抹灰机器人顶部和底部阴角工艺数字化研究

Research on Parametric Process of Top and Bottom Inner Corners of Plastering Robot

本文针对砂浆流动度、抹灰厚度、执行机构存料高度、挤压后退距离、振动形式等影响因素,对顶、底部阴角压力及抹灰面到底状态进行试验。试验结果表明,顶部阴角工艺产生压力与砂浆流动度、抹灰厚度成反比,与液面高度成正比,且振动对翻压力有降低作用;底部阴角抹灰面到底时底部振动时间与砂浆流动度、后退距离成反比。上述参数能为抹灰机器人机械结构设计及运动控制方式提供指导,同时为其规模化推广提供依据。

This paper conducts experiments on the top and bottom inner corner pressures and the bottom state of the plastering surface based on factors such as mortar consistency,plastering thickness,level height material storage,backward distance and vibration form.The test results show that the pressure generated by the top inner corner is inversely proportional to the mortar consistency and plastering thickness,and proportional to the level height of material storage.Vibration can reduce the pressure generated by the top inner corner,and the bottom vibration time is inversely proportional to the mortar consistency and back distance when the motar reaches the bottom.These parameters provide guidance for robot mechanical structure design and motion control mode,then provide the groundwork for the large-scale replication and promotion of robots.