| The construction industry is a typical labor-intensive industry,and ground operations,especially building interior floor leveling operations,are one of the most labor-intensive construction links.The ground leveling operation not only consumes a lot of labor,but also has certain requirements on the working skills of the workers.Ground Screeding Construction Robot(for short GSCR)is a special operation robot designed for building indoor ground leveling operations.The robot can partially or completely replace artificial ground leveling operations.This paper takes ground screeding construction robots as the research object,analyzes the research status and characteristics of automatic leveling methods and automatic leveling equipment at home and abroad,combining mechanical engineering,electronic and electrical engineering,rock and soil mechanics and discrete element theory,design a kind of architecture-oriented A new type of special construction robot for indoor floor leveling.Combined with the modular design method of the electromechanical system,the structure is designed,and the working principle and construction technology of the robot are analyzed.In terms of structure: This article analyzes various types of leveling structures and walking structures,and finally determines the overall plan of the screeding robot,which is divided into three levels: module,function and structure.The detailed selection and design of each structure were carried out in turn,and the 3D structure design was carried out using Inventor three-dimensional software.In terms of control system: this paper designs two systems,online debugging and offline control.The structure and function of the control module,debugging module,power module and safety module in the system are described and the hardware selection is performed.In terms of theoretical aspect: this article takes the concrete used in building ground leveling as the research object,introduces discrete element theory and EDEM simulation software to simulate the movement of concrete particles during the robot leveling process.The simulation first established the concrete simulation particle model and the contact model of the concrete particles.By importing the screeding structure and setting its motion parameters,a series of simulation experiments were carried out.Combining numerical processing and analysis methods,the concrete leveling quality is quantified into flatness and levelness for evaluation and analysis,and the feasibility of the designed screeding robot in concrete leveling operations is verified through simulation.Finally,a prototype of the ground screeding construction robot was made,and a concrete experimental platform under the experimental environment was established.Through a series of concrete experiments,the actual leveling effect of the screeding robot is verified,and the accuracy of the discrete element analysis results is also verified.This research provides a basis for further theoretical research and structural optimization of ground screeding robots. |
