CN218492225U - Mobile robot for paving kerbstone - Google Patents

Abstract

The utility model provides a mobile robot who lays curb is equipped with hoist mechanism, centre gripping push mechanism and lays the mechanism on mobile robot's the frame. The lifting mechanism is used for lifting the kerbstone upwards; the clamping device clamps two ends of a curb stone on the uppermost layer of the lifting mechanism to convey forwards, then loosens the curb stone and lays the curb stone on the conveying mechanism, and the conveying mechanism conveys the curb stone forwards to the laying mechanism in the X direction; the buffer plate of the laying mechanism supports the kerbstone conveyed by the conveying mechanism, the downward overturning buffer plate conveys the kerbstone lying on the conveying mechanism to the guide slope plate, and the kerbstone slides downwards on the surface of the guide slope plate and stands on the ground. The utility model provides an equipment, the storage of curb, promotion, transmission and lay complete mechanized operation, the artifical mode of laying of comparing, the utility model discloses lay effectual efficient, can reduce the human cost simultaneously.

Description

Mobile robot for paving kerbstone

Technical Field

The utility model relates to a municipal administration construction equipment, concretely relates to mobile robot who lays curb.

Background

With the development of the current urban construction level, the requirements on municipal road surfaces are higher and higher, and flat floor tiles and kerbs are generally paved in large areas in places such as sidewalks, squares and the like. At present, the paving of the floor tiles and the kerbs generally adopts pure manual operation or a mechanical and manual combination mode, and the mechanical and manual combination construction method comprises the following steps: the bricks are lifted by a rope through a crane, then the falling point position is manually controlled, and then the bricks are unloaded and finally the compaction operation is carried out. The laying mode is time-consuming and labor-consuming, the laying effect depends on the technical level of constructors, meanwhile, the labor intensity of workers is high, more constructors are needed, and the laying cost is improved.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a novel mobile robot of laying curb, the whole in-process full automation mechanized operation of laying compares current laying method, the utility model discloses lay efficiently, the fragment of brick of laying is neat, need not artifical participation transport and has a life to the people low-cost has been reduced. In order to achieve the above purpose, the utility model adopts the following technical scheme:

a mobile robot for paving kerbstones, wherein the kerbstones are long-strip stones, the mobile robot comprises a movable frame, the length direction of the frame is set as the X direction, the width direction is set as the Y direction, and the mobile robot moves in the Y direction to continuously pave the kerbstones, and is characterized in that a lifting mechanism and a clamping and pushing mechanism are installed at the tail part of the frame;

the lifting mechanism is provided with a first transmission mechanism, a lifting plate and a lifting device, the first transmission mechanism transfers the kerbstone stacked up and down to the lifting plate, and the lifting device drives the lifting plate to lift upwards;

the clamping and pushing mechanism comprises a forward moving guide rail and a clamping device which is slidably mounted on the forward moving guide rail, the clamping device clamps two ends of the length of the raised kerbstone to be conveyed forwards in the X direction and then loosens the two ends of the length of the raised kerbstone and lays the two ends of the length of the raised kerbstone on the conveying mechanism, and the kerbstone is conveyed forwards in the X direction to the laying mechanism by the conveying mechanism;

lay the mechanism and be equipped with the frame of laying of installing on mechanical movable arm, lay and be provided with one in the middle of the frame and lay the mouth at the curb stone of width adjustable in the Y direction, lay the location backplate of mouth at the curb stone and install the buffer board that can overturn downwards at the curb stone and lay a mouthful rear side location backplate with be fixed with direction ramp plate between the buffer board, the buffer board will the curb stone that transport mechanism carried holds in the palm to by the buffer board that overturns downwards will the curb stone that the last tie of transport mechanism lais is delivered to direction ramp plate, curb stone are in direction ramp plate goes up the landing downwards and stands subaerial in the Y direction.

Furthermore, the lifting mechanism is provided with a longitudinal lifting support arranged at the tail part of the frame, the first transmission mechanism is fixedly arranged at the bottom of the longitudinal lifting support, the lifting plate is driven by the lifting device on the longitudinal lifting support to perform lifting motion in the vertical direction of the first transmission mechanism, and the lifting plate is provided with an open slot corresponding to the position of the first transmission mechanism so that the lifting plate can be lowered below the upper surface of the first transmission mechanism;

a storage support is mounted at the bottom of the rear side of the lifting support, the front end of the storage support is rotatably connected to the bottom of the rear side of the longitudinal lifting support, the storage support can be turned up and down and folded and stored by taking the front end as a rotating point, and a second transmission mechanism is arranged on the storage support;

the storage support conveys the kerbstone which is stacked up and down forwards to the first conveying mechanism in the X direction, and the first conveying mechanism continuously conveys the kerbstone forwards to the lifting plate.

Further, lifting devices respectively located at two sides of the lifting plate in the Y direction are mounted on the longitudinal lifting support, and each lifting device includes:

the lifting cylinder is vertically fixed on the longitudinal lifting support;

a lifting chain, wherein two ends of the lifting chain are respectively fixedly connected with the lifting plate and the ejector rod of the lifting cylinder, or

The two ends of the lifting chain are respectively positioned on two sides of the lifting cylinder and stretch across the ejector rod of the lifting cylinder, one end of the lifting chain is fixedly connected with the lifting plate, and the other end of the lifting chain is fixed on the longitudinal lifting support on one side of the lifting cylinder.

Furthermore, vertical guide channel steel rails located on two sides of the lifting plate are arranged on the longitudinal lifting support, a lifting web is installed on each vertical guide channel steel rail in a vertically sliding mode, and one end of the lifting chain and the lifting plate are fixedly connected with the lifting web.

Furthermore, the storage support is arranged at the bottom of the longitudinal lifting support through a reset overturning support, and a spring support is arranged at the bottom of the longitudinal lifting support;

the bottom of the reset overturning support is provided with a limiting steel pipe and a reset spring, the limiting steel pipe sequentially penetrates through the two baffles on the back of the reset overturning support and is rotatably connected with the spring support, and the reset spring is sleeved on the limiting steel pipe between the two baffles;

the transverse width of the storage rack is smaller than that of the longitudinal lifting rack, and the storage rack is rotatably connected to the center of the bottom of the longitudinal lifting rack.

Furthermore, the forward moving guide rail is provided with two first slide rails with the length in the X direction, the opposite sides of the first slide rails are provided with upper rails, the first slide rails are provided with lower lifting rails positioned below the upper rails, the lower lifting rails are provided with a front inlet and a rear inlet with downward openings, a front pair of first rollers and a rear pair of first rollers are installed in each upper rail, the front ends and the rear ends of the two sides of the clamping device are respectively fixed with second rollers, the corresponding first rollers and the second rollers are movably connected through driven rods, a first transverse moving propulsion cylinder drives the first rollers to slide forwards in the upper rails to drive the clamping device to move forwards, and the first rollers drive the second rollers to enter the lower lifting rails through the inlet openings through the driven rods in the forward sliding process so as to improve the height of the clamping device;

the clamping device comprises a clamping frame, the clamping frame is provided with a second slide rail in the Y direction and a multi-connecting-rod linkage mechanism, two clamping plates capable of sliding relatively are arranged on the second slide rail, the multi-connecting-rod linkage mechanism is composed of a middle swing rod and two clamping connecting rods hinged to two ends of the swing rod, the center of the swing rod is rotatably connected to the clamping frame through a swing rod center pin, and the other ends of the two clamping connecting rods are respectively hinged to opposite surfaces of the two clamping plates;

one end of the swing rod is hinged with the clamping driving cylinder, and the clamping driving cylinder drives the multi-connecting-rod linkage mechanism to drive the two clamping plates to relatively or oppositely slide on the second sliding rail so as to clamp or loosen the curb.

Furthermore, a front pair of first rollers and a rear pair of first rollers in the upper rail are both arranged on a side push plate, the side push plate is fixedly connected with an ejector rod of the first transverse pushing cylinder, and the first transverse pushing cylinder pushes the side push plate to drive the first rollers to roll back and forth in the upper rail.

Further, the conveying mechanism is a roller or belt-based conveying mechanism.

Furthermore, the left side and the right side of the front part of the frame are symmetrically provided with the mechanical movable arms, the two mechanical movable arms are fixedly connected through a connecting rod, the left side and the right side of the front part of the frame are fixedly provided with a vertical guide rail and a horizontal guide rail, the vertical guide rail is provided with a vertical sliding block support which can slide up and down, the horizontal guide rail is provided with a horizontal sliding block which can slide horizontally, the vertical sliding block support is connected with a vertical jacking mechanism fixed at the front part of the frame, the horizontal sliding block is connected with a horizontal pushing mechanism fixed at the front part of the frame, and the vertical jacking mechanism and the horizontal pushing mechanism are any one of an air cylinder, a hydraulic oil cylinder, an electric push rod and a screw rod pair;

the mechanical movable arm comprises longitudinal supporting legs, a horizontal upper arm and a horizontal lower arm, the front ends of the upper arm and the lower arm are hinged to the supporting legs, the rear end of the upper arm is hinged to the vertical sliding block support, the lower arm is fixedly connected with the horizontal sliding block, the rear end of the lower arm is movably connected with the upper arm through a connecting rod supporting arm, the upper arm, the lower arm, the supporting legs hinged to the front end and the rear end of the lower arm and the connecting rod supporting arm form a parallel four-bar linkage mechanism, a quick-release mounting support is mounted at the bottom of the supporting legs, a swing cylinder is connected between the quick-release mounting support and the supporting legs, and a quick-release supporting universal wheel is mounted at the bottom of the quick-release mounting support.

Furthermore, the quick-release mounting bracket is provided with two rotating shafts, the first rotating shaft is mounted on the supporting leg through a pin shaft, the second rotating shaft is hinged with a swing rod of a swing cylinder, and the swing cylinder drives the quick-release mounting bracket to rotate by taking the pin shaft as an axis;

the quick-release mounting bracket is provided with two triangular plates which are arranged in parallel, three vertexes of the two triangular plates are fixedly connected through connecting columns, a first connecting column is coaxially arranged with the pin shaft, the other two connecting columns are used for being connected with bayonets reserved by the laying mechanism, and a second rotating shaft is arranged between the two connecting columns;

wherein a second spliced pole is the optical axis, and another second spliced pole is non-circular locking axle for the cross-section, locking axle one end and handle fixed connection, and two bayonets of quick detach installing support block respectively on the second spliced pole and rotate the handle makes lay the mechanism with quick detach installing support locking fixed connection is provided with at the lateral surface of one of them triangle-shaped board and is used for fixing the buckle of handle.

Furthermore, the laying frame is detachably mounted between the quick-release mounting brackets on two sides, width adjusting plates are symmetrically mounted on two sides of the width of the laying frame, the distance between the width adjusting plates is adjustable, the width adjusting plates are vertical plates in the X direction, and the rear ends of the width adjusting plates are provided with folding edges bent outside;

the paving frame is symmetrically provided with horizontal thickness positioning wheels at two sides of the width of the vehicle, the thickness positioning wheels at the rear end in the advancing direction abut against the side wall of the back surface of the paved curb in the paving process of the curb paving equipment, the thickness positioning wheels are fixed on a thickness adjusting plate, the thickness adjusting plate is a vertical plate in the Y direction and is adjustable in position in the X direction, and a thickness adjusting spring is arranged between the thickness adjusting plate and the paving frame;

a rotating shaft of the buffer plate is a horizontal rotating shaft in the Y direction, two ends of the horizontal rotating shaft are connected with the laying frame, and a buffer spring is arranged on the horizontal rotating shaft between the laying frame and the buffer plate;

the front end of the guide slope plate is provided with a vertical plate which is perpendicular to the ground and parallel to the positioning guard plate, and a gap with the thickness equivalent to that of the curb stone is reserved between the vertical plate and the positioning guard plate.

Furthermore, the left side and the right side of the vehicle width of the laying frame are both provided with soil crushing and cleaning plates, the top ends of the soil crushing and cleaning plates are hinged on the laying frame to rotate in the Y direction, the soil crushing and cleaning plates are provided with rolling wheels, and the outer side edges of the soil crushing and cleaning plates are inclined planes;

in the paving process of the mobile robot, the soil crushing and cleaning plate at the front end of the advancing direction is in a drooping state and used for cleaning soil crushes in the kerbstone paving groove, and the soil crushing and cleaning plate at the rear side of the advancing direction is upwards overturned to be horizontally arranged and is pressed on the upper surface of the paved kerbstone by the rolling wheels.

A method for paving a curb based on the mobile robot comprises the following steps:

s1, transferring the kerbstones stacked up and down to the lifting plate, and driving the lifting plate to be lifted upwards by the lifting device;

s2, the clamping device clamps two ends of a curb on the uppermost layer of the lifting plate and conveys the curb forwards in the X direction, then loosens the curb and lays the curb on a conveying mechanism, and the conveying mechanism conveys the curb forwards in the X direction to a laying mechanism;

and S3, the buffer plate supports the kerbstone conveyed by the conveying mechanism, the downward-turned buffer plate conveys the kerbstone lying on the conveying mechanism to the guide slope plate, and the kerbstone slides down on the surface of the guide slope plate and stands on the ground.

The utility model has the advantages that:

1) The storage, lifting, transmission and laying of the kerbstone are completely mechanized, compared with a manual laying mode, the utility model has good laying effect and high efficiency, and can reduce the labor cost;

2) The lifting mechanism is used for lifting the kerbstone transported from the rear part of the frame, and a group of lifting devices are arranged on two sides of the lifting plate, so that the lifting plate fully loaded with the kerbstone is more stable in the lifting process; the storage support at the rear side of the lifting mechanism serves as a mechanism for temporarily storing the kerbstone, the forklift transports the kerbstone to the storage support, and the kerbstone is transferred to the lifting plate through the storage support, so that the storage support can be folded upwards for storage when not in use, and the occupied space is reduced;

3) The clamping mechanism is used for clamping the kerbstone on the lifting plate and conveying the kerbstone forwards and placing the kerbstone on the conveying mechanism, the clamping mechanism slides towards the direction of the vehicle head after clamping the kerbstone, in the process of sliding forwards, the height of the clamping mechanism can be lifted, and the lower surface of the kerbstone clamped by the clamping mechanism and the upper surface of the kerbstone on the lifting plate are prevented from being scraped, so that the attractiveness of the kerbstone in the transfer process is ensured;

4) Lay the curb tree that the mechanism is used for lying with the transport mechanism tie and stand subaerial, the interval of the width regulating plate of laying the mechanism is adjustable in order to adjust the width that the mouth was laid to the curb, lay in order to be adapted to the laying of different length curb, the frame left and right sides of laying the mechanism is provided with hack cleaning plate, at the mobile robot laying in-process, the hack cleaning plate in the place ahead can clear up the hack in the curb groove of laying, the hack cleaning plate at rear then can carry out the roll-in downwards to the curb of laying, make the more neat that the curb was laid.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is an overall outline view of a mobile robot for paving kerbstones according to the present invention;

fig. 2 is a plan view of the whole mobile robot for laying the kerb stone;

FIG. 3a is a perspective view of the lifting mechanism;

FIG. 3b is a perspective view of the lift plate of the lift mechanism raised to half-empty;

FIG. 3c is a side view of the lifting mechanism with the warehouse racks deployed;

FIG. 3d is a side view of the warehouse rack after folding;

FIG. 4a is a side view of the clamp and feed mechanism;

FIG. 4b is a perspective view of the clamping and pushing mechanism;

FIG. 4c is a bottom view of the clamp and push mechanism;

FIG. 4d is the schematic view of the advancing rail shown hidden in FIG. 4a, showing the advancing rail having two rails (i.e., an upper rail and a lower lifting rail), wherein the clamping device is the initial section of the advancing rail;

FIG. 4e is a side view of the clamping pusher sliding to the end of travel of the advancing rail;

FIG. 4f is a left side view of the clamping and pushing mechanism;

FIG. 5a is a perspective view of a mechanical boom;

FIG. 5b is a side view of the mechanical boom;

FIG. 5c is a perspective view of the quick release mounting bracket;

FIG. 6a is a perspective view of the paving mechanism with the positioning guard at the front hidden;

FIG. 6b is a top view of the paving mechanism;

FIG. 6c is a side view of the paving mechanism;

fig. 6d is a front view of the paving mechanism.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.

In order to thoroughly understand the present invention, detailed steps and detailed structures will be provided in the following description so as to explain the technical solution of the present invention. The preferred embodiments of the present invention are described in detail below, however, other embodiments of the present invention are possible in addition to these detailed descriptions.

Referring to fig. 1, the utility model provides a mobile robot 10, as shown in fig. 1, this mobile robot 10 includes frame 11, installs running gear 12 on the frame chassis, and this running gear 12 is provided with 4 steerable walking wheels 13, and this running gear 12 can drive mobile robot 10 and walk. For convenience of description, the longitudinal direction of the carriage 11 is defined as X-direction, and the width direction is defined as Y-direction, and the mobile robot 10 moves in the Y-direction to continuously lay the curb 001.

A lifting mechanism 100 and a clamping and pushing mechanism 200 are mounted at the tail part of the frame 11, a multi-shaft mechanical movable arm 500 is mounted at the front part of the frame 11, a curb laying mechanism 400 is mounted on the mechanical movable arm 500, and a conveying mechanism 300 positioned between the curb laying mechanism 400 and the clamping and pushing mechanism 200 is mounted on the frame 11;

the lifting mechanism 100 is provided with a first transmission mechanism 104, a lifting plate 103 and a lifting device 120, wherein the first transmission mechanism 104 transfers the kerbstone stacked up and down to the lifting plate 103 and the lifting device 120 drives the lifting plate 103 to lift upwards;

the clamping and pushing mechanism 200 comprises a forward moving guide rail 210 and a clamping device 220 slidably mounted on the forward moving guide rail 210, the clamping device 220 clamps two ends of the length of the raised kerbstone and conveys the kerbstone forward in the X direction, then loosens the kerbstone and lays the kerbstone on the conveying mechanism 300, and the conveying mechanism 300 conveys the kerbstone forward in the X direction to the kerbstone laying mechanism 400;

the curb paving mechanism 400 is provided with a paving frame 410 installed on a mechanical movable arm 500, a curb paving opening 411 with adjustable width in the Y direction is arranged in the middle of the paving frame 410, a positioning guard plate 416 in the Y direction is installed at the front side of the curb paving opening 411, a buffer plate 420 capable of turning downwards is installed at the rear side of the curb paving opening 411, a guide slope plate 413 is fixed between the positioning guard plate 416 and the buffer plate 420, the buffer plate 420 supports the curb conveyed by the conveying mechanism 300, the downward-turning buffer plate 420 conveys the curb 001 lying on the conveying mechanism 300 to the guide slope plate 413, and the curb 001 slides downwards on the guide slope plate 413 and stands on the ground in the Y direction.

The utility model discloses a mobile robot 10 will pile up the whole lifting of curb through hoist mechanism 100, and centre gripping push mechanism 200 is flat lying on passing mechanism 300 with the curb block by block centre gripping and transfer afterwards and is placed, and the curb that will lie flat by passing mechanism 300 and place is transported to curb laying mechanism 400 to lay mechanism 400 by curb with curb vertical laying in curb laying groove by curb laying mechanism 400. The whole process is completely and mechanically operated, so that the laying efficiency is greatly improved, and meanwhile, the required labor cost is reduced; meanwhile, when the device is used for paving the kerbstone, manual assistance is not needed, and operators do not need to participate in resurgence, so that the labor intensity of people is reduced.

The structure of the lifting mechanism 100 is further described below:

the lifting mechanism 100 is provided with a longitudinal lifting support 102 installed at the tail part of the frame 11, the first transmission mechanism 104 is fixedly installed at the bottom of the longitudinal lifting support 102, the lifting plate 103 is driven by the lifting device 120 on the longitudinal lifting support 102 to do lifting motion in the vertical direction of the first transmission mechanism 104, and the lifting plate 103 is provided with an open slot corresponding to the position of the first transmission mechanism 104 so that the lifting plate 103 can be lowered below the upper surface of the first transmission mechanism 104. A storage rack 130 is installed at the bottom of the rear side of the lifting rack, the front end of the storage rack 130 is rotatably connected to the bottom of the rear side of the longitudinal lifting rack 102, the storage rack 130 can be turned over and folded up and down by taking the front end as a rotation point (as shown in fig. 3b and 3 c), and a second transmission mechanism 132 is arranged on the storage rack 130; the storage rack 130 conveys the curb stacked up and down forward in the X direction to the first transfer mechanism 104, and the first transfer mechanism 104 continues to convey the curb forward onto the lifting plate 103.

In an alternative embodiment, lifting devices 120 are mounted on the longitudinal lifting bracket 102 on both sides of the lifting plate 103 in the Y direction, respectively, and each lifting device 120 includes a lifting cylinder 121 and a lifting chain 122. The lifting cylinder 121 is vertically fixed on the longitudinal lifting support 102; two ends of the lifting chain 122 are respectively fixedly connected with the lifting plate 103 and the top bar of the lifting cylinder 121, or two ends of the lifting chain 122 are respectively located at two sides of the lifting cylinder 121 and cross the top bar of the lifting cylinder 121, one end of the lifting chain 122 is fixedly connected with the lifting plate 103, and the other end is fixed on the longitudinal lifting bracket 102 at one side of the lifting cylinder 121. The top rod of the lifting cylinder 121 slides upwards to drive the tail ends of the lifting chains 122 to move upwards, and the two groups of lifting chains 122 drive the middle lifting plate 103 to lift stably.

In an alternative embodiment, vertical guide channel rails 105 are disposed on the longitudinal lifting bracket 102 and located on two sides of the lifting plate 103, a lifting web 106 is slidably mounted on each vertical guide channel rail 105 up and down, and one end of the lifting chain 122 and the lifting plate 103 are fixedly connected to the lifting web 106.

In an alternative embodiment, the storage rack 130 is mounted at the bottom of the longitudinal lifting rack 102 through a reset flip rack 131, and a spring support 135 is mounted at the bottom of the longitudinal lifting rack 102;

the bottom of the reset overturning bracket 131 is provided with a limiting steel pipe 138 and a reset spring 137, the limiting steel pipe 138 sequentially penetrates through the two baffles 136 on the back of the reset overturning bracket 131 and is rotatably connected with the spring support 135, and the reset spring 137 is sleeved on the limiting steel pipe 138 between the two baffles 136;

the warehouse rack 130 has a lateral width less than the lateral width of the longitudinal lifting rack 102, and the warehouse rack 130 is pivotally connected to the bottom center of the longitudinal lifting rack 102.

The lifting mechanism 100 adopts the principle of differential forklift lifting, the lifting cylinder 121 and the lifting chain 122 are combined and placed on the left side and the right side, one end of the chain is connected with the frame, the other end of the chain is connected with the brick body lifting plate 103, and bearings are arranged on the left side and the right side of the lifting plate 103 and can roll up and down on the vertical guide channel steel rail 105. The storage rack 130 is provided with a second transmission mechanism 132, and the second transmission mechanism 132 is composed of rollers, chain wheels, chains, a driving motor and the like, so as to receive and transmit bricks. At the end of the job, the warehouse rack 130 may be rotated 90 degrees in the vertical plane, as shown in fig. 3c, to reduce the floor space.

As shown in fig. 3a-3d, the design of the lifting mechanism 100 highlights: 1) The continuous supply of the brick bodies can be guaranteed through the design of the storage and lifting parts, the requirement of the front-end brick bodies is met, the efficiency is improved, and the structure is compact. 2) The lifting part can be designed to accurately lift corresponding height according to the thickness of the brick body. 3) When fork truck placed the material in the design, correspond the storage riser with the double-layered mouth that fork truck both ends board formed, and the width of storage riser is far less than and presss from both sides a mouthful width, applicable in various fork trucks, the big or small brick body of being convenient for is placed and is transported, and the operation is very convenient. 4) When the operation is accomplished to the storage material, the manual promotion of accessible stores in a warehouse riser, upwards rotates 90, packs up the storage part to vertical state, reduces whole car length, is convenient for transition and transportation. When the storage mechanism is horizontally placed, the storage outer frame and the frame can automatically limit to support the horizontal state. The spring assembly realizes easy placement and retraction of the storage structure.

The structure of the gripper pushing mechanism 200 will be further described with reference to fig. 4a-4 f:

the forward moving guide rail 210 is provided with two first slide rails 211 with the length in the X direction, the opposite inner side surfaces of the first slide rails 211 are provided with upper rails 212, the first slide rails 211 are provided with lower lifting rails 213 located below the upper rails 212, the lower side edges of the lower lifting rails 213 are provided with front and rear inlet openings 213-1 with downward openings, a front and rear pair of first rollers 202 are installed in each upper rail 212, the front and rear ends of the two sides of the clamping device 220 are respectively fixed with second rollers 221, the corresponding first rollers 202 and the corresponding second rollers 221 are movably connected through driven rods 230, the first traverse pushing cylinders 240 drive the first rollers 202 to slide forward in the upper rails 212 to drive the clamping device 220 to traverse forward, and the first rollers 202 drive the second rollers 221 to enter the lower lifting rails 213 from the inlet openings 213-1 through the driven rods 230 in the forward sliding process to lift the height of the clamping device 220.

In an alternative embodiment, the front and rear pairs of first rollers 202 in the upper rail 212 are mounted on a side push plate 214, the side push plate 214 is fixedly connected to the top rod of the first traverse propulsion cylinder 240, and the first traverse propulsion cylinder 240 pushes the side push plate 214 to drive the front and rear pairs of first rollers 202 to roll back and forth in the upper rail 212.

The upper and lower ends of the driven rod 230 are hinged to the first roller 202 in the upper first slide rail 211 and the second roller 221 of the clamping device respectively, and there are four hinge points, so as to form a parallel four-bar linkage mechanism (as shown by the rectangle dashed line frame in fig. 4 d), that is, four corners of the clamping device are movably connected below the first slide rail 211 through the connecting rod 230 respectively; the second roller 221 is rotatably mounted on the frame of the clamping device 220. During specific work, the first traverse propulsion cylinder 240 drives the side push plate 214 to drive the first roller 202 to roll forward in the upper rail 212, the lower end of the driven rod 230 drives the clamping device 220 to form a parallel four-bar linkage mechanism to realize forward pushing of the whole clamping mechanism, before the clamping device 220 slides forward, the second roller 221 arranged on the clamping device 220 firstly enters the lower lifting rail 213 to lift the height of the clamping device 220, so that the height of the curb clamped by the clamping device is also lifted, friction between the clamped brick body and the curb below the brick body is avoided, and the surface of the brick body is scratched, as shown in fig. 4 e. The clamping device 220 is raised a little bit high and then moved forward. Preferably, when the clamping device 220 is at the rearmost position of the stroke, both second rollers 221 are located at the entrance of the lower lifting rail 213, so that the clamping device 220 is lifted to the height and then slides forward.

As shown in fig. 4c, the clamping device 220 includes a clamping frame 223, the clamping frame 223 is mounted with a second slide rail 224 in the Y direction and a multi-link linkage mechanism, two clamping plates 225 capable of sliding relatively are disposed on the second slide rail 224, the multi-link linkage mechanism is composed of a middle swing rod 226 and two clamping links 227 hinged at two ends of the swing rod 226, the center of the swing rod 226 is rotatably connected to the clamping frame 223 through a swing rod center pin, and the other ends of the two clamping links 227 are respectively hinged with opposite surfaces of the two clamping plates 225; one end of the swing link 226 is hinged to the clamping driving cylinder 228, and the clamping driving cylinder 228 drives the multi-link linkage mechanism to drive the two clamping plates 225 to slide relatively or oppositely on the second slide rail 224 so as to clamp or release the curb.

By adopting the multi-link linkage mechanism, the two clamping plates 225 can slide relatively or oppositely on the second slide rail 224 to clamp or loosen the curb stone by only one clamping driving cylinder 228, so that the driving structure is simplified, and on the other hand, the movement of the two clamping plates 225 is synchronous, so that the clamping and loosening actions are more linear. Preferably, the opposing faces of the two clamping plates 225 are detachably mounted with rubber plates to protect the floor tile when clamping the floor tile.

In an alternative embodiment, the transfer mechanism 300 is a roller or belt based transport mechanism.

The structure of the curb laying mechanism 400 is further explained below:

two bayonets 417 (as shown in fig. 6 c) for quick release are arranged on the paving frame 410 of the curb, so that the paving frame 410 can be detachably mounted on the quick release mounting bracket 531 of the front end mechanical arm 500 of the brick paving machine. Width adjusting plates 412 are symmetrically installed on both sides of the vehicle width of the paving frame 410 (an opening area between the two width adjusting plates 412 is a curb paving opening 411, the width adjusting plates 412 penetrate through a first adjustable guide rail 418 in the Y direction and are fixed on the paving frame 410 through adjusting plates 414, the adjusting plates 414 are provided with a plurality of fixing holes, the distance between the two width adjusting plates 412 is adjusted through different fixing holes, manual adjustment of the curb with different lengths can be achieved, preferably, the width adjusting plates 412 are vertical plates in the X direction, and are provided with folding edges 415 bent outside at the rear ends, and a guiding effect is achieved.

Lay and be equipped with thickness adjustment assembly on the frame 410, can realize the automatic elastic adjustment who turns different thickness, its structure specifically is: lay frame 410 and be installed horizontally thickness positioning wheel 430 at car width bilateral symmetry, the curb is spread equipment and is being laid the in-process, the thickness positioning wheel 430 butt of advancing direction rear end is on the curb back lateral wall of laying, thickness positioning wheel 430 fixes on a thickness regulating plate 431, thickness regulating plate 431 is the riser of Y direction, thickness regulating plate 431 is fixed on laying frame 410 through second regulation guide rail 433, be provided with thickness regulating spring 432 on second regulation guide rail 433, wherein, thickness regulating plate 431 is adjustable in the front and back position of X direction, and then can adjust the distance between thickness positioning wheel 430 and location backplate 416.

The buffer plate 420 is used for buffering the falling brick body, the rotating shaft of the falling brick body is a horizontal rotating shaft in the Y direction, two ends of the horizontal rotating shaft are connected with the laying frame 410, and a buffer spring 421 is installed on the horizontal rotating shaft between the laying frame 410 and the buffer plate 420.

Lay frame 410 and all install hack clearance board 440 in the left and right sides of car width, hack clearance board 440 top articulates on laying frame 410 in order to rotate in the Y direction, installs roller 441 on hack clearance board 440, hack clearance board 440 is right triangle-shaped in the cross-section of X direction, and the outside limit is the inclined plane. In the paving process of the brick paving machine, the soil crushing and cleaning plate 440 at the front end in the advancing direction is in a drooping state and is used for cleaning soil crushes in the paving groove of the curb, the soil crushing and cleaning plate 440 at the rear side in the advancing direction is upwards turned to be horizontally arranged, and the rolling wheel 441 rolls on the upper surface of the paved curb.

A guide slope plate 413 is fixed between the positioning protection plate 416 and the buffer plate 420, a vertical plate 413-1 which is perpendicular to the ground downwards and parallel to the positioning protection plate 416 is arranged at the front end of the guide slope plate 413, and a gap which is equivalent to the thickness of the curb is reserved between the vertical plate 413-1 and the positioning protection plate 416. The curb 001 falls down onto the guide slope plates 413 by the buffer plates 420 turning down, where the curb 001 slides down into the gap in the guide slope plates 413 and stands on the ground in the Y direction.

The structure of the mechanical arm 500 will be further described below:

the left side and the right side of the front part of the frame 11 are symmetrically provided with a mechanical movable arm 500, the two mechanical movable arms 500 are fixedly connected through a connecting rod 540, the left side and the right side of the front part of the frame 11 are fixedly provided with a vertical guide rail 501 and a horizontal guide rail 503, the vertical guide rail 501 is provided with a vertical slider support 502 capable of sliding up and down, and the horizontal guide rail 503 is provided with a horizontal slider 504 capable of sliding horizontally; the vertical slide mount 502 is connected to a vertical lift 505 fixed to the front of the frame 11, and the horizontal slide 504 is connected to a horizontal push 506 fixed to the front of the frame 11. The vertical jacking mechanism 505 and the horizontal pushing mechanism 506 are any one of an air cylinder, a hydraulic oil cylinder, an electric push rod and a screw pair.

The mechanical movable arm 500 comprises a longitudinal leg 530, a horizontal upper arm 510 and a horizontal lower arm 520, wherein the front ends of the upper arm 510 and the lower arm 520 are hinged with the leg 530, the rear end of the upper arm 510 is hinged on the vertical slider support 502, the lower arm 520 is fixedly connected with the horizontal slider 504, and the rear end of the lower arm 520 is movably connected with the upper arm 510 through a connecting rod support arm 521. As shown in fig. 5b, the upper arm 510, the lower arm 520, the leg 530 and the link support arm 521 form a parallelogram structure (shown by dotted lines), which has an advantage in that the front leg can be better controlled by the rear vertical lift mechanism 505 and the horizontal push mechanism 506. Quick detach installing support 531 is installed at the bottom of landing leg 530, a swing cylinder 532 is connected between quick detach installing support 531 and landing leg 530, and a quick detach first supporting universal wheel 533 is installed at the bottom of quick detach installing support 531.

As shown in FIG. 5c, the quick release mounting bracket 531 is provided with two rotating shafts, the first rotating shaft is mounted on the supporting leg 530 through a pin 531-2, the second rotating shaft 531-6 is hinged to the swing rod of the swing cylinder 532, and the swing cylinder 532 drives the quick release mounting bracket 531 to rotate around the pin 531-2.

The quick-release mounting bracket 531 is provided with two triangular plates 531-1 which are arranged in parallel, three vertexes of the two triangular plates 531-1 are fixedly connected through connecting columns, a first connecting column is coaxially arranged with a pin roll 531-2, the other two connecting columns are used for being connected with a bayonet reserved by a laying mechanism, and a second rotating shaft 531-6 is arranged between the two connecting columns; one of the second connecting columns is the optical axis 531-7, the other second connecting column is the locking shaft 531-3 with a non-circular section, and one end of the locking shaft 531-3 is fixedly connected with the handle 531-4. After the bayonet 417 of the paving frame 410 of the kerbstone is clamped on the optical axis 531-7 and the locking shaft 531-3 respectively, the handle 531-4 is rotated to rotate the locking shaft 531-3 to clamp the paving mechanism, so that the paving mechanism is fixedly connected with the quick-release mounting bracket 531 in a locking manner. The outer side surface of one triangular plate is provided with a buckle 531-5 for fixing the handle 531-4, and the buckle is used for keeping the handle 531-4 fixed in a locking state.

The mechanical boom 500 may enable longitudinal and vertical positioning of the front mounted curb laying mechanism 400 and provide support thereto. Through the cooperative operation of the vertical jacking mechanism 505, the horizontal pushing mechanism 506 and the swing cylinder 532 of the mechanical boom 500, the front-end curb laying mechanism 400 can be ensured to be always kept in a horizontal state, and the soil breaking and cleaning, the curb placing, the curb rolling and the like are facilitated.

Quick detach installing support 531 is installed to landing leg 530 bottom, is convenient for lay mechanism 400 quick detach with the curb and is connected, and the flexible of accessible swing cylinder 532, adjustable quick connect device's angle is conveniently fixed a position fast and combine with the connection structure of mechanism 400 is laid to the curb, realizes quick installation and dismantlement.

In other embodiments, we can also remove the curb laying mechanism 400 from the mechanical boom 500 and change the curb laying mechanism into another mechanism, for example, replace the curb laying mechanism 400 for laying a curb with a mechanism for laying flat bricks, so as to meet the laying requirements of different bricks, and meanwhile, the structures of the lifting mechanism 100, the clamping pushing mechanism 200 and the conveying mechanism 300 on the frame do not need to be changed, thereby enhancing the expansibility of the utility model.

The following is a detailed description of the working process of the present invention:

firstly, the curbstone 001 is stacked on the fork of a forklift truck, and the front and back sides of the stacked curbstone 001 are in contact. Then we put down the storage rack 130 to be horizontal and drive the fork truck to transfer the kerb to the storage rack 130, since the storage rack 130 is rotatably connected to the bottom center of the longitudinal lifting rack 102, a space for the supply fork to travel is formed on both sides of the storage rack 130, and the storage rack 130 can be inserted into the open center of the fork when the fork truck travels near the mobile robot 10. After the forklift is driven in place, the curb is unloaded and leaves.

The storage rack 130 is provided with a roller or belt transmission mechanism, which forwards conveys the stacked kerbs 001 to the lifting plate 103 of the lifting mechanism 100, and the first transmission mechanism 104 of the lifting mechanism 100 relays the kerbs 001 to continue to be conveyed forwards, so that the kerbs 001 are completely positioned on the lifting plate 103. The top rods of the lifting devices 120 on both sides of the lifting plate 103 slide upwards, and the top rods drive the lifting chains 122 to move upwards to drive the lifting webs 106 on both sides to move upwards stably, so as to lift the height of the lifting plate 103.

The clamping device 220 of the clamping and pushing mechanism 200 slides backwards to the tail direction of the vehicle, the clamping plates 225 clamp and fix the left and right ends of the uppermost kerbstone 001, and then the clamping device 220 moves towards the head direction of the vehicle. During the forward sliding process of the clamping device 220, the second roller 221 slides into the lower lifting track 213 to lift the height of the clamping device 220, so that the clamping device 220 slightly lifts the height of the curb 001 while moving the curb 001 forward, and the clamped curb 001 is prevented from being scraped with the curb 001 on the lifting plate 103, thereby affecting the beauty of the curb 001.

When the gripping device 220 slides on the forward rail 210 above the transfer mechanism 300, the two clamps 225 are released, the curb 001 drops to the transfer mechanism 300, and the transfer mechanism 300 continues to convey the curb 001 forward.

When the conveying mechanism 300 moves to the forefront, the kerbstone 001 is firstly blocked by the buffer plate 420 of the kerbstone laying mechanism 400, the lower side surface of the kerbstone 001 is in contact with the buffer plate 420, then the buffer plate 420 overturns downwards, the kerbstone 001 loses the blocking effect of the buffer plate 420 and slides onto the guide slope plate 413, the kerbstone 001 slides forwards on the guide slope plate 413 under the action of gravity, and is blocked by the positioning protection plate 416 when falling from the guide slope plate 413 and stands in the kerbstone laying groove in the Y direction, at the moment, the laying operation of the kerbstone 001 is completed, and the kerbstone 001 stands in the kerbstone laying groove on the ground.

Subsequently, the traveling device 12 moves the mobile robot 10 laterally in the vehicle width direction. The paving frame 410 is provided with two soil-breaking cleaning plates 440 at both sides in the vehicle width direction, respectively. Wherein, the hack cleaning plate 440 that is located the direction of laying front side is the flagging state, and at the removal robot in-process of marcing, hack cleaning plate 440 can go out the hack clearance in the curb laying groove for the curb laying groove is more level and more smooth, and is whole more neat in order to guarantee follow-up curb to fall into the laying groove. The crushed soil cleaning plate 440 at the rear side in the laying direction rotates to a horizontal state, the rolling wheel 441 of the crushed soil cleaning plate 440 rolls on the upper surface of the kerbstone 001 at the rear side in the laying direction of the laying frame 410, and the mobile robot 10 performs downward rolling operation on the kerbstone laid at the rear side in the process of lateral movement; the thickness positioning wheel 430 positioned at the rear side in the laying direction abuts against the back surface of the kerbstone laid at the rear side, and forward rolling operation is provided for the kerbstone by the thickness positioning wheel 430 in the transverse moving process; by rolling the curb laid behind down and forward, the laid curb can be made more orderly.

The mechanical boom 500 is used to provide support for the curb laying mechanism 400, and the curb laying mechanism 400 is mounted between two quick release mounting brackets 531 through a quick release structure. When the mobile robot is in a non-laying working state, the mechanical arm 500 slides upwards on the vertical guide rail 501 to drive the kerbstone laying mechanism 400 to leave the ground and suspend the kerbstone laying mechanism 400 in the air, so that the kerbstone laying mechanism 400 is protected; after the mobile robot moves to a designated position, the mechanical arm 500 descends, and the horizontal pushing mechanism 506 drives the supporting leg 530 to move horizontally back and forth, so as to adjust the position of the curb laying mechanism 400 at the bottom of the mechanical arm 500.

The above description is directed to the preferred embodiment of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that devices and structures not described in detail are understood to be implemented in a manner common in the art; without departing from the scope of the invention, it is intended that the present invention shall not be limited to the above-described embodiments, but that the present invention shall include all the modifications and variations of the embodiments. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.

Claims (12)

1. A mobile robot for paving kerbstone, wherein the kerbstone (001) is a strip-shaped stone, the mobile robot comprises a frame (11), the length direction of the frame (11) is set as the X direction, the width direction is set as the Y direction, and the mobile robot moves in the Y direction to continuously pave the kerbstone (001), and is characterized in that a lifting mechanism (100) and a clamping pushing mechanism (200) are installed at the tail part of the frame (11), a multi-shaft mechanical movable arm (500) is installed at the front part of the frame (11), a kerbstone paving mechanism (400) is installed on the mechanical movable arm (500), and a conveying mechanism (300) between the kerbstone paving mechanism (400) and the clamping pushing mechanism (200) is installed on the frame (11);

the lifting mechanism (100) is provided with a first transmission mechanism (104), a lifting plate (103) and a lifting device (120), the first transmission mechanism (104) transfers the kerbstones stacked up and down to the lifting plate (103), and the lifting device (120) drives the lifting plate (103) to lift upwards;

the clamping and pushing mechanism (200) comprises a forward moving guide rail (210) and a clamping device (220) installed on the forward moving guide rail (210) in a sliding mode, the clamping device (220) clamps two ends of the length of the kerbstone lifted to the top and conveys the kerbstone forwards in the X direction, then releases the kerbstone and lays the kerbstone on the conveying mechanism (300), and the conveying mechanism (300) conveys the kerbstone forwards in the X direction to the kerbstone laying mechanism (400);

curb lays mechanism (400) and is equipped with lays frame (410), it lays mouth (411) to be provided with one in the middle of frame (410) in the Y direction width adjustable curb, lays the location backplate (416) of mouth (411) and install the Y direction at the curb, lays the curb and installs buffer board (420) that can overturn downwards in mouthful (411) rear side, at location backplate (416) and be fixed with direction ramp plate (413) between buffer board (420), buffer board (420) will the curb that transport mechanism (300) carried holds in the palm to will by the buffer board (420) that overturn downwards curb (001) of lying on transport mechanism (300) send to direction ramp plate (413), curb (001) are in downward landing and establish subaerial in the Y direction on direction ramp plate (413).

2. The mobile robot as claimed in claim 1, wherein the lifting mechanism (100) is provided with a longitudinal lifting bracket (102) mounted at the rear of the frame (11), the first transmission mechanism (104) is fixedly mounted at the bottom of the longitudinal lifting bracket (102), the lifting plate (103) is driven by the lifting device (120) on the longitudinal lifting bracket (102) to perform lifting movement in the vertical direction of the first transmission mechanism (104), and the lifting plate (103) is provided with an open slot corresponding to the position of the first transmission mechanism (104) so that the lifting plate (103) can be lowered below the upper surface of the first transmission mechanism (104);

a storage bracket (130) is mounted at the bottom of the rear side of the lifting bracket, the front end of the storage bracket (130) is rotatably connected to the bottom of the rear side of the longitudinal lifting bracket (102), the storage bracket (130) can be turned up and down and folded for storage by taking the front end as a rotating point, and a second transmission mechanism (132) is arranged on the storage bracket (130);

the storage support (130) conveys the kerbs stacked up and down forwards to the first conveying mechanism (104) in the X direction, and the first conveying mechanism (104) conveys the kerbs forwards to the lifting plate (103).

3. The mobile robot as claimed in claim 2, wherein lifting devices (120) are mounted on the longitudinal lifting bracket (102) on both sides of the lifting plate (103) in the Y direction, respectively, each of the lifting devices (120) comprising:

a lifting cylinder (121), the lifting cylinder (121) being vertically fixed on the longitudinal lifting bracket (102);

the two ends of the lifting chain (122) are respectively fixedly connected with the lifting plate (103) and the mandril of the lifting cylinder (121), or

Two ends of the lifting chain (122) are respectively positioned at two sides of the lifting cylinder (121) and cross over a mandril of the lifting cylinder (121), one end of the lifting chain (122) is fixedly connected with the lifting plate (103), and the other end of the lifting chain is fixed on a longitudinal lifting support (102) at one side of the lifting cylinder (121).

4. The mobile robot as claimed in claim 3, wherein vertical guide channel rails (105) are provided on the longitudinal lifting bracket (102) at both sides of the lifting plate (103), a lifting web (106) is slidably mounted on each vertical guide channel rail (105) up and down, and one end of the lifting chain (122) and the lifting plate (103) are fixedly connected to the lifting web (106).

5. The mobile robot according to claim 2, characterized in that the storage rack (130) is mounted at the bottom of the longitudinal lifting rack (102) by a reset flip rack (131), and a spring support (135) is mounted at the bottom of the longitudinal lifting rack (102);

the bottom of the reset overturning support (131) is provided with a limiting steel pipe (138) and a reset spring (137), the limiting steel pipe (138) sequentially penetrates through the two baffles (136) on the back of the reset overturning support (131) and is rotatably connected with the spring support (135), and the reset spring (137) is sleeved on the limiting steel pipe (138) between the two baffles (136);

the transverse width of the storage rack (130) is smaller than that of the longitudinal lifting rack (102), and the storage rack (130) is rotatably connected to the bottom center of the longitudinal lifting rack (102).

6. The mobile robot as claimed in claim 1, wherein the forward moving guide rail (210) is provided with two first sliding rails (211) having a length in the X direction, upper rails (212) are provided at opposite sides of the first sliding rails (211), a lower lifting rail (213) is provided on the first sliding rails (211) and below the upper rails (212), the lower lifting rail (213) is provided with a front inlet opening (213-1) and a rear inlet opening (213-1) having a downward opening, a front pair of front and rear first rollers (202) are installed in each upper rail (212), a second roller (221) is fixed at front and rear ends of both sides of the gripping device (220), the corresponding first roller (202) and the second roller (221) are movably connected through a driven rod (230), the first traverse air cylinder (240) drives the first roller (202) to slide forward in the upper rail (212) to drive the gripping device (220) to traverse forward, the first roller (202) drives the second roller (221) to slide forward in the upper rail (212) through the driven rod (230), and the second roller (213-1) is driven by the driven rod (230) to enter the lower lifting rail (213-1) to raise the height of the gripping device (220);

the clamping device (220) comprises a clamping frame (223), the clamping frame (223) is provided with a second slide rail (224) in the Y direction and a multi-connecting-rod linkage mechanism, two clamping plates (225) capable of sliding relatively are arranged on the second slide rail (224), the multi-connecting-rod linkage mechanism is composed of a middle swing rod (226) and two clamping connecting rods (227) hinged to two ends of the swing rod (226), the center of the swing rod (226) is rotatably connected to the clamping frame (223) through a swing rod center pin, and the other ends of the two clamping connecting rods (227) are respectively hinged to opposite surfaces of the two clamping plates (225);

one end of the swing rod (226) is hinged with the clamping driving cylinder (228), and the clamping driving cylinder (228) drives the multi-link linkage mechanism to drive the two clamping plates (225) to slide relatively or oppositely on the second sliding rail (224) so as to clamp or loosen the curb.

7. The mobile robot as claimed in claim 6, wherein a pair of front and rear first rollers (202) in the upper rail (212) are mounted on a side push plate (214), the side push plate (214) is fixedly connected to a top rod of the first traverse propulsion cylinder (240), and the first traverse propulsion cylinder (240) pushes the side push plate (214) to drive the first rollers (202) to roll back and forth in the upper rail (212).

8. A mobile robot as claimed in claim 1, characterised in that the transfer mechanism (300) is a roller or belt based transport mechanism.

9. The mobile robot as claimed in claim 1, wherein one of the mechanical arms (500) is symmetrically installed at the left and right sides of the front portion of the frame (11), the two mechanical arms (500) are fixedly connected with each other through a connecting rod (540), a vertical guide rail (501) and a horizontal guide rail (503) are fixed at the left and right sides of the front portion of the frame (11), a vertical slider support (502) which slides up and down is installed on the vertical guide rail (501), a horizontal slider (504) which slides horizontally is installed on the horizontal guide rail (503), the vertical slider support (502) is connected with a vertical jacking mechanism (505) fixed at the front portion of the frame (11), and the horizontal slider (504) is connected with a horizontal pushing mechanism (506) fixed at the front portion of the frame (11);

the mechanical movable arm (500) comprises longitudinal supporting legs (530), a horizontal upper arm (510) and a horizontal lower arm (520), the front ends of the upper arm (510) and the lower arm (520) are hinged to the supporting legs (530), the rear end of the upper arm (510) is hinged to the vertical slider support (502), the lower arm (520) is fixedly connected with the horizontal slider (504), the rear end of the lower arm (520) is movably connected with the upper arm (510) through a connecting rod supporting arm (521), and the upper arm (510), the lower arm (520), the supporting legs (530) and the connecting rod supporting arm (521) which are hinged to the front end and the rear end form a parallel four-bar linkage mechanism;

quick detach installing support (531) is installed to landing leg (530) bottom, be connected with a swing cylinder (532) between quick detach installing support (531) and landing leg (530) quick detach formula support universal wheel (533) are installed to quick detach installing support (531) bottom.

10. The mobile robot as claimed in claim 9, wherein the quick release mounting bracket (531) has two rotating shafts, the first rotating shaft is mounted on the leg (530) through a pin (531-2), the second rotating shaft (531-6) is hinged to a swing link of a swing cylinder (532), and the swing cylinder (532) drives the quick release mounting bracket (531) to rotate around the pin (531-2); the quick-release mounting bracket (531) is provided with two triangular plates (531-1) which are arranged in parallel, three vertexes of the two triangular plates (531-1) are fixedly connected through connecting columns, a first connecting column is coaxially arranged with the pin shaft (531-2), the other two second connecting columns are used for being connected with bayonet reserved by the laying mechanism, and a second rotating shaft (531-6) is arranged between the two connecting columns;

one of the second connecting columns is an optical axis (531-7), the other second connecting column is a locking shaft (531-3) with a non-circular cross section, one end of the locking shaft (531-3) is fixedly connected with a handle (531-4), two bayonets of the quick-release mounting bracket (531) are respectively clamped on the second connecting columns and rotate the handle to enable the laying mechanism and the quick-release mounting bracket (531) to be fixedly connected in a locking manner, and a buckle (531-5) used for fixing the handle (531-4) is arranged on the outer side face of one triangular plate.

11. The mobile robot according to claim 1, wherein the laying frame (410) is detachably mounted on the mechanical arm (500), width adjusting plates (412) are symmetrically mounted on both sides of the laying frame (410) in the vehicle width direction, the distance between the width adjusting plates (412) is adjustable, the width adjusting plates (412) are vertical plates in the X direction, and are provided with folding edges (415) which are bent outwards at the rear ends;

horizontal thickness positioning wheels (430) are symmetrically mounted on the two sides of the paving frame (410) in the width direction, in the paving process of the kerb paving equipment, the thickness positioning wheels (430) at the rear end in the advancing direction abut against the side wall of the back face of the paved kerb, the thickness positioning wheels (430) are fixed on a thickness adjusting plate (431), the thickness adjusting plate (431) is a vertical plate in the Y direction and is adjustable in position in the X direction, and a thickness adjusting spring (432) is arranged between the thickness adjusting plate (431) and the paving frame (410);

a rotating shaft of the buffer plate (420) is a horizontal rotating shaft in the Y direction, two ends of the horizontal rotating shaft are connected with the laying frame (410), and a buffer spring (421) is arranged on the horizontal rotating shaft between the laying frame (410) and the buffer plate (420);

the front end of the guide slope plate (413) is provided with a vertical plate (413-1) which is perpendicular to the ground and parallel to the positioning protection plate (416), and a gap is reserved between the vertical plate and the positioning protection plate (416).

12. The mobile robot as claimed in claim 11, wherein the paving frame (410) is provided with soil-crushing and cleaning plates (440) at both left and right sides of the vehicle width, the top ends of the soil-crushing and cleaning plates (440) are hinged to the paving frame (410) to rotate in the Y direction, the soil-crushing and cleaning plates (440) are provided with rollers (441), and the outer sides of the soil-crushing and cleaning plates (440) are inclined planes;

in the paving process of the mobile robot, the soil crushing and cleaning plate (440) at the front end in the advancing direction is in a drooping state and is used for cleaning soil crushes in the paving groove of the kerbstone, the soil crushing and cleaning plate (440) at the rear side in the advancing direction is upwards overturned to be horizontally arranged, and the rolling wheel (441) is rolled on the upper surface of the paved kerbstone.

Images