WO2021052326A1 - 整平机器人 - Google Patents

整平机器人 Download PDF

Info

Publication number
WO2021052326A1
WO2021052326A1 PCT/CN2020/115355 CN2020115355W WO2021052326A1 WO 2021052326 A1 WO2021052326 A1 WO 2021052326A1 CN 2020115355 W CN2020115355 W CN 2020115355W WO 2021052326 A1 WO2021052326 A1 WO 2021052326A1
Authority
WO
WIPO (PCT)
Prior art keywords
leveling
control box
electric push
scraper
connecting rod
Prior art date
Application number
PCT/CN2020/115355
Other languages
English (en)
French (fr)
Inventor
刘季
贺志武
张才华
肖翔伟
Original Assignee
广东博智林机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2021052326A1 publication Critical patent/WO2021052326A1/zh

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools

Definitions

  • This application relates to the technical field of construction robots, and specifically to a leveling robot.
  • leveling robots used in the construction field are prone to tilting of the body when working, and the concrete floor leveling equipment currently on the market is all made by humans. Control, no leveling equipment that works fully automatically has been found yet.
  • This application aims to solve at least one of the technical problems existing in the prior art.
  • one purpose of this application is to provide a leveling robot that can automatically adjust the angle between the ground and the horizontal surface of the leveling device to better level the base surface. The effect is good.
  • the leveling robot includes a transport vehicle, a control box, a leveling device, a detection device, and a lifting device.
  • the control box is pivotally arranged on the transport vehicle, wherein the control box and the transport vehicle rotate between The connecting shaft can be pivotally connected.
  • the leveling device is connected to the front end of the control box.
  • the leveling device is suitable for leveling the base surface.
  • the detection device is arranged on the control box to detect the level information of the bottom surface of the control box.
  • the bottom surface is parallel to the bottom surface of the control box, and the lifting device is arranged between the control box and the leveling device, and the lifting device is suitable for obtaining level information, so as to control the action of the leveling device according to the level information.
  • the lifting device by providing a lifting device between the control box and the leveling device, and by setting a rotating connection shaft between the transport vehicle and the control box, the lifting device can be moved up and down between the adjustment and the control box.
  • the control box When the relative position in the direction, the control box can be rotated around the rotating connecting shaft, so that the angle between the bottom surface of the control box and the horizontal surface can be adjusted, and the angle between the bottom surface of the leveling device and the horizontal surface can be adjusted, thereby
  • the leveling device can better level the base surface to ensure the effect of the leveling operation of the leveling device.
  • leveling robot according to the present application may also have the following additional technical features:
  • the transport vehicle includes: a plurality of walking wheels and at least one driving motor, and the plurality of walking wheels can be connected to the driving motor in transmission.
  • the rotating connecting shaft is arranged adjacent to the front end of the control box.
  • the leveling device includes: a connecting frame, a screed plate, and a vibration motor.
  • the screed plate is connected to a lifting device through the connecting frame.
  • the lifting device is adapted to obtain level information to control the screed action according to the level information, and the vibration motor Set on the screed.
  • the lifting device includes: a first connecting rod, a second connecting rod, and a lifting electric push rod.
  • the two ends of the first connecting rod are hingedly connected to the control box and the connecting frame, and the two ends of the second connecting rod are respectively connected to the control box and the connecting frame.
  • the control box and the connecting frame are hingedly connected, and the first connecting rod is parallel to the second connecting rod.
  • One end of the lifting electric push rod is hingedly connected to the control box and the other end is hingedly connected to the second connecting rod.
  • the screed includes: a bottom plate and a side plate arranged circumferentially around the bottom plate, a supporting plate, and a connecting part, wherein the bottom plate and the side plate jointly define a groove with an open top, and the supporting plate is straddled on the groove and vibrates
  • the motor is arranged on the support plate, the connecting part is arranged in the groove, and the connecting frame is connected with the connecting part, wherein a vibration damping member is arranged between the connecting part and the inner wall of the groove.
  • the leveling robot further includes a rubber sheet, the rubber sheet is arranged at the front end of the screed plate and the bottom of the rubber sheet extends downwards from the bottom surface of the screed plate.
  • the leveling robot also includes a leveling device, which includes a scraper, a third link, a fourth link, a laser receiver, and an electric push rod for the scraper.
  • the two ends of the third link are respectively It is hingedly connected with the scraper and the connecting frame, the two ends of the fourth link are hingedly connected with the scraper and the connecting frame, and the third link is parallel to the fourth link, and the laser receiver is arranged on the scraper to detect the scraping.
  • one end of the scraper electric push rod is hingedly connected to the connecting frame, and the other end of the scraper electric push rod is hingedly connected to the scraper.
  • the scraper electric push rod is suitable for obtaining distance information. Lift the connecting frame.
  • the leveling device is located on the back side of the screed.
  • the leveling robot further includes an auxiliary supporting electric push rod, which is telescopically arranged on the control box, and the auxiliary supporting electric push rod is suitable for extending and supporting the control box on the transport vehicle,
  • the auxiliary supporting electric push rods include at least two, and the two auxiliary supporting electric push rods are spaced apart in the front-to-rear direction and are located on both sides of the rotating connecting shaft.
  • Figure 1 is a perspective view of a leveling robot according to the present application.
  • Figure 2 is a front view of the leveling robot according to the present application.
  • Fig. 3 is a schematic structural diagram of a transport vehicle of the leveling robot according to the present application.
  • Fig. 4 is a schematic structural diagram of the leveling robot according to the present application after the transport vehicle and the control box are removed.
  • 3 Leveling device; 31: connecting frame; 32: screing plate; 321: bottom plate; 322: side plate; 323: support plate; 324: connecting part; 325: vibration damping member; 33: vibration motor;
  • the leveling robot 100 according to the embodiment of the present application will be described below with reference to FIGS. 1 to 4.
  • the leveling robot 100 includes a transport vehicle 1, a control box 2, a leveling device 3, a detection device, and a lifting device 4.
  • control box 2 is pivotally arranged on the transport vehicle 1, wherein the control box 2 and the transport vehicle 1 are pivotally connected by a rotating connecting shaft 21, that is, the control box 2 can be installed in the transport vehicle in cooperation 1, after the control box 2 is installed on the transport vehicle 1, it can rotate around the rotating connecting shaft 21.
  • the leveling device 3 is connected to the front end of the control box 2.
  • the leveling device 3 is suitable for leveling the base surface, that is to say, the leveling device 3 can be connected to the control box 2 when the control box 2 rotates relative to the transport vehicle 1.
  • the control box 2 can drive the leveling device 3 to rotate around the rotating connecting shaft 21.
  • the leveling device 3 is provided at the front end of the control box 2, and the leveling device 3 can level the ground in advance to make the base surface relatively flat.
  • the detection device (not shown in the figure) is set on the control box 2 to detect the level information of the bottom surface of the control box 2, wherein the bottom surface of the leveling device 3 is parallel to the bottom surface of the control box 2, where the level information can refer to It is the information of the angle between the bottom surface of the control box 2 and the horizontal plane. Since the bottom surface of the leveling device 3 is parallel to the bottom surface of the control box 2, the information about the angle between the bottom surface of the control box 2 and the horizontal plane is the leveling device The angle information between the bottom surface of 3 and the horizontal plane.
  • the bottom surface of the leveling device 3 will not be parallel to the horizontal plane, which easily affects the leveling operation effect of the leveling robot 100 on the base surface.
  • the lifting device 4 is provided between the control box 2 and the leveling device 3.
  • the lifting device 4 is adapted to obtain level information to control the action of the leveling device 3 according to the level information, that is, when the leveling robot 100 is walking During the process, when an angle is formed between the bottom surface of the leveling device 3 and the horizontal plane, the lifting device 4 can drive the leveling device 3 so that the position of the leveling device 3 in the vertical direction relative to the control box 2 changes.
  • the control box 2 can be rotated around the rotating connecting shaft 21, so that the angle between the bottom surface of the control box 2 and the horizontal plane can be adjusted by adjusting the bottom surface of the control box 2 and the horizontal plane.
  • the angle between the bottom surface of the leveling device 3 and the horizontal surface can be adjusted, so that the leveling device 3 can better level the base surface to ensure the leveling effect of the leveling device 3.
  • the leveling robot 100 by providing the lifting device 4 between the control box 2 and the leveling device 3, and by providing the rotary connecting shaft 21 between the transport vehicle 1 and the control box 2, it is possible to When adjusting the relative position of the lifting device 4 with the control box 2 in the vertical direction, the control box 2 can be rotated around the rotating connecting shaft 21, so that the angle between the bottom surface of the control box 2 and the horizontal plane can be adjusted, Furthermore, the angle between the bottom surface of the leveling device 3 and the horizontal plane can be adjusted, so that the leveling device 3 can better level the base surface to ensure the leveling effect of the leveling device 3.
  • the control box 2 is roughly cubic, and the detection device is arranged on the bottom surface of the control box 2 to detect the angle between the bottom surface of the control box 2 and the horizontal plane. Further, the detection device It can be an inclination sensor, so the detection device can better detect the angle between the bottom surface of the control box 2 and the horizontal plane.
  • a first mounting seat 22 is formed on the side of the control box 2 facing the transport vehicle 1
  • a second mounting seat 13 is formed on the side of the transport vehicle 1 facing the control box 2.
  • the base 22 and the second mounting base 13 are provided with mounting holes suitable for mating with the rotating connecting shaft 21, so that the first mounting base 22 and the second mounting base 13 can make the rotating connecting shaft 21 better to be mounted on Between the control box 2 and the transport vehicle 1.
  • the projection of the second mounting seat 13 in the plane defined by the straight line in the front-rear direction and the straight line in the up-and-down direction as shown in FIG. 1 is generally formed as a triangle, and the mounting hole is formed on the top of the second mounting seat 13 by In this way, it can be advantageous for the control box 2 to rotate relative to the transport vehicle 1 around the rotating connecting shaft 21.
  • first mounting base 22 is adjacent to the left and right ends of the bottom surface of the control box 2 and extends in the front-to-rear direction. Therefore, after the first mounting base 22 and the second mounting base 13 are connected by the rotating connection shaft 21, the first The mounting base 22 can better support the control box 2 and can make the control box 2 rotate around the rotating connecting shaft 21 better.
  • the transport vehicle 1 includes a plurality of traveling wheels 11 and at least one driving motor 12, and the plurality of traveling wheels 11 are rotatably connected with the driving motor 12, that is, the traveling wheels 11 may be provided with multiple
  • the multiple can refer to two or more than two, and the drive motor 12 can be provided with one or more than one.
  • the drive motor 12 can be provided with one, that is, one drive motor 12 can drive A plurality of walking wheels 11 rotate so that the transport vehicle 1 can walk.
  • two driving motors 12 can be provided, four walking wheels 11 can be provided, and each driving motor 12 can drive two walkings respectively.
  • the wheel 11 rotates.
  • the number and corresponding relationship between the walking wheels 11 and the driving motors 12 can be arranged according to the size, shape, and model of the leveling robot 100, which is not limited here.
  • each traveling wheel 11 of the transport vehicle 1 can be driven by a drive motor 12, so that each traveling wheel 11 can be a driving wheel of the transport vehicle 1, thereby making the transport vehicle 1 better on the base surface. walk.
  • the rotating connecting shaft 21 is arranged adjacent to the front end of the control box 2, for example, as shown in Figs. 1 and 2, in the vertical direction, the rotating connecting shaft 21 is arranged between the control box 2 and the transport vehicle 1. In the left and right direction, the rotating connecting shaft 21 is adjacent to the connection between the control box 2 and the leveling device 3, so that when the position of the leveling device 3 relative to the control box 2 changes, the control box 2 can be better It rotates around the rotating connecting shaft 21.
  • the leveling device 3 includes a connecting frame 31, a screed plate 32 and a vibration motor 33.
  • the screed plate 32 is connected to the lifting device 4 through a connecting frame 31, and the lifting device 4 is adapted to obtain level information to control the action of the screed plate 32 according to the level information, that is, the connecting frame 31 is set between the screed plate 32 and Between the lifting devices 4, through the connecting frame 31, the screed 32 and the lifting device 4 can be facilitated. After the screed 32 is matched with the lifting device 4, the lifting device 4 can adjust the screed 32 relative to the control box according to the level information. Location information between 2.
  • the vibration motor 33 is provided on the screed plate 32, that is, the vibration motor 33 can generate vibration and transmit the vibration to the screed plate 32, and the base surface can be leveled by the vibration of the screed plate 32.
  • the lifting device 4 includes a first connecting rod 41, a second connecting rod 42 and a lifting electric push rod 43.
  • both ends of the first link 41 are hingedly connected to the control box 2 and the connecting frame 31, and both ends of the second link 42 are hingedly connected to the control box 2 and the connecting frame 31, respectively. That is, one end of the first link 41 is hingedly connected to the control box 2, the other end of the first link 41 is hingedly connected to the connecting frame 31, and one end of the second link 42 is hingedly connected to the control box 2.
  • the other end of the two connecting rods 42 is hingedly connected to the connecting frame 31, whereby the first connecting rod 41, the second connecting rod 42, the connecting frame 31 and the control box 2 can define a quadrilateral mechanism, and the adjacent two of the quadrilateral mechanism Both sides can be rotated relative to each other, please refer to Figure 2 and Figure 4.
  • first connecting rod 41 and the second connecting rod 42 are parallel, and further, the first connecting rod 41 and the second connecting rod 42 are equal in length, so that the first connecting rod 41, the second connecting rod 42 are connected
  • the frame 31 and the body can define a parallelogram mechanism
  • One end of the lifting electric push rod 43 is hingedly connected to the control box 2 and the other end is hingedly connected to the second connecting rod 42, as shown in Figures 2 and 4, one end of the lifting electric push rod 43 can be hingedly connected to the control box 2.
  • the other end of the rod 43 can be hingedly connected to the second connecting rod 42.
  • the lifting electric push rod 43 contracts, that is, the lifting electric push rod 43 retracts to the upper and rear as shown in FIG. 1, and the second connecting rod 42 is in the straight line sum from the up and down direction as shown in FIG.
  • the front and rear direction is located on a straight line to rotate counterclockwise, and at the same time, the second link 42 can drive the connecting frame 31 to move upwards, and the upward movement of the connecting frame 31 can drive the screed plate 32 to move upwards.
  • the telescopic action can make the lifting electric push rod 43 drive the screed plate 32 to move up and down, so that the control box 2 can rotate around the rotating connecting shaft 21, so that the angle between the bottom surface of the control box 2 and the horizontal plane can be adjusted, and the screed can be adjusted 32 The included angle between the bottom surface and the horizontal plane to better level the base surface.
  • the screed plate 32 includes a bottom plate 321, a side plate 322, a supporting plate 323 and a connecting part 324.
  • the side plate 322 is arranged around the circumference of the bottom plate 321, the bottom plate 321 and the side plate 322 jointly define a groove with an open top, the support plate 323 is straddled with the groove, and the vibration motor 33 is arranged on On the supporting plate 323, by setting the supporting plate 323 on the groove, the vibration motor 33 can be better assembled on the screed plate 32.
  • the connecting portion 324 is provided in the groove, and the connecting frame 31 is connected to the connecting portion 324, wherein a vibration damping member 325 is provided between the connecting portion 324 and the inner wall of the groove, thus, the connecting portion 324 is provided on the screed 32 ,
  • the connecting frame 31 can be better matched with the screed plate 32.
  • the vibration motor 33 can be reduced by the vibration damping member 325 provided between the connecting portion 324 and the inner wall of the groove. The generated vibration is transmitted toward the connecting frame 31, so that the influence of the vibration on other structures of the leveling robot 100 can be reduced.
  • the leveling robot 100 further includes a rubber sheet 6 which is provided at the front end of the screed plate 32 and the bottom of the rubber sheet 6 extends downwards from the bottom surface of the screed plate 32.
  • a rubber sheet 6 which is provided at the front end of the screed plate 32 and the bottom of the rubber sheet 6 extends downwards from the bottom surface of the screed plate 32.
  • two rubber sheets 6 are provided on the front side of the screed plate 32, and the two rubber sheets 6 are respectively provided on the left and right ends of the front side of the screed plate 32.
  • the rubber sheet 6 on the left is called the first rubber sheet
  • the left side of the first rubber sheet extends beyond the left side of the screed plate 32
  • the rubber sheet 6 on the right is called the second rubber sheet
  • the right side of the second rubber sheet Beyond the right side of the screed plate 32, when the screed plate 32 performs the leveling operation on the base surface, the first rubber sheet and the second rubber sheet can smooth the base surfaces on the left and right sides of the screed plate 32, thereby The leveling effect of the leveling device 3 can be improved.
  • the leveling device 5 includes a scraper 51, a third link 52, a fourth link 53, a laser receiver 54 and a scraper electric push rod 55,
  • both ends of the third link 52 are hingedly connected to the scraper 51 and the connecting frame 31, and both ends of the fourth link 53 are hingedly connected to the scraper 51 and the connecting frame 31, and the third link 52 is hingedly connected to the scraper 51 and the connecting frame 31.
  • the fourth link 53 is parallel. As shown in Figures 1 to 4, one end of the third link 52 is hingedly connected to the scraper 51, the other end of the third link 52 is also hingedly connected to the connecting frame 31, and one end of the fourth link 53 It is hingedly connected to the scraper 51, and the other end of the fourth link 53 is also hingedly connected to the connecting frame 31.
  • the third link 52 and the fourth link 53 are parallel and have the same length, so that the third The connecting rod 52, the fourth connecting rod 53, the scraper 51, and the connecting frame 31 can define a parallelogram mechanism, and in the parallelogram mechanism, two adjacent sides can rotate relative to each other. Therefore, the parallelogram mechanism can The movement of the scraper 51 is restricted so that the scraper 51 can move stably.
  • the scraper electric push rod 55 is hingedly connected to the connecting frame 31, and the other end of the scraper electric push rod 55 is hingedly connected to the scraper 51.
  • the scraper electric push rod 55 is generally along the left and right sides.
  • the squeegee electric push rod 55 is arranged between the connecting frame 31 and the squeegee 51, whereby the squeegee electric push rod 55 can drive the squeegee 51 to move up and down, and the squeegee 51 to move up and down.
  • the leveling device 3 can perform the leveling operation on the base surface through the scraper 51 to further improve the effect of the leveling device 3 on the leveling operation of the base surface.
  • the leveling robot 100 further includes a detection device, which further includes a laser receiver 54 and a laser receiver mounting rod.
  • Two lasers can be set on the leveling robot 100.
  • the receiver 54 and the laser receiver mounting rods, the two laser receiver mounting rods are connected to the left and right ends of the scraper 51 through the connecting frame 31, and the two laser receivers 54 are respectively arranged on the two laser receiver mounting rods
  • the laser receiver 54 can continuously detect the positional relationship between the left and right ends of the squeegee 51 and the base surface, and feed it back to the control unit, and then the control unit can perform the electric push rod 55 of the squeegee according to the information feedback from the laser receiver 54 Control, so that the plane where the scraper 51 is located is parallel to the base surface, so as to improve the smoothing effect.
  • the scraper electric push rod 55 may be provided with two, and the two scraper electric push rods 55 may be respectively arranged at both ends of the scraper 51, that is, the laser receiver 54 may be the same as the scraper electric push rod 55.
  • the position information of the scraper 51 is obtained through the laser receiver 54, so that the leveling robot 100 can drive the corresponding scraper electric push rod 55 to adjust the position between the scraper 51 and the base surface. The distance is high and the accuracy is high.
  • the detection device can also be provided with three or more laser receivers 54 to further detect the distance between the scraper 51 and the base surface
  • the scraper electric push rod 55 can also be provided with There are three or more than three to better adjust the distance between the squeegee 51 and the base surface.
  • the laser receiver 54 can correspond to the squeegee electric push rod 55 one-to-one, or not to the squeegee electric pusher.
  • the rods 55 correspond one-to-one. Specifically, they can be set according to the actual working environment and the model and size of the leveling robot 100, and there is no limitation here.
  • the leveling device 5 is located on the back side of the screed plate 32, that is, the leveling robot 100 can level the base surface first, wherein the vibration of the base surface by the leveling device 3 can not only make the base surface
  • the surface is relatively soft to facilitate the leveling operation of the leveling device 5, and the slurry in the base surface can be mixed more uniformly, so as to help improve the leveling operation effect of the leveling device 5.
  • the leveling robot 100 further includes an auxiliary supporting electric push rod 7.
  • the auxiliary supporting electric push rod 7 is telescopically arranged on the control box 2, and the auxiliary supporting electric push rod 7 is suitable for extension and
  • the control box 2 is supported on the transport vehicle 1, wherein the auxiliary supporting electric push rods 7 include at least two.
  • the two auxiliary supporting electric push rods 7 are spaced apart in the front-to-rear direction and are located on both sides of the rotating connecting shaft 21.
  • the auxiliary support electric push rods 7 include two, and the two auxiliary support electric push rods 7 are spaced apart in the front-to-rear direction and are located on both sides of the rotating connecting shaft 21.
  • the leveling device 3 performs the leveling operation on the base surface, or the two auxiliary electric push rods can be extended during the turning process of the transport vehicle 1, and respectively abut on the transport vehicle 1, so that the electric control box and Between the transport vehicles 1 and on both sides of the rotating connecting shaft 21, the two auxiliary electric push rods are supported between the transport vehicle 1 and the electric control box, so that the electric control box can be kept immobile relative to the transport vehicle 1. Therefore, the electric control box can stably follow the transport vehicle 1 to walk or turn, so that the leveling device 3 can stably follow the transport vehicle 1 to walk or turn.
  • auxiliary support electric push rod 7 can also be provided with three or more than three.
  • the number of auxiliary support rods and the layout of the auxiliary support rods can be arranged according to the size or model of the leveling robot 100, here No restrictions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种整平机器人（１００），包括：运输车（１）、控制箱（２）、整平装置（３）、检测装置和提升装置（４），控制箱（２）可枢转地设在运输车（１）上，控制箱（２）和运输车（１）通过转动连接轴（２１）枢转连接，整平装置（３）连接至控制箱（２）的前端，整平装置（３）适于整平基面，检测装置设于控制箱（２）上，以检测控制箱（２）底面的水平度信息，整平装置（３）的底面与控制箱（２）的底面平行，提升装置（４）设于控制箱（２）和整平装置（３）之间，提升装置（４）适于获取水平度信息，以根据水平度信息控制整平装置（３）动作。

Description

整平机器人
相关申请的交叉引用
本申请基于申请号为：201910875830.1，申请日为2019年9月17日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及建筑机器人技术领域，具体而言，涉及一种整平机器人。
背景技术
目前用于建筑领域的智能机器人越来越多，相关技术中的用于建筑领域的整平机器人，在工作时车身容易出现倾斜现象，而目前市面上的混凝土地面整平设备均是由人来操控，还未发现全自动工作的整平设备。
发明内容
本申请旨在至少解决现有技术中存在的技术问题之一。为此，本申请的一个目的在于提出一种整平机器人，整平机器人可以自动调整整平装置地面与水平面之间的夹角，以较好地对基面进行整平作业，整平作业的效果好。
根据本申请的整平机器人，整平机器人包括运输车、控制箱、整平装置、检测装置和提升装置，控制箱可枢转地设在运输车上，其中控制箱和运输车之间通过转动连接轴可枢转连接，整平装置连接至控制箱的前端，整平装置适于整平基面，检测装置设于控制箱上，以检测控制箱底面的水平度信息，其中整平装置的底面与控制箱的底面平行，提升装置设于控制箱和整平装置之间，提升装置适于获取水平度信息，以根据水平度信息控制整平装置动作。
根据本申请的整平机器人，通过在控制箱和整平装置之间设置提升装置，并且通过在运输车和控制箱之间设置转动连接轴，可以使得提升装置在调整与控制箱之间在上下方向上的相对位置时，使得控制箱可以围绕转动连接轴进行转动，从而可以调整控制箱的底面与水平面之间的夹角，进而可以调整整平装置的底面与水平面之间的夹角，从而使得整平装置可以较好地对基面进行整平作业，以保证整平装置整平作业的效果。
另外，根据本申请的整平机器人，还可以具有如下附加的技术特征：
在本申请中，运输车包括：多个行走轮和至少一个驱动电机，多个行走轮与驱动电机可传动连接。
在本申请中，转动连接轴邻近控制箱的前端设置。
在本申请中，整平装置包括：连接架、整平板和振动电机，整平板通过连接架与提升装置相连，提升装置适于获取水平度信息，以根据水平度信息控制整平板动作，振动电机设于整平板上。
在本申请中，提升装置包括：第一连杆、第二连杆和升降电推杆，第一连杆的两端分别与控制箱和连接架铰接相连，第二连杆的两端分别与控制箱和连接架铰接相连，且第一连杆与第二连杆平行，升降电推杆的一端与控制箱铰接相连且另一端与第二连杆铰接相连。
在本申请中，整平板包括：底板和围绕底板周向设置的侧板、支撑板、连接部，其中底板和侧板共同限定出顶部敞开的凹槽，支撑板跨设与凹槽上，振动电机设于支撑板上，连接部设于凹槽内，且连接架与连接部相连，其中连接部与凹槽的内壁之间设有减振件。
在本申请中，整平机器人还包括橡胶片，橡胶片设于整平板的前端且橡胶片的底部向下超出整平板的底面。
在本申请中，整平机器人还包括刮平装置，刮平装置包括：刮板、第三连杆、第四连杆、激光接收器和刮板电推杆，第三连杆的两端分别与刮板和连接架铰接相连，第四连杆的两端分别与刮板和连接架铰接相连，且第三连杆与第四连杆平行，激光接收器设于刮板上，以检测刮板与基面之间的距离信息，刮板电推杆的一端与连接架铰接相连，刮板电推杆的另一端是与刮板铰接相连，刮板电推杆适于获取距离信息，以提升连接架。
在本申请中，刮平装置位于整平板后侧。
在本申请中，整平机器人还包括辅助支撑电推杆，辅助支撑电推杆可伸缩地设于控制箱上，且辅助支撑电推杆适于伸长且将控制箱支撑在运输车上，其中辅助支撑电推杆至少包括两个，两个辅助支撑电推杆沿前后方向间隔开设置，且位于转动连接轴的两侧。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本申请的整平机器人的立体图；
图2是根据本申请的整平机器人的主视图；
图3是根据本申请的整平机器人的运输车的结构示意图；
图4是根据本申请的整平机器人去除运输车和控制箱后的结构示意图。
附图标记：
100：整平机器人；
1：运输车；11：行走轮；12：驱动电机；13：第二安装座；
2：控制箱；21：转动连接轴；22：第一安装座；
3：整平装置；31：连接架；32：整平板；321：底板；322：侧板；323：支撑板；324：连接部；325：减振件；33：振动电机；
4：提升装置；41：第一连杆；42：第二连杆；43：升降电推杆；
5：刮平装置；51：刮板；52：第三连杆；53：第四连杆；54：激光接收器；55：刮板电推杆；
6：橡胶片；
7：辅助支撑电推杆。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
下面参考图1-图4描述根据本申请实施例的整平机器人100。
如图1-图4所示，根据本申请实施例的整平机器人100包括运输车1、控制箱2、整平装置3、检测装置和提升装置4。
具体地，控制箱2可枢转地设在运输车1上，其中控制箱2和运输车1之间通过转动连接轴21可枢转连接，也就是说，控制箱2可以配合安装在运输车1上，控制箱2配合安装在运输车1上后，可以围绕转动连接轴21转动。
整平装置3连接至控制箱2的前端，整平装置3适于整平基面，也就是说，整平装置3可以与控制箱2配合连接，当控制箱2相对于运输车1围绕转动连接轴21转动时，控制箱2可以带动整平装置3围绕转动连接轴21转动。另外，在如图1所示的前后方向上，整平装置3设在控制箱2的前端，整平装置3可以预先对地面进行整平作业，以使得基面较为平整。
检测装置(图中未示出)设于控制箱2上，以检测控制箱2底面的水平度信息，其中整平装置3的底面与控制箱2的底面平行，其中，水平度信息可以指的是控制箱2底面与水平面之间的夹角的信息，由于整平装置3的底面与控制箱2的底面平行，因此控制箱2底面与水平面之间的夹角的信息，即为整平装置3的底面与水平面之间的夹角信 息。
可以理解的是，由于基面不平整，运输车1行走在基面上时，会使得整平装置3的底面与水平面不平行，从而容易影响整平机器人100对基面的整平作业的效果。
提升装置4设于控制箱2和整平装置3之间，提升装置4适于获取水平度信息，以根据水平度信息控制整平装置3动作，也就是说，当整平机器人100在行走的过程中，整平装置3的底面与水平面之间形成有夹角时，提升装置4可以驱动整平装置3，以使得整平装置3相对于控制箱2，在上下方向上的位置发生变化，整平装置3的位置发生变化后，使得控制箱2可以围绕转动连接轴21进行转动，从而可以调整控制箱2的底面与水平面之间的夹角，通过调整控制箱2的底面与水平面之间的夹角，可以调整整平装置3的底面与水平面之间的夹角，从而使得整平装置3可以较好地对基面进行整平作业，以保证整平装置3整平作业的效果。
由此，根据本申请实施例的整平机器人100，通过在控制箱2和整平装置3之间设置提升装置4，并且通过在运输车1和控制箱2之间设置转动连接轴21，可以使得提升装置4在调整与控制箱2之间在上下方向上的相对位置时，使得控制箱2可以围绕转动连接轴21进行转动，从而可以调整控制箱2的底面与水平面之间的夹角，进而可以调整整平装置3的底面与水平面之间的夹角，从而使得整平装置3可以较好地对基面进行整平作业，以保证整平装置3整平作业的效果。
在如图1所示的一个具体示例中，控制箱2大体为方体形，检测装置设在控制箱2的底面，以检测控制箱2的底面与水平面之间的夹角，进一步地，检测装置可以为倾角传感器，由此，检测装置可以较好地检测控制箱2底面与水平面之间的夹角。
可选地，如图1和图2所示，控制箱2朝向运输车1的侧面形成有第一安装座22，运输车1朝向控制箱2的侧面形成有第二安装座13，第一安装座22和第二安装座13上设有适于与转动连接轴21配合的安装孔，由此，通过第一安装座22和第二安装座13，可以使得转动连接轴21较好地安装在控制箱2和运输车1之间。
进一步地，第二安装座13在如图1所示的前后方向所在直线与上下方向所在直线所限定的平面内的投影，大体形成为三角形，安装孔形成在第二安装座13的顶部，由此，可以有利于控制箱2相对于运输车1围绕转动连接轴21进行转动。
更进一步地，第一安装座22邻近控制箱2的底面的左右两端，且沿前后方向延伸，由此，第一安装座22与第二安装座13通过转动连接轴21连接后，第一安装座22可以较好地支撑控制箱2，并可以使得控制箱2较好地围绕转动连接轴21转动。
在本申请的一些实施例中，运输车1包括多个行走轮11和至少一个驱动电机12，多个行走轮11与驱动电机12可转动连接，也就是说，行走轮11可以设有多个，这里 的多个均可以指两个或者两个以上，驱动电机12可以设有一个，也可以设有多个，在一个示例中，驱动电机12可以设有一个，即一个驱动电机12可以驱动多个行走轮11转动，以使得运输车1可以行走，在另一个示例中，驱动电机12可以设有两个，行走轮11可以设有四个，每个驱动电机12可以分别驱动两个行走轮11转动。当然，可以理解的是，行走轮11与驱动电机12之间的数量以及对应关系，可以根据整平机器人100的尺寸、形状以及型号进行布局，这里不做限制。
进一步地，运输车1的每个行走轮11均可以通过驱动电机12驱动，可以使得每个行走轮11均为运输车1的驱动轮，由此，可以使得运输车1更好地在基面行走。
在本申请的一些实施例中，转动连接轴21邻近控制箱2的前端设置，例如图1和图2所示，在上下方向上，转动连接轴21设在控制箱2和运输车1之间，在左右方向上，转动连接轴21邻近控制箱2与整平装置3的连接处，由此，当整平装置3相对于控制箱2的位置发生变化时，可以使得控制箱2较好地围绕转动连接轴21转动。
在本申请的一些实施例中，整平装置3包括连接架31、整平板32和振动电机33。
具体地，整平板32通过连接架31与提升装置4相连，提升装置4适于获取水平度信息，以根据水平度信息控制整平板32动作，也就是说，连接架31设在整平板32与提升装置4之间，通过连接架31，可以有利于将整平板32与提升装置4配合，整平板32与提升装置4配合后，提升装置4可以根据水平度信息调整整平板32相对于控制箱2之间的位置信息。
振动电机33设于整平板32上，也就是说，振动电机33可以产生振动，并将振动传递给整平板32，通过整平板32的振动可以对基面进行整平作业。
在本申请的一些实施例中，提升装置4包括第一连杆41、第二连杆42和升降电推杆43。
具体地，如图1-图4所示，第一连杆41的两端分别与控制箱2和连接架31铰接相连，第二连杆42的两端分别与控制箱2和连接架31铰接相连，也就是说，第一连杆41的一端与控制箱2铰链连接，第一连杆41的另一端与连接架31铰链连接，第二连杆42的一端与控制箱2铰链连接，第二连杆42的另一端与连接架31铰链连接，由此，第一连杆41、第二连杆42、连接架31和控制箱2可以限定出四边形机构，且四边形机构的相邻的两个边均可以相对转动，可参考图2和图4。
可选地，第一连杆41与第二连杆42平行，进一步地，第一连杆41和第二连杆42等长，由此，第一连杆41、第二连杆42、连接架31和车身可以限定出平行四边形机构，
升降电推杆43的一端与控制箱2铰接相连且另一端与第二连杆42铰接相连，如图2和图4，升降电推杆43的一端可以与控制箱2铰接相连，升降电推杆43的另一端可 以与第二连杆42铰接相连，当升降电推杆43伸出时，即升降电推杆43可以朝向如图1所示的前下方伸长，第二连杆42可在图1所示的由上下方向所在直线和前后方向所在直线组成的平面内沿顺时针进行转动，则第二连杆42可以带动连接架31向下运动，连接架31向下运动可以带动整平板32向下运动，当升降电推杆43收缩时，即升降电推杆43向如图1所示的后上方缩回，第二连杆42在图1所示的由上下方向所在直线和前后方向所在直线组成的平面上逆时针转动，同时，第二连杆42可以带动连接架31向上运动，连接架31向上运动可以带动整平板32向上运动，由此，通过升降电推杆43的伸缩动作，可使升降电推杆43驱动整平板32上下活动，以使得控制箱2可以围绕转动连接轴21转动，从而可以调整控制箱2底面与水平面之间的夹角，进而可以调整整平板32底面与水平面之间的夹角，以较好地对基面进行整平作业。
在本申请的一些实施例中，整平板32包括底板321、侧板322、支撑板323和连接部324。具体地，如图4所示，侧板322围绕底板321的周向设置，底板321和侧板322共同限定出顶部敞开的凹槽，支撑板323跨设与凹槽上，振动电机33设于支撑板323上，由此，通过在凹槽上设置支撑板323，可以使得振动电机33较好地装配在整平板32上。
连接部324设于凹槽内，且连接架31与连接部324相连，其中连接部324与凹槽的内壁之间设有减振件325，由此，通过在整平板32上设置连接部324，可以使得连接架31较好地与整平板32配合，连接架31与整平板32配合后，通过设在连接部324与凹槽的内壁之间设置的减振件325，可以减少振动电机33产生的振动朝向连接架31的传递，从而可以降低振动对整平机器人100的其他结构的影响。
可选地，整平机器人100还包括橡胶片6，橡胶片6设于整平板32的前端且橡胶片6的底部向下超出整平板32的底面。进一步地，如图1所示的示例中，整平板32的前侧设有两个橡胶片6，两个橡胶片6分别设在整平板32的前侧的左右两端，为方便说明，将左侧的橡胶片6称为第一橡胶片，第一橡胶片的左侧超出整平板32的左侧面，将右侧的橡胶片6称为第二橡胶片，第二橡胶片的右侧超出整平板32的右侧面，由此，当整平板32对基面进行整平作业时，第一橡胶片和第二橡胶片可以抹平位于整平板32的左右两侧的基面，从而可以提高整平装置3的整平作业效果。
在本申请的一些实施例中，刮平装置5包括刮板51、第三连杆52、第四连杆53、激光接收器54和刮板电推杆55，
具体地，第三连杆52的两端分别与刮板51和连接架31铰接相连，第四连杆53的两端分别与刮板51和连接架31铰接相连，且第三连杆52与第四连杆53平行。如图1-图4所示，将第三连杆52的一端与刮板51进行铰接相连，第三连杆52的另一端与连 接架31也进行铰接相连，将第四连杆53的一端与刮板51进行铰接相连，第四连杆53的另一端与连接架31也进行铰接相连，可选地，第三连杆52与第四连杆53平行且等长，由此，第三连杆52、第四连杆53、刮板51和连接架31可以限定出平行四边形的机构，且，平行四边形的机构中，相邻的两个边可以相对转动，由此，平行四边形机构可以对刮板51的活动进行限位，以使得刮板51可以稳定地活动。
刮板电推杆55的一端与连接架31铰接相连，刮板电推杆55的另一端是与刮板51铰接相连，例如图1-图4所示，刮板电推杆55大体沿左右方向设置，且刮板电推杆55设在连接架31和刮板51之间，由此，刮板电推杆55可以驱动刮板51在上下方向上活动，刮板51在上下方向活动地过程中，通过平行四边形机构，可以使得刮板51的活动较为稳定。进一步地，整平装置3可以通过刮板51对基面进行刮平作业，以进一步提高整平装置3对基面的整平作业的效果。
在一个示例中，如图1-图4所示，整平机器人100还包括检测装置，检测装置中又包括激光接收器54和激光接收器安装杆，在整平机器人100上可设置两个激光接收器54和激光接收器安装杆，将两个激光接收器安装杆通过连接架31分别与刮板51的左右两端相连，两个激光接收器54分别设于两个激光接收器安装杆上，通过激光接收器54可以不断检测刮板51的左右两端与基面之间位置关系，并反馈给控制单元，然后控制单元可以根据激光接收器54反馈的信息对刮板电推杆55进行控制，从而使刮板51所在平面与基面保持平行，以提高刮平的效果。
可选地，刮板电推杆55可以设有两个，两个刮板电推杆55可以分别设于刮板51的两端，即，激光接收器54可以与刮板电推杆55一一对应设置，由此，通过激光接收器54获取刮板51的位置信息，可以使得整平机器人100驱动对应的刮板电推杆55，以调整该位置处的刮板51与基面之间的距离，准确性高。
当然，可以理解的是，检测装置还可以设有三个或者三个以上的激光接收器54，以进一步地对刮板51与基面之间的距离进行检测，刮板电推杆55也可以设有三个或者三个以上，以更好地调整刮板51与基面之间的距离，进一步地，激光接收器54可以与刮板电推杆55一一对应，也可以不与刮板电推杆55一一对应，具体地，可以根据实际的工作环境以及整平机器人100的型号、尺寸等进行设置，这里不作限制。
可选地，刮平装置5位于整平板32后侧，也就是说，整平机器人100可以先对基面进行整平作业，其中，通过整平装置3对基面的振动，不仅可以使得基面较为柔软，以有利于刮平装置5的刮平作业，也可以使得基面内的浆料混合较为均匀，以有利于提高刮平装置5的刮平作业效果。
在本申请的一些实施例中，整平机器人100还包括辅助支撑电推杆7，辅助支撑电 推杆7可伸缩地设于控制箱2上，且辅助支撑电推杆7适于伸长且将控制箱2支撑在运输车1上，其中辅助支撑电推杆7至少包括两个，两个辅助支撑电推杆7沿前后方向间隔开设置，且位于转动连接轴21的两侧。
例如图1和图2所示，辅助支撑电推杆7包括两个，两个辅助支撑电推杆7沿前后方向间隔开设置，且位于转动连接轴21的两侧，由此，当不需要整平装置3对基面进行整平作业，或者运输车1在转向的过程中，两个辅助电推杆可以伸长，并分别抵接在运输车1上，由此，在电控箱和运输车1之间，且在转动连接轴21的两侧，通过两个辅助电推杆支撑在运输车1和电控箱之间，可以使得电控箱相对于运输车1保持不动，从而使得电控箱可以稳定地跟随运输车1行走或者转向，进而使得整平装置3可以稳定地跟随运输车1行走或者转向。
当然，可以理解的是，辅助支撑电推杆7也可以设有三个或者三个以上，辅助支撑杆的数量以及辅助支撑杆的布局，可以根据整平机器人100的尺寸或者型号等进行布局，这里不作限制。
根据本申请实施例的整平机器人100的其他构成以及操作对于本领域普通技术人员而言都是已知的，这里不再详细描述。
在本说明书的描述中，参考术语“一些实施例”、“可选地”、“进一步地”或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (10)

  1. 一种整平机器人，其特征在于，包括：
    运输车；
    控制箱，所述控制箱可枢转地设在所述运输车上，其中所述控制箱和所述运输车之间通过转动连接轴可枢转连接；
    整平装置，所述整平装置连接至所述控制箱的前端，所述整平装置适于整平基面；
    检测装置，所述检测装置设于所述控制箱上，以检测所述控制箱底面的水平度信息，其中所述整平装置的底面与所述控制箱的底面平行；
    提升装置，所述提升装置设于所述控制箱和所述整平装置之间，所述提升装置适于获取所述水平度信息，以根据所述水平度信息控制所述整平装置动作。
  2. 根据权利要求1所述的整平机器人，其特征在于，所述运输车包括：多个行走轮和至少一个驱动电机，多个所述行走轮与所述驱动电机可传动连接。
  3. 根据权利要求1所述的整平机器人，其特征在于，所述转动连接轴邻近所述控制箱的前端设置。
  4. 根据权利要求1所述的整平机器人，其特征在于，所述整平装置包括：
    连接架；
    整平板，所述整平板通过所述连接架与所述提升装置相连，所述提升装置适于获取所述水平度信息，以根据所述水平度信息控制所述整平板动作；
    振动电机，所述振动电机设于所述整平板上。
  5. 根据权利要求4所述的整平机器人，其特征在于，所述提升装置包括：
    第一连杆，所述第一连杆的两端分别与所述控制箱和所述连接架铰接相连；
    第二连杆，所述第二连杆的两端分别与所述控制箱和所述连接架铰接相连，且所述第一连杆与所述第二连杆平行；
    升降电推杆，所述升降电推杆的一端与所述控制箱铰接相连且另一端与所述第二连杆铰接相连。
  6. 根据权利要求4所述的整平机器人，其特征在于，所述整平板包括：
    底板和围绕所述底板周向设置的侧板，其中所述底板和侧板共同限定出顶部敞开的凹槽；
    支撑板，所述支撑板跨设所述凹槽上，所述振动电机设于所述支撑板上；
    连接部，所述连接部设于所述凹槽内，且所述连接架与所述连接部相连，其中所述连接部与所述凹槽的内壁之间设有减振件。
  7. 根据权利要求4所述的整平机器人，其特征在于，还包括橡胶片，所述橡胶片设 于所述整平板的前端且所述橡胶片的底部向下超出所述整平板的底面。
  8. 根据权利要求4所述的整平机器人，其特征在于，还包括刮平装置，所述刮平装置包括：
    刮板；
    第三连杆，所述第三连杆的两端分别与所述刮板和所述连接架铰接相连；
    第四连杆，所述第四连杆的两端分别与所述刮板和所述连接架铰接相连，且所述第三连杆与所述第四连杆平行；
    激光接收器，所述激光接收器设于所述刮板上，以检测所述刮板与基面之间的距离信息；
    刮板电推杆，所述刮板电推杆的一端与所述连接架铰接相连，所述刮板电推杆的另一端是与刮板铰接相连，所述刮板电推杆适于获取所述距离信息，以提升所述连接架。
  9. 根据权利要求8所述的整平机器人，其特征在于，所述刮平装置位于所述整平板后侧。
  10. 根据权利要求1所述的整平机器人，其特征在于，还包括辅助支撑电推杆，所述辅助支撑电推杆可伸缩地设于所述控制箱上，且所述辅助支撑电推杆适于伸长且将所述控制箱支撑在所述运输车上，其中所述辅助支撑电推杆至少包括两个，两个所述辅助支撑电推杆沿前后方向间隔开设置，且位于所述转动连接轴的两侧。
PCT/CN2020/115355 2019-09-17 2020-09-15 整平机器人 WO2021052326A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910875830.1A CN110593541B (zh) 2019-09-17 2019-09-17 整平机器人
CN201910875830.1 2019-09-17

Publications (1)

Publication Number Publication Date
WO2021052326A1 true WO2021052326A1 (zh) 2021-03-25

Family

ID=68860095

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/115355 WO2021052326A1 (zh) 2019-09-17 2020-09-15 整平机器人

Country Status (2)

Country Link
CN (2) CN114263341A (zh)
WO (1) WO2021052326A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113585686A (zh) * 2021-08-03 2021-11-02 吴建平 一种地坪漆施工用刮平装置
CN114808616A (zh) * 2022-05-13 2022-07-29 保利长大工程有限公司 一种滑模摊铺机抹平板出模边调节装置
CN115199046A (zh) * 2021-04-08 2022-10-18 广东博智林机器人有限公司 一种整平设备
CN115233521A (zh) * 2021-04-23 2022-10-25 广东博智林机器人有限公司 整平机器人

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114263341A (zh) * 2019-09-17 2022-04-01 广东博智林机器人有限公司 整平机器人
CN111321900A (zh) * 2020-03-04 2020-06-23 广东博智林机器人有限公司 一种整平抹平装置及整平抹平机器人
CN111395695A (zh) * 2020-04-01 2020-07-10 筑石科技(湖州)有限公司 混凝土地面施工方法
CN112196276B (zh) * 2020-10-10 2022-03-08 广东博智林机器人有限公司 整平执行装置及整平机
CN114457651B (zh) * 2020-11-09 2023-12-22 广东博智林机器人有限公司 整平机器人
CN114457652A (zh) * 2020-11-09 2022-05-10 广东博智林机器人有限公司 整平设备和用于整平设备的控制方法
CN112431389B (zh) * 2020-11-25 2022-04-12 广东博智林机器人有限公司 刮刀装置及找平机器
CN112878645A (zh) * 2020-12-25 2021-06-01 广东博智林机器人有限公司 激光找平机
CN113846825A (zh) * 2021-11-02 2021-12-28 广东博智林机器人有限公司 抹平机器人及抹平机器人作业系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3864177B1 (ja) * 2006-03-06 2006-12-27 岡三機工株式会社 コンクリート類の均し具
CN102797214A (zh) * 2012-09-03 2012-11-28 张晓军 一种全电力驱动的混凝土激光整平机
CN205025113U (zh) * 2015-07-29 2016-02-10 江苏科瑞欣机械有限公司 激光摊铺整平机器人
CN205152758U (zh) * 2015-07-29 2016-04-13 曹志军 混凝土自动整平震实摊铺机
CN109057290A (zh) * 2018-09-12 2018-12-21 浙江南洋水泥制品有限公司 一种仓库地面的激光整平机
CN110593541A (zh) * 2019-09-17 2019-12-20 广东博智林机器人有限公司 整平机器人

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203603006U (zh) * 2013-12-11 2014-05-21 山东路得威工程机械制造有限公司 混凝土激光摊铺机整平机构
CN104002717B (zh) * 2014-05-20 2016-08-24 华南农业大学 一种山地多功能运输车
CN204753326U (zh) * 2015-06-11 2015-11-11 山东万世机械科技有限公司 激光整平机用工作头
CN205474738U (zh) * 2016-02-29 2016-08-17 晋江兴翼机械有限公司 整平机的整平机构
CN207079888U (zh) * 2017-08-18 2018-03-09 天津康富斯科技有限公司 一种激光整平机
CN108385479A (zh) * 2018-02-10 2018-08-10 上海捷舟工程机械有限公司 一种激光整平机
CN208329541U (zh) * 2018-05-16 2019-01-04 深圳匠匠装科技施工有限公司 一种激光地平机
CN208760743U (zh) * 2018-08-23 2019-04-19 长沙恒牛农业科技有限公司 具有货箱水平调节功能的山地运输车
CN110195505B (zh) * 2019-06-28 2021-04-27 广东博智林机器人有限公司 抹平机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3864177B1 (ja) * 2006-03-06 2006-12-27 岡三機工株式会社 コンクリート類の均し具
CN102797214A (zh) * 2012-09-03 2012-11-28 张晓军 一种全电力驱动的混凝土激光整平机
CN205025113U (zh) * 2015-07-29 2016-02-10 江苏科瑞欣机械有限公司 激光摊铺整平机器人
CN205152758U (zh) * 2015-07-29 2016-04-13 曹志军 混凝土自动整平震实摊铺机
CN109057290A (zh) * 2018-09-12 2018-12-21 浙江南洋水泥制品有限公司 一种仓库地面的激光整平机
CN110593541A (zh) * 2019-09-17 2019-12-20 广东博智林机器人有限公司 整平机器人

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115199046A (zh) * 2021-04-08 2022-10-18 广东博智林机器人有限公司 一种整平设备
CN115233521A (zh) * 2021-04-23 2022-10-25 广东博智林机器人有限公司 整平机器人
CN115233521B (zh) * 2021-04-23 2023-09-08 广东博智林机器人有限公司 整平机器人
CN113585686A (zh) * 2021-08-03 2021-11-02 吴建平 一种地坪漆施工用刮平装置
CN114808616A (zh) * 2022-05-13 2022-07-29 保利长大工程有限公司 一种滑模摊铺机抹平板出模边调节装置

Also Published As

Publication number Publication date
CN110593541B (zh) 2022-02-01
CN114263341A (zh) 2022-04-01
CN110593541A (zh) 2019-12-20

Similar Documents

Publication Publication Date Title
WO2021052326A1 (zh) 整平机器人
CN110593056B (zh) 整平机器人
US8322946B2 (en) Automatically adjustable rolling screed
JP5957078B2 (ja) 非水平な表面上を走行するためのホロノミック運動ビークル
CN110195506B (zh) 抹平机器人
US7204657B2 (en) Lightweight self-leveling automatic screed apparatus
ES2912086T3 (es) Aparato de acabado del hormigón
CN110593057B (zh) 抹平机器人
CN110397253B (zh) 墙板安装机器人
CN210658494U (zh) 整平机
WO2015143964A1 (zh) 一种平地机控制系统及其控制方法
CN111270839A (zh) 柔性转弯的地面处理机器人
JP5208026B2 (ja) 可動式副制御装置を有する舗装機械
KR20210058000A (ko) 회전 가능한 캐스팅을 구비하는 가변형 농업용 로봇
WO2021093450A1 (zh) 转向装置及具有其的抹平机器人
CN204139036U (zh) 一种激光抹平机的抹平头提升摆动装置
CN112731442B (zh) 一种无人机测绘用可调节的测绘仪
CN212534965U (zh) 整平机构及地面整平机器人
CN111287433A (zh) 连接支架及地面整平机器人
CN114457651B (zh) 整平机器人
WO2021036749A1 (zh) 抹平机器人
JP2013177059A (ja) セミクローラ式作業車両およびセミクローラ式作業車両の水平制御方法
JP2019120080A (ja) 縦断うねり路面形成用アスファルトフィニッシャ
CN113585782B (zh) 砌砖设备
CN219216497U (zh) 高度调节装置和输送系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20864592

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20864592

Country of ref document: EP

Kind code of ref document: A1