CN111236599B

CN111236599B - Leveling execution device and leveling robot

Info

Publication number: CN111236599B
Application number: CN202010146236.1A
Authority: CN
Inventors: 阿斯嘎; 柴振; 辛红伟; 台三鹏; 徐明光
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-03-05
Filing date: 2020-03-05
Publication date: 2021-08-31
Anticipated expiration: 2040-03-05
Also published as: CN111236599A

Abstract

The invention relates to a leveling execution device and a leveling robot, comprising: a mounting seat; the actuating mechanism is arranged on the mounting seat and is used for being in driving connection with a power device to obtain a rotary driving force; the fine trowelling mechanism is rotatably arranged on the mounting seat and is in driving connection with the actuating mechanism; the transmission mechanism is rotatably arranged on the mounting seat and is in driving connection with the fine floating mechanism; and the rough trowelling mechanism is rotatably arranged on the mounting seat and is in driving connection with the transmission mechanism. The whole process of the leveling operation on the mortar layer is free from manual intervention, the automation degree is high, the labor intensity of workers is greatly reduced, the labor cost of enterprises is reduced, the surface leveling flatness of the mortar layer can be guaranteed to be high, and the leveling construction quality is improved.

Description

Leveling execution device and leveling robot

Technical Field

The invention relates to the technical field of construction machinery, in particular to a leveling execution device and a leveling robot.

Background

Traditionally, in the construction and construction of most buildings, one important work content is to spread dry and hard cement mortar on a foundation and then level the mortar layer to ensure the attractive appearance and quality of the building. The leveling operation of the mortar layer is still stopped at the manual labor stage, namely, the simple leveling tool is held by a worker to perform the leveling operation on the mortar layer surface block by block, the leveling quality and the attractiveness of the mortar layer surface are influenced due to the operation mode, and meanwhile, the labor intensity of the worker is high, so that the labor cost of an enterprise is high.

Disclosure of Invention

Based on this, it is necessary to provide a leveling execution device and a leveling robot, and the purpose is to solve the problems of high labor intensity of workers and poor leveling construction flatness in the prior art.

The technical scheme is as follows:

in one aspect, the present application provides a leveling implement, comprising:

a mounting seat;

the actuating mechanism is arranged on the mounting seat and is used for being in driving connection with a power device to obtain a rotary driving force;

the fine trowelling mechanism is rotatably arranged on the mounting seat and is in driving connection with the actuating mechanism;

the transmission mechanism is rotatably arranged on the mounting seat and is in driving connection with the fine floating mechanism; and

and the rough trowelling mechanism is rotatably arranged on the mounting seat and is in driving connection with the transmission mechanism.

The leveling execution device is applied to the leveling robot and is a direct execution device for leveling construction operation of various paved mortar layers (such as dry and hard mortar layers). Specifically, the installation seat is used for installing and fixing the motion mechanism, the fine leveling mechanism, the transmission mechanism and the rough leveling mechanism, so that the leveling execution device is integrated into a synergistic organic whole. Before work, the leveling execution device is assembled and connected with a power device of the leveling robot, so that the power device can output rotary driving force to the actuating mechanism after being started; then, the actuating mechanism can drive the fine trowelling mechanism to rotate, and the fine trowelling mechanism can further transmit the rotation driving force to the rough trowelling mechanism through the transmission mechanism, so that the effect of synchronous rotation of the rough trowelling mechanism and the fine trowelling mechanism is achieved; with the walking of the leveling robot, the rough leveling mechanism can firstly roughly level the mortar paved on the foundation for the first time, and a fine leveling foundation is provided for the fine leveling mechanism; and then, carrying out secondary fine leveling on the mortar layer subjected to the primary coarse leveling by the fine leveling mechanism so as to enable the flatness of the mortar layer to meet the construction requirement. The whole process of the leveling operation on the mortar layer is free from manual intervention, the automation degree is high, the labor intensity of workers is greatly reduced, the labor cost of enterprises is reduced, the surface leveling flatness of the mortar layer can be guaranteed to be high, and the leveling construction quality is improved.

The technical solution of the present application is further described below:

in one embodiment, the actuating mechanism comprises a bearing seat arranged on the top surface of the mounting seat, and a driving wheel arranged on the top surface of the bearing seat, the driving wheel is connected with the fine floating mechanism and can rotate synchronously, and the driving wheel is used for abutting against a guide rail cross beam of the power device.

In one embodiment, the movement mechanism further includes a fixing frame disposed on the carrying seat, and a position sensor disposed on the fixing frame, wherein the position sensor is used for limiting a movement range of the leveling execution device.

In one embodiment, the fixing frame and the position sensors are two and are connected in one-to-one correspondence, and the two position sensors are arranged at two ends of the driven wheel in the diameter direction at intervals.

In one embodiment, the actuating mechanism comprises a guide assembly arranged on the top surface of the mounting seat, the guide assembly comprises a first mounting plate and a second mounting plate which are arranged side by side at intervals, a first mounting block arranged on the first mounting plate, a second mounting block arranged on the second mounting plate, a first guide wheel arranged on the first mounting block and a second guide wheel arranged on the second mounting block.

In one embodiment, a belt mounting plate is further mounted on the side of the first mounting plate facing away from the first guide wheel.

In one embodiment, the guide assembly further comprises a reinforcement rib connected to the top surface of the mounting seat and a corner of the first mounting plate.

In one embodiment, the fine-floating mechanism comprises a fine-floating shaft which penetrates through and is rotatably arranged on the bearing seat and the mounting seat, and a fine-floating executing body which is sleeved on the fine-floating shaft and is positioned below the bottom surface of the mounting seat; the application wheel is sleeved at one end of the fine leveling shaft, which is far away from the fine leveling execution body.

In one embodiment, the fine floating mechanism further includes two adjusting bearing seats longitudinally arranged in the bearing seat at intervals, a connecting sleeve abutted between the two adjusting bearing seats, and adjusting components mounted on the bearing seat and connected with the adjusting bearing seats in a one-to-one correspondence manner.

In one embodiment, the adjusting assembly includes an adjusting bolt screwed to a sidewall of the bearing block and connected to the adjusting bearing block.

In one embodiment, the adjusting assembly further comprises a tightening bolt, and the tightening bolt is screwed on the side wall of the bearing seat and abuts against the adjusting bearing seat.

In one embodiment, the fine leveling mechanism further comprises a supporting bearing seat arranged on the bottom surface of the mounting seat, and the supporting bearing seat is sleeved outside the fine leveling shaft.

In one embodiment, the rough-floating mechanism comprises a rough-floating shaft which penetrates through and is rotatably arranged on the mounting seat, and a rough-floating executing body which is sleeved on the rough-floating shaft and is positioned below the bottom surface of the mounting seat, wherein the floating operation surface of the rough-floating executing body and the floating operation surface of the fine-floating executing body are positioned on the same plane; the transmission mechanism comprises a first transmission wheel sleeved on the fine leveling shaft, a second transmission wheel sleeved on the rough leveling shaft, and a transmission part sleeved on the first transmission wheel and the second transmission wheel.

In one embodiment, the rough floating mechanism further comprises a connecting shaft sleeve sleeved outside the rough floating shaft, and the rough floating execution body is sleeved on the connecting shaft sleeve.

In addition, the application also provides a leveling robot, which comprises the leveling execution device.

Drawings

Fig. 1 is a schematic structural view of a leveling actuating device according to an embodiment of the present invention;

fig. 2 is an internal structure view of the leveling performing device according to an embodiment of the present invention.

Description of reference numerals:

10. a mounting seat; 20. an actuator mechanism; 21. a bearing seat; 22. a driving wheel; 23. a fixed mount; 24. a position sensor; 25. a first mounting plate; 26. a second mounting plate; 27. a first guide wheel; 28. a second guide wheel; 29. a reinforcing rib plate; 30. a fine trowelling mechanism; 31. finely plastering the shaft; 32. finely floating the executive body; 33. adjusting a bearing seat; 34. a connecting sleeve; 35. adjusting the bolt; 36. jacking the bolt; 37. supporting the bearing seat; 40. a transmission mechanism; 41. a first drive pulley; 42. a second transmission wheel; 43. a transmission member; 50. a rough trowelling mechanism; 51. roughly flattening the shaft; 52. roughly floating the execution body; 53. connecting the shaft sleeve; 60. and (7) mounting a belt on a plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

It will be understood that when an element is referred to as being "secured to," "disposed on" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; the specific manner of fixedly connecting one element to another element can be implemented by the prior art, and will not be described herein, and preferably, a screw-threaded connection is used.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The terms "first" and "second" used herein do not denote any particular order or quantity, but rather are used to distinguish one element from another.

The embodiment of the application provides a robot of making level, it is applied to all kinds of building work progress, makes level the construction operation to all kinds of mortar layers after spreading on ground (or terrace). For example, when constructing and constructing an expressway, a foundation needs to be leveled first, then a dry and hard mortar layer needs to be poured and spread on the foundation, and then a leveling robot needs to be started to level the surface of the paved dry and hard mortar layer, so as to ensure the surface of the solidified and hardened road to be level and beautiful.

Specifically, the leveling robot mainly comprises a power device, a leveling execution device and some auxiliary equipment. The power device of the embodiment is composed of a guide rail beam and a driving device, wherein the leveling execution device is installed on the guide rail beam and can be suspended above a construction site, and the driving device can drive the leveling execution device to move on the guide rail beam, so that the aim of avoiding rolling a dry and hard mortar layer is fulfilled.

It can be understood that the erection of the guide rail beam needs to be adapted to the shape and the extending direction of the site to be constructed, so that the leveling execution device has the capability of moving and leveling construction.

It will be appreciated that the drive means may be any type of prior art device capable of providing motive power for movement, such as, but not limited to, a motor-pulley mechanism or the like.

As shown in fig. 1 and 2, a leveling performing device according to an embodiment of the present application includes: the device comprises a mounting seat 10, an actuating mechanism 20, a fine floating mechanism 30, a transmission mechanism 40 and a rough floating mechanism 50. In this embodiment, the mounting base 10 is formed into a rectangular box structure, that is, the mounting base is formed by assembling and fixing front and back, left and right, and upper and lower plates through bolts, so that the structure is simple, and the manufacturing cost is favorably reduced. The cavity formed inside the mounting base 10 can accommodate the transmission mechanism 40 to form a shielding protection for the transmission mechanism 40.

The actuating mechanism 20 is arranged on the mounting seat 10 and is used for being in driving connection with a power device to obtain a rotary driving force; specifically, the actuating mechanism 20 is mainly used for being assembled and fixed with the guide rail cross beam, and automatically generates a rotation driving force along with the movement of the leveling actuating device.

The fine floating mechanism 30 is rotatably disposed on the mounting base 10 and is in driving connection with the actuating mechanism 20; the transmission mechanism 40 is rotatably arranged on the mounting base 10 and is in driving connection with the fine floating mechanism 30; the rough floating mechanism 50 is rotatably disposed on the mounting base 10 and is in driving connection with the transmission mechanism 40.

In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the leveling execution device is applied to the leveling robot and is a direct execution device for leveling construction operation of various paved mortar layers (such as dry and hard mortar layers). Specifically, the mounting base 10 mounts and fixes the applying mechanism 20, the fine leveling mechanism 30, the transmission mechanism 40 and the rough leveling mechanism 50, so that the leveling executing device is integrated into a coordinated organic whole. Before work, the leveling execution device is assembled and connected with a power device of the leveling robot, the power device drives the leveling execution device to move along the guide rail cross beam, and the execution mechanism 20 generates rotary driving force by matching with the guide rail cross beam; then, the applying mechanism 20 can drive the fine leveling mechanism 30 to rotate, and the fine leveling mechanism 30 can further transmit the rotational driving force to the rough leveling mechanism 50 through the transmission mechanism 40, so as to form the effect that the rough leveling mechanism 50 and the fine leveling mechanism 30 synchronously rotate; as the leveling robot travels, the rough leveling mechanism 50 can firstly roughly level the mortar spread on the foundation for the first time, and provide a fine leveling foundation for the fine leveling mechanism 30; and then the fine leveling mechanism 30 carries out secondary fine leveling on the mortar layer subjected to primary rough leveling so as to enable the flatness of the mortar layer to meet the construction requirements. The whole process of the leveling operation on the mortar layer is free from manual intervention, the automation degree is high, the labor intensity of workers is greatly reduced, the labor cost of enterprises is reduced, the surface leveling flatness of the mortar layer can be guaranteed to be high, and the leveling construction quality is improved.

With continued reference to fig. 1 and 2, the rail cross member may be any structural steel member of the prior art, such as i-steel, channel steel, etc. In order to facilitate understanding of the technical solution of the present application, a guide rail cross beam is taken as a channel steel as an example for description. In one embodiment, the actuating mechanism 20 includes a guiding assembly disposed on the top surface of the mounting base 10, a bearing base 21 disposed on the top surface of the mounting base 10, and an actuating wheel 22 disposed on the top surface of the bearing base 21, the actuating wheel 22 is connected to the fine floating mechanism 30 and can rotate synchronously, and the actuating wheel 22 is used for abutting against a guiding rail beam of the power device. During the equipment, lead the line subassembly and withhold in the recess of channel-section steel, under self action of gravity, lead the line subassembly and can reliably compress tightly on the recess cell wall, and actuating wheel 22 can just contact and support tightly with the lateral wall of channel-section steel this moment. On this basis, along with the actuating device drive actuating device that makes level moves on the channel steel, because there is frictional force between channel-section steel and the application wheel 22 for application wheel 22 can follow whole device and remove and synchronous rotation, and application wheel 22 rotates and can drive fine floating mechanism 30 rotatory, and fine floating mechanism 30 further makes fine floating mechanism 30 and coarse floating mechanism 50 carry out thick, the rotatory floating of accurate twice to the mortar layer through drive mechanism 40 synchronous movement coarse floating mechanism 50 rotatory, makes fine floating mechanism 30 and coarse floating mechanism 50, accomplishes the operation of making level to this.

Preferably, the driving wheel 22 is a friction wheel made of rubber, which is more easily rotated reliably under the contact friction force with the channel steel, so as to ensure the generation of reliable rotation driving force for the fine-troweling mechanism 30 and the rough-troweling mechanism 50.

With reference to fig. 1 and fig. 2, in addition, the actuating mechanism 20 further includes a fixing frame 23 disposed on the bearing seat 21, and a position sensor 24 disposed on the fixing frame 23, where the position sensor 24 is used for limiting a moving range of the leveling execution device. The fixing frame 23 is locked on the side wall of the bearing seat 21 close to the top surface through bolts, the position sensor 24 is locked on the fixing frame 23 through bolts and is positioned above the edge of the actuating wheel 22, and by means of position detection data of the position sensor 24, the leveling execution device can be ensured to move within a specified preset stroke range, so that collision and interference with peripheral objects due to exceeding the range can be avoided, and the safe and reliable operation of the device can be ensured.

In a preferred embodiment, the two fixing frames 23 and the two position sensors 24 are connected in a one-to-one correspondence manner, and the two position sensors 24 are spaced apart from each other at two ends of the driven wheel 22 in the diameter direction. Two position sensor 24 can simultaneous working this moment, and the detection data can be mutually in coordination with each other and assist, changes in guaranteeing to detect the precision, is applicable to and detects the shift position of a plurality of directions, promotes the self security protection ability of making level final controlling element.

With continued reference to fig. 2, in one embodiment, the guide assembly includes a first mounting plate 25 and a second mounting plate 26 spaced apart from each other and arranged side by side, a first mounting block disposed on the first mounting plate 25, a second mounting block disposed on the second mounting plate 26, a first guide wheel 27 disposed on the first mounting block, and a second guide wheel 28 disposed on the second mounting block. Specifically, the first mounting plate 25 and the second mounting plate 26 are both vertically fixed on the top surface of the mounting base 10, and an accommodating cavity is formed between the two plates at an interval; the first guide wheel 27 and the second guide wheel 28 are fixed on the corresponding mounting plates through the respective mounting blocks, and the first guide wheel and the second guide wheel are spaced at the same interval to form an access gap. When the leveling execution device is installed, the guide rail beam can be directly inserted into the accommodating cavity from the side, then the leveling execution device is released, and the first guide wheel 27 and the second guide wheel 28 can fall under the action of the gravity of the leveling execution device and are buckled and pressed into the groove cavity of the guide rail beam. The first guide wheel 27 and the second guide wheel 28 roll in the groove cavity, so that the leveling execution device can be guaranteed to move more stably and has directivity, the stability of the space pose of the leveling execution device can be more easily guaranteed, and the leveling precision is further guaranteed. Preferably, the first guide wheel 27 and the second guide wheel 28 are two or more, in order to increase the load-bearing capacity of the leveling execution device.

And because the first mounting block and the first mounting plate 25, and the second mounting block and the second mounting plate 26 adopt bolt and slotted hole assembly structures, the positions of the first mounting block and the second mounting block are adjustable, namely the purpose of flexibly adjusting the mounting positions of the first guide wheel 27 and the second guide wheel 28 is achieved, the assembly requirements of guide rail cross beams with different sizes and shapes are met, and the application range of the leveling execution device is further widened.

With continued reference to fig. 1, further, a belt mounting plate 60 is mounted on the side of the first mounting plate 25 facing away from the first guide wheel 27. The belt mounting plate 60 enables the belt to be mounted and thus assembled with a drive device such as a motor to enable the leveling actuator to capture the power moving along the rail beam.

Considering that the first guide wheel 27 is in direct rigid contact with the rail cross beam, any manufacturing or installation dimension error can cause the first mounting plate 25 to bear a large lateral bending moment, and in order to avoid the root of the first mounting plate 25 from being broken due to stress concentration, the guide assembly further comprises a reinforcing rib plate 29, and the reinforcing rib plate 29 is connected to the top surface of the mounting seat 10 and the corner of the first mounting plate 25. The reinforcing rib 29 can effectively increase the connection strength of the first mounting plate 25 and the mounting seat 10, thereby avoiding the above problem. It should be noted that the material, number, shape, size and arrangement of the reinforcing ribs 29 may be selected according to actual needs, and are not particularly limited herein.

In one embodiment, the bearing seat 21 and the mounting seat 10 are structurally formed in a rectangular box body assembled by a plurality of plates, except that the bearing seat 21 is arranged on the top surface of the mounting seat 10 and close to the end, so that the bottom plate of the bearing seat 21 and the top plate of the mounting seat 10 share one plate, and one side plate of the bearing seat 21 and one side plate of the mounting seat 10 share one plate, thereby further simplifying the structure of the leveling actuator and reducing the manufacturing cost.

With reference to fig. 1 and fig. 2, the fine-floating mechanism 30 includes a fine-floating shaft 31 penetrating and rotatably disposed on the bearing seat 21 and the mounting seat 10, and a fine-floating executing body 32 sleeved on the fine-floating shaft 31 and located below the bottom surface of the mounting seat 10; the actuating wheel 22 is sleeved at one end of the fine leveling shaft 31 far away from the fine leveling executing body 32. The application wheel 22 rotates under the driving of the friction force of the guide rail beam, and the fine-floating execution body 32 below can be synchronously driven to rotate, so that the floating operation surface of the fine-floating execution body 32 can level the mortar layer, and the surface flatness of the mortar layer is ensured.

Alternatively, fine trowel actuator 32 may be, but is not limited to, a disk-like structure, a cylindrical structure, or the like. In the embodiment, the fine floating execution body 32 is a cylindrical cylinder; the bottom surface of the mortar layer needs to be guaranteed to be smooth, and absolute levelness needs to be guaranteed after installation, so that the levelness of the mortar layer after leveling is good. Preferably, the fine leveling actuator 32 is made of wear-resistant material, such as wear-resistant stainless steel or wear-resistant ceramic, so as to reduce wear and ensure a long service life.

With reference to fig. 2, in an embodiment, the fine floating mechanism 30 further includes two adjusting bearing blocks 33 longitudinally spaced in the bearing block 21, a connecting sleeve 34 abutted between the two adjusting bearing blocks 33, and adjusting elements mounted on the bearing block 21 and connected to the adjusting bearing blocks 33 in a one-to-one correspondence manner. The two adjusting bearing seats 33 longitudinally arranged at intervals can ensure that the fine floating shaft 31 is firmly installed and stably and reliably rotates, so that the leveling operation precision of the fine floating execution body 32 is ensured. The connecting sleeve 34 can fix and maintain the respective mounting positions of the two adjusting bearing seats 33, so as to increase the length of the supporting edge of the fine trowelling shaft 31, and further ensure the supporting strength of the fine trowelling shaft 31. In the initial installation stage, the spatial position of the driving wheel 22 can be flexibly adjusted by operating the adjusting assembly, and the driving wheel 22 is ensured to be reliably contacted with the guide rail cross beam so as to obtain the rotation driving force.

In one embodiment, the adjusting assembly includes an adjusting bolt 35, and the adjusting bolt 35 is screwed on the sidewall of the bearing seat 21 and connected with the adjusting bearing seat 33. The adjusting bolt 35 is operated to move in a telescopic manner, so that the adjusting bearing seat 33 can be synchronously driven to move, and the actuating wheel 22 can be in close contact with the guide rail beam, thereby avoiding the phenomenon of slipping and influencing the working efficiency of the fine-floating actuating body 32.

In addition, the adjusting assembly further comprises a tightening bolt 36, and the tightening bolt 36 is screwed on the side wall of the bearing seat 21 and abuts against the adjusting bearing seat 33. The tightening bolt 36 is used for limiting the degree of freedom of the adjusting bearing seat 33 after the adjusting bearing seat 33 is adjusted in place, so as to prevent the adjusting bearing seat 33 from being loosened, further causing the fine leveling actuator 32 to be loosened and deflected, and affecting the leveling precision.

Further, the fine floating mechanism 30 further includes a supporting bearing seat 37 disposed on the bottom surface of the mounting seat 10, and the supporting bearing seat 37 is sleeved outside the fine floating shaft 31. The supporting bearing seat 37 is used for further supporting and guiding the fine-floating shaft 31, so that the fine-floating executing body 32 is ensured to be stable in rotation, and the leveling precision of the mortar layer is improved.

With reference to fig. 1 and fig. 2, the rough-leveling mechanism 50 includes a rough-leveling shaft 51 penetrating and rotatably disposed on the mounting base 10, and a rough-leveling actuating body 52 sleeved on the rough-leveling shaft 51 and located below the bottom surface of the mounting base 10, and a leveling operation surface of the rough-leveling actuating body 52 is on the same plane as a leveling operation surface of the fine-leveling actuating body 32. Therefore, after the rough-leveling executing body 52 and the fine-leveling executing body 32 rotate synchronously, the rough-leveling executing body can move along with the whole leveling executing device, and can finish two operations of rough leveling and fine leveling on the same area in sequence, so that the surface of the mortar layer is guaranteed to be flat.

Alternatively, rough floating actuator 52 may be, but is not limited to, a disk-like structure, a cylindrical structure, or the like. In the embodiment, the rough floating performing body 52 is a cylindrical body; the bottom surface of the mortar layer is required to be smooth, and absolute levelness is required to be guaranteed after installation, so that the levelness of the mortar layer after leveling is good. Preferably, the rough floating actuator 52 is made of wear-resistant material, such as wear-resistant stainless steel, wear-resistant ceramic, so as to reduce wear and ensure a long service life.

Referring to fig. 2, in an embodiment, the transmission mechanism 40 includes a first transmission wheel 41 sleeved on the fine leveling shaft 31, a second transmission wheel 42 sleeved on the rough leveling shaft 51, and a transmission member 43 sleeved on the first transmission wheel 41 and the second transmission wheel 42. The first transmission wheel 41, the transmission piece 43 and the second transmission wheel 42 are matched with each other, so that the rotating power of the fine trowelling shaft 31 can be synchronously transmitted to the rough trowelling shaft 51. And preferably, the first transmission wheel 41 and the second transmission wheel 42 are synchronous wheels, and the transmission member 43 is a synchronous belt, so as to eliminate the influence of the potential slip problem on the power transmission efficiency.

Of course, it should be noted that, in other embodiments, the transmission mechanism 40 may be replaced by a sprocket mechanism, a gear-wheel mechanism, a magnetic driving mechanism, etc. besides the belt-wheel mechanism, which are all within the protection scope of the present application, and may be specifically selected according to actual needs.

Further, the rough-floating mechanism 50 further includes a connecting shaft sleeve 53 sleeved outside the rough-floating shaft 51, and the rough-floating actuating body 52 is sleeved on the connecting shaft sleeve 53. Thus, when the rough-floating executing body 52 is excessively worn or the rough-floating executing body 52 with a larger size needs to be replaced to improve the leveling operation efficiency, the current rough-floating executing body 52 and the connecting shaft sleeve 53 can be detached and replaced together without detaching the rough-floating shaft 51, so that the operation difficulty of replacing the rough-floating executing body 52 is reduced, and the operation efficiency and the work experience of workers are improved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

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 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

1. A leveling actuator, comprising:

a mounting seat;

the actuating mechanism is arranged on the mounting seat and is used for being in driving connection with a power device to obtain a rotary driving force; the power device consists of a guide rail cross beam and a driving device, and the erection of the guide rail cross beam is matched with the shape and the extending direction of a site to be constructed; the actuating mechanism is provided with a belt mounting plate; the actuating mechanism comprises a bearing seat arranged on the top surface of the mounting seat, and an actuating wheel arranged on the top surface of the bearing seat, and further comprises a guide assembly, wherein the guide assembly comprises a first mounting plate and a second mounting plate which are arranged side by side at intervals, a first mounting block arranged on the first mounting plate, a second mounting block arranged on the second mounting plate, a first guide wheel arranged on the first mounting block and a second guide wheel arranged on the second mounting block, an accommodating cavity is formed between the first mounting plate and the second mounting plate at intervals, and an access gap is formed between the first guide wheel and the second guide wheel at intervals; the movement mechanism further comprises a fixed frame arranged on the bearing seat and a position sensor arranged on the fixed frame, and the position sensor is used for limiting the movement range of the leveling execution device;

2. The leveling execution device according to claim 1, wherein the application wheel is connected with the fine leveling mechanism and can rotate synchronously, and the application wheel is used for abutting against a guide rail cross beam of the power device.

3. The leveling actuating device according to claim 1, wherein the fixing frame and the position sensors are connected in a one-to-one correspondence manner, and the two position sensors are arranged at two ends of the actuating wheel in the diameter direction at intervals.

4. The leveling implement of claim 1 wherein the routing assembly is disposed on a top surface of the mount.

5. The leveling implement of claim 1 wherein a belt mounting plate is further mounted to the side of the first mounting plate facing away from the first guide wheel.

6. The leveling implement of claim 1, wherein the guide assembly further comprises a reinforcing rib connected to a top surface of the mount and a corner of the first mounting plate.

7. The leveling execution device according to claim 2, wherein the fine leveling mechanism comprises a fine leveling shaft which penetrates through and is rotatably arranged on the bearing seat and the mounting seat, and a fine leveling execution body which is sleeved on the fine leveling shaft and is positioned below the bottom surface of the mounting seat; the application wheel is sleeved at one end of the fine leveling shaft, which is far away from the fine leveling execution body.

8. The leveling actuating device according to claim 7, wherein the fine leveling mechanism further comprises two adjusting bearing seats longitudinally arranged in the bearing seat at intervals, a connecting sleeve abutted between the two adjusting bearing seats, and adjusting components mounted on the bearing seat and connected with the adjusting bearing seats in a one-to-one correspondence manner.

9. The leveling implement of claim 8, wherein the adjustment assembly comprises an adjustment bolt that is bolted to the side wall of the load bearing block and is connected to the adjustment bearing block.

10. The leveling implement of claim 9 wherein the adjustment assembly further comprises a jacking bolt that is bolted to the side wall of the load bearing block and abuts the adjustment bearing block.

11. The leveling execution device according to claim 7, wherein the fine leveling mechanism further comprises a supporting bearing seat arranged on the bottom surface of the mounting seat, and the supporting bearing seat is sleeved outside the fine leveling shaft.

12. The leveling execution device according to claim 7, wherein the rough leveling mechanism comprises a rough leveling shaft which penetrates through and is rotatably arranged on the mounting seat, and a rough leveling execution body which is sleeved on the rough leveling shaft and is positioned below the bottom surface of the mounting seat, and the leveling operation surface of the rough leveling execution body and the leveling operation surface of the fine leveling execution body are in the same plane; the transmission mechanism comprises a first transmission wheel sleeved on the fine leveling shaft, a second transmission wheel sleeved on the rough leveling shaft, and a transmission part sleeved on the first transmission wheel and the second transmission wheel.

13. The leveling actuating device according to claim 12, wherein the rough leveling mechanism further comprises a connecting bushing sleeved outside the rough leveling shaft, and the rough leveling actuating body is sleeved on the connecting bushing.

14. A leveling robot comprising a leveling performing apparatus according to any one of claims 1 to 13.