阅读说明：本技术 地面找平机器人及其施工方法 (Ground leveling robot and construction method thereof ) 是由 施世清 于 2019-10-18 设计创作，主要内容包括：本发明公开了一种地面找平机器人及其施工方法,地面找平机器人包括基座,位于基座底部的若干可伸缩滚轮装置、位于基座上的地面找平工作头,所述的基座上设有倾斜程度检测传感器；地面找平工作头包括刮板、水平设置的移动台、与移动台一端相连的升降台；刮板可沿移动台水平移动,升降台安装在基座上可带动刮板、移动台的升降。机器人采用可伸缩滚轮装置来保证机身的水平,通过刮板的前后移动实现地面找平。本发明的机器人还可以采用传感器来提高施工精度的把控,能显著提高施工效率和精度。(The invention discloses a ground leveling robot and a construction method thereof, wherein the ground leveling robot comprises a base, a plurality of telescopic roller devices positioned at the bottom of the base and a ground leveling working head positioned on the base, wherein the base is provided with a tilt degree detection sensor; the ground leveling working head comprises a scraping plate, a horizontally arranged mobile station and a lifting platform connected with one end of the mobile station; the scraper blade can be along the horizontal migration of mobile station, and the elevating platform is installed and can drives the lift of scraper blade, mobile station on the base. The robot adopts the level that scalable gyro wheel device guaranteed the fuselage, realizes ground leveling through the back-and-forth movement of scraper blade. The robot of the invention can also adopt a sensor to improve the control of the construction precision, and can obviously improve the construction efficiency and precision.)

1. A ground leveling robot comprises a base (2), a plurality of telescopic roller devices (1) positioned at the bottom of the base and a ground leveling working head (4) positioned on the base, wherein the base is provided with an inclination degree detection sensor; the ground leveling working head (4) comprises a scraping plate (41), a horizontally arranged mobile platform (42) and a lifting platform (43) connected with the mobile platform (42); the scraper is arranged on the moving platform (42) and can move along the moving platform (42), the lifting platform (43) is arranged on the base, and the lifting motion of the lifting platform (43) can drive the moving platform (42) to lift.

2. A ground leveling robot according to claim 1, characterised in that it further comprises a laser receiver (3).

3. A ground leveling robot according to claim 1, characterized in that the angle between the length direction of the screed (41) and the direction of movement of the screed on the mobile station is adjustable.

4. A ground leveling robot according to claim 1 or 3, characterized in that the lower end surface of the scraper (41) is a slope, and the acute angle formed by the slope and the horizontal plane is towards the base; or the angle between the plane of the scraper (41) and the horizontal plane is an acute angle, and the acute angle faces to the direction of the base.

5. A ground leveling robot according to any one of claims 1-3 wherein said mobile station (42) is hingedly connected to said lifting platform (43), said ground leveling robot further comprising a work head support for adjusting the angle of articulation between said mobile station (42) and said lifting platform (43); one end of the supporting frame is connected with the lifting platform (43), and the other end of the supporting frame is connected with the mobile platform (42);

and any one end or two ends of the support frame are simultaneously provided with a support frame fine adjustment device.

6. The ground leveling robot according to claim 5 wherein the support frame fine adjustment means is a rail level adjustment screw, the top end of the rail level adjustment screw passes through a threaded hole provided on the end portion of the support frame and contacts the lifting platform (43) or the moving platform (42), and the position between the end portion of the support frame and the lifting platform (43) or the moving platform (42) can be changed by rotating the rail level adjustment screw.

7. A ground leveling robot according to claim 1, characterised in that said base (2) consists of several base units, which are connected in an articulated or detachable manner.

8. A ground leveling robot according to claim 1, characterised in that said base (2) consists of three base units, which are connected in an articulated manner, the base (2) being t-shaped in the fully deployed state, the articulation angle between adjacent base units being adjustable and lockable at will within the range of 0-90 °.

9. The ground leveling robot of claim 8 wherein said base is provided with a plurality of head mounts on each base unit; the ground leveling working head (4) can be mounted on any working head mounting part, and different working postures are realized through adjustment of the hinge angle between the base units.

10. A construction method of the ground leveling robot according to claim 2, characterized in that:

1) moving the ground leveling robot to a position to be constructed; the inclination degree detection sensor detects the inclination condition of the base and enables the base to be horizontal through the expansion and contraction of the telescopic roller device (1); a horizontal reference laser plane is arranged, and on the premise of ensuring that the base is horizontal, the telescopic length of the telescopic roller device (1) is adjusted to enable the horizontal reference laser plane to irradiate a set position A0 on a laser receiver, so that the debugging work of the ground leveling robot is completed;

2) the lifting platform works to enable the ground leveling working head (4) to move to a set lifting position H1 on the base; then the mobile platform works to enable the scraper to be positioned at the top end of the mobile platform;

3) the lifting platform works to enable the ground leveling working head (4) to move downwards to a working position H0 on the base, at the moment, the length direction of the scraper and the advancing direction of the scraper are ensured to be a required working angle, then the mobile platform works to enable the scraper to move from the top end to the tail end of the mobile platform, and the scraper levels mortar on the ground; after leveling is finished, the ground leveling working head (4) is lifted by a set height;

4) and (3) moving the ground leveling robot to the next construction position, and repeatedly executing the steps 1) to 3) until the whole work task is completed, wherein when the step 1) is executed, the adjustment result of the telescopic roller device (1) is that the horizontal reference laser plane irradiates on the A0 position on the laser receiver.

Technical Field

The invention belongs to the field of construction machinery, and particularly relates to a ground leveling robot and a construction method thereof.

Background

With the continuous development of mechanical automation, the construction operation of the building engineering is also continuously mechanized, and although most of the project items are provided with corresponding mechanized equipment, the unit area is small, and the project items with large social total amount are still in original manual operation.

At present, the eveners on the market are developed according to the requirements of modern industrial plants, large-scale shopping malls, cargo warehouses and other large-area cement concrete floors, and the technology suitable for small-area eveners is not mature. The existing leveling machine utilizes a two-point infrared (laser) mode to keep the leveling of the leveling machine, and the specific implementation mode can be that an infrared (laser) receiver is respectively arranged at two ends of a leveling mechanism, whether the leveling mechanism is in the horizontal position is judged according to the height of an infrared (laser) beam received by the receiver, an infrared (laser) emitter is respectively arranged at two ends of the leveling mechanism, whether the leveling mechanism is in the horizontal position is judged according to the height of the emitted infrared (laser) beam, the method has large error, and only the level of the connecting line direction (set as the X-axis direction) of the two infrared (laser) receivers/emitters of the leveling mechanism can be ensured, the level of the advancing direction (namely the Y-axis direction vertical to the X-axis direction) of the leveling mechanism is difficult to ensure (the surface of the mortar is easy to generate wave type after the leveling machine advances too fast, unevenness), the moving speed of the whole machine seriously affects the quality and precision of construction.

CN201610551341.7 discloses an intelligent ground leveling machine and leveling method thereof, the equipment adopts a plurality of leveling areas on the machine body to level, and the machine body is provided with a tilt degree detection sensor and a moving speed detection sensor for ensuring construction accuracy, and is suitable for construction projects with small unit area and large social total amount. But this equipment resistance of marcing is great, and has not been convenient for construct to narrow and small region, and its volume is comparatively little (be convenient for accomodate) for the scraper blade size is little, and the efficiency of construction is slower.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a ground leveling robot and a construction method thereof.

The technical scheme of the invention is as follows:

the ground leveling robot comprises a base, a plurality of telescopic roller devices positioned at the bottom of the base and a ground leveling working head positioned on the base, wherein the base is provided with a tilt degree detection sensor; the ground leveling working head comprises a scraping plate, a horizontally arranged mobile station and a lifting platform connected with one end of the mobile station; the scraper can move along the mobile station, the lifting platform is arranged on the base, and the lifting motion of the lifting platform can drive the scraper and the mobile station to lift.

In a preferred embodiment of the present invention, the ground leveling robot further includes a laser receiver, and the laser receiver is configured to receive an external laser reference beam or a laser reference plane as a reference, so as to determine whether the current telescopic length of the telescopic roller device meets the construction requirement.

The laser receiver can be arranged on the base, and considering that sundries are generally piled near the ground to block the laser reference beam or the reference plane, the laser receiver can also be arranged on a supporting rod fixedly connected with the base to increase the height of the laser receiver to avoid obstacles to block the laser reference plane.

Alternatively, the laser receiver may be mounted directly or indirectly on the lift table or the mobile table, and the working principle is the same as that of the laser receiver mounted on the base.

In a preferred embodiment of the present invention, an angle formed between the longitudinal direction of the squeegee and the direction in which the squeegee moves on the moving table is adjustable.

In the preferred scheme of the invention, the lower end face of the scraper is an inclined plane, and an acute angle formed by the inclined plane and a horizontal plane faces to the direction of the base; the inclined plane can apply pressure to mortar in the horizontal moving process of the scraper, and construction operation is facilitated.

Or the angle formed between the plane of the scraper and the horizontal plane is an acute angle, the acute angle faces to the direction of the base, and the purpose of setting the angle is that the scraper can apply pressure on mortar in the horizontal moving process of the scraper, so that construction operation is facilitated.

In a preferred embodiment of the present invention, the retractable roller device includes a roller and a retractable portion for adjusting a distance between the roller and the base. The gyro wheel is used for realizing the removal of ground robot of making level, and the pars contractilis then is used for realizing the adjustment of flexible length to the degree of inclination and the holistic height of adjustment ground robot of making level.

Alternatively, the ground leveling working head (4) is detachably connected with the base. The detachable mode can reduce the whole volume of the robot during storage, and is beneficial to the maintenance or replacement of the subsequent working head; and the detachable mode makes the base can match other work heads, realizes a tractor serves several purposes.

Preferably, the telescopic part consists of a fixed end and a telescopic end; the fixed end is fixedly connected with the base main body; the telescopic end is fixedly connected with the roller through a roller bracket; the telescopic end can move along the axial direction of the telescopic part relative to the fixed end.

Preferably, the fixed end comprises a lead screw motor and a lead screw; the telescopic end comprises a sliding block and a push rod; wherein the lead screw motor is connected with a lead screw; the slider cover is established on the lead screw, and push rod one end passes through the gyro wheel support and links to each other with the gyro wheel center, and the other end is fixed continuous with the slider.

In the preferred scheme of the invention, the mobile platform and the lifting platform are connected in a hinged manner, and the ground leveling robot further comprises a working head support frame for adjusting the hinged angle between the mobile platform and the lifting platform; one end of the support frame is connected with the lifting platform, and the other end of the support frame is connected with the mobile platform. The movable table, the lifting table and the working head support frame form a triangular support structure; the movable table and the lifting table are adjusted to be in a vertical relation during working, and a support frame fine adjustment device can be arranged at any one end or two ends of the support frame.

Preferably, the support frame fine adjustment device is a track horizontal adjustment screw, the top end of the track horizontal adjustment screw penetrates through a threaded hole formed in the end portion of the support frame and is in contact with the lifting table or the moving table, and the position between the end portion of the support frame and the lifting table or the moving table can be changed by rotating the track horizontal adjustment screw.

In the preferred scheme of the invention, a motor and a vertical screw rod are arranged in the lifting platform, the motor is used for driving the screw rod to rotate, a screw rod nut is sleeved on the screw rod, and the screw rod nut is fixedly connected with the base.

In the preferred scheme of the invention, the mobile station is provided with a motor, a slide rail and a scraper mounting part; the scraper mounting part is arranged on the slide rail and can be driven by the motor to slide on the slide rail; the scraper blade connect on the scraper blade installation department with can dismantling the mode.

As a preferable scheme of the invention, the base (2) is composed of a plurality of base units which are connected in a hinged or detachable mode. Adopt articulated connected mode can be convenient for holistic accomodating of robot between many base units, in addition, when the operation area is narrower or when the corner is regional, the adjustment of articulated angle between the accessible many base units perhaps demolishs partial base unit, changes the shape of base under still guaranteeing the stable prerequisite of base for the base can get into narrow region and carry out the operation, perhaps carries out the operation to the corner area. As a preferable scheme of the invention, the base (2) consists of three base units, the three base units are connected in a hinged mode, the base (2) is T-shaped in a fully unfolded state, and the hinge angle between the adjacent base units can be adjusted and locked at will within the range of 0-90 degrees. In fact, the number of base units can be selected as required to achieve more functions, and the T-shaped structure formed by three base units is the most basic and simplest base mode. In a preferred embodiment of the present invention, the base is provided with a plurality of work head mounting portions on each base unit; the ground leveling working head (4) can be mounted on any working head mounting part, and different working postures are realized through adjustment of the hinge angle between the base units.

The invention further discloses a working method of the ground leveling robot, which comprises the following steps:

1) moving the ground leveling robot to a position to be constructed; the inclination degree detection sensor detects the inclination condition of the base and enables the base to be horizontal through the expansion and contraction of the telescopic roller device (1); a horizontal reference laser plane is arranged, and on the premise of ensuring that the base is horizontal, the telescopic length of the telescopic roller device (1) is adjusted to enable the horizontal reference laser plane to irradiate a set position A0 on a laser receiver, so that the debugging work of the ground leveling robot is completed;

2) the lifting platform works to enable the ground leveling working head (4) to move to a set lifting position H1 on the base; then the mobile platform works to enable the scraper to be positioned at the top end of the mobile platform;

3) the lifting platform works to enable the ground leveling working head (4) to move downwards to a working position H0 on the base, at the moment, the length direction of the scraper and the advancing direction of the scraper are ensured to be a required working angle, then the mobile platform works to enable the scraper to move from the top end to the tail end of the mobile platform, and the scraper levels mortar on the ground; after leveling is finished, the ground leveling working head (4) is lifted to withdraw from the working position;

4) and (3) moving the ground leveling robot to the next construction position, and repeatedly executing the steps 1) to 3) until the operation task is completed, wherein when the step 1) is executed, the adjustment result of the telescopic roller device (1) is that the horizontal reference laser plane irradiates on the A0 position on the laser receiver.

The working principle is as follows: the horizontal reference laser plane is always fixed, the horizontal reference laser plane is one of key factors for ensuring that the ground leveling robot can still be constructed at different construction positions to obtain the leveled ground, and the specific principle is as follows: the horizontal reference laser plane remains unchanged and the laser receiver is located on the base with its position relative to the base unchanged. The working position H0 on the base is a position on the base, and the position of the working position H0 relative to the base is also unchanged, so that the distance between the final working position H0 and the horizontal reference laser plane is fixed and unchanged as long as the horizontal reference laser plane is made to irradiate the A0 position on the laser receiver when different construction positions are debugged; and no matter whether the construction ground is uneven or not or whether the construction ground is inclined or not, the distance between the H0 and the horizontal reference laser plane is not influenced. The working position H0 is the preset ground height after the leveling is finished except the lower end face of the corresponding scraper.

The raised position H1 is only one position on the base, and in actual operation, the height of the working head raised each time is not required to be exactly H1, but in mechanized construction, a specific position is usually set for programming control.

Drawings

FIG. 1 is a schematic structural view of a ground leveling robot according to the present invention (a laser receiver is mounted on a base via a height extension bar);

FIG. 2 is a schematic structural view of the ground leveling robot of the present invention (the laser receiver is located on the working head);

FIG. 3 is a diagram of a mobile station according to an embodiment of the present invention;

FIG. 4 is a schematic view of a specific structure of the elevating platform of the present invention;

fig. 5 is a schematic structural diagram of the support frame of the present invention.

Fig. 6 is a schematic view of the raised state of the ground leveling robot.

FIG. 7 is a diagram illustrating the ground leveling robot lowered to the construction height;

fig. 8 is a construction state diagram of the ground leveling robot scraper moving to the rear end.

Fig. 9 is a schematic view of a ground leveling robot working posture corresponding to a narrow area or a corner area.

FIG. 10 is a top view of FIG. 9;

fig. 11 is a schematic view of the working posture of the ground leveling robot with the laser receiver directly mounted on the base.

FIG. 12 is a top view of the robot with the squeegee mounted non-perpendicular to the direction of travel;

FIG. 13 is a schematic view of the design of the lower end face of the scraper with a bevel.

Detailed Description

The invention is further described below with reference to the accompanying drawings and examples.