Title Page
Abstract
Contents
I. Introduction 17
1.1. Research background and significance 17
1.2. Research status of construction robots 19
1.2.1. Research status of wall construction robot 20
1.2.2. Research status of decoration building robots 23
1.2.3. Research status of maintenance building robots 25
1.2.4. Research status of rescue building robots 27
1.2.5. Research status of 3D printing construction robot 29
1.2.6. Research status of construction robots in China 31
1.3. Research status of cement troweling device 34
1.4. Main research contents 37
II. Mechanical structure design of remote control cement troweling device 39
2.1. Overall design scheme 39
2.1.1. Functional requirements analysis 39
2.1.2. Preliminary scheme determination 40
2.1.3. Preliminary verification of motion principle 42
2.1.4. Determination of functional parameters 43
2.2. Mechanical structure design and calculation 44
2.2.1. Overall frame structure design 44
2.2.2. Drive source selection 45
2.2.3. Structural design and calculation of transmission shaft 49
2.2.4. Structural design of bearing housing 51
2.2.5. Design of rotating blades 52
2.3. 3D solid model design 52
2.3.1. Introduction to SoildWorks 3D modeling software 52
2.3.2. 3D solid modeling 53
2.4. Control system design 54
2.4.1. Single chip microcomputer selection 54
2.4.2. Hardware selection 55
2.4.3. Software design 58
2.5. Conclusion of this chapter 60
III. Statics and kinematics analysis of remote control cement trowel 62
3.1. Introduction of finite element method and simulation software 62
3.1.1. Introduction to finite element method 62
3.1.2. Introduction to ANSYS/Workbench 64
3.1.3. Introduction to Matlab/Simulink motion simulation software 66
3.2. Establishment of finite element model of remote cement troweling device 68
3.2.1. Solid model import and simplification 68
3.2.2. Unit definition and material properties 70
3.2.3. Contact surface definition and mesh generation 72
3.2.4. Constraint condition 74
3.3. Static analysis of cement trowel 75
3.3.1. Theoretical basis of statics of cement trowel 75
3.3.2. Static simulation analysis of cement trowel 77
3.4. Kinematic theory analysis of remote control cement troweling device 85
3.4.1. Assumptions for establishing kinematic equations 85
3.4.2. Theoretical analysis of forward translational motion 86
3.4.3. Theoretical analysis of rotational motion 93
3.4.4. Motion control feedback 98
3.5. Kinematic simulation analysis of remote control cement troweling device 99
3.5.1. Simulation analysis of forward translation motion 99
3.5.2. Simulation analysis of rotating motion 103
3.6. Conclusion of this chapter 107
IV. Vibration analysis of remote control cement troweling device 110
4.1. Characteristics and test methods of mechanical vibration system 110
4.1.1. Mechanical vibration system and its characteristics 110
4.1.2. Strategies and methods to solve adverse mechanical vibration 113
4.1.3. Testing principle of mechanical vibration system 114
4.2. Establishment of vibration system model of remote control cement troweling device 115
4.2.1. Introduction to modal analysis 115
4.2.2. Theoretical basis of modal analysis 116
4.2.3. Vibration system model of remote cement trowel 117
4.3. Vibration modal analysis of remote control cement troweling device 118
4.4. Analysis of vibration results of remote control cement troweling device 122
4.5. Conclusion of this chapter 125
V. Development and performance test of remote control cement troweling device prototype 127
5.1. Development of prototype 127
5.1.1. Processing of prototype parts and assembly of mechanical structure 127
5.1.2. Connection of prototype control system 129
5.2. Commissioning of prototype 130
5.3. Motion performance test of prototype 135
5.3.1. Motion performance test experiment 135
5.3.2. Analysis of motion performance test data 137
5.4. Vibration performance test of prototype 139
5.4.1. Experimental scheme of vibration test 139
5.4.2. Analysis of vibration acceleration 144
5.4.3. Analysis of the influence of rotating speed on vibration 146
5.5. Conclusion of this chapter 147
VI. Conclusion and Prospect 148
6.1. Conclusion 148
6.2. Prospect 151
Reference 153
국문초록 159
〈Table 2-1〉 Functional parameters of remote cement troweling device 43
〈Table 2-2〉 Main performance parameters of spindle rotating motor 47
〈Table 2-3〉 Measured data of pulling blade connecting block 47
〈Table 2-4〉 Main performance parameters of swing motor 48
〈Table 2-5〉 Main technical parameters of 6006LLU deep groove ball bearing 50
〈Table 3-1〉 Materials and material characteristics of main parts of remote control cement troweling device 72
〈Table 3-2〉 Parameters required for forward translational motion 101
〈Table 3-3〉 Parameters required for rotary motion 105
〈Table 4-1〉 First 6 natural frequencies and vibration quantities of the overall structure 119
〈Table 5-1〉 Exercise experiment parameters 136
〈Table 5-2〉 Time and average value when passing through different intervals 137
〈Figure 1-1〉 Total output value and growth rate of China's construction industry from 2012 to 2021 18
〈Figure 1-2〉 Growth of employees in the construction industry from 2012 to 2021 18
〈Figure 1-3〉 Suspended wall construction robot 21
〈Figure 1-4〉 Hadrian X-type wall construction robot 22
〈Figure 1-5〉 RoboTab-2000 gypsum board installation robot 24
〈Figure 1-6〉 Exterior wall automatic painting robot 25
〈Figure 1-7〉 Reconfigurable modular exterior wall cleaning robot 26
〈Figure 1-8〉 Rise-Rover robot 27
〈Figure 1-9〉 Kenaf crawler robot (left),Quince crawler robot (right) 28
〈Figure 1-10〉 Capo rescue building robot 29
〈Figure 1-11〉 DCP 3D printing construction robot 30
〈Figure 1-12〉 3D printing AI robot 31
〈Figure 1-13〉 High building curtain wall cleaning robot 32
〈Figure 1-14〉 Indoor panel installation robot 33
〈Figure 1-15〉 Automatic tiling robot 34
〈Figure 1-16〉 Hand held cement trowel 35
〈Figure 1-17〉 Driving cement trowel 36
〈Figure 1-18〉 Overall frame structure of this paper 37
〈Figure 2-1〉 Hinge connected cement trowel 42
〈Figure 2-2〉 Schematic diagram of two symmetrical blade devices 44
〈Figure 2-3〉 Stress diagram of wiping disc micro unit 45
〈Figure 2-4〉 Bearing housing model 51
〈Figure 2-5〉 Blade model diagram 52
〈Figure 2-6〉 Three dimensional model of remote control cement trowel 53
〈Figure 2-7〉 Schematic diagram of preliminary hardware connection of remote control handle 56
〈Figure 2-8〉 Schematic diagram of preliminary hardware connection of main equipment 56
〈Figure 2-9〉 Schematic diagram of APC220 wireless communication interface 57
〈Figure 2-10〉 Schematic diagram of L3G4200D gyroscope 58
〈Figure 2-11〉 System work flow chart 59
〈Figure 3-1〉 Flow chart of finite element analysis 63
〈Figure 3-2〉 Flow chart of ANSYS/Workbench software analysis 70
〈Figure 3-3〉 Required geometric description of grid elements 71
〈Figure 3-4〉 Partial contact pairs of assembly 73
〈Figure 3-5〉 Model after grid division 74
〈Figure 3-6〉 Schematic diagram of adding constraints 74
〈Figure 3-7〉 Overall stress nephogram 77
〈Figure 3-8〉 Stress nephogram of main shaft 78
〈Figure 3-9〉 Stress nephogram of bearing housing 78
〈Figure 3-10〉 Stress nephogram of support shaft 79
〈Figure 3-11〉 Overall strain nephogram 81
〈Figure 3-12〉 Strain nephogram of main shaft 81
〈Figure 3-13〉 Strain nephogram of bearing housing 82
〈Figure 3-14〉 Strain nephogram of support shaft 82
〈Figure 3-15〉 Stress nephogram of blade 83
〈Figure 3-16〉 Strain nephogram of blade 84
〈Figure 3-17〉 Schematic diagram of forward movement of left half structure 87
〈Figure 3-18〉 Schematic diagram of blade contact with road surface 87
〈Figure 3-19〉 Exploded view of speed at point A 88
〈Figure 3-20〉 Relationship between point A speed and point A tangential speed 90
〈Figure 3-21〉 Tilt diagram of rotating blade device 93
〈Figure 3-22〉 Exploded view of point B speed during rotation 94
〈Figure 3-23〉 Movement diagram of cement troweling device 98
〈Figure 3-24〉 Motion control feedback diagram of cement troweling device 99
〈Figure 3-25〉 Schematic diagram of forward motion simulation modeling 100
〈Figure 3-26〉 Relationship between displacement and time 102
〈Figure 3-27〉 Relationship between speed and time 102
〈Figure 3-28〉 Relationship between acceleration and time 103
〈Figure 3-29〉 Schematic diagram of rotational motion simulation modeling 104
〈Figure 3-30〉 Relationship between angle and time 106
〈Figure 3-31〉 Relationship between angular velocity and time 106
〈Figure 3-32〉 Relationship between angular acceleration and time 107
〈Figure 4-1〉 Block diagram of vibration system 111
〈Figure 4-2〉 Vibration mode diagram of the first six modes of the overall structure 122
〈Figure 5-1〉 Physical drawing of prototype 129
〈Figure 5-2〉 ALSROBOT voltage monitoring module 131
〈Figure 5-3〉 AV-166-1C25C limit switch 132
〈Figure 5-4〉 LM2596HVS DC-DC step-down module 133
〈Figure 5-5〉 Control system of remote control cement troweling device 134
〈Figure 5-6〉 Real picture and simulation diagram of the experimental site 136
〈Figure 5-7〉 Experimental data diagram of motion test 138
〈Figure 5-8〉 DT-178A vibration measuring instrument 140
〈Figure 5-9〉 Schematic diagram of installation position of vibration tester 141
〈Figure 5-10〉 Vibration signal diagram of point B at the end of swing motor 142
〈Figure 5-11〉 Vibration signal diagram of point E in the center of the device 144
〈Figure 5-12〉 Variation curve of vibration at five points with speed 146