driving assembly, the primary paving assembly 200, the advancing driving assembly and the leveling adjustment assembly in a line way, and the central control system structurally forms a control center for controlling and adjusting the operation state of the platform.
Further preferably, the mobile frame 100 includes:
A paving drive frame 110, the preliminary paving assembly 200 being disposed on the paving drive frame 110;
The traveling driving frames 120 are two, the two traveling driving frames 120 are respectively arranged at two sides of the rear end of the paving driving frame 110, and the traveling modules 350 are arranged on the traveling driving frames 120;
and a trowelling support 130 disposed between the two traveling driving frames 120, and the auxiliary trowelling mechanism 400 is disposed on the trowelling support 130.
Further preferably, the traveling mechanism 300 includes:
The steering driving module 310 is installed on the traveling driving frame 120 and connected with the traveling module 350 on the corresponding side to realize a single-side rotation action, thereby expanding the steering capability of the paving platform;
A traveling base frame 320 connected to the steering driving module 310, for carrying and transmitting a rotational output of the driving structure;
A driving base frame 330 disposed under the traveling base frame 320, and the traveling module 350 is mounted on the driving base frame 330 to support and perform a moving motion of the platform;
And a damping control assembly 340 disposed between the traveling base frame 320 and the driving base frame 330 to form an elastic connection structure for relieving the shock effect of the platform during operation.
Further, the steering driving module 310 includes:
A steering motor 311 fixedly mounted on the traveling frame 120 and configured to provide steering power;
A steering decelerator 312 connected to the output end of the steering motor 311 for changing the rotation speed and increasing the torque;
A steering output shaft 313, one end of which is connected to the output end of the steering decelerator 312, and the other end of which is fixedly connected to the traveling base frame 320;
and a steering angle detection assembly 314 disposed at the steering output shaft 313 and electrically connected to the central control system, for detecting the rotation angle of the steering output shaft 313 in real time.
The steering reducer 312 adopts a worm gear or planetary gear reduction structure to reduce the rotation speed and improve the output torque, so as to ensure the stability of steering operation.
Preferably, the steering motor 311, the steering reducer 312 and the steering output shaft 313 form an integrated longitudinal arrangement structure, and are fixed to the supporting part of the traveling base frame 320 through a connecting flange, so that the overall structure is compact, the layout is stable, and the device is suitable for continuous control and fine adjustment operation of the steering state of the platform.
Further, the traveling base frame 320 is designed as a frame-type supporting structure, and is fixedly connected with the steering output shaft 313, and a plurality of shock absorber mounting seats 321 are arranged at the bottom thereof;
the driving base frame 330 includes a connection base frame 331 slidably connected with the traveling base frame 320, a connection fixing seat 332 corresponding to the shock absorber mounting seat 321 is provided on the connection base frame 331, and traveling frames 333 for placing the traveling modules 350 are provided on two sides of the connection base frame 331;
The damping control assembly 340 includes:
At least two air dampers or hydraulic dampers disposed between the connection base frame 331 and the traveling base frame 320;
an air compressor or hydraulic pump installed at a non-working side region of the moving frame 100, connected to the air damper or hydraulic damper, for adjusting air pressure or hydraulic oil pressure in the damper according to an instruction of the central control system, thereby implementing telescopic adjustment of the damper;
and vehicle body height sensors 341 respectively disposed on two sides of the traveling frame 333, for monitoring the real-time height variation of the platform and transmitting the monitoring signals to the central control system.
Further, the traveling module 350 includes two groups of traveling components, the two groups of traveling components are respectively disposed on the two traveling driving frames 120, each group of traveling components includes at least two traveling components, and the traveling components include:
the traveling base plate 351 is horizontally provided with a traveling base groove 3511, two traveling staggered rail grooves 3512 are symmetrically formed, and the two traveling staggered rail grooves 3512 are respectively positioned at two sides of the traveling base groove 3511;
two interleaving bases 352, the two interleaving bases 352 being located at both sides of the traveling base groove 3511, respectively;
Two staggered driving seats 353 which are in sliding fit with the staggered base station 352, wherein a guide pillar 3531 is arranged on the staggered driving seats, a staggered guide wheel 3532 which is matched with the staggered rail groove 3512 is arranged on the guide pillar 3531, and a lifting base 3533 is arranged on the guide pillar;
A pinning stabilizing unit 354 disposed on the lifting base 3533 for stabilizing a position thereof on a surface of the spread epoxy resin while the platform travels;
And a transmission driving member 355 provided on the traveling substrate 351 as a power output member for driving the two interlace base 352 to reciprocate and interlace.
Specifically, the traveling substrate 351 is disposed on the traveling frame 333.
Further, the staggered rail grooves 3512 comprise a first rail groove horizontally arranged in the central region of the traveling base plate 351, two ends of the first rail groove are respectively connected with an inclined rail groove in an inclined manner, and a second rail groove arranged at the other end of the inclined rail groove and parallel to the first rail groove;
Wherein the spacing between the first rail groove and the traveling base groove 3511 is greater than the spacing between the second rail groove and the traveling base groove 3511 to achieve a layered offset travel path planning for the staggered base 352;
the pinning stabilizing unit 354 includes:
A stable connecting frame 3541 connected with the lifting base 3533 and used for supporting and positioning the driving structure;
The stab nail frame 3542 is arranged on the stable support frame, a stab nail driving sliding plate which is in sliding fit with the stab nail frame 3542 is arranged in the stab nail frame, and a plurality of positioning stab nails which are used for penetrating the paved epoxy resin ground to prevent the platform from deviating from the ground are arranged on the stab nail driving sliding plate;
And a spike driving part 3543 provided on the spike frame 3542 to achieve extension and retraction of the ground positioning spike.
It is preferable to provide two structural designs of the spike driving member 3543, as follows:
firstly, a hydraulic rod or an electric push rod is driven, the telescopic end of the hydraulic rod or the electric push rod is connected with a spike driving slide plate, and the telescopic end is controlled by a central control system to stretch out and retract the ground positioning spike;
And secondly, a driving chamber which is arranged in the stab nail frame 3542 and matched with the driving sliding plate is communicated with an air compressor or a hydraulic pump of the shock absorption regulating and controlling assembly 340 through a hose, and the stab nail is driven by air pressure or hydraulic pressure to drive the sliding plate to slide, so that the stab-out action of the ground positioning stab nail is completed.
Further alternatively, it is preferable to provide two structural designs of the transmission driving part 355, specifically as follows:
In a first structure, the transmission driving component 355 includes a transmission chain or a transmission belt disposed on the traveling substrate 351, and a driving component for driving the chain or the belt to drive the interlacing base 352 to move, where the interlacing base 352 is fixedly connected with the transmission chain or the transmission belt;
In the second structure, the transmission driving component 355 includes two parallel moving screws, the staggered base 352 moves linearly through the moving screws, and the traveling substrate 351 is provided with a reverse gear set and a driving device for driving the reverse gear set to make the two moving screws realize a forward and a reverse rotation, so as to realize precise synchronous driving.
When the transmission driving component 355 adopts a transmission chain structure, the driving sprocket and the driven sprocket are installed in the installation groove of the traveling substrate 351 through bearing blocks, damping rubber pads are arranged at the bottoms of the bearing blocks and used for reducing vibration in the transmission process, a protection chain cover is arranged on the outer side of the transmission chain and fixedly connected with the traveling substrate 351, an observation window is formed in the protection chain cover and used for observing the running state of the chain, and the connection blocks are connected with the transmission chain through detachable buckles and are convenient to maintain and replace.
When the transmission driving component 355 adopts a movable screw rod structure, a limiting block is arranged on the outer side of a nut of the screw rod nut pair, a limiting groove is correspondingly arranged on the travelling base plate 351, the limiting block is matched with the limiting groove and used for limiting the moving stroke of the staggered base table 352, the surface of a bevel gear of the reverse gear set is subjected to carburizing and quenching treatment, the hardness of the tooth surface reaches HRC58-62 so as to improve the wear resistance and the transmission efficiency of the gear, and an elastic coupling is arranged between the stepping motor and the reverse gear set and used for compensating installation errors and buffering impact during starting and stopping.
Further alternatively, a protective housing for protection is provided outside the traveling substrate 351;
The travelling assembly further comprises two travelling moving rails 356, wherein the two travelling moving rails 356 are arranged in one-to-one correspondence with the staggered base stations 352 and are in sliding fit with the staggered base stations 352, the travelling moving rails 356 are provided with travelling racks, and travelling gear sets matched with the staggered base stations 352 are arranged on the staggered base stations 352.
Specifically, the protection shell is of a split type sheet metal structure and comprises an upper cover and a base, the upper cover is connected with the base through bolts, sound absorbing cotton is attached to the inner wall of the protection shell and used for reducing noise generated when the transmission driving component 355 operates, a radiating hole is formed in the top of the protection shell, a dust screen is installed at the radiating hole, a radiating fan is arranged in the protection shell and is electrically connected with the central control system, and the protection shell is automatically started and stopped according to the operating temperature of the transmission driving component 355.
Specifically, the travelling rail 356 is an i-shaped sliding rail, two side walls of the travelling rail 356 are provided with the moving racks, the bottom of the staggered base 352 is correspondingly provided with a groove in sliding fit with the travelling rail 356, a rolling sliding block is installed in the groove, the travelling gear set comprises a driving gear meshed with the moving racks, and a guiding gear coaxially arranged with the driving gear and meshed with the side walls of the travelling rail 356, and the guiding gear is used for assisting in limiting the moving direction of the staggered base 352 and ensuring stable sliding along the travelling rail 356.
Further preferably, the spreading driving frame 110 is in a frame structure, a storage mounting rack is arranged on the spreading driving frame 110, a scraping supporting frame is arranged at the bottom of the spreading driving frame 110, and the preliminary spreading assembly 200 comprises:
the storage unit 210 is fixed on the storage mounting frame through bolts and is used for storing epoxy resin materials;
A material distribution output unit 220 installed in the paving driving frame 110 through a material distribution bracket 221;
The first-step leveling unit 230 is arranged on the leveling support frame and used for primarily paving the epoxy resin storage material on the terrace;
The trowelling support 130 is arranged in a portal frame structure, and an auxiliary trowelling mechanism 400 is arranged at the bottom of the trowelling support 130, and is matched with a swing arm mounting seat, wherein the auxiliary trowelling mechanism 400 comprises:
The swing arm assembly 410 is arranged on the swing arm mounting seat, drives the rest parts to swing smoothly around the trowelling bracket 130, and is provided with a trowelling reference frame at the tail end;
A trowelling base frame 420 in sliding fit with the trowelling reference frame, a height adjusting and controlling assembly 423 matched with the trowelling reference frame is arranged on the trowelling base frame 420, a group of rough trowelling brackets 424 are arranged on the trowelling base frame 420, and a group of fine trowelling brackets 425 are arranged on the trowelling base frame 420;
a rough trowelling assembly 430 disposed on the rough trowelling stand 424;
And a finishing trowelling assembly 440 disposed on the finishing bracket 425.
Preferably, the storage unit 210 comprises a storage tank 211 of a cylindrical container with an opening at the top, wherein the storage tank is made of stainless steel, a heating interlayer is arranged on the inner wall of the storage tank, electric heating wires are uniformly wound in the interlayer, the heating power is 3-5kW, a stirring motor is arranged at the top of the container, an output shaft of the stirring motor vertically extends downwards to the inside of the container, a plurality of layers of paddles are fixed on the shaft and distributed in a spiral shape, the rotating speed range of the stirring motor is 20-50r/min, a discharge valve is arranged on the container, and the discharge valve is an electric butterfly valve and is electrically connected with a central control system and used for controlling the discharge of epoxy resin materials.
Preferably, the storage tank 211 may be provided with a level gauge 212 for monitoring the level of the epoxy resin material in the tank in real time and transmitting a level signal to the central control system so as to timely supplement the material and ensure continuity of construction. Meanwhile, the breather valve 213 is arranged at the top of the storage tank 211, so that excessive or too small pressure in the tank caused by temperature change or material inlet and outlet is prevented, and the safe operation of the storage tank 211 is ensured.
Preferably, the material distributing bracket 221 is in a cross structure, the material distributing output unit 220 comprises a spiral distributor 222 which is horizontally arranged, the shell of the spiral distributor 222 is in a U-shaped groove shape, an internal spiral shaft is driven by a variable frequency motor, the variable frequency motor is arranged on the material distributing bracket 221 and is connected with the spiral shaft through a coupler, and the pitch of the spiral shaft is gradually increased by 10-15% from the middle to two ends so as to realize uniform distribution of epoxy resin materials;
Preferably, the preliminary step leveling unit 230 includes a leveling blade 231 for primarily pushing the resin material after the dispensing and outputting into a thin layer, the leveling blade 231 is made of a flexible elastic alloy sheet, a grounding scraping edge with an adjustable angle is disposed at the front end, and a height adjusting member 240 is disposed on the leveling support frame, and the leveling blade 231 is fixed at the moving end of the height adjusting member 240 by a rotation adjusting member 250. The height adjusting component 240 is an electric linear actuator or a hydraulic cylinder and is arranged on the strickling support frame. The rotation control member 250 may be formed of a servo motor and a servo shaft.
Preferably, the material distributing support 221 is provided with a guide vane component, the structure of the guide vane component is identical to that of the first-step scraping unit 230, a plurality of guide grooves are formed in the guide vane of the guide vane component, and the guide vane is parallel to the scraping blade 231.
Further preferably, the swing arm assembly 410 comprises a swing arm 411, a swing arm driving part 412 and a control part, wherein one end of the swing arm 411 is provided with a swing arm rotating shaft, the swing arm rotating shaft is mounted to the swing arm mounting seat through a bearing sleeve, and the trowelling reference frame is arranged at the other end of the swing arm rotating shaft;
the trowelling base frame 420 comprises a trowelling sliding frame 421 which is in sliding fit with the trowelling standard frame, wherein a trowelling horizontal frame 422 is arranged on the trowelling sliding frame 421, the structure of the height regulating and controlling component 423 is consistent with that of the shock absorption regulating and controlling component 340, a group of rough trowelling brackets 424 comprises at least two rough trowelling brackets 424 arranged on the trowelling horizontal frame 422, a group of fine trowelling brackets 425 comprises at least two fine trowelling brackets 425 arranged on the trowelling horizontal frame 422, and the interval between the rough trowelling brackets 424 and the trowelling standard frame is smaller than the interval between the fine trowelling brackets 425 and the trowelling standard frame;
The rough trowelling assembly 430 comprises a rough trowelling roller 431 arranged on the rough trowelling bracket 424, wherein the rough trowelling roller 431 is arranged in a U-shaped groove of the rough trowelling bracket 424 through a bearing, and the rough trowelling roller 431 has a larger diameter and/or a specific surface texture and is used for preliminarily compacting and trowelling the preliminarily paved epoxy resin;
The fine trowelling assembly 440 includes a fine trowelling roller 441 disposed on the coarse trowelling stand 424, the fine trowelling roller 441 having a small diameter and/or a smooth surface for fine trowelling of the coarse trowelled epoxy, the trowelling roller surface preferably being of a non-adhesive material to prevent adhesion of the epoxy.
Preferably, a vibration module 432 is disposed inside or outside the rough trowelling drum 431, for eliminating bubbles on the surface of the epoxy resin and improving compactness by high-frequency vibration, and the vibration frequency and amplitude of the vibration module 432 are adjustable and electrically connected to the central control system.
Further preferably, the auxiliary probing mechanism 500 includes:
at least two penetrating brackets 510 are provided and are arranged on the movable frame 100;
the penetration balancing arm 520 is fixedly connected with the penetration bracket 510 through a balancing rotating shaft, and auxiliary wheels are arranged at two ends of the penetration balancing arm;
and a probing angle detecting assembly 530, disposed on the probing support 510, cooperating with the balancing shaft, and electrically connected to the central control system, for detecting the rotation angle of the balancing shaft in real time, so as to obtain the posture change information of the probing balancing arm 520 relative to the probing support 510.
Wherein the balance shaft is configured to allow the penetrating balance arm 520 to swing freely and to accommodate ground heave, and auxiliary wheels are provided at both ends thereof, the auxiliary wheels being for contacting the ground and moving up and down with the ground heave;
The central control system obtains the posture change information of the sounding balance arm 520 relative to the sounding support 510 through the sounding angle detection component 530, and calculates real-time ground elevation data according to the rotation angle data obtained by the sounding angle detection component 530 and by combining with a preset geometric model.
Further, the auxiliary probing mechanism 500 further includes:
a placement bracket 540 disposed at a front end of the traveling drive rack 120;
the plurality of laser/ultrasonic sensors 550 are arranged in a linear manner and fixedly mounted on the placement support 540 at the front end of the mobile frame 100, and are used for accurately detecting ground elevation data at different positions;
And a preprocessing module electrically connected with the plurality of laser or ultrasonic sensors, the central control system and the detection angle detection component 530, and configured to receive the elevation data, perform preprocessing operations such as filtering, fitting, and fusing, and transmit the processed ground elevation information to the central control system.
Preferably, the probing angle detecting assembly 530 includes an angle sensor and a signal amplifier, where the angle sensor is installed at a connection portion between the probing support 510 and the balancing shaft, and is used for monitoring a rotation angle of the balancing shaft in real time, and the signal amplifier is connected to the angle sensor and the central control system, and is used for amplifying and filtering an output signal of the sensor, so as to ensure that angle data transmitted to the central control system is accurate and reliable;
Preferably, the balance shaft is designed in a hollow structure, and a routing channel for arranging a signal transmission line is arranged in the balance shaft, and the routing channel is communicated with a line cavity in the probing support 510, so that the signal line of the probing angle detection assembly 530 is conveniently led into a central control system, and meanwhile, the line is prevented from being exposed and damaged by a construction environment;
Preferably, the plurality of laser or ultrasonic sensors are uniformly distributed in the transverse direction and the longitudinal direction of the placement bracket 540 to form a matrix detection layout, so that the ground elevation data of the area to be paved can be detected in a multi-angle and omnibearing manner, and the detection precision and reliability are improved;
Preferably, the preprocessing module comprises a data acquisition circuit, a microprocessor and a wireless communication module, wherein the data acquisition circuit is connected with the plurality of laser or ultrasonic sensors and is used for synchronously acquiring elevation data of the sensors and converting analog signals into digital signals, the microprocessor runs a preset data processing algorithm to carry out filtering, fitting and fusion processing on the acquired digital signals, abnormal data and noise interference are removed, key parameters such as an average elevation value and a ground flatness index are calculated, the wireless communication module is in wireless communication connection with the central control system, the processed ground elevation information is transmitted to the central control system in real time, and quick response and high-efficiency control are realized.
Further preferably, the hub control system includes:
The system comprises a central processing unit, a main control unit, a plurality of execution units and a control unit, wherein the central processing unit is used as a core processor of the system and is used for carrying out real-time processing and comprehensive decision on ground elevation data, platform pose data and state data of each mechanism received from the auxiliary probing mechanism 500, the steering angle detection assembly 314, the vehicle body height sensor 341, the preliminary paving assembly 200 and the auxiliary screeding mechanism 400 and generating and outputting control instructions to each execution unit according to a preset algorithm and a program, and the main control unit preferably adopts a high-performance industrial-level programmable logic controller or an embedded controller and has a plurality of paths of high-speed I/O interfaces and data processing capacity;
The auxiliary probing mechanism 500 comprises a preprocessing module, a probing angle detection assembly 530 and a laser or ultrasonic sensor, the primary paving assembly 200 comprises a liquid level sensor, an electric butterfly valve, a stirring motor and the like, and the auxiliary screeding mechanism 400 comprises a height regulating and controlling assembly 423, a swing arm driving part 412, a vibration module 432 and the like;
The input/output interface module, namely an I/O interface module, is electrically connected with the main control unit and is used for realizing data and instruction transmission between the main control unit and each external execution component, and the input/output interface module is used for configuring corresponding input/output ports according to different types of signals so as to ensure accurate receiving of the signals and reliable sending of the instructions;
Wherein the external execution components comprise steering motor 311, air compressor/hydraulic pump, motor in transmission driving component 355, spike driving component 3543, motor and valve in primary paving assembly 200, electric linear actuator and servo motor in auxiliary trowelling mechanism 400, and the like, and the different types of signals comprise analog quantity, digital quantity, pulse signal, and the like.
The man-machine interaction interface module is electrically connected with the main control unit, is arranged in an operation area of the mobile frame 100 and is used for an operator to perform operations such as parameter setting, mode selection, state monitoring, fault diagnosis, emergency stopping and the like, and comprises a high-resolution touch screen, function buttons and indicator lamps, and can display paving parameters, a ground profile map, a height change trend map, equipment running states, material allowance, working progress and abnormal alarm information in real time;
The data storage and communication module is electrically connected with the main control unit and is used for storing system operation logs, historical elevation data, construction parameters, fault records and maintenance information, and communicating with an external construction dispatching center, a monitoring terminal or an upper computer in a wired or wireless mode to realize remote task issuing, data uploading and platform state monitoring, remote diagnosis and program updating;
The power management module provides stable and reliable power for the central control system and each electronic component connected with the central control system, and the power management module comprises power filtering, voltage stabilizing and overload protection functions, so that the stable operation of the system under complex working conditions is ensured;
the emergency safety control module is electrically connected with the main control unit and is used for triggering shutdown protection, alarm or automatic switching to a standby control strategy when the sensor detects abnormality, posture unbalance, driving component failure or abnormal material distribution, and integrating the functions of an emergency stop button, overload protection, short circuit protection, electric leakage protection and the like so as to ensure the safety of operators and equipment;
in addition, the main control unit operates a set of adaptive control algorithm, and the algorithm dynamically adjusts the discharging rate of the primary paving assembly 200, the height and swing of the auxiliary trowelling mechanism 400, the speed and steering state of the travelling mechanism 300, the telescopic state of the damping regulation and control assembly 340 and the plugging frequency of the nailing stabilization unit 354 according to the detection data and the platform paving state acquired by the auxiliary detection mechanism 500, so that the uniformity and the accuracy of overall paving are improved, and the adjustment control of adaptive ground change is realized.
The technical features of the present invention that are not described in the present invention may be implemented by or using the prior art, and are not described in detail herein, but the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, but is also intended to be within the scope of the present invention by those skilled in the art.