CN214996098U

CN214996098U - Concrete leveling robot

Info

Publication number: CN214996098U
Application number: CN202120467725.7U
Authority: CN
Inventors: 张才华; 陶成军; 贺志武
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-03-03
Filing date: 2021-03-03
Publication date: 2021-12-03
Anticipated expiration: 2031-03-03

Abstract

The application provides a concrete leveling robot relates to construction robot technical field. A concrete leveling robot comprising: a fuselage and a trim head. The leveling head comprises a connecting assembly, a suspension type vibrating plate assembly and an auger slurry discharging mechanism, the machine body is connected with the auger slurry discharging mechanism, the connecting assembly comprises a connecting spring and connecting blocks, one end of each connecting block is hinged to the suspension type vibrating plate assembly, the other end of each connecting block is hinged to the auger slurry discharging mechanism, two ends of the connecting spring are respectively connected with the suspension type vibrating plate assembly and the auger slurry discharging mechanism, and the connecting spring is located between two adjacent connecting blocks. The floated vibrating plate subassembly of concrete leveling robot and auger slurry discharge mechanism can float and connect, through the adjustment to the pressure of concrete, can adapt to different operating modes, the effect of guarantee flattening.

Description

Concrete leveling robot

Technical Field

The application relates to the technical field of construction robots, in particular to a concrete leveling robot.

Background

At present, a small and medium-sized four-wheel laser concrete leveling machine with a screw conveyer slurry discharging function adopts a hydraulic system driving mode to realize the functional action of the whole machine by converting an engine into hydraulic power.

The common leveling machine can not be well adapted to concrete under different working conditions, and the leveling effect is influenced.

SUMMERY OF THE UTILITY MODEL

An object of the application is to provide a concrete leveling robot, it can improve the problem that current evener can not adapt to different operating modes.

The embodiment of the application is realized as follows:

an embodiment of the present application provides a concrete leveling robot, including: a body and a leveling head;

the flattening head is including coupling assembling, floated vibrating plate subassembly and auger slurry discharge mechanism, the fuselage with auger slurry discharge mechanism connects, coupling assembling includes coupling spring and connecting block, every the one end of connecting block with floated vibrating plate subassembly is articulated, every the other one end of connecting block with auger slurry discharge mechanism is articulated, coupling spring's both ends respectively with floated vibrating plate subassembly auger slurry discharge mechanism connects, coupling spring is in adjacent two between the connecting block.

The auger slurry discharging mechanism can be used for laterally discharging concrete to obtain the concrete amount required by construction, the suspension type vibrating plate component is connected with the auger slurry discharging mechanism in a floating mode through the connecting component, and when the suspension type vibrating plate component faces different working conditions, the suspension type vibrating plate component can be adjusted in a suspension mode to control the pressure relative to the concrete and ensure a good leveling effect.

In addition, the concrete leveling robot provided according to the embodiment of the present application may further have the following additional technical features:

in the optional embodiment of this application, floated vibration board subassembly includes the vibration board connecting seat, auger row thick liquid mechanism includes the tie-beam, every the both ends of connecting block articulate respectively in the vibration board connecting seat the tie-beam, the vibration board connecting seat the tie-beam with at least two the connecting block forms parallelogram link mechanism.

Through making the vibration board connecting seat the tie-beam with at least two the tie-beam forms parallelogram link mechanism, can enough ensure to keep floating connection between floated vibration board subassembly and the auger slurry discharging mechanism, can ensure the sufficient reliability of being connected with of during operation again.

In the optional embodiment of this application, auger arranges thick liquid mechanism and includes two the tie-beam, floated vibration board subassembly includes two vibration board connecting seat, two the tie-beam separately with one vibration board connecting seat cooperation is two the tie-block forms parallelogram link mechanism, and every group parallelogram link mechanism all is equipped with coupling spring, coupling spring's both ends connect respectively in vibration board connecting seat the tie-beam.

In an optional embodiment of the present application, the suspension type vibration plate assembly further includes a vibration plate, an adjustable excitation force vibration motor, the adjustable excitation force vibration motor is in transmission connection with the vibration plate, and the vibration plate is connected to the vibration plate connecting seat.

On the basis of having parallelogram link mechanism and connecting spring, cooperation adjustable exciting force vibrating motor can adjust the pressure and the exciting force of vibration board to the concrete better, adapts to different operating modes.

In an alternative embodiment of the present application, the floating vibration plate assembly further includes flexible scrapers disposed at both ends of the vibration plate.

The flexible scraper can be used for smoothing the joint between the adjacent working surfaces, so that the whole plane is smoother.

In the optional embodiment of this application, auger mud jacking mechanism still includes spiral shell, auger, inclination sensor and adjustment push rod mechanism, the tie-beam set up in the spiral shell, adjustment push rod mechanism's adjustment seat with the fuselage is connected, adjustment push rod mechanism's output with the spiral shell is connected, the auger set up in the spiral shell, inclination sensor is used for detecting the inclination of spiral shell.

Through the cooperation of inclination sensor and adjustment push rod mechanism, can adjust the angle of flattening head for the auger adjusts when having the demand and targets in place and work.

In the optional embodiment of this application, auger mud discharging mechanism still includes thick scraper blade, thick scraper blade set up in the spiral rack just is in keeping away from of auger one side of floated vibrating plate subassembly.

The rough scraper can be used for assisting in manual concrete rough paving, and labor intensity of workers is reduced.

In the optional embodiment of this application, concrete leveling robot still includes beam assembly, the fuselage with auger mud jacking mechanism passes through beam assembly connects, beam assembly is used for adjusting the elevation of whole head.

In an optional embodiment of the present application, the concrete leveling robot further includes a chassis, the chassis includes a tray frame, a driving wheel, a steering electric cylinder and a steering transmission mechanism, the body is disposed on the tray frame, the driving wheel is disposed on the tray frame, and the tray frame, the steering wheel and the steering transmission mechanism form an anti-ackermann steering mechanism.

The steering electric cylinder can accurately control the steering power, and the steering is accurate and sensitive in response by matching with an anti-Ackerman steering mechanism.

In the optional embodiment of this application, concrete leveling robot includes power battery, power battery set up in the fuselage, power battery with floated vibrating plate subassembly with the auger mud discharging mechanism electricity is connected.

The power battery provides the power energy of each part, can avoid having the noise, and does not have exhaust emissions, avoids influencing the personnel of operational environment.

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 an isometric view of a concrete leveling robot;

FIG. 2 is an isometric view of the fairing;

fig. 3 is a partially enlarged view of a portion a of fig. 2;

FIG. 4 is an isometric view of the cross-beam assembly;

FIG. 5 is a schematic view of a chassis;

FIG. 6 is a schematic view of another perspective of the concrete screed robot.

Icon: 10-a fuselage; 20-flattening head; 21-a connecting assembly; 212-connecting spring; 214-a connecting block; 221-vibrating plate connecting seat; 222-a vibrating plate; 223-adjustable exciting force vibration motor; 224-a flexible scraper; 225-vibration motor mounting plate; 231-a connecting beam; 232-spiral frame; 233-auger; 234-tilt angle sensor; 235-adjusting the push rod mechanism; 236-coarse scraper; 237-auger drive motor; 30-a beam assembly; 31-a cross beam; 32-servo electric cylinder; 33-laser calibration system; 34-a post; 35-a guide sleeve; 40-a chassis; 41-a tray frame; 42-a drive wheel; 43-a steering wheel; 44-steering electric cylinder; 45-support; 46-a steering linkage; 47-a speed reducer; 50-a positioning system; and 60, controlling the system.

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.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the product conventionally places when used, and are only used for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made 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 terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Examples

Referring to fig. 1, an embodiment of the present application provides a concrete leveling robot, including: a body 10 and a screed head 20.

Referring to fig. 2 and 3, the leveling head 20 of the present embodiment includes a connecting assembly 21, a suspension type vibrating plate assembly and an auger slurry discharging mechanism, the body 10 is connected to the auger slurry discharging mechanism, the connecting assembly 21 includes a connecting spring 212 and connecting blocks 214, one end of each connecting block 214 is hinged to the suspension type vibrating plate assembly, the other end of each connecting block 214 is hinged to the auger slurry discharging mechanism, two ends of the connecting spring 212 are respectively connected to the suspension type vibrating plate assembly and the auger slurry discharging mechanism, and the connecting spring 212 is located between two adjacent connecting blocks 214.

Note that both ends of the connection spring 212 are connected to the vibration plate connection base 221 and the suspension rings of the connection beam 231, respectively, which will be described later, and the suspension rings H of the connection beam 231 in fig. 3 are separated from the connection spring 212 only in an unassembled state, and do not mean that the connection is not performed during operation.

Referring to fig. 4, the concrete leveling robot of the present embodiment further includes a beam assembly 30, the body 10 is connected to the auger slurry discharging mechanism through the beam assembly 30, and the beam assembly 30 is used for adjusting the elevation of the flat head 20. In detail, the beam assembly 30 includes a beam 31, a servo electric cylinder 32 and a laser calibration system 33, the servo electric cylinder 32 is disposed on the beam 31, the beam 31 is connected to the body 10, the servo electric cylinder 32 can adjust the height of a target 34 of the laser calibration system 33, the target 34 is connected to the leveling head 20, and a guide sleeve 35 is disposed on the beam 31 to assist the target 34 to move in the up-and-down direction. The elevation of the flat head 20 can be controlled by the cooperation of the laser calibration system 33 and the servo electric cylinder 32. Compared with a generally adopted hydraulic oil cylinder, the servo electric cylinder 32 has more accurate stroke control and smaller volume, and is beneficial to reducing the whole weight of the robot and reducing energy consumption. The laser calibration system 33 and the servo electric cylinder 32 may be matched with each other by referring to a general laser calibration device and a matching driving device, which are not described herein again.

Referring to fig. 5, the concrete leveling robot of the present embodiment further includes a chassis 40, the chassis 40 includes a tray frame 41, a driving wheel 42, a steering wheel 43, a steering electric cylinder 44 and a steering transmission mechanism, the body 10 is disposed on the tray frame 41, the driving wheel 42 is disposed on the tray frame 41, and the tray frame 41, the steering wheel 43 and the steering transmission mechanism form an anti-ackermann steering mechanism. The steering electric cylinder 44 can accurately control the steering power, and can make the steering accurate and response sensitive by matching with an anti-Ackerman steering mechanism. Referring to fig. 6, in detail, the driving wheel 42 is two independent wheels, which are directly connected to the tire through a speed reducer 47 and a motor 48, and then fixed to the tray frame 41. The steering transmission mechanism comprises a support 45 and a steering connecting rod 46, one end of the support 45 is arranged on the tray frame 41 through a rotating shaft, the steering wheel 43 is connected with the rotating shaft, the two support 45 are connected through the steering connecting rod 46, an electric cylinder seat of the steering electric cylinder 44 is hinged to the tray frame 41, and the output end of the steering electric cylinder 44 is hinged to one support 45. Therefore, the anti-Ackerman steering mechanism is formed, and when the steering mechanism is used for steering, the steering angle of the outer side wheel is larger than that of the inner side wheel, so that the outer side wheel can obtain larger lateral acceleration, and faster over-bending is realized. Reference may be made in particular to the steering structure and the operating principle of a vehicle in general using an anti-ackermann steering mechanism.

In this embodiment, the concrete leveling robot includes a power battery, the power battery is disposed on the machine body 10, and the power battery is electrically connected to the suspension type vibrating plate assembly and the auger slurry discharging mechanism. The power battery provides the power energy of each part, can avoid having the noise, and does not have exhaust emissions, avoids influencing the personnel of operational environment.

Referring to fig. 1, the concrete leveling robot of the present application further includes a positioning system 50 and a control system 60, the control system 60 can sense the surrounding environment through the positioning system 50 and transmit a control command to the chassis 40 to realize the autonomous movement during transition and work, the control of the beam assembly 30 and the leveling head 20 is also controlled by the control system 60 to realize the automatic leveling operation, and the robot does not need to rely on manual intervention all the time, which is beneficial to reducing the labor intensity of workers. The positioning system 50 and the control system 60 can refer to the control and positioning mechanism of a general floating robot, and are not described herein.

Simply speaking, auger mud discharging mechanism can be used for carrying out the side direction to the concrete and get rid of, obtains the concrete volume that the construction required, and floated vibrating plate subassembly floats through coupling assembling 21 and auger mud discharging mechanism and is connected, and when facing different operating modes, floated vibrating plate subassembly can suspend the adjustment to control the pressure for the concrete, ensure good flattening effect.

Referring to fig. 2 and 3, in detail, the suspension type vibration plate assembly of the present embodiment includes a vibration plate connection seat 221, the auger slurry discharge mechanism includes a connection beam 231, two ends of each connection block 214 are respectively hinged to the vibration plate connection seat 221 and the connection beam 231, and the vibration plate connection seat 221, the connection beam 231 and at least two connection blocks 214 form a parallelogram link mechanism.

Through making vibration board connecting seat 221, tie-beam 231 and at least two connecting blocks 214 form parallelogram link mechanism, can enough ensure to keep floating connection between floated vibration board subassembly and the auger mud discharging mechanism, can ensure the sufficient reliability of being connected of during operation again.

Specifically, the suspension type vibration plate assembly further comprises a vibration plate 222 and an adjustable excitation force vibration motor 223, the adjustable excitation force vibration motor 223 is in transmission connection with the vibration plate 222 through a vibration motor mounting plate 225, and the vibration plate 222 is connected to the vibration plate connecting seat 221. In the present embodiment, the suspension type vibration plate assembly further includes flexible scrapers 224, and the flexible scrapers 224 are disposed at both ends of the vibration plate 222. The flexible flight 224 may be used to smooth the seams between adjacent work surfaces, making the entire surface more planar and visually consistent.

On the basis of having parallelogram link mechanism and connecting spring 212, cooperation adjustable exciting force vibrating motor 223 can adjust the pressure and the exciting force of vibration board 222 to the concrete better, adapts to different operating modes.

Specifically, the auger slurry discharging mechanism further comprises a spiral frame 232, an auger 233, an inclination angle sensor 234 and an adjusting push rod mechanism 235, wherein the connecting beam 231 is arranged on the spiral frame 232, an adjusting seat of the adjusting push rod mechanism 235 is connected with the machine body 10, an output end of the adjusting push rod mechanism 235 is connected with the spiral frame 232, and the auger 233 is arranged on the spiral frame 232 and driven by an auger driving motor 237. The tilt sensor 234 is used to detect the tilt angle of the gantry 232. In this embodiment, the auger slurry discharging mechanism further includes a rough scraper 236, and the rough scraper 236 is disposed on the auger frame 232 and on a side of the auger 233 away from the suspension type vibrating plate assembly. The rough scraper 236 can be used for assisting in manually performing rough paving of concrete, and reduces the labor intensity of workers.

The angle of the leveling head 20 can be adjusted by the matching of the inclination angle sensor 234 and the adjusting push rod mechanism 235, so that the packing auger 233 can be adjusted to be in place and operated when in need. For example, when concrete is roughly paved, the inclination angle sensor 234 is matched with the adjusting push rod mechanism 235, and the adjusting push rod mechanism 235 enables the rough scraper 236 to be positioned on a proper base surface, so that rough paving can be performed; when leveling is needed, the push rod mechanism 235 is adjusted to work again, the posture of the whole leveling head 20 is adjusted, the auger 233 is enabled to work, the surplus concrete slurry is further removed laterally, the concrete amount required by construction is obtained, and then vibration and compaction are carried out through the vibration plate 222, so that a concrete wet surface with consistent impression is obtained.

More specifically, the auger slurry discharging mechanism in this embodiment includes two connecting beams 231, the suspension type vibrating plate assembly includes two vibrating plate connecting seats 221, the two connecting beams 231 respectively cooperate with one vibrating plate connecting seat 221 and two connecting blocks 214 to form a parallelogram link mechanism, each parallelogram link mechanism is provided with a connecting spring 212, and two ends of the connecting spring 212 are respectively connected to the vibrating plate connecting seat 221 and the connecting beams 231.

The working principle of the embodiment is as follows:

the control system 60 can walk through the chassis 40 in an area to be leveled according to detection of the positioning system 50, and as the steering wheels 43, the support 45, the chassis frame 41 and the steering connecting rod 46 of the chassis 40 form an anti-ackermann steering mechanism, the chassis frame 41 can be designed into an integrated frame body, a split type vehicle body is not required to be designed like a common leveling machine, steering can be completed by means of torsion of the front vehicle body and the rear vehicle body, and the steering can be driven by means of an engine matched with a hydraulic system, so that the whole volume is more compact, steering is more flexible, and manual operation is not required in real time. The differential-free steering can be realized by controlling the rotating speed of each driving wheel 42 and the rotating angle of the steering wheel 43, the sliding abrasion of tires in the differential steering process is avoided, and the running smoothness is guaranteed.

Because the energy is supplied by the power battery, the energy-saving device does not influence surrounding people and has no noise and exhaust emission.

During rough paving, the inclination angle sensor 234 is matched with the adjusting push rod mechanism 235, so that the rough scraper 236 can be in place to assist in rough paving, when leveling is needed, the cross beam assembly 30 can further adjust the elevation of the leveling head 20, and the inclination angle sensor 234 is matched with the adjusting push rod mechanism 235 again, so that the auger 233 can participate in work to laterally remove redundant concrete slurry. When the amount of concrete reaches the construction requirement, the vibration motor 223 with adjustable exciting force is started, so that the vibration plate 222 levels the surface of the concrete. In-process of flattening, through parallelogram link mechanism and connecting spring 212's cooperation, can adjust the pressure of vibration board 222 to the concrete according to the operating mode to can cooperate adjustable exciting force vibrating motor 223 to adjust the exciting force and the pressure of vibration board 222 to the concrete of different operating modes, guarantee flattening effect. When switching to the region of next door and leveling, flexible scraper blade 224 can be leveled the seam department between two regions for the holistic flattening of terrace is effectual.

To sum up, floated vibrating plate subassembly and the auger of concrete leveling robot of this application arrange thick liquid mechanism and can float the connection, through the adjustment to the pressure of concrete, can adapt to different operating modes, the effect of guarantee flattening.

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

1. A concrete leveling robot, comprising: a body and a leveling head;

2. The concrete leveling robot according to claim 1, wherein the suspension type vibration plate assembly comprises vibration plate connecting seats, the auger slurry discharging mechanism comprises connecting beams, two ends of each connecting block are respectively hinged to the vibration plate connecting seats and the connecting beams, and the vibration plate connecting seats, the connecting beams and at least two connecting blocks form a parallelogram linkage mechanism.

3. The concrete leveling robot according to claim 2, wherein the auger slurry discharging mechanism comprises two connecting beams, the suspension type vibrating plate assembly comprises two vibrating plate connecting seats, the two connecting beams are respectively matched with one vibrating plate connecting seat to form a parallelogram linkage mechanism, each parallelogram linkage mechanism is provided with the connecting spring, and two ends of the connecting spring are respectively connected to the vibrating plate connecting seat and the connecting beam.

4. The concrete leveling robot according to claim 2, wherein the floating vibration plate assembly further comprises a vibration plate, an adjustable excitation force vibration motor, the adjustable excitation force vibration motor is in transmission connection with the vibration plate, and the vibration plate is connected to the vibration plate connecting seat.

5. The concrete leveling robot according to claim 4, wherein the floating vibration plate assembly further includes flexible scrapers provided at both ends of the vibration plate.

6. The concrete leveling robot of claim 2, wherein the auger slurry discharging mechanism further comprises a spiral frame, an auger, an inclination angle sensor and an adjusting push rod mechanism, the connecting beam is arranged on the spiral frame, an adjusting seat of the adjusting push rod mechanism is connected with the machine body, an output end of the adjusting push rod mechanism is connected with the spiral frame, the auger is arranged on the spiral frame, and the inclination angle sensor is used for detecting an inclination angle of the spiral frame.

7. The concrete leveling robot of claim 6, wherein the auger grout discharge mechanism further comprises a coarse scraper disposed on the screw frame and on a side of the auger away from the suspended vibrating plate assembly.

8. The concrete leveling robot of claim 6, further comprising a beam assembly, wherein the body is connected to the auger slurry discharge mechanism via the beam assembly, and the beam assembly is used to adjust the elevation of the leveling head.

9. The concrete leveling robot of claim 1, further comprising a chassis including a tray frame, a driving wheel, a steering electric cylinder, and a steering transmission mechanism, wherein the body is disposed on the tray frame, the driving wheel is disposed on the tray frame, and the tray frame, the steering wheel, and the steering transmission mechanism form an anti-ackermann steering mechanism.

10. The concrete leveling robot of claim 1, comprising a power battery disposed in the body, the power battery being electrically connected to the suspended vibrating plate assembly and the auger slurry discharge mechanism.