WO2021203660A1

WO2021203660A1 - Screeding device and screeding robot

Info

Publication number: WO2021203660A1
Application number: PCT/CN2020/120690
Authority: WO
Inventors: 贺洋林; 曲强; 贺志武; 李盼; 吴荣严; 叶育兴
Original assignee: 广东博智林机器人有限公司
Priority date: 2020-04-09
Filing date: 2020-10-13
Publication date: 2021-10-14
Also published as: AU2021209289A1; CN111441592A; CN111441592B

Abstract

A screeding device and a screeding robot. The screeding device comprises a body (1), a roller walking mechanism mounted on the body (1) and capable of walking along a construction surface, and a vibration grout extraction mechanism (3) mounted on the body (1) and located behind the roller walking mechanism in an advancing direction of the screeding device, the vibration grout extraction mechanism (3) being in abut joint with the construction surface, and grout on the construction surface being subjected to extraction by means of vibration. The screeding robot comprises the screeding device.

Description

Smoothing device and smoothing robot

This application claims the priority of the patent application filed to the State Intellectual Property Office of China on April 09, 2020 with the application number 202010274770.0 and the invention title "A smoothing device and smoothing robot".

Technical field

The invention relates to the technical field of construction machinery, in particular to a leveling device and a leveling robot.

Background technique

In the construction field, smoothing the construction surface is one of the indispensable processes. The existing smoothing device uses a roller to walk, and the roller has the function of rolling and lifting the slurry, but for the concrete working surface that is in the initial setting stage after leveling, the slurry lifting effect is poor, and the floating slurry is insufficient, resulting in subsequent smoothing The quality cannot be guaranteed.

How to improve the effect of pulp extraction and ensure the quality of subsequent smoothing is a technical problem that needs to be solved by those skilled in the art.

Summary of the invention

Based on the above, the purpose of the present invention is to provide a leveling device and a leveling robot, which can improve the slurry lifting effect and ensure the construction quality of subsequent leveling.

To achieve the above objectives, the present invention adopts the following technical solutions:

A smoothing device, as a preferred solution, includes:

Ontology

A roller walking mechanism, installed on the main body, capable of walking along the construction surface; and

The vibrating slurry lifting mechanism is installed on the main body and is located behind the drum walking mechanism in the traveling direction of the smoothing device. The vibrating slurry lifting mechanism can abut the construction surface and perform vibration The slurry on the surface is refined.

As a preferred solution, the vibrating pulp lifting mechanism includes:

The first frame is connected with the body;

The vibrating assembly is slidably connected with the first frame in a vertical direction, and the vibrating assembly includes a vibrating roller and a vibration motor for driving the vibrating roller to vibrate.

As a preferred solution, the vibrating pulp lifting mechanism further includes:

The first linear drive is mounted on the first frame, the output end of the first linear drive is in transmission connection with the vibrating assembly, and the first linear drive can drive the vibrator The ram assembly moves in the vertical direction.

As a preferred solution, the vibrating assembly further includes:

The vibrating beam is connected to the output end of the first linear drive member, the vibrating motor is installed on the vibrating beam, and the vibrating roller is arranged below the vibrating beam and is rotatably connected to the vibrating beam , And can roll on the construction surface.

As a preferred solution, the vibrating pulp lifting mechanism further includes:

The guide shaft is arranged in a vertical direction, the upper end is in transmission connection with the output end of the first linear drive member, and the lower end is connected with the vibrating assembly; and

The linear bearing, the guide shaft is vertically slidably connected with the body through the linear bearing.

As a preferred solution, a vibration isolator is further provided between the guide shaft and the vibrating assembly to prevent the vibrating assembly from transmitting vibration to the body along the guide axis.

As a preferred solution, the smoothing device further includes:

The combing spatula mechanism is installed on the main body and is arranged behind the vibrating pulp lifting mechanism in the traveling direction of the smoothing device, and includes:

The card board, including the comb tooth structure used to smooth the raised slurry on the construction surface; and

The screed plate is arranged behind the carding plate and can abut and smooth the construction surface. The lowest point of the carding plate is at a height higher than the lowest point of the screed plate.

As a preferred solution, the carding board includes those arranged in sequence along the traveling direction of the smoothing device:

The height of the first guiding part is gradually lowered from front to back;

The first main board part, the front end of which is connected with the rear end of the first slurry guiding part, and is arranged in a straight plate-like structure;

as well as

The comb-tooth part is gradually lower in height from front to back, the front end is connected with the rear end of the first main board part, and the rear end is provided with the comb-tooth structure.

As a preferred solution, the carding spatula mechanism further includes:

Lifting assembly, the lifting assembly is installed on the body, the output end of the lifting assembly is connected with the combing plate and the screed plate at the same time, and can drive the combing plate and the screeding plate to move up and down synchronously.

A leveling robot is also provided, which includes the above-mentioned leveling device.

The beneficial effects of the present invention are:

The smoothing device provided by the present invention includes a drum walking mechanism and a vibrating slurry lifting mechanism. When the smoothing device is working, the drum walking mechanism drives the smoothing device to move on the construction surface as a whole. The slurry undergoes preliminary rolling and slurry lifting; on the other hand, the vibrating slurry lifting mechanism abuts on the construction surface under the action of gravity, and vibrates on the construction surface to perform secondary slurry lifting on the slurry on the construction surface. The smoothing device provided by the present invention guarantees sufficient floating slurry, improves the slurry lift effect, and guarantees the quality of subsequent smoothing through two slurry lifts in one working stroke.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings used in the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings.

Figure 1 is a front view of a smoothing device provided by an embodiment of the present invention;

Figure 2 is a schematic structural diagram of a leveling device provided by an embodiment of the present invention;

Fig. 3 is an enlarged schematic diagram of area A in Fig. 2;

Figure 4 is a schematic structural diagram of a vibrating pulp lifting mechanism provided by an embodiment of the present invention;

Figure 5 is a front view of a vibrating pulp lifting mechanism provided by an embodiment of the present invention;

Fig. 6 is a partial schematic diagram of a smoothing device provided by an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a carding board provided by an embodiment of the present invention.

In the picture:

1. Ontology;

21. Front roller; 22. Rear roller;

3. Vibrating pulp lifting mechanism; 301, first frame; 302, vibrating roller; 303, vibrating motor; 304, vibrating beam; 305, mounting plate; 306, first linear drive member; 307, guide shaft; 308. Linear bearing; 309. Vibration isolator; 310. Fixed plate; 311. Cross beam;

4. Carding spatula mechanism; 401, second frame; 402, carding plate; 4021, first slurry guide part; 4022, first main board part; 4023, comb tooth part; 403, wiper plate; 4031 Second guide part; 4032, second main board part; 404, mounting frame; 405, wedge block; 406, second linear drive part; 407, slide rail; 408, sliding block; 409, buckle; 410, movable plate;

5. Auxiliary walking mechanism;

6. Laser receiver.

Detailed ways

In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only the present invention. Some embodiments, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of the present invention.

As shown in Figures 1 to 7, this embodiment provides a smoothing device for smoothing the construction surface, especially for the concrete working surface in the initial setting stage with a prominent smoothing effect. The smoothing device includes a main body 1, a drum running mechanism, and a vibrating slurry lifting mechanism 3. The drum walking mechanism is installed on the main body 1, and the vibrating slurry lifting mechanism 3 is installed on the main body 1, and is located in the traveling direction of the smoothing device. The rear of the institution. The vibrating pulp lifting mechanism 3 includes a first frame 301 and a vibrating assembly. The first frame 301 is connected to the body 1, the vibrating assembly is slidably connected to the first frame 301 in a vertical direction, and the vibrating assembly includes a vibrating roller 302 and a vibration motor 303 for driving the vibrating roller 302 to vibrate. When the smoothing device is working, the roller walking mechanism drives the smoothing device to move on the construction surface as a whole. On the one hand, the roller walking mechanism performs preliminary rolling and lifting of the slurry on the construction surface; on the other hand, the vibrating slurry lifting mechanism The vibrating roller 302 in 3 abuts on the construction surface under the action of gravity, and the vibrating motor 303 drives the vibrating roller 302 to vibrate on the construction surface to perform secondary slurry lift on the slurry on the construction surface. The leveling device provided in this embodiment guarantees sufficient slurry by lifting the slurry twice in a working stroke, improves the slurry lifting effect, and guarantees the quality of subsequent smoothing.

Further, the vibrating assembly further includes a vibrating beam 304. The vibrating motor 303 is installed at the center of the extension direction of the vibrating beam 304 through the mounting plate 305. The two ends of the vibrating beam 304 correspond to the two ends of the vibrating roller 302 respectively. Rotate the connection. When the smoothing device is moving, the vibrating roller 302 rolls on the construction surface, and the vibration motor 303 installed on the vibrating beam 304 drives itself to vibrate, driving the vibrating roller 302 to vibrate together to vibrate the construction surface. The slurry on the surface can achieve the effect of slurry lifting.

Of course, the vibrating roller 302 can also abut on the construction surface under the driving of the driving member. Specifically, the vibrating pulp lifting mechanism 3 further includes a first linear driving member 306, the first linear driving member 306 is installed on the first frame 301, and the output end of the first linear driving member 306 is connected to the vibrating beam 304 Transmission connection. When the leveling device is in a non-operating state or needs to cross obstacles, the first linear driving member 306 retracts in the vertical direction to drive the vibrating assembly to move vertically upward; when the leveling device needs to be switched to the working state, the first linear driving member 306 is retracted in the vertical direction. The linear driving member 306 extends in the vertical direction, and drives the vibrating assembly to move vertically downward and abut the construction surface.

Preferably, the first linear driving member 306 adopts an electric push rod, which is not only compact in structure, but also precise in movement.

High degree, good self-locking performance. Of course, in other embodiments, the first linear driving member 306 may also adopt other linear driving members such as air cylinders and oil cylinders.

Further, the vibrating pulp lifting mechanism 3 further includes a guide shaft 307 and a linear bearing 308, and the guide shaft 307

It is arranged in the vertical direction, and its upper end is in transmission connection with the output end of the first linear driving part 306, and the lower end is connected with the vibration beam 304. The shaft 307 and the linear bearing 308 together provide a reliable guide for the lifting of the vibration assembly.

Preferably, a vibration isolator 309 is also provided between the guide shaft 307 and the vibration beam 304. The vibration isolator 309 is installed on the vibration beam 304 and connected to the output end of the first linear driving member 306 through the fixing plate 310. To prevent the vibration assembly from transmitting vibration to the main body 1 along the guide shaft 307. When the vibrating slurry lifting mechanism 3 is working, the vibration isolator 309 can reduce the impact of the vibration generated by the vibrating motor 303 on other parts of the smoothing device except for the vibrating assembly, so as to ensure the overall construction quality.

Further, there are two guide shafts 307 in the vibrating pulp lifting mechanism 3, and correspondingly, there are two linear bearings 308, which are matched with the guide shafts 307 in a one-to-one correspondence. A horizontal beam 311 is provided between the first linear driving part 306 and the guide shaft 307. The middle part of the cross beam 311 is connected to the output end of the first linear driving part 306, and the two ends of the cross beam 311 are respectively connected to two导轴307。 Guide shaft 307. Specifically, the two sets of guide shafts 307 and linear bearings 308 jointly guide the lifting of the vibrating assembly, so that the lifting of the vibrating assembly is more stable, and the horizontal rotation of the vibrating assembly relative to the first frame 301 is restricted.

Furthermore, the smoothing device further includes a combing spatula mechanism 4, the combing spatula mechanism 4 is installed on the main body 1, and is arranged behind the vibrating pulp lifting mechanism 3 in the traveling direction of the smoothing device. The carding spatula mechanism 4 includes a carding plate 402 and a screed plate 403, wherein the carding plate 402 is provided with a comb structure extending in a horizontal direction perpendicular to the traveling direction of the smoothing device, and the screed plate 403 is provided on the carding plate 402. The lowest point of the carding board 402 is higher than the lowest point of the trowel 403 at the back of the board. Specifically, after the drum walking mechanism and the vibrating pulp-lifting mechanism 3 successively lift the construction plane twice, the carding board 402 first passes through the construction surface after the pulping, and the comb-tooth structure on the carding board 402 can effectively scrape. The slurry is raised on the flat construction surface, and the wiper plate 403 passes through the construction surface smoothed by the carding board 402. Since the lowest point of the wiper plate 403 is lower than the carding board 402, and it is against the construction surface. Therefore, the trowel plate 403 can effectively fill the floating slurry on the construction surface to a relatively low-lying place. The cooperative work of the carding plate 402 and the trowel plate 403 completes the high-filling-low operation of the construction surface and improves the flatness of the construction surface. , To ensure construction accuracy.

Further, the carding board 402 includes a first slurry guiding portion 4021, a first main board portion 4022, and a comb tooth portion 4023 that are connected end to end in order from front to back along the traveling direction of the smoothing device. Gradually lowering, the first main board portion 4022 is arranged in a straight plate-like structure, the comb-tooth portion 4023 gradually decreases in height from the front to the back, and the rear end is provided with a comb-tooth structure extending in a horizontal direction perpendicular to the traveling direction of the smoothing device. Specifically, the first slurry guiding portion 4021 and the comb tooth portion 4023 can be set as an arc-shaped plate structure with the front end tilted upward, or can be set as a plate-like structure with an elevation angle to the advancing direction of the smoothing device greater than zero , This arrangement makes the floating slurry on the construction surface along the contour of the bottom surface of the first slurry guiding portion 4021 to be initially leveled by the first main plate portion 4022 and the comb tooth portion 4023, reducing the floating slurry scraped to the upper surface of the comb plate 402. The slurry can also reduce the height of the floating slurry on the construction surface after being scraped by the comb-tooth portion 4023, making it easier to be covered by the wiping plate 403, and reducing the floating slurry scraped to the upper surface of the wiping plate 403.

Further, the screed plate 403 includes a second slurry guiding portion 4031 and a second main plate portion 4032 that are connected end to end from front to back along the traveling direction of the smoothing device. The second slurry guiding portion 4031 gradually decreases in height from the front to the back, and the second main plate The portion 4032 is provided in a straight plate-like structure. Specifically, the second slurry guiding portion 4031 can be set as an arc-shaped plate structure with the front end tilted upward, or it can be set as a plate-shaped structure with an elevation angle greater than zero to the advancing direction of the leveling device. The floating slurry on the surface is smoothed by the second main plate portion 4032 along the bottom surface contour of the second slurry guiding portion 4031, which reduces the floating slurry scraped to the upper surface of the wiping plate 403 and ensures that the relatively low-lying areas of the construction surface are filled with slurry the quality of.

Preferably, the carding board 402 and the trowel 403 are both connected to the mounting frame 404 side by side through the buckle 409, which has a simple and compact structure and is easy to manipulate.

Further, the combing spatula mechanism 4 further includes a lifting assembly, which is installed on the body 1 through the first frame 301, and the lifting assembly is connected to the mounting frame 404. Specifically, the lifting assembly includes a second frame 401 and a second linear drive 406, the second frame 401 is fixedly connected to the first frame 301, and the second linear drive 406 is installed on the second frame 401. The two linear driving parts 406 can be extended and contracted in the vertical direction. The output end of the second linear driving part 406 is connected to the mounting frame 404. Driven by the second linear driving part 406, the carding plate 402 and the wiping plate 403 can be raised and lowered synchronously. Adjust the height of the smoothing slurry.

Preferably, the second linear driving member 406 adopts an electric push rod, which is not only compact in structure, but also has high movement precision and good self-locking performance. Of course, in other embodiments, the second linear driving member 406 may also adopt other linear driving members such as air cylinders and oil cylinders.

Further, a wedge block 405 is also provided between the output end of the second linear driving member 406 and the mounting frame 404, the upper bottom surface of the wedge block 405 is arranged in the horizontal direction, and the lower bottom surface gradually increases in height along the traveling direction of the smoothing device. The output end of the second linear driving member 406 is connected to the upper bottom surface of the wedge block 405, and the mounting frame 404 is connected to the lower bottom surface of the wedge block 405, so that the combing board 402 and the screed plate 403 as a whole are between the advancing direction of the smoothing device The elevation angle is greater than zero, which improves the smoothness and quality of smoothing.

Preferably, the lifting assembly further includes a sliding rail 407 and a sliding block 408 that are slidably connected, wherein the sliding rail 407 is arranged on the second frame 401 along the vertical direction, and the sliding block 408 is connected to the wedge block 405 through the movable plate 410, and the second The output end of the linear drive 406 is also connected to the wedge block 405 through the movable plate 410. The arrangement of the sliding rail 407 and the sliding block 408 provides a reliable guiding function for the synchronous lifting of the carding plate 402 and the screed plate 403.

Further, the drum walking mechanism includes a front drum 21, a rear drum 22 and a drum driving motor. Both the front drum 21 and the rear drum 22 can roll on the construction surface. The rear drum 22 is spaced at the rear end of the front drum 21, and the drum driving motor It is in transmission connection with at least one of the front roller 21 and the rear roller 22 for driving the front roller 21 and the rear roller 22 to roll to press the work surface.

Specifically, when the leveling device is working on the construction surface, the vibrating roller 302 abuts against the construction surface under the action of gravity, and the front roller 21 and the rear roller 22 roll on the construction surface together, driving the main body 1 to move, and at the same time The slurry on the surface undergoes preliminary rolling and slurry lifting, and the vibrating roller 302 is driven by the vibration motor 303 to vibrate to perform secondary slurry lifting on the slurry after the preliminary rolling and slurry lifting. Then, the carding board 402 and the trowel 403 cooperate to complete the work of removing the height and filling of the construction surface, and realize the final smoothing of the construction surface.

Preferably, a laser receiver 6 is further provided on the upper bottom surface of the wedge block 405, and the laser receiver 6 is used to obtain the position information of the laser base surface. The lifting assembly can adjust the pulp board 402 according to the position information received by the laser receiver 6. And the height of the trowel 403. Specifically, a laser transmitter can be set on the construction surface to emit the laser base surface, the laser base surface can be parallel to the horizontal plane, and the laser receiver 6 can receive the laser signal emitted by the laser transmitter to obtain the comb board 402 or wiper. For the distance information between the flat plate 403 and the construction surface, the lifting assembly can obtain the distance information obtained by the laser receiver 6 to adjust the distance information between the combing board 402 and the screed plate 403 and the construction surface, so that the combing wiper The knife mechanism 4 can smooth the construction surface to the same level and improve the effect of the smoothing operation.

Preferably, two lifting components and laser receivers 6 are provided, and the two lifting components are arranged symmetrically with respect to the traveling direction of the smoothing device, and the two laser receivers 6 are also arranged symmetrically with respect to the traveling direction of the smoothing device.

Preferably, the smoothing device further includes an auxiliary walking mechanism 5, which is mounted on the main body 1, and is arranged between the front roller 21 and the rear roller 22. The auxiliary walking mechanism 5 can drive the main body 1 to walk, and can also move relative to the main body 1. Rotate around the vertical direction, and expand and contract in the vertical direction. When the leveling device needs to maintain a constant posture to change the direction of movement, the auxiliary walking mechanism 5 first retracts in the vertical direction, and rotates to the target direction around the vertical direction, and then extends in the vertical direction and lifts the body 1, finally Drive the body 1 to move. The walking, telescoping, and rotating motions of the auxiliary walking mechanism 5 can be respectively achieved through the cooperation of existing driving parts such as motors, electric push rods, and transmission mechanisms such as speed reducers, ball screws, etc., which belong to the prior art and will not be repeated here.

Furthermore, this embodiment also provides a leveling robot, which includes the above-mentioned leveling device.

Note that the above are only the preferred embodiments of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made to those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention. The scope of is determined by the scope of the appended claims.

Claims

A smoothing device, characterized in that it comprises:

Body(1);

The drum walking mechanism is installed on the main body (1) and can walk along the construction surface; and

The vibrating slurry lifting mechanism (3) is installed on the main body (1), and is located behind the drum walking mechanism in the traveling direction of the smoothing device. The vibrating slurry lifting mechanism (3) can be connected to the construction The surface abuts, and the slurry on the construction surface is lifted by vibration.
The leveling device according to claim 1, characterized in that the vibrating slurry lifting mechanism (3) comprises:

The first frame (301) is connected to the body (1);

The vibrating assembly is slidably connected to the first frame (301) in the vertical direction. The vibrating assembly includes a vibrating roller (302) and a vibration motor ( 303).
The smoothing device according to claim 2, characterized in that the vibrating slurry lifting mechanism (3) further comprises:

The first linear drive member (306) is installed on the first frame (301), the output end of the first linear drive member (306) is in transmission connection with the vibrating assembly, and the first The linear driving member (306) can drive the vibrating assembly to move in the vertical direction.
The leveling device according to claim 3, wherein the vibrating assembly further comprises:

The vibrating beam (304) is connected to the output end of the first linear drive member (306), the vibrating motor (303) is installed on the vibrating beam (304), and the vibrating roller (302) is arranged Below the vibrating beam (304), it is rotatably connected with the vibrating beam (304) and can roll on the construction surface.
The leveling device according to claim 4, characterized in that the vibrating slurry lifting mechanism (3) further comprises:

The guide shaft (307) is arranged in a vertical direction, the upper end is drivingly connected with the output end of the first linear driving member (306), and the lower end is connected with the vibrating assembly; and

A linear bearing (308), and the guide shaft (307) is vertically slidingly connected with the body (1) through the linear bearing (308).
The smoothing device according to claim 5, characterized in that, a vibration isolator (309) is further provided between the guide shaft (307) and the vibrating assembly to block the vibrating assembly along the The guide shaft (307) transmits vibration to the main body (1).
The smoothing device according to claim 1, wherein the smoothing device further comprises:

The combing spatula mechanism (4) is installed on the main body (1), and is arranged behind the vibrating pulp lifting mechanism (3) in the traveling direction of the smoothing device, and includes:

The card board (402), including the comb tooth structure for smoothing the raised slurry on the construction surface; and

The screed plate (403) is arranged behind the carding plate (402) and can abut and smooth the construction surface. The height of the lowest point of the carding plate (402) is higher than that of the screed plate (403) The lowest point.
The smoothing device according to claim 7, characterized in that the carding board (402) comprises the following ones arranged in sequence along the traveling direction of the smoothing device:

The first leading part (4021) is gradually lowered from front to back;

The first main board part (4022), the front end of which is connected to the rear end of the first slurry guiding part (4021), is arranged in a straight plate-like structure; and

The comb-tooth part (4023) is gradually lowered from the front to the back, the front end is connected with the rear end of the first main board part (4022), and the rear end is provided with the comb-tooth structure.
The smoothing device according to claim 7, characterized in that the combing spatula mechanism (4) further comprises:

Lifting assembly, the lifting assembly is installed on the body (1), the output end of the lifting assembly is connected with the combing plate (402) and the screed plate (403) at the same time, and can drive the combing The plate (402) and the wiper plate (403) are raised and lowered synchronously.
A leveling robot, characterized in that the leveling robot comprises the leveling device according to any one of claims 1-9.