CN110607912A - Ground leveling robot and construction method thereof - Google Patents
Ground leveling robot and construction method thereof Download PDFInfo
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- CN110607912A CN110607912A CN201910993508.9A CN201910993508A CN110607912A CN 110607912 A CN110607912 A CN 110607912A CN 201910993508 A CN201910993508 A CN 201910993508A CN 110607912 A CN110607912 A CN 110607912A
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- 238000010276 construction Methods 0.000 title claims abstract description 49
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 238000007790 scraping Methods 0.000 claims abstract description 5
- 239000004570 mortar (masonry) Substances 0.000 claims description 17
- 230000001154 acute effect Effects 0.000 claims description 9
- 230000036544 posture Effects 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 abstract description 3
- 238000013508 migration Methods 0.000 abstract 1
- 230000005012 migration Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000004035 construction material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Classifications
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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
- E04F21/241—Elongated smoothing blades or plates, e.g. screed apparatus
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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
- E04F21/241—Elongated smoothing blades or plates, e.g. screed apparatus
- E04F21/244—Elongated smoothing blades or plates, e.g. screed apparatus with means to adjust the working angle of the leveling blade or plate
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/10—Devices for levelling, e.g. templates or boards
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a ground leveling robot and a construction method thereof, wherein the ground leveling robot comprises a base, a plurality of telescopic roller devices positioned at the bottom of the base and a ground leveling working head positioned on the base, wherein the base is provided with a tilt degree detection sensor; the ground leveling working head comprises a scraping plate, a horizontally arranged mobile station and a lifting platform connected with one end of the mobile station; the scraper blade can be along the horizontal migration of mobile station, and the elevating platform is installed and can drives the lift of scraper blade, mobile station on the base. The robot adopts the level that scalable gyro wheel device guaranteed the fuselage, realizes ground leveling through the back-and-forth movement of scraper blade. The robot of the invention can also adopt a sensor to improve the control of the construction precision, and can obviously improve the construction efficiency and precision.
Description
Technical Field
The invention belongs to the field of construction machinery, and particularly relates to a ground leveling robot and a construction method thereof.
Background
With the continuous development of mechanical automation, the construction operation of the building engineering is also continuously mechanized, and although most of the project items are provided with corresponding mechanized equipment, the unit area is small, and the project items with large social total amount are still in original manual operation.
At present, the eveners on the market are developed according to the requirements of modern industrial plants, large-scale shopping malls, cargo warehouses and other large-area cement concrete floors, and the technology suitable for small-area eveners is not mature. The existing leveling machine utilizes a two-point infrared (laser) mode to keep the leveling of the leveling machine, and the specific implementation mode can be that an infrared (laser) receiver is respectively arranged at two ends of a leveling mechanism, whether the leveling mechanism is in the horizontal position is judged according to the height of an infrared (laser) beam received by the receiver, an infrared (laser) emitter is respectively arranged at two ends of the leveling mechanism, whether the leveling mechanism is in the horizontal position is judged according to the height of the emitted infrared (laser) beam, the method has large error, and only the level of the connecting line direction (set as the X-axis direction) of the two infrared (laser) receivers/emitters of the leveling mechanism can be ensured, the level of the advancing direction (namely the Y-axis direction vertical to the X-axis direction) of the leveling mechanism is difficult to ensure (the surface of the mortar is easy to generate wave type after the leveling machine advances too fast, unevenness), the moving speed of the whole machine seriously affects the quality and precision of construction.
CN201610551341.7 discloses an intelligent ground leveling machine and leveling method thereof, the equipment adopts a plurality of leveling areas on the machine body to level, and the machine body is provided with a tilt degree detection sensor and a moving speed detection sensor for ensuring construction accuracy, and is suitable for construction projects with small unit area and large social total amount. But this equipment resistance of marcing is great, and has not been convenient for construct to narrow and small region, and its volume is comparatively little (be convenient for accomodate) for the scraper blade size is little, and the efficiency of construction is slower.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a ground leveling robot and a construction method thereof.
The technical scheme of the invention is as follows:
the ground leveling robot comprises a base, a plurality of telescopic roller devices positioned at the bottom of the base and a ground leveling working head positioned on the base, wherein the base is provided with a tilt degree detection sensor; the ground leveling working head comprises a scraping plate, a horizontally arranged mobile station and a lifting platform connected with one end of the mobile station; the scraper can move along the mobile station, the lifting platform is arranged on the base, and the lifting motion of the lifting platform can drive the scraper and the mobile station to lift.
In a preferred embodiment of the present invention, the ground leveling robot further includes a laser receiver, and the laser receiver is configured to receive an external laser reference beam or a laser reference plane as a reference, so as to determine whether the current telescopic length of the telescopic roller device meets the construction requirement.
The laser receiver can be arranged on the base, and considering that sundries are generally piled near the ground to block the laser reference beam or the reference plane, the laser receiver can also be arranged on a supporting rod fixedly connected with the base to increase the height of the laser receiver to avoid obstacles to block the laser reference plane.
Alternatively, the laser receiver may be mounted directly or indirectly on the lift table or the mobile table, and the working principle is the same as that of the laser receiver mounted on the base.
In a preferred embodiment of the present invention, an angle formed between the longitudinal direction of the squeegee and the direction in which the squeegee moves on the moving table is adjustable.
In the preferred scheme of the invention, the lower end face of the scraper is an inclined plane, and an acute angle formed by the inclined plane and a horizontal plane faces to the direction of the base; the inclined plane can apply pressure to mortar in the horizontal moving process of the scraper, and construction operation is facilitated.
Or the angle formed between the plane of the scraper and the horizontal plane is an acute angle, the acute angle faces to the direction of the base, and the purpose of setting the angle is that the scraper can apply pressure on mortar in the horizontal moving process of the scraper, so that construction operation is facilitated.
In a preferred embodiment of the present invention, the retractable roller device includes a roller and a retractable portion for adjusting a distance between the roller and the base. The gyro wheel is used for realizing the removal of ground robot of making level, and the pars contractilis then is used for realizing the adjustment of flexible length to the degree of inclination and the holistic height of adjustment ground robot of making level.
Alternatively, the ground leveling working head (4) is detachably connected with the base. The detachable mode can reduce the whole volume of the robot during storage, and is beneficial to the maintenance or replacement of the subsequent working head; and the detachable mode makes the base can match other work heads, realizes a tractor serves several purposes.
Preferably, the telescopic part consists of a fixed end and a telescopic end; the fixed end is fixedly connected with the base main body; the telescopic end is fixedly connected with the roller through a roller bracket; the telescopic end can move along the axial direction of the telescopic part relative to the fixed end.
Preferably, the fixed end comprises a lead screw motor and a lead screw; the telescopic end comprises a sliding block and a push rod; wherein the lead screw motor is connected with a lead screw; the slider cover is established on the lead screw, and push rod one end passes through the gyro wheel support and links to each other with the gyro wheel center, and the other end is fixed continuous with the slider.
In the preferred scheme of the invention, the mobile platform and the lifting platform are connected in a hinged manner, and the ground leveling robot further comprises a working head support frame for adjusting the hinged angle between the mobile platform and the lifting platform; one end of the support frame is connected with the lifting platform, and the other end of the support frame is connected with the mobile platform. The movable table, the lifting table and the working head support frame form a triangular support structure; the movable table and the lifting table are adjusted to be in a vertical relation during working, and a support frame fine adjustment device can be arranged at any one end or two ends of the support frame.
Preferably, the support frame fine adjustment device is a track horizontal adjustment screw, the top end of the track horizontal adjustment screw penetrates through a threaded hole formed in the end portion of the support frame and is in contact with the lifting table or the moving table, and the position between the end portion of the support frame and the lifting table or the moving table can be changed by rotating the track horizontal adjustment screw.
In the preferred scheme of the invention, a motor and a vertical screw rod are arranged in the lifting platform, the motor is used for driving the screw rod to rotate, a screw rod nut is sleeved on the screw rod, and the screw rod nut is fixedly connected with the base.
In the preferred scheme of the invention, the mobile station is provided with a motor, a slide rail and a scraper mounting part; the scraper mounting part is arranged on the slide rail and can be driven by the motor to slide on the slide rail; the scraper blade connect on the scraper blade installation department with can dismantling the mode.
As a preferable scheme of the invention, the base (2) is composed of a plurality of base units which are connected in a hinged or detachable mode. Adopt articulated connected mode can be convenient for holistic accomodating of robot between many base units, in addition, when the operation area is narrower or when the corner is regional, the adjustment of articulated angle between the accessible many base units perhaps demolishs partial base unit, changes the shape of base under still guaranteeing the stable prerequisite of base for the base can get into narrow region and carry out the operation, perhaps carries out the operation to the corner area. As a preferable scheme of the invention, the base (2) consists of three base units, the three base units are connected in a hinged mode, the base (2) is T-shaped in a fully unfolded state, and the hinge angle between the adjacent base units can be adjusted and locked at will within the range of 0-90 degrees. In fact, the number of base units can be selected as required to achieve more functions, and the T-shaped structure formed by three base units is the most basic and simplest base mode. In a preferred embodiment of the present invention, the base is provided with a plurality of work head mounting portions on each base unit; the ground leveling working head (4) can be mounted on any working head mounting part, and different working postures are realized through adjustment of the hinge angle between the base units.
The invention further discloses a working method of the ground leveling robot, which comprises the following steps:
1) moving the ground leveling robot to a position to be constructed; the inclination degree detection sensor detects the inclination condition of the base and enables the base to be horizontal through the expansion and contraction of the telescopic roller device (1); a horizontal reference laser plane is arranged, and on the premise of ensuring that the base is horizontal, the telescopic length of the telescopic roller device (1) is adjusted to enable the horizontal reference laser plane to irradiate a set position A0 on a laser receiver, so that the debugging work of the ground leveling robot is completed;
2) the lifting platform works to enable the ground leveling working head (4) to move to a set lifting position H1 on the base; then the mobile platform works to enable the scraper to be positioned at the top end of the mobile platform;
3) the lifting platform works to enable the ground leveling working head (4) to move downwards to a working position H0 on the base, at the moment, the length direction of the scraper and the advancing direction of the scraper are ensured to be a required working angle, then the mobile platform works to enable the scraper to move from the top end to the tail end of the mobile platform, and the scraper levels mortar on the ground; after leveling is finished, the ground leveling working head (4) is lifted to withdraw from the working position;
4) and (3) moving the ground leveling robot to the next construction position, and repeatedly executing the steps 1) to 3) until the operation task is completed, wherein when the step 1) is executed, the adjustment result of the telescopic roller device (1) is that the horizontal reference laser plane irradiates on the A0 position on the laser receiver.
The working principle is as follows: the horizontal reference laser plane is always fixed, the horizontal reference laser plane is one of key factors for ensuring that the ground leveling robot can still be constructed at different construction positions to obtain the leveled ground, and the specific principle is as follows: the horizontal reference laser plane remains unchanged and the laser receiver is located on the base with its position relative to the base unchanged. The working position H0 on the base is a position on the base, and the position of the working position H0 relative to the base is also unchanged, so that the distance between the final working position H0 and the horizontal reference laser plane is fixed and unchanged as long as the horizontal reference laser plane is made to irradiate the A0 position on the laser receiver when different construction positions are debugged; and no matter whether the construction ground is uneven or not or whether the construction ground is inclined or not, the distance between the H0 and the horizontal reference laser plane is not influenced. The working position H0 is the preset ground height after the leveling is finished except the lower end face of the corresponding scraper.
The raised position H1 is only one position on the base, and in actual operation, the height of the working head raised each time is not required to be exactly H1, but in mechanized construction, a specific position is usually set for programming control.
Drawings
FIG. 1 is a schematic structural view of a ground leveling robot according to the present invention (a laser receiver is mounted on a base via a height extension bar);
FIG. 2 is a schematic structural view of the ground leveling robot of the present invention (the laser receiver is located on the working head);
FIG. 3 is a diagram of a mobile station according to an embodiment of the present invention;
FIG. 4 is a schematic view of a specific structure of the elevating platform of the present invention;
fig. 5 is a schematic structural diagram of the support frame of the present invention.
Fig. 6 is a schematic view of the raised state of the ground leveling robot.
FIG. 7 is a diagram illustrating the ground leveling robot lowered to the construction height;
fig. 8 is a construction state diagram of the ground leveling robot scraper moving to the rear end.
Fig. 9 is a schematic view of a ground leveling robot working posture corresponding to a narrow area or a corner area.
FIG. 10 is a top view of FIG. 9;
fig. 11 is a schematic view of the working posture of the ground leveling robot with the laser receiver directly mounted on the base.
FIG. 12 is a top view of the robot with the squeegee mounted non-perpendicular to the direction of travel;
FIG. 13 is a schematic view of the design of the lower end face of the scraper with a bevel.
Detailed Description
The invention is further described below with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, the ground leveling robot of the present invention includes a base 2, a receiving sensor 3 disposed above the base, and a plurality of retractable roller devices 1 disposed at the bottom of the base, wherein a tilt degree detecting sensor is disposed in the base.
The inclination degree detection sensor drives the corresponding telescopic roller device to stretch out and draw back according to the inclination degree of the detected base, so that the whole base is always kept in a horizontal state. When the base tilts towards a certain telescopic roller device, the telescopic roller device in the direction is controlled to rise, or the telescopic roller device corresponding to the telescopic roller device is controlled to fall; and adjusting for multiple times until the requirement of precision is met. The judgment and adjustment process can be completed manually or by a control system (such as a singlechip);
the ground leveling working head 4 comprises a scraping plate 41, a moving platform 42 and a lifting platform 43; the scraper 41 is installed on the moving platform 42, the scraper 41 can move horizontally along the track on the moving platform, the lifting platform is connected with the moving platform, the lifting platform can drive the moving platform to move in the height direction, and the lifting platform is installed on the base.
Controlling the lifting platform to work, and driving the scraper 41 and the mobile platform 42 to move upwards to reach the set position by the lifting platform; at this time, if the squeegee 41 is not at the forefront end of the moving table 42, the squeegee 41 is moved to the forefront end of the moving table 42; then the lifting platform 43 drives the scraper 41 and the moving platform 42 to move downwards to reach the set height; the bottom of the blade 41 is now positioned at the level of the ground. The scraper 41 is moved from the foremost end to the rear end of the moving table 42, and the scraper 41 pushes the mortar to complete the leveling work. After the scraper 41 moves to the rear end, the lifting platform 43 works to lift the ground leveling working head 4; the robot moves to the next construction location.
Example 2
In order to make the construction surface obtained by the ground leveling working head 4 at each construction position be at the same height, a reference marking is usually set by manual or mechanical assistance means. Especially when the bottom surface to be constructed is uneven, related auxiliary means should be designed to overcome the unevenness.
In this embodiment, the ground leveling robot further includes a laser receiver 3, where the laser receiver is configured to receive an external laser reference beam or a laser reference plane as a reference, and it is known whether the current telescopic length of the telescopic roller device meets the construction requirement.
Considering that the near ground is generally piled with impurities to block the laser reference beam or the reference plane, the laser receiver can also be arranged on a support rod fixedly connected with the base to increase the height of the laser receiver to avoid the obstacle to block the laser reference plane. As shown in fig. 1, in the present embodiment, the laser receiver is installed on a support rod fixedly connected to the base to increase the installation height thereof, thereby avoiding the shielding of the near-ground construction material.
The laser emission source emits a laser reference plane parallel to the ground (the surface to be constructed). Receiving by a receiving sensor 3 disposed above the base; a photosensitive array is arranged on the receiving sensor; the robot adjusts the height of the robot through the telescopic roller device, so that the laser reference surface is always received by a fixed photosensitive point (A0 position) in the photosensitive array, as shown in figure 6. Because the laser reference surface is invariable all the time, the ground leveling robot can adjust the height in time through the laser reference surface so as to overcome the influence of the change of the ground height on the construction precision and ensure the construction precision.
The generation of the reference laser plane is a conventional means in the building field, for example, a rotating laser level can be adopted, and the laser can rotate 360 degrees horizontally, and the laser wavelength is as follows: 635 nm; the working range can reach hundreds of meters; precision: 0.075 mm/m; the power supply adopts a nickel-hydrogen battery or 4C batteries.
The working flow of this embodiment is: 1) mixing and stirring on the ground to be constructed to obtain mortar or pouring the mortar into the area to be constructed; setting a laser reference plane emitted by a laser emitter; in the initial position, the inclination degree detection sensor adjusts the base to be in a horizontal state; the height of the whole robot is adjusted to enable the receiving sensor 3 to receive the laser reference surface, and the photosensitive point of the laser receiving sensor receiving the laser at the moment is set as a reference point (as shown in the position A0 in figure 6).
2) Controlling the lifting platform to work, wherein the lifting platform drives the scraper 41 and the moving platform 42 to move upwards to reach a set position (shown as a position H1 in FIG. 6); at this time, if the squeegee 41 is not at the forefront end of the moving table 42, the squeegee 41 is moved to the forefront end of the moving table 42; then the lifting platform 43 drives the scraper 41 and the moving platform 42 to move downwards to reach the set height (shown as the position H0 in FIG. 7); the position of the bottom of the scraper 41 is the ground leveling height. The screed 41 is moved from the foremost end to the rear end of the moving table 42, and the screed 41 pushes the mortar to complete the leveling work (as shown in fig. 8, the screed 41 has been moved to the rear end). After the scraper 41 moves to the rear end, the lifting platform 43 works to lift the ground leveling working head 4; the robot moves to the next construction position; the whole working head construction process consists of the links of forward movement of a station debugging scraper, descending of the scraper, backward movement of the scraper, lifting of the scraper and translation of the robot to the next construction position. And after the construction work station reaches the next construction work station, carrying out the next complete construction work procedure.
Example 3
As shown in fig. 2, the difference of embodiment 3 compared with embodiment 2 is that a laser receiver is mounted on a mobile station. When debugging work is carried out each time, the ground leveling working head is supposed to be positioned at the same position of the base; namely, the lifting platform is lifted to a fixed debugging initial position C0 relative to the base, and the debugging and working process are basically the same as that of the laser receiver arranged on the base, and the steps are as follows:
1) the ground leveling robot moves to the position to be constructed, the lifting platform is lifted to a position C0 fixed relative to the base, and the position is an initial debugging position; the inclination degree detection sensor detects the inclination condition of the base and adjusts the base to be in a horizontal state through the extension and retraction of the telescopic roller device (1); a horizontal reference laser plane is arranged, and on the premise of ensuring that the base is horizontal, the telescopic length of the telescopic roller device (1) is adjusted to enable the horizontal reference laser plane to irradiate a set position A0 on a laser receiver, so that the debugging work of the ground leveling robot is completed;
2) the lifting platform works, so that the ground leveling working head (4) moves to a set lifting position H1 on the base; then the mobile platform works to enable the scraper to be positioned at the top end of the mobile platform;
3) the lifting platform works to enable the ground leveling working head (4) to move downwards to a working position H0 on the base, at the moment, the length direction of the scraper and the advancing direction of the scraper are ensured to be a required working angle, then the mobile platform works to enable the scraper to move from the top end to the tail end of the mobile platform, and the scraper levels mortar on the ground; after leveling is finished, the ground leveling working head (4) is lifted to withdraw from the working position;
4) and (3) moving the ground leveling robot to the next construction position, and repeatedly executing the steps 1) to 3) until the operation task is completed, wherein when the step 1) is executed, the adjustment result of the telescopic roller device (1) is that the horizontal reference laser plane irradiates on the A0 position on the laser receiver.
The specific principle is as follows: the horizontal reference laser plane remains unchanged and the laser receiver is fixed on a mobile station (42), and during commissioning the lifting platform needs to be lifted to a fixed position C0 on the base, so that the position of the laser receiver relative to the base is unchanged during commissioning at different construction positions. The working position H0 on the base is a position on the base, and the position of the working position H0 relative to the base is also unchanged, so that the distance between the final working position H0 and the horizontal reference laser plane is fixed and unchanged as long as the horizontal reference laser plane is made to irradiate the A0 position on the laser receiver when different construction positions are debugged; moreover, whether the construction bottom surface is uneven or inclined or not does not influence the distance between the H0 and the horizontal reference laser plane.
The raised position H1 is only one position on the base; in practice, it is not required that the working head is raised to the height H1 every time, but in mechanized construction, a specific position is usually set for programmed control.
In addition, the position C0 fixed on the base may be the raised position H1 or the working position H0, and the position is not specifically described, but the working head needs to return to the position to complete the debugging each time.
Example 4
As shown in fig. 3, in an embodiment of the present invention, the mobile station 42 mainly includes a motor 421, a transmission mechanism 422, a screw 423, a nut 424, a slider 425 fixedly connected to the nut, and a slide rail disposed on the mobile station; the motor drives the screw 423 to rotate positively and negatively through the transmission mechanism 422, wherein the transmission mechanism 422 can be a synchronous belt, a transmission gear assembly or a chain wheel, and the like, when the screw rotates, a nut sleeved on the screw advances or retreats along the axial direction of the screw, the movement of the nut drives the sliding block 425 to move synchronously, and the sliding block is arranged on the sliding rail to restrict the moving direction of the sliding block. The scraper 42 is detachably connected to the slider. The squeegee can be driven by the motor 421 to move along the slide rail of the movable stage.
Example 5
As shown in fig. 4, in an embodiment of the present invention, the lifting platform 43 mainly includes a fixed portion and a movable portion; the fixing part mainly comprises a nut 433 and a connecting plate 434 fixedly connected with the nut; the movable part is provided with a motor, a transmission mechanism 431, a screw rod 432 and a mobile platform connecting part 435;
the connection plate 434 is fixed on the base; the motor drives the screw rod 432 to rotate forward and backward through a transmission mechanism 431, wherein the transmission mechanism 431 can be a synchronous belt, a transmission gear assembly or a chain wheel, and the like, and when the screw rod rotates, the movable part advances or retreats along the axial direction of the screw rod because the nut is fixed. In order to guide and restrict the traveling direction of the movable part, a slide rail 436 may be provided on the adapter plate, and the movable part may be provided on the slide rail 436. The moving stage connecting unit 435 is fixedly provided to the movable unit, and the elevating stage 43 is connected to the moving stage 42 via the moving stage connecting unit 435.
Example 6
As shown in fig. 5, in an embodiment of the present invention, one end of the work head support 441 is connected to the lifting table (43), and the other end is connected to the moving table (42); and a support frame fine-adjustment device 442 is arranged at one end of the support frame connected with the lifting platform. The support frame fine adjustment device is a screw arranged in the vertical direction, and the screw is arranged on the support frame through threads; the top of the lifting platform is provided with a clamping groove in the vertical direction, and the screw is arranged in the clamping groove and is in contact with the bottom of the clamping groove; the distance between the working head support frame and the lifting platform can be changed by rotating the screw.
Example 7
As shown in fig. 1 and 9-11, the base (2) of the present embodiment is composed of three base units, the base units may be a flat plate structure with a certain thickness, and the flat plate structure may be partially hollowed out in consideration of aesthetic appearance and weight reduction design, and the whole structure of the flat plate may be square or other shapes; the base unit can also be a supporting structure consisting of a plurality of rods, the base unit mainly plays a supporting role, and the shape of the base unit can be designed by self; in the embodiment, two sides of the bottom of the base unit positioned in the middle are respectively provided with one telescopic roller device (1), and one side of the bottom of two base units hinged with the middle base unit, which is far away from the middle base unit, is respectively provided with one telescopic roller device.
The three base units of the present embodiment are connected in a hinged manner, the base (2) is t-shaped (as shown in fig. 1) in a fully unfolded state, and the hinge angle between adjacent base units can be arbitrarily adjusted and locked within a range of 0 to 90 °. The base is provided with a plurality of working head mounting parts on each base unit (the base mounting parts can be arranged on four side surfaces of the base unit and can also be indirectly or directly arranged on the top surface as required); the ground leveling working head (4) can be mounted on any working head mounting part, and different working postures are realized through adjustment of the hinge angle between the base units.
As shown in fig. 9 and 10, in order to adapt to narrow working areas or corner areas, in the embodiment, one base unit in the structure shown in fig. 1 is stored to be closely attached to the other base unit, the base is stored in an L shape, and the ground leveling working head (4) is detached from the installation position shown in fig. 1 and is installed on the side surface of one base unit; the construction posture which occupies a smaller area and is suitable for construction in corner areas is formed. And if the ground leveling working head (4) shown in the figure 1 is large in width and difficult to mount, the ground leveling working head (4) with the small width can be replaced, so that the problem of leveling the bottom surface of a corner or a narrow area frequently encountered in small-area operation is solved.
As shown in fig. 11, compared with fig. 9, the embodiment has the laser receiver directly mounted on the base (2), and further, the laser receiver can also be directly mounted on the ground leveling working head (4) according to requirements.
Example 8
As shown in fig. 10, the longitudinal direction of the screed is perpendicular to the running direction of the screed, and in this case, when there is a large amount of mortar accumulated on the ground, the excess mortar moves to both sides of the screed and overflows as the screed moves in the running direction; because ground leveling is usually continuous operation, when the robot works, one side is usually the ground which is already operated, and therefore, redundant mortar overflowing from the scraper blade pollutes the area which is already operated, and the condition is particularly obvious under the condition that more mortar is accumulated.
In the embodiment, in order to solve the problem, an angle adjusting device is arranged at the joint of the scraper (41) and the mobile platform (42), and the angle adjusting device can change the angle between the length direction of the scraper (41) and the moving direction of the scraper on the mobile platform. As shown in fig. 12, the length direction of the scraper (41) of the embodiment is not perpendicular to the moving direction of the scraper on the moving platform, and during the scraping process, the surplus mortar will go to one side (the right side shown in fig. 12) of the scraper, in this way, the left side of the area where the leveling operation is completed will not be affected. The angle adjusting device can be a motor, and the motor drives the scraper (41) to rotate so as to change the angle; a plurality of mounting positions may be provided between the squeegee 41 and the movable stage 42, and different mounting positions may be selected or adjusted as necessary in accordance with different mounting angles.
As a preferable scheme of this embodiment, as shown in fig. 13, the lower end surface of the scraper is an inclined surface, and an acute angle formed by the inclined surface and a horizontal plane faces the direction of the base; the inclined plane can apply pressure to mortar in the horizontal moving process of the scraper, and construction operation is facilitated.
Based on the same purpose, an acute angle is formed between the plane where the scraper is located and the horizontal plane, the acute angle faces the direction of the base, and the purpose of the angle is that the scraper can apply pressure on mortar in the horizontal moving process of the scraper, so that construction operation is facilitated.
The ground leveling robot has the advantages of being simple and convenient in construction operation mode, high in construction accuracy and high in operation effect, and adopting a laser feedback precision adjusting mode, a base unit hinged or detachable mode connection mode, a plurality of working head installation parts and a ground leveling working head (4) detachable installation mode.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A ground leveling robot comprises a base (2), a plurality of telescopic roller devices (1) positioned at the bottom of the base and a ground leveling working head (4) positioned on the base, wherein the base is provided with an inclination degree detection sensor; the ground leveling working head (4) comprises a scraping plate (41), a horizontally arranged mobile platform (42) and a lifting platform (43) connected with the mobile platform (42); the scraper is arranged on the moving platform (42) and can move along the moving platform (42), the lifting platform (43) is arranged on the base, and the lifting motion of the lifting platform (43) can drive the moving platform (42) to lift.
2. A ground leveling robot according to claim 1, characterised in that it further comprises a laser receiver (3).
3. A ground leveling robot according to claim 1, characterized in that the angle between the length direction of the screed (41) and the direction of movement of the screed on the mobile station is adjustable.
4. A ground leveling robot according to claim 1 or 3, characterized in that the lower end surface of the scraper (41) is a slope, and the acute angle formed by the slope and the horizontal plane is towards the base; or the angle between the plane of the scraper (41) and the horizontal plane is an acute angle, and the acute angle faces to the direction of the base.
5. A ground leveling robot according to any one of claims 1-3 wherein said mobile station (42) is hingedly connected to said lifting platform (43), said ground leveling robot further comprising a work head support for adjusting the angle of articulation between said mobile station (42) and said lifting platform (43); one end of the supporting frame is connected with the lifting platform (43), and the other end of the supporting frame is connected with the mobile platform (42);
and any one end or two ends of the support frame are simultaneously provided with a support frame fine adjustment device.
6. The ground leveling robot according to claim 5 wherein the support frame fine adjustment means is a rail level adjustment screw, the top end of the rail level adjustment screw passes through a threaded hole provided on the end portion of the support frame and contacts the lifting platform (43) or the moving platform (42), and the position between the end portion of the support frame and the lifting platform (43) or the moving platform (42) can be changed by rotating the rail level adjustment screw.
7. A ground leveling robot according to claim 1, characterised in that said base (2) consists of several base units, which are connected in an articulated or detachable manner.
8. A ground leveling robot according to claim 1, characterised in that said base (2) consists of three base units, which are connected in an articulated manner, the base (2) being t-shaped in the fully deployed state, the articulation angle between adjacent base units being adjustable and lockable at will within the range of 0-90 °.
9. The ground leveling robot of claim 8 wherein said base is provided with a plurality of head mounts on each base unit; the ground leveling working head (4) can be mounted on any working head mounting part, and different working postures are realized through adjustment of the hinge angle between the base units.
10. A construction method of the ground leveling robot according to claim 2, characterized in that:
1) moving the ground leveling robot to a position to be constructed; the inclination degree detection sensor detects the inclination condition of the base and enables the base to be horizontal through the expansion and contraction of the telescopic roller device (1); a horizontal reference laser plane is arranged, and on the premise of ensuring that the base is horizontal, the telescopic length of the telescopic roller device (1) is adjusted to enable the horizontal reference laser plane to irradiate a set position A0 on a laser receiver, so that the debugging work of the ground leveling robot is completed;
2) the lifting platform works to enable the ground leveling working head (4) to move to a set lifting position H1 on the base; then the mobile platform works to enable the scraper to be positioned at the top end of the mobile platform;
3) the lifting platform works to enable the ground leveling working head (4) to move downwards to a working position H0 on the base, at the moment, the length direction of the scraper and the advancing direction of the scraper are ensured to be a required working angle, then the mobile platform works to enable the scraper to move from the top end to the tail end of the mobile platform, and the scraper levels mortar on the ground; after leveling is finished, the ground leveling working head (4) is lifted by a set height;
4) and (3) moving the ground leveling robot to the next construction position, and repeatedly executing the steps 1) to 3) until the whole work task is completed, wherein when the step 1) is executed, the adjustment result of the telescopic roller device (1) is that the horizontal reference laser plane irradiates on the A0 position on the laser receiver.
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| CN201910993508.9A CN110607912A (en) | 2019-10-18 | 2019-10-18 | Ground leveling robot and construction method thereof |
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| CN201910993508.9A CN110607912A (en) | 2019-10-18 | 2019-10-18 | Ground leveling robot and construction method thereof |
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| 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 |
| CN111321900A (en) * | 2020-03-04 | 2020-06-23 | 广东博智林机器人有限公司 | Leveling and floating device and leveling and floating robot |
| CN111677249A (en) * | 2020-06-15 | 2020-09-18 | 南京芸皓智能建筑科技有限公司 | Intelligent paving and pasting robot for large-space indoor ceramic tiles |
| CN112459436A (en) * | 2020-11-12 | 2021-03-09 | 广东博智林机器人有限公司 | Spreading and leveling equipment |
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| CN114541714A (en) * | 2022-01-29 | 2022-05-27 | 江苏应泰智能建设机械研究院有限公司 | Leveling device for wear-resistant floor finishing robot |
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| CN116696023A (en) * | 2023-06-12 | 2023-09-05 | 中建八局第三建设有限公司 | Basement terrace construction leveling device |
| CN116696023B (en) * | 2023-06-12 | 2023-12-12 | 中建八局第三建设有限公司 | Basement terrace construction leveling device |
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