CN111335604A - Working device of leveling robot and leveling robot - Google Patents
Working device of leveling robot and leveling robot Download PDFInfo
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- CN111335604A CN111335604A CN202010163924.9A CN202010163924A CN111335604A CN 111335604 A CN111335604 A CN 111335604A CN 202010163924 A CN202010163924 A CN 202010163924A CN 111335604 A CN111335604 A CN 111335604A
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- leveling robot
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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
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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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- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The application relates to the field of building construction equipment, in particular to a working device of a leveling robot and the leveling robot, wherein the working device of the leveling robot comprises an adjusting mechanism and a mold, and the mold is used for molding slurry into a datum bar; the adjusting mechanism is used for being installed on a car body of the mortar leveling robot and comprises a first driving device, a second driving device and a third driving device, the first driving device is used for adjusting the height of the mould in the up-down direction, the second driving device is used for adjusting the levelness of the mould in the left-right direction, and the third driving device is used for adjusting the levelness of the mould in the front-back direction. The leveling robot can generate a plurality of datum bars which are level with the datum plane on the ground by utilizing the working device, the generation speed of the datum bars is high, the precision is high, the flatness can be conveniently controlled by taking the datum bars as reference, the construction speed is high, and the efficiency is high.
Description
Technical Field
The application relates to the field of building construction equipment, in particular to a working device of a leveling robot and the leveling robot.
Background
The ground leveling method generally comprises the steps of pouring mortar or other leveling materials on the ground, and then leveling or screeding the leveling materials, wherein the screeding equipment in the prior art runs along the ground, and screeding the mortar by using a scraper plate on the screeding equipment, so that the flatness is inconvenient to control in the conventional screeding method.
Disclosure of Invention
The application aims at providing a working device of a leveling robot and the leveling robot, so that the problem of the inconvenient control of the leveling of the ground in the prior art is solved.
The embodiment of the application is realized as follows:
in a first aspect, an embodiment of the present application provides a work apparatus of a leveling robot, including:
the mould is used for forming the slurry into a datum bar;
the adjusting mechanism is used for being installed on a car body of the mortar leveling robot and comprises a first driving device, a second driving device and a third driving device, the first driving device is used for adjusting the height of the mould in the up-down direction, the second driving device is used for adjusting the levelness of the mould in the left-right direction, and the third driving device is used for adjusting the levelness of the mould in the front-back direction.
This application is through setting up a work device on the robot of making level, and this work device's adjustment mechanism can the independent control mould highly, around levelness and control the levelness, makes the robot of making level utilize this work device can subaerial generate a plurality of reference bars that are level with the datum plane mutually, and the generation of reference bar is fast, the precision is high to but these reference bars are for referring to the conveniently controlled roughness. After the datum bar is hardened, the mortar is poured on the ground, the scraper is used for abutting against the datum bar and scraping the mortar along the datum bar, and a leveling layer with high flatness can be obtained.
Optionally, in an embodiment of the present application, the adjusting mechanism further includes:
the base is used for being connected with a car body of the leveling robot;
the upper and lower freedom degree fixing frame is connected to the base in a sliding mode along the upper and lower direction, and the first driving device is connected with the base and the upper and lower freedom degree fixing frame.
Optionally, in an embodiment of the present application, the upper and lower degree of freedom fixing frame is further connected with a guide rod disposed along the upper and lower direction, and the guide rod is slidably connected with the base.
The upper and lower freedom degree fixing frames and the base are connected through the guide rods, so that the upper and lower freedom degree fixing frames are stably lifted, the structure below the base is not easy to deflect in the lifting process to cause levelness change, and the stability and the precision of the adjusting mechanism are improved.
Optionally, in an embodiment of the present application, the adjusting mechanism further includes: the left-right freedom degree fixing frame is rotatably connected with the upper-lower freedom degree fixing frame around a first axis extending in the front-rear direction, and the second driving device is connected with the upper-lower freedom degree fixing frame and the left-right freedom degree fixing frame.
Optionally, in an embodiment of the present application, the adjusting mechanism further includes: the front and rear freedom degree fixing frames are rotatably connected with the left and right freedom degree fixing frames around a second axis extending in the left and right directions, the third driving device is connected with the left and right freedom degree fixing frames and the front and rear freedom degree fixing frames, and the die is connected with the front and rear freedom degree fixing frames.
The adjusting mechanism is integrally installed on a leveling robot body through the base, an upper freedom degree fixing frame, a left freedom degree fixing frame, a right freedom degree fixing frame and a front freedom degree fixing frame and a rear freedom degree fixing frame which are sequentially hinged are connected below the base, a mold is installed on the rearmost front freedom degree fixing frame and the rear freedom degree fixing frame, when the first driving device moves, the structure below the base is lifted, so that the tail mold is lifted, when the second driving device moves, the structure below the upper freedom degree fixing frame swings left and right, so that the left and right levelness of the mold is adjusted, and when the third driving device moves, the structure below the left and right freedom degree fixing frame swings front and back, so that the front and rear levelness of. Through the setting, the height, the front and back levelness and the left and right levelness of the die can be controlled independently, and the adjusting precision is high and the adjusting effect is good.
Optionally, in an embodiment of the application, the working device of the leveling robot further comprises a height detection device for measuring the height of the mould relative to a reference surface, and the first driving device is capable of responding to a signal of the height detection device to adjust the height of the mould.
Through setting up high detection device, adjustment mechanism can adjust the height that the benchmark generated the mould in real time, need not the pause robot and adjusts the height for reference bar generates speed, makes the upper surface of the reference bar of formation all the time at same height, improves the precision of making level.
Optionally, in an embodiment of the present application, the height detecting device includes a laser receiver, the laser receiver is fixed relative to the mold, and the laser receiver is configured to receive a laser signal emitted at a reference surface, so as to measure a height of the mold relative to the reference surface.
Through setting up height-detecting device for the fixed laser receiver of mould, laser receiver can be directly compared in real time with the laser signal of reference surface department, and the measuring method is direct and effective, and measurement accuracy is high.
Optionally, in an embodiment of the present application, the laser receiver is disposed at one end of a fixing rod, and the other end of the fixing rod is fixed opposite to the mold.
Through passing through dead lever with laser receiver and mould relatively fixed, can rise laser receiver and laser generator's position in step, prevent that laser from being sheltered from by ground obstacle.
Optionally, in an embodiment of the present application, the working device of the leveling robot further includes a levelness detecting device for measuring the levelness of the mold, and the second driving device and the third driving device are capable of adjusting the levelness of the mold in response to a signal of the levelness detecting device.
Through setting up levelness detection device, adjustment mechanism can adjust the levelness that the benchmark generated the mould in real time, need not the machine adjustment levelness of suspending for the reference bar generates speed, ensures that the upper surface of reference bar is flat mutually with predetermined reference plane, improves the precision of making level.
Optionally, in an embodiment of the present application, the levelness detecting device is an inclinometer, and the inclinometer is fixed relative to the mold.
Through setting up levelness detection device for the fixed inclinometer of mould, the levelness that the inclinometer can the direct measurement mould, the measuring method is direct and effective, and measurement accuracy is high.
Optionally, in an embodiment of the present application, the mold is formed with a through groove in a front-back direction, and a notch of the through groove faces the ground for troweling and shaping the slurry into the datum bar.
Through the logical groove that forms the notch and set up downwards and along the fore-and-aft direction on the mould, the inner wall that leads to the groove is used for floating the sizing slurry, and the benchmark strip that generates is the cement strip of rectangle for the cross-section, and the shape of benchmark strip is regular, and the scraper blade can stably support and lean on the benchmark strip, scrapes flat fast, efficient.
In a second aspect, embodiments of the present application provide a leveling robot, which includes the foregoing work apparatus of the leveling robot.
This robot of making level can be earlier before the work of making level, subaerial quick generation reference bar to as the benchmark of making level, speed and the precision of making level are accelerated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a leveling robot having a work apparatus provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a working device according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a working device according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a working device according to an embodiment of the present application from a third perspective.
Icon: 100-a vehicle body; 101-a frame; 200-a material storage mechanism; 201-a storage barrel; 203-driving motor; 206-a kick-out plate; 207-outlet of storage vat; 300-a material preparation mechanism; 301-a preparation barrel; 303-vibrating a tamper; 304-outlet of stock preparation barrel; 400-an adjustment mechanism; 410-a first drive; 420-a second drive; 430-a third drive; 440-a base; 441-a guide rod; 442-linear bearings; 450-vertical degree of freedom mount; 451-a first shaft rotating seat; 460-left and right freedom degree fixing frame; 461-second rotating shaft seat; 470-front and back freedom fixing frame; 471-connecting rod; 480-a mold fixing frame; 500-a mold; 501-through groove; 600-levelness detection means; 700-height detection means; 710-a fixation bar; 721-a gapped sleeve; 722-clamp.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, the description is only for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application. Furthermore, the appearances of the terms "first," "second," and the like in the description herein are only used for distinguishing between similar elements and are not intended to be construed as indicating or implying relative importance.
Examples
The ground leveling method generally comprises the steps of pouring leveling materials such as mortar and the like onto the ground, using a scraper to level the leveling materials, and leading the mortar to be leveled by using the scraper when the existing leveling equipment runs along the ground, wherein the flatness is inconvenient to control by the existing leveling method.
The embodiment of the application provides a work device and the robot of making level of robot, and work device is used for installing on the robot of making level, along with the robot walking of making level is with subaerial formation reference bar to the roughness of making level is conveniently controlled.
Referring to fig. 1, the leveling robot has a movable car body 100, and the aforementioned working device is mounted on a frame 101 of the car body 100, and is used for leveling and shaping cement paste on the ground into a datum bar having an upper surface level with a predetermined datum plane. The cement slurry can be replaced by other settable materials such as mortar.
The working device is structurally shown in fig. 2-4 and comprises an adjusting mechanism 400 and a mold 500, wherein the adjusting mechanism 400 is mounted on the vehicle frame 101, the mold 500 is connected with the adjusting mechanism 400, and the adjusting mechanism 400 is used for adjusting the height and/or the levelness of the mold 500 so that the mold 500 can shape the cement slurry into datum bars.
This application embodiment is through setting up this work device on the robot of making level, makes the robot of making level utilize this work device can be subaerial to generate a plurality of reference bars that are flat mutually with predetermined reference surface, treats the reference bar sclerosis back, emptys the mortar in ground, uses the scraper blade to support and to lean on the reference bar and to scrape the mortar along the reference bar and can obtain the higher screed-coat of roughness, conveniently uses these reference bars as reference control roughness, and construction speed is fast, efficient.
In the prior art, sometimes, a reference point is firstly marked on the ground so as to be convenient to be used as a reference when in strickling and the flatness is controlled by comparing the surface of the leveling layer. Sometimes, materials such as mortar and cement are used to form the marking ribs, and the working surface is divided into a plurality of areas by the marking ribs so as to facilitate reference and control trowelling. But it is not easy to form regular marking ribs on the working surface, and the efficiency of setting the marking ribs is low, so that the efficiency of leveling work is not obviously improved. The working device provided by the embodiment can effectively solve the technical problem, and the datum bar is quickly formed on the ground, so that the leveling efficiency is improved.
The mold 500 is structured as shown in fig. 3, a through groove 501 is formed on the mold 500, an opening of the through groove 501 faces the ground, and both ends of the through groove 501 extend in the front-rear direction. The through slots 501 enable the leveling and shaping of the cementitious slurry on the ground into a continuous strip of reference as the vehicle body 100 moves.
In order to control the height and levelness of the datum bar, in the prior art, the height and levelness of the datum bar are adjusted by adding and floating the lower part or leveling the higher part after the datum bar is manually formed on the ground. The height and levelness of the reference bar are controlled using the aforementioned adjustment mechanism 400 in this embodiment.
The adjusting mechanism 400 includes a base 440, an up-down degree-of-freedom holder 450, a left-right degree-of-freedom holder 460, and a front-rear degree-of-freedom holder 470, and a first driving device 410, a second driving device 420, and a third driving device 430, wherein the first driving device 410 is used to adjust the height of the mold 500 in the up-down direction, the second driving device 420 is used to adjust the levelness of the mold 500 in the left-right direction, and the third driving device 430 is used to adjust the levelness of the mold 500 in the front-rear direction.
It should be noted that the arrangement order of the base 440, the vertical degree of freedom holder 450, the horizontal degree of freedom holder 460, and the vertical degree of freedom holder 470 from top to bottom is not unique, as long as the height, the horizontal degree, and the horizontal degree of freedom of the mold 500 can be adjusted.
In the present embodiment, the arrangement shown in fig. 2 to 4 is adopted, wherein the base 440 is used to be fixed on the frame 101 of the vehicle body 100, the vertical freedom degree fixing frame 450, the left-right freedom degree fixing frame 460 and the front-back freedom degree fixing frame 470 are sequentially hinged below the base 440, and the mold 500 is arranged on the front-back freedom degree fixing frame 470 below.
The first driving device 410, the second driving device 420, and the third driving device 430 may be various types as long as the first driving device 410 can drive the vertical degree of freedom holder 450 to move up and down with respect to the base 440, the second driving device 420 can drive the left and right degree of freedom holder 460 to rotate about a first axis extending in the front-rear direction, and the third driving device 430 can drive the front and rear degree of freedom holder 470 to rotate about a second axis extending in the left-right direction. That is, when the first driving device 410 is operated, the structure below the base 440 is lifted to lift the end mold 500, when the second driving device 420 is operated, the structure below the vertical degree-of-freedom holder 450 is swung left and right to adjust the horizontal degree of the mold 500, and when the third driving device 430 is operated, the structure below the horizontal degree-of-freedom holder 460 is swung back and forth to adjust the horizontal degree of the mold 500.
In this embodiment, the first driving device 410, the second driving device 420 and the third driving device 430 are all electric push rods.
The vertical degree of freedom holder 450 is slidably connected to the base 440 along the vertical direction, four guide rods 441 are fixed to the vertical degree of freedom holder 450, four linear bearings 442 are correspondingly disposed on the base 440, and each guide rod 441 slidably penetrates through the corresponding linear bearing 442. The output end of the first driving means 410 mounted on the base 440 is hinged to the up-down degree-of-freedom fixing frame 450.
The left-right degree of freedom fixing frame 460 is connected to the up-down degree of freedom fixing frame 450 through the first shaft seat 451, that is, the upper surface of the left-right degree of freedom fixing frame 460 and the lower surface of the up-down degree of freedom fixing frame 450 are respectively provided with the mounting seats, and the two mounting seats are connected through the rotating shaft, so that the left-right degree of freedom fixing frame 460 can swing left and right relative to the up-down degree of freedom fixing frame 450, the number of the first shaft seats 451 may be plural, as long as the rotating axes of the plurality of first shaft seats 451 are the same straight line along the front. The second driving device 420 is installed on the left and right degree of freedom fixing frame 460, and the output end thereof is hinged to the up and down degree of freedom fixing frame 450, and the left and right degree of freedom fixing frame 460 can swing left and right as the output end of the second driving device 420 extends and shortens.
The front-back degree of freedom fixing frame 470 and the left-right degree of freedom fixing frame 460 are connected through the second rotating shaft seats 461, that is, the upper surface of the front-back degree of freedom fixing frame 470 and the lower surface of the left-right degree of freedom fixing frame 460 are respectively provided with the mounting seats, and the two mounting seats are connected through the rotating shaft, so that the front-back degree of freedom fixing frame 470 can swing back and forth relative to the left-right degree of freedom fixing frame 460, the number of the second rotating shaft seats 461 can be multiple, as long as the rotating axes of the second rotating shaft seats 461 are the same straight line along the left-right. The third driving means 430 is installed on the front and rear freedom degree fixing frame 470, and the output end thereof is hinged to the left and right freedom degree fixing frame 460, and the front and rear freedom degree fixing frame 470 can swing back and forth as the output end of the second driving means 420 is extended and shortened.
The front and rear degree of freedom fixing frame 470 includes a connecting plate and four connecting rods 471, a cross bar tie is optionally provided between the adjacent connecting rods 471, and the aforementioned second driving device 420 may be installed on the cross bar. A mold holder 480 is installed at the lower ends of the four connecting rods 471, and the mold holder 480 is used for installing the mold 500.
In order to facilitate adjustment of the height and levelness of the generated reference bar, a height detecting device 700 and a levelness detecting device 600 are provided on the working device to detect the height and levelness of the mold 500 in real time.
The height detecting means 700 is used to measure the height of the mold 500, and the first driving means 410 is capable of acting in response to a signal of the height detecting means 700 to adjust the height of the mold 500. In the present embodiment, the first driving device 410 is an electric push rod, and the action of the first driving device 410 is the extension or contraction of the electric push rod.
The levelness detecting means 600 is used to measure the levelness of the mold 500, the second driving means 420 is operable in response to a signal of the levelness detecting means 600 to adjust the left and right levelness of the mold 500, and the third driving means 430 is operable in response to a signal of the levelness detecting means 600 to adjust the front and rear levelness of the mold 500. In the present embodiment, the second driving device 420 and the third driving device 430 are respectively an electric push rod, and the actions of the second driving device 420 and the third driving device 430 refer to the extension or contraction of the electric push rod.
In this embodiment, the height detection device 700 employs a laser receiver, the laser receiver is configured to cooperate with a laser transmitter on a predetermined reference surface, the laser receiver is configured to receive laser light emitted by the laser transmitter, determine whether the height of the laser light is the same as a set height, transmit a signal to the robot by the laser receiver when the height of the laser light relative to the laser receiver is not the same as the set height, and the first driving device 410 is operated in response to the signal of the laser receiver.
For convenience of understanding, it can be understood that the laser receiver is configured like a ruler, the midpoint position of the laser receiver is just capable of receiving laser when the height of the mold 500 is set to be level with the predetermined reference plane, and if the laser is received above or below the midpoint position of the laser receiver in actual operation, the first driving device 410 should be controlled to adjust the mold 500 accordingly.
The midpoint position is merely an example for convenience of description, and does not necessarily mean the midpoint position, and may be set to a small range above and below the midpoint position, or may be set to another set position or another set range.
To prevent obstacles near the ground from blocking the laser, the laser receiver and the laser transmitter may be raised simultaneously, the laser receiver being installed at the upper end of the fixing rod 710, and the fixing rod 710 being coupled to the mold holder 480 so that the laser receiver is fixed relative to the mold 500.
In order to facilitate the disassembly and assembly, a notch sleeve 721 is arranged on the die holder 480, and an opening of the notch sleeve 721 is easily opened outwards or contracted inwards, so that the lower end of the fixing rod 710 is conveniently inserted into the notch sleeve 721. To further secure the mounting of the fixing rod 710, a clip 722 is provided which cooperates with the slit sleeve 721, and the clip 722 is used to secure the mouth of the slit sleeve 721 to grip the lower end of the fixing rod 710. The band 722 may be disposed directly on the slit sleeve 721 or may be separate from the slit sleeve 721.
In the present embodiment, the levelness detecting apparatus 600 uses an inclinometer that is fixed to the mold 500 and can be tilted along with the mold 500 to measure the levelness of the mold 500 in real time. As shown in fig. 3, the inclinometer is mounted on the connecting plate of the front and rear degree of freedom mount 470, and may also be mounted on the mold 500 or the mold mount 480.
In order to prevent the cement paste from hardening before the working device passes through, the stock mechanism 200 and the stock preparation mechanism 300 may be provided in cooperation. As shown in fig. 1, a storage mechanism 200 and a material preparation mechanism 300 are mounted on a vehicle frame 101, so that the storage mechanism 200 and the material preparation mechanism 300 are located in front of a working device, the storage mechanism 200 is used for storing raw materials and outputting the raw materials to the material preparation mechanism 300, the material preparation mechanism 300 outputs the raw materials to the ground after forming cement slurry, and the working device trowels and molds the cement slurry on the ground into datum bars with upper surfaces being even with a predetermined datum plane following the material preparation mechanism 300.
The storage mechanism 200 includes a storage vat 201 mounted to the vehicle body 100, and a switch plate 206 disposed in the storage vat 201, and a drive motor 203.
The cross section of the storage vat 201 is circular, the storage vat outlet 207 is arranged at the bottom of the storage vat 201, the storage vat outlet 207 is arranged at the inlet arranged at the top of the material preparing vat 301, and the driving motor 203 rotates to drive the material stirring plate 206 to rotate, so that the raw materials are pushed out from the storage vat outlet 207.
For reducing the moisture content of raw materials, make the benchmark strip can the rapid hardening design, in this embodiment, storage vat 201 is used for holding the wet material of semi-manufactured goods. The semi-finished wet material is a wet but loose mixed raw material formed by mixing cement, water and other additives, the water content of the wet material is relatively low, and the wet material cannot be well mixed into cement slurry and output by ordinary stirring.
Accordingly, a special stock preparation mechanism 300 is provided accordingly. The material preparation mechanism 300 includes a material preparation barrel 301 mounted to the vehicle body 100, and a tamper 303 disposed in the material preparation barrel 301. After the semi-finished wet material enters the material preparation barrel 301, the vibrating rod 303 vibrates the semi-finished wet material at high frequency to break or eliminate the effective stress among cement particles, sand particles and other additive particles, so that the loose mixed raw materials form a flowable mixture, and in short, the semi-finished wet material is converted into cement slurry by the vibrating rod 303. The cement slurry formed in this way is good in flowability, can be output through the material preparation barrel outlet 304 well, is low in moisture content, and the formed datum bar is not prone to deformation and hardening.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A work device of a leveling robot, comprising:
the mould is used for forming the slurry into a datum bar;
the adjusting mechanism is used for being installed on a car body of a leveling robot and comprises a first driving device, a second driving device and a third driving device, wherein the first driving device is used for adjusting the height of the mould in the up-down direction, the second driving device is used for adjusting the levelness of the mould in the left-right direction, and the third driving device is used for adjusting the levelness of the mould in the front-back direction.
2. The work device of a leveling robot according to claim 1 wherein said adjustment mechanism further comprises:
the base is used for being connected with a car body of the leveling robot;
the upper and lower freedom degree fixing frame is connected to the base in a sliding mode along the upper and lower direction, and the first driving device is connected with the base and the upper and lower freedom degree fixing frame.
3. The work apparatus for a leveling robot according to claim 2, wherein the vertical degree of freedom holder is further connected to a guide bar disposed in a vertical direction, and the guide bar is slidably connected to the base.
4. The work device of a leveling robot according to claim 2 wherein said adjustment mechanism further comprises:
the left-right freedom degree fixing frame is rotatably connected with the upper-lower freedom degree fixing frame around a first axis extending in the front-rear direction, and the second driving device is connected with the upper-lower freedom degree fixing frame and the left-right freedom degree fixing frame.
5. The work device of a leveling robot according to claim 4 wherein said adjustment mechanism further comprises:
the front and rear freedom degree fixing frames are rotatably connected with the left and right freedom degree fixing frames around a second axis extending in the left and right directions, the third driving device is connected with the left and right freedom degree fixing frames and the front and rear freedom degree fixing frames, and the die is connected with the front and rear freedom degree fixing frames.
6. The work arrangement of a leveling robot according to claim 1, characterized in that it further comprises a height detection device for measuring the height of the mould relative to a reference plane, the first drive means being capable of responding to a signal of the height detection device for adjusting the height of the mould.
7. The work apparatus of the leveling robot according to claim 6, wherein the height detecting device comprises a laser receiver fixed relative to the mold, the laser receiver being configured to receive a laser signal emitted at a reference surface, thereby measuring the height of the mold relative to the reference surface.
8. The work arrangement of a leveling robot according to claim 1, further comprising a levelness detection device for measuring the levelness of the mold, wherein the second and third drive means are capable of adjusting the levelness of the mold in response to a signal from the levelness detection device.
9. The work apparatus of the leveling robot according to claim 8, wherein the levelness detecting means is an inclinometer fixed relative to the mold.
10. The work apparatus of the leveling robot according to claim 1, wherein the mold is formed with a through groove in a front-back direction, and a notch of the through groove faces the ground for troweling and setting the slurry into the datum bar.
11. A leveling robot comprising a working device of the leveling robot according to any one of claims 1 to 10.
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| CN202010163924.9A CN111335604A (en) | 2020-03-10 | 2020-03-10 | Working device of leveling robot and leveling robot |
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| CN202010163924.9A CN111335604A (en) | 2020-03-10 | 2020-03-10 | Working device of leveling robot and leveling robot |
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Application publication date: 20200626 |