CN210738039U - Leveling mechanism for paving materials and material paving robot - Google Patents

Abstract

The utility model provides a levelling mechanism and material laying robot for spreading material, wherein, a levelling mechanism for spreading material, include: a support frame structure; the driving structure is arranged on the supporting frame structure; the first end of the connecting structure is connected with the driving structure; the second end of the connecting structure is connected with the material laying structure; the driving structure can drive the connecting structure to move so that the connecting structure can level the material laying structure. The technical scheme of the utility model the uneven problem is laid to the material among the prior art has been solved effectively.

Description

Leveling mechanism for paving materials and material paving robot

Technical Field

The utility model relates to a technical field of robot is laid to the material particularly, relates to a levelling mechanism and material laying robot for laying the material.

Background

The traditional construction industry is basically manual in laying materials and tiling by hand. With the improvement of living standard, constructors are in increasing shortage. The problems of high cost and large difference of laying quality are caused by the manual work of laying materials and iron tiles.

In this case, a material laying robot is produced, but the material laying robot of the prior art does not lay the material when it encounters uneven ground. For example, when the left side of the material laying robot is high and the right side is low, the laid materials are still high on the left side and low on the right side as the ground. This has a great effect on the quality of the subsequent tile laying, resulting in uneven tile laying.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a levelling mechanism and material laying robot for spreading material to solve the problem of unevenness is laid to the material among the prior art.

In order to achieve the above object, according to an aspect of the present invention, there is provided a leveling mechanism for paving a material, comprising: a support frame structure; the driving structure is arranged on the supporting frame structure; the first end of the connecting structure is connected with the driving structure; the second end of the connecting structure is connected with the material laying structure; the driving structure can drive the connecting structure to move so that the connecting structure can level the material laying structure.

Further, the driving structure comprises a first driving part and a second driving part; the connecting structure comprises a first connecting part and a second connecting part, wherein the first end of the first connecting part is connected with the first driving part, and the first end of the second connecting part is connected with the second driving part; the second end of the first connecting portion is connected with the first side of the material laying structure, and the second end of the second connecting portion is connected with the second side of the material laying structure.

Furthermore, the first connecting portion comprises a first motor and a first screw rod, the first motor is connected with the first screw rod, a first sliding block matched with the first screw rod is arranged at the first end of the first connecting portion, and the first screw rod drives the first sliding block to move.

Furthermore, the first connecting portion further comprises a first connecting rod, a first end of the first connecting rod is pivotally connected with the first sliding block, and a second end of the first connecting rod is pivotally connected with the material laying structure.

Furthermore, the second connecting portion comprises a second motor and a second screw rod, the second motor is connected with the second screw rod, a second sliding block matched with the second screw rod is arranged at the first end of the second connecting portion, and the second screw rod drives the second sliding block to move.

Further, the second connecting portion further comprises a second connecting rod, the first end of the second connecting rod is pivotally connected with the second sliding block, and the second end of the second connecting rod is pivotally connected with the material laying structure.

Further, the supporting frame structure comprises a first support and a second support which are arranged at intervals, a first driving portion is arranged on the first support, and a second driving portion is arranged on the second support.

Further, the leveling mechanism further comprises a control structure, and the control structure is electrically connected with the driving structure to control the driving structure.

Further, the control structure includes a control main body and a sensor electrically connected with the control main body, the sensor is arranged on the material laying structure to measure whether the material laying structure is horizontal.

According to the utility model discloses an on the other hand provides a material laying robot, and the material laying robot includes that the material lays the robot main part and is used for laying the levelling mechanism of material for the levelling mechanism who spreads the material is foretell levelling mechanism who is used for spreading the material.

Further, the material laying robot main body includes: the laser level meter is arranged at a designated position and used for determining a reference plane through a sent optical signal, wherein the reference plane is parallel to a preset standard slurry spreading surface; the position detection device is arranged on the material laying structure and used for receiving the optical signal sent by the laser level meter and comparing a first height corresponding to the material laying structure with a second height corresponding to the standard slurry laying surface according to the optical signal to obtain a comparison result; and the controller is used for controlling the leveling structure to level the material laying structure in real time according to the comparison result.

Use the technical scheme of the utility model, when laying the material, the material is laid the structure and is laid the material, drives structure drive connection structure when the ground is uneven, and connection structure drives the material and lays the structure leveling, makes laying of material relatively more level like this. The technical scheme of the utility model the uneven problem is laid to the material among the prior art has been solved effectively.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic front view of an embodiment of a material laying robot according to the invention;

FIG. 2 shows a side view schematic of the material placement robot of FIG. 1;

FIG. 3 shows a schematic top view of the material placement robot of FIG. 1; and

fig. 4 shows a schematic structural view of a leveling mechanism of the material placement robot of fig. 1.

Wherein the figures include the following reference numerals:

10. a support frame structure; 20. a drive structure; 30. a connecting structure; 40. and (5) a material laying structure.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. 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 application belongs.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art, in the drawings, the thicknesses of layers and regions are exaggerated for clarity, and the same devices are denoted by the same reference numerals, and thus the description thereof will be omitted.

As shown in fig. 1 and 4, the leveling mechanism for paving material of the present embodiment includes: a supporting frame structure 10, a driving structure 20, a connecting structure 30 and a material laying structure 40. The drive structure 20 is arranged on the supporting frame structure 10. A first end of the connecting structure 30 is connected to the drive structure 20. A second end of the connecting structure 30 is connected to the material placement structure 40. Drive structure 20 may move connecting structure 30 such that connecting structure 30 levels material placement structure 40.

By applying the technical scheme of the embodiment, when the material is paved, the material paving structure 40 paves the material, the connecting structure 30 is driven by the driving structure 20 when the ground is uneven, and the connecting structure 30 drives the material paving structure 40 to be leveled, so that the paving of the material is relatively flat. The technical scheme of this embodiment has solved the uneven problem of material laying among the prior art effectively. The material of the present embodiment may be mortar, a binder, or the like, or may be a mixture of mortar and a binder.

As shown in fig. 4, in the solution of the present embodiment, the driving structure 20 includes a first driving part and a second driving part. The connection structure 30 includes a first connection portion and a second connection portion, a first end of the first connection portion is connected to the first driving portion, and a first end of the second connection portion is connected to the second driving portion. The second end of the first connection portion is connected to a first side of the material placement structure 40 and the second end of the second connection portion is connected to a second side of the material placement structure 40. The structure has lower processing cost and convenient operation. The first side of structure 40 is laid to the material and the second side of structure 40 is laid to the material both sides that are corresponding for structure 40 are laid to the material respectively, and first side corresponds the left side promptly, and the second side corresponds the right side. Thus, when the ground is uneven, for example, the left side is high and the right side is low, the left side of the material placement structure 40 is lowered by the first driving part, so that the bottom surface of the material placement structure 40 is on the same horizontal plane. Of course, the second driving portion may raise the right side of the material placement structure 40, or the first driving portion and the second driving portion may operate simultaneously, both lowering the left side of the material placement structure 40 and raising the right side of the material placement structure 40.

As shown in fig. 4, in the technical solution of this embodiment, the first connecting portion includes a first motor and a first lead screw, the first motor is connected to the first lead screw, a first end of the first connecting portion has a first slider adapted to the first lead screw, and the first lead screw drives the first slider to move. The structure has low processing cost. When the sliding block works, the first motor drives the first lead screw to rotate, and the rotation of the first lead screw is converted into the up-and-down movement of the first sliding block.

As shown in fig. 4, in the technical solution of this embodiment, the first connection portion further includes a first connection rod, a first end of the first connection rod is pivotally connected to the first sliding block, and a second end of the first connection rod is pivotally connected to the material laying structure 40. In operation, a change in the angle of inclination of the first connecting rod causes the height of the first side of the material placement structure 40 to change. Specifically, the first connecting rod is a triangle formed by connecting three connecting rods, two end points on one side of the triangle are respectively connected with the front end and the rear end of the first side of the material laying structure 40, namely, one side of the triangle is a pivot shaft, and the other end point of the triangle is pivotally connected with the first sliding block, so that the first connecting rod drives the material laying structure 40 to stably move the material laying structure 40.

As shown in fig. 4, in the technical solution of this embodiment, the second connecting portion includes a second motor and a second lead screw, the second motor is connected to the second lead screw, a first end of the second connecting portion has a second slider adapted to the second lead screw, and the second lead screw drives the second slider to move. The structure has lower processing cost and convenient operation. When the sliding block moves up and down, the second motor drives the second lead screw to rotate, and the rotation of the second lead screw is converted into the up-and-down movement of the second sliding block.

As shown in fig. 4, in the technical solution of this embodiment, the second connecting portion further includes a second connecting rod, a first end of the second connecting rod is pivotally connected to the second slider, and a second end of the second connecting rod is pivotally connected to the material laying structure 40. The structure of the second connecting rod is the same as that of the first connecting rod, and the description is omitted here. It should be noted that a bearing is provided between the first connecting rod and the first sliding block, and a bearing is provided between the first connecting rod and the material laying structure 40. A bearing is arranged between the second connecting rod and the second sliding block, and a bearing is arranged between the second connecting rod and the material laying structure 40.

As shown in fig. 4, in the technical solution of the present embodiment, the supporting frame structure 10 includes a first bracket and a second bracket that are disposed at an interval, the first driving portion is disposed on the first bracket, and the second driving portion is disposed on the second bracket. This reduces the weight of the support frame structure 10.

As shown in fig. 1 to 4, in the technical solution of the present embodiment, the leveling mechanism further includes a control structure, and the control structure is electrically connected to the driving structure 20 to control the driving structure 20. Manpower and material resources are saved by the aid of the structure, and the material laying structure 40 is adjusted timely.

As shown in fig. 1 to 4, in the solution of the present embodiment, the control structure includes a control body and a sensor electrically connected to the control body, the sensor being arranged on the material laying structure 40 to measure whether the material laying structure 40 is level. The sensors may be a plurality of sensors spaced apart along the length of the material placement structure 40. The material laying structure 40 comprises a laying funnel, the material leaks from the laying funnel, the material laying structure further comprises an elastic roller, the elastic roller is structurally installed on the laying funnel, and the elastic roller structure can support the material laying structure 40.

The application also provides a material laying robot, and the material laying robot comprises a material laying robot main body and a leveling mechanism for laying materials. The leveling mechanism for paving the materials is the leveling mechanism for paving the materials. The material laying robot main part comprises an AGV trolley, a storage hopper and a material conveying structure, the AGV trolley drives the material laying robot to walk, the storage hopper stores materials, and the material conveying structure conveys the materials from the storage hopper to the material laying structure 40.

And the leveling structure is used for controlling the material laying structure 40 to move in a specified direction, wherein the material laying structure 40 mainly comprises a discharge hopper.

And the laser level meter is arranged at a designated position and used for determining a reference plane through the emitted light signal, wherein the reference plane is parallel to a preset standard slurry spreading plane.

And the position detection device is arranged at the front end of the discharge hopper and used for receiving the optical signal sent by the laser level meter and comparing the first height corresponding to the discharge hopper with the second height corresponding to the standard slurry paving surface according to the optical signal to obtain a comparison result.

A controller (not shown) for controlling the movement of the leveling structure according to the height difference.

Specifically, the material laying robot comprises a roller and other devices for moving in addition to the device, and can operate according to a preset path, and the discharge hopper is used for discharging mortar or adhesive or a mixture of mortar and adhesive in the operation process of the material laying robot. The width of this play hopper is ejection of compact width promptly, and along with the operation of material laying robot, lay the material of predetermineeing thickness at the operation face.

The designated direction can be a vertical direction, and the leveling structure moves upwards or downwards according to the control of the controller, so that the discharging hopper is controlled to move upwards or downwards, and the leveling of the discharged material is controlled.

The laser level may be placed on a tile or other fixed location. The optical signal sent by the laser level meter provides a reference plane parallel to a standard mortar paving surface for mortar paving, the standard mortar paving surface refers to an ideal plane which needs to be reached after mortar is paved on the current ground, and the standard mortar paving surface can be determined according to an operation plane at a specified position and a preset mortar paving thickness. For example, in a typical room, if it is desired to have tiles laid to absolute level, the reference plane corresponding to the light signal from the laser level is an absolute level plane, whereas if it is desired to have a 15 degree slope on the floor surface, the reference plane corresponding to the light signal from the laser level may be a plane that forms a 15 degree angle with the absolute level. The mode that a reference plane provided by the laser level meter is parallel to the standard slurry spreading surface enables the material laying robot to lay flat materials meeting actual requirements in various laying scenes.

The PSD optical electric device is a light energy/position conversion device, and has the advantages of fast system response, high resolution and low cost due to the fact that position quantity is output by analog quantity, and therefore the PSD optical electric device has wide application value. The working principle of the PSD is based on the transverse photoelectric effect, and the structure has the characteristics that an I-layer depletion region is wide, the junction capacitance is small, almost all photo-generated carriers are generated in the I-layer depletion region, and photocurrent of a diffusion component does not exist, so that the response speed is much higher than that of a common PN junction photodiode. When the injection point irradiates on the photosensitive surface of the device, a photon-generated carrier is excited to generate current, and the position irradiated on the photosensitive surface of the PSD can be determined after the current of two poles of the PSD device is converted into a voltage signal.

The position detection device can be one or more PSD (position sensitive detector) sensors, the PSD sensors are arranged at the front ends of the discharge hoppers and used for detecting the height difference between the height of the discharge hoppers and the height of the standard slurry spreading surface and transmitting the height difference to the controller, and the controller can control the leveling structure to move according to the height difference. The comparison result may be determined according to a detection result of the position detection device, and in an actual situation, the PSD sensor may output a voltage signal corresponding to distance information, or may directly output the distance information, where the distance information refers to distance information of the first height and the second height in the vertical direction.

More specifically, the position detecting device may include a plurality of PSD sensors, and the PSD sensors are respectively disposed at different positions on the same horizontal line at the front end of the discharge hopper, so as to respectively detect a height difference between a height of the different positions at the front end of the discharge hopper and a standard pulp spreading surface.

In an alternative embodiment, the laser level is arranged on a reference brick which is already laid, the material laying robot moves on the slurry laying working surface along the direction of an arrow, and the discharge hopper discharges materials during the movement of the robot. The front end of the discharge hopper is provided with four PSD sensors which are respectively a sensor, a sensor and a sensor, and the four PSD sensors are arranged at equal intervals. The leveling structure comprises two lead screws (linear guide rails), and the two lead screws drive the discharge hopper to move in the vertical direction through hinges on two sides of the discharge hopper.

Ideally, the height of the discharge hopper should always be at the same level as the standard level, which has a fixed difference from the reference level, which may be the sum of the height of the laser level relative to the reference tile and the thickness of the tile. Therefore, the position detection device can subtract the fixed difference value on the basis of the reference plane to obtain a standard slurry spreading surface, and then the standard slurry spreading surface is compared with the first height corresponding to the discharge hopper to obtain the height difference between the first height and the second height. If the second height is lower than the first height, the linear guide rail can be controlled to move downwards, and if the second height is higher than the first height, the linear guide rail can be controlled to move upwards.

Since two linear-to-guide rails are included in this example, it is possible to control the movement of the linear guide rail based on the detection results of the sensor and the sensor, and to control the movement of the linear guide rail based on the detection results of the sensor and the sensor.

The position detection device may be a sensor other than the PSD, and the number of the position detection devices may be other values, which is not limited in the present application.

For example, in yet another alternative embodiment, only two PSD sensors may be provided, and the two linear guides may be controlled to move according to detection results of the two PSD sensors.

When using material laying robot to lay material, if the play hopper keeps at fixed height, then because the unevenness of operation plane, lead to the material unevenness of laying, the material laying robot that this application embodiment provided includes the play hopper, be used for controlling the play hopper at the linear guide of assigned direction removal, be used for confirming the laser level of reference plane through the light signal that sends, be used for receiving the light signal that the laser level sent, and confirm the position detection device of the difference in height between the second height that corresponds to the first height that the play hopper corresponds and reference plane according to the light signal, and be used for according to the movement controller of comparison control linear guide. Above-mentioned scheme is at the in-process that the robot removed is laid to the material, detects the reference plane that the laser level provided through position detection device to adjust linear guide's removal according to the testing result, thereby drive out the removal of hopper, and then make the material plane of hopper ejection of compact keep leveling, solved among the prior art and laid mortar or binder through the manual work before laying the ceramic tile, lead to the problem that the roughness of laying the low and shop's thick liquid of efficiency of mortar or binder is not enough.

As an alternative embodiment, the position detection device is further configured to perform initialization calibration according to the optical signal before the material is laid, wherein, in a case where the discharge hopper is set at the second height, the position detection device sets a detection result corresponding to the currently received optical signal as a zero point.

In an optional embodiment, before the material is laid, the linear guide rail can be manually controlled, the discharging hopper is arranged at an accurate height, and the position detection device is adjusted to set a scale value corresponding to a currently received optical signal as a zero point, so that the initialization calibration of the position detection device is completed. Through carrying out initialization calibration on the position detection device, the height difference between the first height corresponding to the discharge hopper detected by the position detection device and the reference plane is converted into the height difference between the first height corresponding to the discharge hopper and the second height corresponding to the standard pulp paving surface.

The initialization calibration step is used for eliminating the height introduced by the laser level during setting, and after the initialization calibration of the position detection device is completed, the controller does not need to subtract a fixed difference value on the basis of a reference plane to obtain a standard slurry spreading surface and then compare the standard slurry spreading surface with the first height corresponding to the discharge hopper, and only needs to read the numerical value of the position detection device. The positive and negative of the detection result output by the position detection device can represent the comparison result of the first height and the second height, if the first height is larger than the second height, the detection result is smaller than zero, and if the first height is smaller than the second height, the detection result is larger than zero.

As an alternative embodiment, after the position detecting device initiates calibration, the controller is further configured to lower the height of the linear guide when the first height is greater than the second height, and raise the height of the linear guide when the first height is less than the second height.

After the position detection device is calibrated, if the detection result of the position detection device is zero, the height of the current discharging hopper is accurate, the material paved by using the height can be kept flat, if the detection result of the position detection device is not zero, the height of the current discharging hopper is over-high or over-low, if the detection result of the position detection device is not zero, the uneven area of the paved material surface occurs, and therefore the linear guide rail is controlled to move when the detection result of the position detection device is not zero.

In an optional embodiment, if the detection result of the position detection device is greater than zero, it indicates that the second height is higher than the first height, that is, the discharging hopper is lower, so that the height of the discharging degree can be increased by the difference between the second height and the first height; and if the detection result of the position detection device is smaller than zero, the second height is lower than the first height, namely the discharging hopper is higher, so that the height of the discharging degree can be reduced by the difference between the second height and the first height.

As an alternative embodiment, the linear guide comprises: the first linear guide rail is connected with a hinge on the first side of the discharge hopper and used for driving the first side of the discharge hopper to move in a specified direction, and the second linear guide rail is connected with a hinge on the second side of the discharge hopper and used for driving the second side of the discharge hopper to move in a specified direction.

If be complete horizontally in the direction perpendicular with equipment operation on the operation plane that the material was laid, then can only use a linear guide to adjust out the height of hopper, and the operation face that the material was laid among the practical application all is unevenness in arbitrary direction usually, consequently above-mentioned scheme has set up two linear guide and has adjusted out the height of hopper both sides respectively to whether make the operation plane that the material was laid level or not, can both guarantee that the material after laying is level.

In an alternative embodiment, the first linear guide rail and the second linear guide rail are respectively connected with the hinges at two sides of the discharging hopper and used for respectively adjusting the heights at two sides of the discharging degree so as to enable the laying plane of the mortar to be flat.

As an alternative embodiment, the position detecting device includes two sets of position-sensitive detectors, each set of position-sensitive detectors includes at least one position-sensitive detector, the first set of position-sensitive detectors is used for determining a first height difference between a first height and a second height corresponding to the first side of the hopper, and the second set of position-sensitive detectors is used for determining a second height difference between the first height and the second height corresponding to the second side of the hopper.

Specifically, the position sensitive detector is a PSD sensor, and the two groups of sensors form two groups of position sensitive detectors.

As an alternative embodiment, the controller is configured to control the first linear guide to move according to the first height difference and to control the second linear guide to move according to the second height difference.

In the above scheme, the scheme for controlling the first linear guide rail and the second linear guide rail by the controller is the same.

In an alternative embodiment, the height of the first linear guide is increased if the first height difference is greater than zero and the height of the first linear guide is decreased if the first height difference is less than zero. If the second height difference is greater than zero, the height of the second linear guide is raised, and if the second height difference is less than zero, the height of the second linear guide is lowered.

As an alternative embodiment, each set of position sensitive detectors comprises a plurality of position sensitive detectors, the first height difference is determined from a mean value of the plurality of position sensitive detectors in the first set of position sensitive detectors, and the second height difference is determined from a mean value of the plurality of position sensitive detectors in the second set of position sensitive detectors.

In an alternative embodiment, the first linear guide may be adjusted according to the mean of one set of sensors and the second linear guide may be adjusted according to the mean of another set of sensors.

The control method of the material laying robot comprises the following steps:

step S202, a first height of a discharge hopper of the material laying robot and a second height corresponding to a specified standard pulp laying surface are obtained.

And S204, adjusting the height of the discharge hopper according to the first height and the second height.

In particular, the above steps may be performed by a controller in the material placement robot. The controller may obtain a difference in height between the first height and the second height and adjust the height of the hopper based on the difference in height.

In an alternative embodiment, the hopper is controlled to descend if the first height is higher than the second height, and the hopper is controlled to ascend if the first height is lower than the second height. The controller may adjust the height of the discharge hopper by adjusting the height of the discharge hopper through a linear guide connected to a hinge of the discharge hopper.

Taking the example of the material placement robot of fig. 1, ideally, the height of the discharge hopper should always be at the same level as the standard screed, which has a fixed difference from the reference level, which may be the sum of the height of the laser level relative to the reference tile and the thickness of the floor tile. Therefore, the position detection device can subtract the fixed difference value on the basis of the reference plane to obtain a standard slurry spreading surface, and then the standard slurry spreading surface is compared with the first height corresponding to the discharge hopper to obtain the height difference between the first height and the second height. If the height difference detected by the position detection device is smaller than zero, the linear guide rail can be controlled to move downwards, and if the height difference detected by the position detection device is larger than zero, the linear guide rail can be controlled to move upwards.

Therefore, the first height of the discharge hopper of the material laying robot and the second height corresponding to the specified standard pulp paving surface are obtained, and the height of the discharge hopper is adjusted according to the first height and the second height. Above-mentioned scheme is through the first height of the play hopper that detects and the second height of standard grout face, adjustment linear guide's removal to drive the removal of play hopper, and then make the material plane of the play hopper ejection of compact keep leveling, solved among the prior art and laid the mortar through the manual work before laying the ceramic tile, lead to the problem that the roughness of laying inefficiency and shop's thick liquid of mortar is not enough.

As an alternative embodiment, the adjusting of the height of the hopper according to the first height and the second height comprises: comparing the first height to the second height; when the first height is larger than the second height, the height of a linear guide rail is reduced, wherein the linear guide rail is used for controlling a discharge hopper of the material laying robot to move in a specified direction; when the first height is less than the second height, the height of the linear guide rail is raised.

The height of the linear guide rail is adjusted according to the comparison result of the first height and the second height, so that even materials can be paved no matter whether the operation plane for paving the materials is horizontal or not.

As an alternative embodiment, obtaining a second height corresponding to the specified standard slashface comprises: acquiring a third height corresponding to a reference plane, wherein the reference plane is determined by an optical signal emitted by a laser level instrument and is parallel to the standard slurry spreading surface; the setting height of the laser level is obtained, wherein the setting height is used for representing the height difference between a reference plane determined by the laser level and a standard slurry paving surface; the second height is determined based on the third height and the set height.

In the above scheme, the controller obtains the second height through conversion according to the third height, so that the first height can be compared with the second height, and the linear guide rail is adjusted to move according to the comparison result.

In another embodiment, the position detection device may be initially calibrated to convert the third height to the second height. For example: can be under the circumstances of hopper setting at the second height, position detection device sets up the testing result that light signal received at present corresponds as zero to the controller can be directly confirm the comparison result according to position detection device's reading.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. A leveling mechanism for paving material, comprising:

a support frame structure (10);

a drive structure (20), said drive structure (20) being arranged on said supporting frame structure (10);

a connecting structure (30), a first end of the connecting structure (30) being connected to the drive structure (20);

a material placement structure (40), a second end of the connection structure (30) being connected to the material placement structure (40);

the driving structure (20) can drive the connecting structure (30) to move, so that the connecting structure (30) levels the material laying structure (40).

2. Levelling mechanism for material laying according to claim 1,

the drive structure (20) comprises a first drive part and a second drive part;

the connecting structure (30) comprises a first connecting part and a second connecting part, wherein the first end of the first connecting part is connected with the first driving part, and the first end of the second connecting part is connected with the second driving part;

the second end of the first connecting portion is connected with the first side of the material laying structure (40), and the second end of the second connecting portion is connected with the second side of the material laying structure (40).

3. The leveling mechanism for spreading materials according to claim 2, wherein the first connecting portion comprises a first motor and a first screw rod, the first motor is connected with the first screw rod, a first sliding block matched with the first screw rod is arranged at a first end of the first connecting portion, and the first screw rod drives the first sliding block to move.

4. Levelling mechanism for material spreading according to claim 3, characterized in that the first connection further comprises a first connecting rod, a first end of which is pivotably connected with the first slider and a second end of which is pivotably connected with the material laying structure (40).

5. The leveling mechanism for spreading materials according to claim 2, wherein the second connecting portion comprises a second motor and a second screw rod, the second motor is connected with the second screw rod, a second sliding block matched with the second screw rod is arranged at a first end of the second connecting portion, and the second sliding block is driven to move by the second screw rod.

6. Levelling mechanism for material spreading according to claim 5, characterized in that the second connecting portion further comprises a second connecting rod, a first end of which is pivotably connected with the second slider and a second end of which is pivotably connected with the material laying structure (40).

7. Levelling mechanism for spreading material according to claim 2, characterized in that the support frame structure (10) comprises a first bracket and a second bracket arranged at a distance, the first drive part being arranged on the first bracket and the second drive part being arranged on the second bracket.

8. Levelling mechanism for spreading materials according to claim 1, characterized in that it further comprises a control structure electrically connected with the driving structure (20) to control the driving structure (20).

9. Levelling mechanism for laying material according to claim 8, characterized in that the control structure comprises a control body and a sensor electrically connected to the control body, which sensor is arranged on the material laying structure (40) to measure whether the material laying structure (40) is level.

10. A material laying robot comprising a material laying robot main body and a leveling mechanism for laying a material, characterized in that the leveling mechanism for laying a material is the leveling mechanism for laying a material according to any one of claims 1 to 9.

11. The material laying robot as claimed in claim 10, wherein the material laying robot body comprises:

the laser level meter is arranged at a designated position and used for determining a reference plane through a sent optical signal, wherein the reference plane is parallel to a preset standard slurry spreading surface;

the position detection device is arranged on the material laying structure and used for receiving the optical signal sent by the laser level meter and comparing a first height corresponding to the material laying structure with a second height corresponding to the standard slurry laying surface according to the optical signal to obtain a comparison result;

and the controller is used for controlling the leveling structure to level the material laying structure in real time according to the comparison result.

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