砼浇筑阶段地面找平施工的机器人或自动化机械产品开发与市场应用尚属于探索阶段，传统做法人力投入量大，需要工人长时间俯身或蹲伏完成测量与刮抹找平作业，500 m2面积找平施工，需要工人持续工作20 h以上，劳动强度大，经验依赖性强，施工质量合格率低，后期大量打磨修补，达到质量验收要求，企业经济效益差，工人流动频繁。为了实现建筑工业化目标，加快建筑机器人研发与应用，推广绿色建造方式，本论文面向砼浇筑阶段地面找平工艺与质量要求，开展地面找平机器人产品开发与应用研究，主要内容如下：（1）通过研究国内外相关技术现状、传统找平工艺、现有机械设备不足，确定自动找平机器人功能需求与开发目标，提出5种实现地面找平的机器人方案，运用层次分析法进行综合评价研究，选择最优机器人方案。（2）开展地面找平机器人产品开发设计，包括全向移动底盘、双自由度伺服找平机构、抗俯仰倾角调节机构以及自适应平面振捣收面机构等功能模块；根据机器人结构方案与功能需求，完成机器人电控硬件选型与控制功能实现设计。（3）结合机器人设计方案，进行全向底盘运动学、环境通过性以及多姿态找平运动理论分析；搭建实验测试平台，验证底盘环境通过能力，并进行找平机构调平精度测试、机器人空载运动与带载运动测试。（4）选定凤凰台国家首批智能建造试点项目，砼浇筑阶段进行机器人地面找平施工应用，验证机器人产品开发设计的方案合理性；结合砼浇筑工艺，进行多机协同施工穿插工程应用，对比分析机器人与传统施工在相同户型环境下的数据结果，验证工地环境使用机器人相对传统模式的技术优越性。本文通过上述研究，完成了地面找平机器人产品开发与工程应用研究，首次将建筑机器人应用于砼浇筑阶段地面找平作业，填补了行业空白。找平施工后的混凝土地面，满足3 mm/2 m平整度与5 mm水平度的质量要求，机器人作业效率、覆盖率、环境通过性均达到了设计要求。机器人多机协同穿插作业，免除了室内装修前需要人工二次找平的施工工序，在降本增效，提高施工质量，减少碳排放与环境污染，避免材料浪费等方面，体现了机器人的优越性；为传统建筑业转型升级、技术革新、提升工程质量与企业综合效益、推动建筑工业化体系快速发展、实现绿色智能建造和节能减排等方面，提供了产品解决方案与实验依据。
The development and market application of robots or automated machinery produ- cts for ground leveling construction during the concrete pouring stage is still in the exploratory stage. Traditional methods require a large amount of manpower and require workers to bend down or squat for a long time to complete measurement and scraping leveling operations, with a length of 500 square meters Area leveling construction requires workers to work continuously for more than 20 hours, with high labor intensity and strong dependence on experience. The construction quality qualification rate is low, and a large amount of polishing and repair is carried out in the later stage to meet the quality acceptance requirements. The economic benefits of the enterprise are poor, and workers flow frequently. In order to achieve the goal of building industrialization, accel- erate the research and application of construction robots, and promote green constru- ction methods, this paper focuses on the ground screeding process and quality require- ments during the concrete pouring stage, and conducts research on the development and application of ground leveling robot products. The main content is as follows:(1)By studying the current status of relevant technologies at home and abroad, traditional leveling processes, and the shortcomings of existing mechanical equipment, the functional requirements and development goals of automatic leveling robots are determined. Five robot solutions for achieving ground leveling are proposed, and the Analytic Hierarchy Process is used for comprehensive evaluation and research to select the optimal robot solution.(2)Carry out the development and design of ground screeding robot products, including functional modules such as omnidirectional mobile chassis, dual degree of freedom servo leveling mechanism, anti pitch angle adjustment mechanism, and adaptive planar vibration surface receiving mechanism; Based on the structural scheme and functional requirements of the robot, complete the selection of robot electrical control hardware and the design of control function implementation.(3)Conduct theoretical analysis on omnidirectional chassis kinematics, environ- mental passability, and multi pose leveling motion based on robot design schemes; Build an experimental testing platform to verify the ability of the chassis environment to pass through, and conduct leveling accuracy tests on the screeding mechanism, as well as tests on the robot‘s unloaded and loaded movements.(4)Select the first batch of national intelligent construction pilot projects for Feng- huangtai, and apply robot ground screeding construction during the concrete pouring stage to verify the rationality of the robot product development and design plan; Comb- ining with concrete pouring technology, the application of multi machine collaborative construction interspersed engineering is carried out, and the data results of robots and traditional construction in the same indoor environment are compared and analyzed to verify the technical superiority of using robots in the construction site environment compared to traditional modes.Through the above research, this article has completed the development and engin- eering application research of ground screeding robots. For the first time, construction robots have been applied to ground screeding operations during the concrete pouring stage, filling the industry gap. The concrete ground after screeding construction meets the quality requirements of 3mm per 2m flatness and 5mm levelness, and the robot operation efficiency, coverage, and environmental passability all meet the design requirements. Robots work collaboratively with multiple machines, eliminating the need for manual secondary leveling before indoor decoration. This demonstrates the superi- ority of robots in reducing costs, increasing efficiency, improving construction quality, reducing carbon emissions and environmental pollution, and avoiding material waste; We provide product solutions and experimental evidence for the transformation and upgrading of the traditional construction industry, technological innovation, impro- vement of engineering quality and enterprise comprehensive efficiency, promotion of rapid development of the construction industrialization system, realization of green intelligent construction and energy conservation and emission reduction.
