CN110359688A - A kind of intelligent cement mortar levelling robot - Google Patents
A kind of intelligent cement mortar levelling robot Download PDFInfo
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- CN110359688A CN110359688A CN201910682955.2A CN201910682955A CN110359688A CN 110359688 A CN110359688 A CN 110359688A CN 201910682955 A CN201910682955 A CN 201910682955A CN 110359688 A CN110359688 A CN 110359688A
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- cement mortar
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- motor
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
- E04F21/245—Rotary power trowels, i.e. helicopter trowels
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Road Paving Machines (AREA)
Abstract
The invention discloses a kind of intelligent cement mortar levelling robots, belong to automatic machinery people's technical field.It includes: supporting element, control unit, driving unit, levelling unit and signal transmission unit, and signal transmission unit includes laser emitter and laser pickoff, and the laser pickoff is arranged in the mounting base.Bistrique is made rotating motion by rotary electric machine, plays the role of polishing to cement mortar, and the error that ground polishes is small, and flatness is high, is can simultaneously be effectively reduced manually, is reduced cost of labor, improve work efficiency.
Description
Technical field
The invention belongs to automatic machinery people's technical fields, more specifically to a kind of intelligent cement mortar levelling machine
Device people.
Background technique
In current indoor decoration, when being laid with floor tile, need to be laid with one layer of mortar on the ground poured, then by sand
It starches levelling, floor tile or ceramic tile is finally pasted on smooth mortar.In work progress, generally applied by bricklayer using hand-operated tools
Mortar on the ground, is then paved the mortar being stirred by work, construction worker using tools such as cleaver, spades.This sand
Starch the mode paved and operate cumbersome, the screed after laying is not smooth enough, and construction site due to mortar cause it is dirty and messy,
Working efficiency is low, and labor intensity of workers is big.
In order to solve the problem above-mentioned, through retrieving, Chinese Patent Application No. 201210082349.5, publication date: 2012 7
The moon 18, a kind of cement flattening system, including cement flattening machine are disclosed, feed opening and discharge port are equipped on cement flattening machine,
At discharge port rear, it is equipped with a spreading out device, the cement flattening system further includes prover, it is mutually separated with cement flattening machine,
Transmitting calibration optical signal；Receiving instrument is connected with cement flattening machine, receives the optical signal that prover is sent, judgement and prover
Whether vertically opposite height changes, and reads and exports change value；Controller is electrically connected with receiving instrument, input receiving instrument output
Change value is formulated and exports control instruction；Regulating device is connect with spreading out device by transmission device, receives the control of controller
System instruction adjusts spreading out device and vertical height and is sized over the ground equal to change value.Chinese Patent Application No.
201410531041.3, publication date: the patent document on May 11st, 2016 discloses a kind of paver, including hopper and hopper,
The discharge port of hopper is opposite with hopper so that the material in hopper is transported in hopper, and helix feed divider is equipped in hopper,
The material entered in hopper is split in entire hopper by helix feed divider, paver further include: Charge level measurer, material position inspection
It surveys device and the corresponding position in the outlet with hopper in hopper is set, detect the corresponding position in the outlet with hopper in hopper
The height of materials set；Control device, control device are connect with Charge level measurer signal, and control device and helix feed divider are logical
News connection, control device receive altitude signal detected by Charge level measurer and control helix feed divider according to altitude signal
Operation.Chinese Patent Application No. 201720325476.1, the patent document in publication date on December 26th, 2017, discloses one kind
Cement mortar paver and its elastic membrane pave unit, including feeding hopper, intelligent carriage, conveying scraper plate device, spiral distributor,
Ironing system and elastic membrane pave unit, and cement mortar is transported on ground through feeding hopper and conveying scraper plate device, by spiral point
Glassware carries out the cloth that paves, and then carries out ironing compacting to the cement mortar on ground by ironing system, finally utilizes elastic membrane
The unit that paves paves one layer of elastic membrane and thin material in cement surface, completes paving for ground cement.
It is inconsistent or have cavity that paver in the invention can prevent road surface compactness that paver paves out
Situation.But big paver can only spread out cement mortar in the invention, can not achieve the automation booth of cement mortar
Paving.
Summary of the invention
1. to solve the problems, such as
Aiming at the problem that automation that existing paver cannot achieve cement mortar paves, the present invention provides a kind of intelligence
Cement mortar screeding robot polishes cement mortar while can spreading out to cement mortar, realizes cement bonded sand
The automation for the work that paves is starched, labor intensity is reduced, improves working efficiency.
2. technical solution
To solve the above-mentioned problems, the technical solution adopted in the present invention is as follows:
A kind of intelligent cement mortar levelling robot of the invention, comprising:
Supporting element comprising chassis, the chassis are built-in with holding tank, and carry the weight of whole robot；
Control unit comprising a PLC Electric Appliance Cabinet, the PLC Electric Appliance Cabinet are placed on the chassis；
Driving unit comprising driving motor, driving wheel, driven wheel, walking belt and driving shaft, the driving motor are set
In in the holding tank, the output shaft and active axis connection of driving motor, successively front and back is mounted on chassis for driving wheel and driven wheel
On, driving wheel and active axis connection, walking belt are wound around on driving wheel and driven wheel；
Levelling unit comprising mounting base, rotary electric machine, swing arm motor, adjusts workbench, adjusts motor, is big bistrique
Arm, forearm, first connecting rod and synchronising (connecting) rod, the large arm, forearm are symmetrical structure, large arm with respect to first connecting rod and synchronising (connecting) rod
Upper end it is hinged with synchronising (connecting) rod, lower end is hinged with mounting base, and first connecting rod and large arm and forearm are hinged, the swing arm motor
It is arranged in the holding tank, the lower end of swing arm motor and forearm connects, and the mounting base is fixed with large arm, is equipped in mounting base
Lead screw, adjusts workbench and lead screw cooperates, and adjusts motor and connect with screw rod, and rotary electric machine connection bistrique is simultaneously fixed on the adjusting
On workbench；
Signal transmission unit comprising laser emitter and the laser pickoff to match with laser emitter, it is described
Laser pickoff is arranged in the mounting base.
In a kind of possible embodiment of the present invention, the mounting base is case structure, offers several through-holes thereon,
The bistrique passes through through-hole by shaft and connect with rotary electric machine, driving bistrique rotation.
In a kind of possible embodiment of the present invention, the large arm both ends offer connecting hole, and corresponding synchronization is even
It is equipped with engaging lug on bar, mounting base and connecting hole is realized hingedly.
In a kind of possible embodiment of the present invention, the driving unit further includes tensioning wheel and tension link, tensioning
Wheel is mounted on the oblique upper of driving wheel, and tension link one end is fixed on chassis, and the other end is connect with tensioning wheel, walk belt around
It is located on tensioning wheel.
It further include steering unit in a kind of possible embodiment of the present invention, the steering unit includes support plate, top
Electric cylinders, pivoting support and turning motor are risen, the telescopic rod lower end connection support plate of electric cylinders, when not in use, support plate and row are jacked
Belt is walked to be in same plane；The upper end and pivoting support for jacking electric cylinders are socketed, and the chassis is fixed with pivoting support, is turned round
Motor is placed in pivoting support side, and drives pivoting support rotation by gear.
In a kind of possible embodiment of the present invention, the driving unit further includes auxiliary wheel, the auxiliary wheel with from
Driving wheel structure is consistent, and auxiliary wheel is mounted between driven wheel and driving wheel, and is rotatablely connected with the chassis.
In a kind of possible embodiment of the present invention, the diameter of the driving wheel is greater than the diameter of driven wheel.
In a kind of possible embodiment of the present invention, the support plate is circular slab, and area is sufficiently large, it is ensured that is set
Weight, which is unlikely to compressing cement surface, after standby jack-up leads to cement lower limit.
In a kind of possible embodiment of the present invention, the walking belt uses flat belt, is providing enough frictional force
While protect ready-made cement flooring as far as possible.
3. beneficial effect
Compared with the prior art, the invention has the benefit that
(1) laser emitter is placed in suitable position, in room somewhere by intelligent cement mortar levelling robot of the invention
The datum level of one square meter of manual manufacture, and robot is placed on datum level, certain thickness cement mortar is spread outside datum level, is passed through
Laser pickoff adjusts the height of bistrique, and bistrique is made rotating motion by rotary electric machine, plays the role of polishing to cement mortar, ground
The error that face polishes is small, and flatness is high, can simultaneously be effectively reduces manually, reduces cost of labor, improve work efficiency；
(2) intelligent cement mortar levelling robot of the invention, by setting tensioning wheel and tension link, so that walking skin
The case where band is in tensioning state always, avoids the occurrence of belt slack reduces the problem of cement mortar is stacked because of the relaxation of belt.
Detailed description of the invention
Technical solution of the present invention is described in further detail below with reference to drawings and examples, but should
Know, these attached drawings are designed for task of explanation, therefore not as the restriction of the scope of the invention.In addition, except non-specifically
It points out, these attached drawings are meant only to conceptually illustrate structure construction described herein, without to be drawn to scale.
Fig. 1 is the schematic perspective view of the intelligent cement mortar levelling robot of the embodiment of the present invention；
Fig. 2 is a kind of usage state diagram of the intelligent cement mortar levelling robot of the embodiment of the present invention；
Fig. 3 is the partial sectional view of the intelligent cement mortar levelling robot of the embodiment of the present invention；
Fig. 4 is the portion the A cutaway view Amplified image of Fig. 1；
Fig. 5 is the grinding wheel head structure schematic diagram of the intelligent cement mortar levelling robot of the embodiment of the present invention；
Fig. 6 is the structure of driving unit schematic diagram of the intelligent cement mortar levelling robot of the embodiment of the present invention；
Fig. 7 is the steering unit structural schematic diagram of the intelligent cement mortar levelling robot of the embodiment of the present invention.
Description of symbols in figure:
100, supporting element；110, chassis；111, holding tank；
200, control unit；210, PLC Electric Appliance Cabinet；
300, driving unit；310, driving motor；320, driving wheel；330, driven wheel；340, walking belt；350, actively
Axis；360, tensioning wheel；370, tension link；380, auxiliary wheel；
400, levelling unit；410, mounting base；411, lead screw；4420, bistrique；430, rotary electric machine；440, swing arm motor；
450, workbench is adjusted；451, motor is adjusted；460, large arm；470, forearm；480, first connecting rod；490, synchronising (connecting) rod；
500, signal transmission unit；510, laser emitter；520, laser pickoff；
600, steering unit；610, support plate；620, electric cylinders are jacked；630, pivoting support；640, turning motor.
Specific embodiment
Hereafter to the detailed description of exemplary embodiment of the present invention with reference to attached drawing, which forms one of description
Point, it has been shown as example enforceable exemplary embodiment of the invention in the figure.Although these exemplary embodiment quilts
Sufficiently describe in detail so that those skilled in the art can implement the present invention, it is to be understood that can realize other embodiments and
Can without departing from the spirit and scope of the present invention to the present invention various changes can be made.Hereafter to the embodiment of the present invention
More detailed description is not limited to required the scope of the present invention, and just to be illustrated and do not limit pair
The description of the features of the present invention and feature to propose to execute best mode of the invention, and is sufficient to make those skilled in the art
It can implement the present invention.Therefore, the scope of the invention is only defined by the appended claims.
Hereafter detailed description of the present invention and example embodiment are more fully understood in combination with attached drawing, wherein of the invention
Element and feature are identified by appended drawing reference.
As shown in Figures 1 to 7, the intelligent cement mortar levelling robot of the present embodiment, including supporting element 100, control list
Member 200, driving unit 300, levelling unit 400 and signal transmission unit 500.
In the present embodiment, the supporting element 100 is used to carry the component of the weight of entire robot comprising chassis
110, the chassis 110 is built-in with holding tank 111, and the preferred material in chassis 110 is light-weight metal, such as aluminium alloy etc., tool
There are certain intensity, and light weight.
The purpose of the present invention is design it is a can automatically walk and be laid with polish the robot of cement mortar therefore can
To be realized using controller, control unit 200 includes a PLC Electric Appliance Cabinet 210, and the PLC Electric Appliance Cabinet 210 is placed in the chassis
On 110, PLC Electric Appliance Cabinet 210 has multiple ports, is arranged for connecting external electrical equipment, while on PLC Electric Appliance Cabinet 210
There are switch and relay mould group, and then multiple movements of the robot may be implemented, which can pass through line
Cable connects 220V power supply, may be designed in rechargeable battery power supply mode.
In addition, as shown in figures 1 to 6, the driving unit 300 of the robot include driving motor 310, driving wheel 320, from
Driving wheel 330, walking belt 340, driving shaft 350, tensioning wheel 360 and tension link 370, the diameter of the driving wheel 320 are greater than
The diameter of driven wheel 330, the driving motor 310 can be servo motor, steering engine or direct current generator, which is placed in the appearance
It receives in slot 111, driving motor 310 is with driving shaft 350 by synchronous band connection, and successively front and back is pacified for driving wheel 320 and driven wheel 330
On chassis 110, driving wheel 320 is connect with driving shaft 350, and walking belt 340 is wound around driving wheel 320 and driven wheel 330
On, belt 340 is walked on the ground for having paved cement mortar, on the one hand improves the stability of entire robot, another party
Reduce the mobile mark left of robot in face.
As shown in Figures 2 and 3, levelling unit 400 includes mounting base 410, bistrique 420, (the servo electricity of rotary electric machine 430
Machine), swing arm motor 440 (servo motor), adjust workbench 450, adjust motor 451 (servo motor), large arm 460, forearm
470, first connecting rod 480 and synchronising (connecting) rod 490, the large arm 460, forearm 470 are with respect to first connecting rod 480 and synchronising (connecting) rod 490
For symmetrical structure, the upper end of large arm 460 and synchronising (connecting) rod 490 are hinged, and lower end and mounting base 410 are hinged, first connecting rod 480 and big
Arm 460 and forearm 470 are hinged, and the swing arm motor 440 is arranged in the holding tank 111, swing arm motor 440 and forearm
470 lower end connection, the mounting base 410 is fixed with large arm 460, and lead screw 411 is equipped in mounting base 410, adjusts workbench 450
Cooperate with lead screw 411, adjust motor 451 and connect with screw rod, rotary electric machine 430 connects bistrique 420 and is fixed on the adjusting work
Make on platform 450.
The structure of bistrique 420 is existing design, and the present embodiment does not make the change of structure.
In Fig. 1, signal transmission unit 500 includes laser emitter 510 and swashs with what laser emitter 510 matched
Optical receiver 520, laser emitter 510 and laser pickoff 520 are bought by market, specific model Bosch board transmitter
And receiver, but it is not limited to above-mentioned model, it can be realized the function, the laser pickoff 520 is arranged described
In mounting base 410.In use, equipment is placed on ready-made cement flooring, it is ensured that bistrique bottom surface is just flushed with cement flooring
(within error 1mm), the height on the basis of laser pickoff height at this time adjust laser transmitter positions to proper height.If
, always using this position as benchmark, bistrique height is adjusted in later stage work, guarantees cement surface evenness.Herein if any it
The associated description in its place please adjusts laser emitter 510 together and is placed on datum level, and after setting altitude datum, Xiang Jiguang is connect
It receives device 520 and sends signal, after laser pickoff 520 receives signal, determine the height for needing to polish, adjust 451 work of motor
Make, the height of bistrique 420 is adjusted to desired height, lead screw 411 is used in this embodiment, in 420 course of work of bistrique
In, by adjust motor 451 band-type brake function, bistrique 420 it is highly stable, basically will not produce shaking, ensure that cement bonded sand
Starch the consistency polished.
In view of the artificial displacement of machine, when specifically used, the width that polishes of robot is 1m, and length is according to place
It determines, when necessary, the front end on chassis 110 is provided with fibre optical sensor, detect peripheral obstacle using fibre optical sensor, avoid
Collision.Robot laterally paves completion, is turned to using steering unit 600, as shown in fig. 7, the steering unit 600 includes branch
Fagging 610, jacking electric cylinders 620, pivoting support 630 and turning motor 640 (servo motor), the support plate 610 are circular slab,
Its diameter is slightly less than the width on chassis 110, and the telescopic rod lower end of jacking electric cylinders 620 connects support plate 610, when not in use, support
Plate 610 and walking belt 340 are in same plane；The upper end and pivoting support 630 for jacking electric cylinders 620 are socketed, the chassis
110 is fixed with pivoting support 630, and turning motor 640 is placed in 630 side of pivoting support, and drives pivoting support 630 by gear
Rotation.
The driving motor 310 of the present embodiment, swing arm motor 440, adjusts motor 451, laser emitter at rotary electric machine 430
510, laser pickoff 520 and turning motor 640, jacking electric cylinders 620 are electrically connected with PLC Electric Appliance Cabinet 210.
In Fig. 6, the walking of entire robot fully relies on walking belt 340, and belt 340 of walking is due to expanding with heat and contract with cold
And external force, walking belt 340 are easy to appear slipping phenomenon, therefore, it is necessary to be tensioned to walking belt 340, are tensioned
Wheel 360 is mounted on the oblique upper of driving wheel 320, and 370 one end of tension link is fixed on chassis 110, the other end and tensioning wheel 360
Connection, walking belt 340 are wound around on tensioning wheel 360, and walking belt 340 is not in relaxation problem, and walking is freely.
In addition, as shown in fig. 6, the walking belt 340 of robot have certain length, be typically designed as 50cm, from
Between driving wheel 330 and driving wheel 320 install auxiliary wheel 380, the auxiliary wheel 380 is consistent with 330 structure of driven wheel, and with it is described
Chassis 110 is rotatablely connected, and walking belt 340 is avoided to shake when walking.
Specific use process is as follows for the robot:
1) laser emitter 510 is placed in suitable position, the datum level of one square meter of manual manufacture in room somewhere, and by machine
Device people is placed on datum level, and certain thickness mortar is spread outside datum level；
2) start robot, laser pickoff 520 receives the signal of laser emitter 510, and the control of PLC Electric Appliance Cabinet 210 is adjusted
It saves motor 451 and adjusts the height of bistrique 420 to setting height；
3) then the opening of PLC Electric Appliance Cabinet 210 rotary electric machine 430 polishes the rotation of bistrique 420 to ground cement mortar；
4) swing arm motor 440 is opened, drives forearm 470 to swing, because two large arm 460 are by first connecting rod 480, synchronising (connecting) rod
490 constitute parallelogram, and forearm 470 and synchronising (connecting) rod 490 are hinged, when forearm 470 is with hinge A clockwise oscillation, drive
Large arm 460 is with hinge (hinge B) counter-clockwise swing between large arm 460 and forearm 470, such as 470 counter-clockwise swing of forearm, then
It is on the contrary.As shown in Fig. 2, normal amplitude of fluctuation is one meter；And when encountering barrier can backswing at any time, avoiding obstacles, realize
Flexible working (effect of servo motor)；
5) rotation of driving wheel 320 drives walking belt 340 to walk, and large arm 460 is rocked to the other side, driving wheel from side
75mm is walked in 320 rotations；
6) when robot ambulation is to when needing turning position, car stops, and jacking electric cylinders 620, which are stretched out, pushes support plate 610
Robot is set to lift 40mm, turning motor 640 is rotated by 90 ° robot or other any angles, jacks electric cylinders 620 (20)
Support plate 610 is driven to retract chassis 110；
7) above step is repeated, until entire ground polishes.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (9)
1. a kind of intelligent cement mortar levelling robot characterized by comprising
Supporting element (100) comprising chassis (110), the chassis (110) is built-in with holding tank (111), and carries whole machine
The weight of people；
Control unit (200) comprising a PLC Electric Appliance Cabinet (210), the PLC Electric Appliance Cabinet (210) are placed in the chassis
(110) on；
Driving unit (300) comprising driving motor (310), driving wheel (320), driven wheel (330), walking belt (340) and
Driving shaft (350), the driving motor (310) are placed in the holding tank (111), the output shaft of driving motor (310) and master
Moving axis (350) connection, successively front and back is mounted on chassis (110) for driving wheel (320) and driven wheel (330), driving wheel (320) and
Driving shaft (350) connection, walking belt (340) are wound around on driving wheel (320) and driven wheel (330)；
Levelling unit (400) comprising mounting base (410), rotary electric machine (430), swing arm motor (440), is adjusted bistrique (420)
It saves workbench (450), adjust motor (451), large arm (460), forearm (470), first connecting rod (480) and synchronising (connecting) rod (490),
The large arm (460), forearm (470) are symmetrical structure with respect to first connecting rod (480) and synchronising (connecting) rod (490), large arm (460)
Upper end and synchronising (connecting) rod (490) hingedly, lower end and mounting base (410) hingedly, first connecting rod (480) and large arm (460) and forearm
(470) hinged, swing arm motor (440) setting is in the holding tank (111), swing arm motor (440) and forearm (470)
Lower end connection, the mounting base (410) and large arm (460) are fixed, are equipped with lead screw (411) in mounting base (410), adjust work
Platform (450) and lead screw (411) cooperate, and adjust motor (451) and connect with screw rod (411), rotary electric machine (430) connects bistrique
(420) it and is fixed on the adjusting workbench (450)；
Signal transmission unit (500) comprising laser emitter (510) and the laser to match with laser emitter (510)
Receiver (520), the laser pickoff (520) are arranged on the mounting base (410).
2. intelligent cement mortar levelling according to claim 1 robot, which is characterized in that the mounting base (410) is
Case structure offers several through-holes thereon, and the bistrique (420) passes through through-hole by shaft and connect with rotary electric machine (430),
Drive bistrique (420) rotation.
3. intelligent cement mortar levelling according to claim 1 robot, which is characterized in that large arm (460) both ends
Connecting hole is offered, engaging lug is equipped on corresponding synchronising (connecting) rod (490), mounting base (410) and connecting hole is realized hingedly.
4. intelligent cement mortar levelling according to claim 1 robot, which is characterized in that the driving unit (300)
It further include tensioning wheel (360) and tension link (370), tensioning wheel (360) is mounted on the oblique upper of driving wheel (320), and tensioning connects
Bar (370) one end is fixed on chassis (110), and the other end is connect with tensioning wheel (360), and walking belt (340) is wound around tensioning
It takes turns on (360).
5. intelligent cement mortar levelling according to any one of claims 1 to 4 robot, which is characterized in that further include turning
To unit (600), the steering unit (600) includes support plate (610), jacking electric cylinders (620), pivoting support (630) and returns
The telescopic rod lower end of rotating motor (640), jacking electric cylinders (620) connects support plate (610), and when not in use, support plate (610) is higher than
Plane where walking belt (340)；Jack electric cylinders (620) upper end and pivoting support (630) be socketed, the chassis (110) with
Pivoting support (630) is fixed, and turning motor (640) is placed in pivoting support (630) side, and drives pivoting support by gear
(630) it rotates.
6. intelligent cement mortar levelling according to claim 5 robot, which is characterized in that driving unit (300) also wraps
It includes auxiliary wheel (380), the auxiliary wheel (380) is consistent with driven wheel (330) structure, and auxiliary wheel (380) is mounted on driven wheel
(330) it between driving wheel (320), and is rotatablely connected with the chassis (110).
7. intelligent cement mortar levelling according to claim 6 robot, which is characterized in that the driving wheel (320)
Diameter is greater than the diameter of driven wheel (330).
8. intelligent cement mortar levelling according to claim 7 robot, which is characterized in that the support plate (610) is
Circular slab.
9. intelligent cement mortar levelling according to claim 8 robot, which is characterized in that the walking belt (340)
Using flat belt.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910682955.2A CN110359688B (en) | 2019-07-26 | 2019-07-26 | Intelligence cement mortar robot of making level |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110748170A (en) * | 2019-11-05 | 2020-02-04 | 广东博智林机器人有限公司 | Leveling equipment and leveling device thereof |
| CN111236599A (en) * | 2020-03-05 | 2020-06-05 | 广东博智林机器人有限公司 | Leveling execution device and leveling robot |
| CN113356537A (en) * | 2020-03-06 | 2021-09-07 | 广东博智林机器人有限公司 | Leveling device grabbing mechanism and ceramic tile leveling robot with same |
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| CN110748170A (en) * | 2019-11-05 | 2020-02-04 | 广东博智林机器人有限公司 | Leveling equipment and leveling device thereof |
| CN111236599A (en) * | 2020-03-05 | 2020-06-05 | 广东博智林机器人有限公司 | Leveling execution device and leveling robot |
| CN111236599B (en) * | 2020-03-05 | 2021-08-31 | 广东博智林机器人有限公司 | Leveling execution device and leveling robot |
| CN113356537A (en) * | 2020-03-06 | 2021-09-07 | 广东博智林机器人有限公司 | Leveling device grabbing mechanism and ceramic tile leveling robot with same |
| CN113356537B (en) * | 2020-03-06 | 2022-02-25 | 广东博智林机器人有限公司 | Leveling device grabbing mechanism and ceramic tile leveling robot with same |
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| CN110359688B (en) | 2020-09-22 |
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