阅读说明：本技术 整平装置及具有其的整平机器人 (Leveling device and leveling robot with same ) 是由 曲强 邓福海 叶育兴 于 2019-08-26 设计创作，主要内容包括：本发明公开了一种整平装置及具有其的整平机器人,其中整平装置包括：安装架、刮板、驱动装置和抹平片。刮板可移动地连接在安装架上,刮板相对于水平面倾斜设置。驱动装置设有两组,两组驱动装置分别设置在刮板的两端,每组驱动装置的一端连接在安装架上另一端连接在刮板上,每组驱动装置伸缩运动时带动刮板升降运动。抹平片连接刮板,抹平片用于抹平构筑物表面。本发明实施例的整平装置,通过其上设置的刮板和驱动装置,当驱动装置运行时,可根据构筑物表面的情况快速调整刮板相对于构筑物表面的高度和倾斜度,并保证刮板后侧的抹平片与构筑物表面接触后的水平度,以使构筑物表面被刮平抹平。调整灵活,作业效率高,可形成光面效果。(The invention discloses a leveling device and a leveling robot with the same, wherein the leveling device comprises: mounting bracket, scraper blade, drive arrangement and smear piece. The scraper is movably connected to the mounting frame, and the scraper is obliquely arranged relative to the horizontal plane. The driving devices are provided with two groups, the two groups of driving devices are respectively arranged at two ends of the scraper, one end of each group of driving devices is connected to the mounting frame, the other end of each group of driving devices is connected to the scraper, and the driving devices in each group drive the scraper to move up and down during telescopic movement. The floating piece is connected with the scraping plate and used for floating the surface of the structure. According to the leveling device provided by the embodiment of the invention, through the scraping plate and the driving device arranged on the leveling device, when the driving device runs, the height and the inclination of the scraping plate relative to the surface of the structure can be quickly adjusted according to the surface condition of the structure, and the levelness of the leveling sheet at the rear side of the scraping plate after being contacted with the surface of the structure is ensured, so that the surface of the structure is leveled. Flexible adjustment, high operation efficiency and capability of forming a smooth surface effect.)

1. A flattening apparatus, comprising:

A mounting frame;

The scraper is movably connected to the mounting frame and is obliquely arranged relative to the horizontal plane;

The driving devices are provided with two groups, the two groups of driving devices are respectively arranged at two ends of the scraper, one end of each group of driving devices is connected to the mounting frame, the other end of each group of driving devices is connected to the scraper, and each group of driving devices drives the scraper to move up and down when moving in a telescopic mode;

The trowelling sheet is connected with the scraping plate and used for trowelling the surface of the structure.

2. The screeding device of claim 1, further comprising a squeegee blade attachment plate, said squeegee blade being angularly adjustably attached to said squeegee blade attachment plate, said squeegee blade attachment plate being pivotally attached to said mounting bracket, and an output of said drive mechanism being movably attached to said squeegee blade attachment plate.

3. The screeding device of claim 2, wherein said blade attachment plate is vertically disposed, said blade attachment plate having a first rotating plate vertically disposed thereon, said screeding blade having a second rotating plate vertically disposed thereon, said first rotating plate and said second rotating plate being parallel, said first rotating plate and said second rotating plate being adapted to position said screeding blade and said blade attachment plate.

4. The screeding device of claim 2, wherein said mounting bracket includes two mounting brackets, said scraper blade connecting plate is rotatably connected to each of said two mounting brackets, each of said two mounting brackets is vertically provided with a support bracket, and each of said support brackets is connected to a set of said driving device.

5. The screeding device of claim 2, wherein said screed plate is provided with two sets of laser receivers, said two sets of laser receivers being respectively disposed adjacent to two sets of said driving devices, each set of said laser receivers receiving signals and controlling the telescopic adjustment of adjacent said driving devices.

6. the screeding device of claim 5, further comprising a mounting plate attached to said blade attachment plate, each set of said laser receivers being removably mounted to said mounting plate.

7. The screeding device of claim 6, wherein said fixed plate is height-adjustably provided with a fixed rod, one end of said fixed rod being provided with said laser receiver.

8. The screeding device of claim 7, wherein said fixed plate is openably and closably provided with a locking bar, said locking bar locking said fixed bar to said fixed plate.

9. The screeding device of any one of claims 1-8, wherein said driving means is an electric push rod, a hydraulic cylinder or an air cylinder, said screeding sheet is a rubber member, said screeding sheet is extendedly disposed at a distal end of said screeding plate; the troweling sheet is detachably connected with the scraper, and a pressing strip is arranged adjacent to the troweling sheet and at the position of the scraper.

10. A leveling robot, comprising:

A vehicle body;

A screeding device according to any one of claims 1-9 having a mounting frame attached to said vehicle body for screeding a surface of a structure.

Technical Field

The invention belongs to the technical field of construction robots, and particularly relates to a leveling device and a leveling robot with the same.

Background

In the construction of concrete structures, it is necessary to level the surface of the structure prior to curing and drying. Traditional flattening relies on the manpower mainly, and the flattening is slow, and the roughness is poor, and the operating efficiency is low. The prior leveling device mainly performs the leveling treatment on the surface of a structure, and the surface smoothness is still to be improved.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the leveling device provided by the invention has the advantages that the leveling effect is good, the surface flatness is high, and the technical problems of poor leveling effect and low efficiency are solved.

The invention also aims to provide a leveling robot with the leveling device.

A flattening apparatus according to an embodiment of the present invention includes: a mounting frame; the scraper is movably connected to the mounting frame and is obliquely arranged relative to the horizontal plane; the driving devices are provided with two groups, the two groups of driving devices are respectively arranged at two ends of the scraper, one end of each group of driving devices is connected to the mounting frame, the other end of each group of driving devices is connected to the scraper, and each group of driving devices drives the scraper to move up and down when moving in a telescopic mode; the trowelling sheet is connected with the scraping plate and used for trowelling the surface of the structure.

according to the leveling device provided by the embodiment of the invention, the scraping plates and the driving devices are arranged on the leveling device, when the driving devices operate, the scraping plates can be quickly adjusted according to the condition of the surface of the structure, the two groups of driving devices can respectively adjust the height and the inclination of the scraping plates relative to the surface of the structure, and the levelness of the leveling sheet at the rear side of the scraping plates after being contacted with the surface of the structure is ensured, so that the surface of the structure is leveled. The height and levelness of the scraping plate and the leveling sheet are flexibly adjusted during leveling operation, the operation efficiency is high, the contact surface of the leveling sheet and the surface of a structure is uniformly stressed, and a smooth surface effect can be formed after leveling.

The leveling device further comprises a scraper connecting plate, the scraper is connected to the scraper connecting plate in an angle-adjustable mode, the scraper connecting plate is rotatably connected to the mounting frame, and the output end of the driving device is movably connected to the scraper connecting plate.

According to a further embodiment of the invention, the scraper connecting plate is vertically arranged, a first rotating plate is vertically arranged on the scraper connecting plate, a second rotating plate is vertically arranged on the scraper, the first rotating plate and the second rotating plate are parallel, and the first rotating plate and the second rotating plate are suitable for positioning the scraper and the scraper connecting plate.

According to a further embodiment of the invention, the mounting rack comprises two fixing frames, the scraper connecting plate is respectively rotatably connected with the two fixing frames, the two fixing frames are respectively vertically provided with a supporting frame, and each supporting frame is connected with a group of driving devices.

According to a further embodiment of the invention, two groups of laser receivers are arranged on the scraper connecting plate, the two groups of laser receivers are respectively arranged adjacent to the two groups of driving devices, and each group of laser receivers receives signals and controls the adjacent driving devices to stretch and adjust.

Optionally, the leveling device further comprises a fixing plate, the fixing plate is connected to the scraper connecting plate, and each group of the laser receivers is detachably mounted on the fixing plate.

Advantageously, a fixing rod is height-adjustably provided on the fixing plate, and one end of the fixing rod is provided with the laser receiver.

Optionally, a locking rod is openably and closably arranged on the fixing plate, and the fixing rod is locked on the fixing plate by the locking rod.

According to the leveling device provided by the embodiment of the invention, the driving device is an electric push rod, a hydraulic cylinder or an air cylinder, the leveling sheet is a rubber piece, and the leveling sheet is arranged at the tail end of the scraping plate in an extending manner; the troweling sheet is detachably connected with the scraper, and a pressing strip is arranged adjacent to the troweling sheet and at the position of the scraper.

A leveling robot according to an embodiment of the present invention includes: a vehicle body; the leveling device is the leveling device, and a mounting frame of the leveling device is connected to the vehicle body and used for leveling the surface of a structure.

According to the leveling robot provided by the embodiment of the invention, the leveling device is connected to the vehicle body through the mounting frame, and the leveling device integrally moves along with the vehicle body and scrapes and levels the surface of a structure in the running process of the vehicle body, so that the mechanization degree is high during leveling, the speed is high, and the leveling efficiency is high.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

Figure 1 is a perspective view of a screed according to one embodiment of the present invention.

fig. 2 is a rear view of fig. 1.

Fig. 3 is a left side view of fig. 1.

Fig. 4 is a perspective view of a screed robot in accordance with an embodiment of the present invention.

Reference numerals:

A leveling robot 1000,

A leveling device 100,

A mounting rack 1, a fixed rack 11, a supporting rack 12, a first hinged plate 13, a second hinged plate 14,

a scraper 2, a second rotating plate 21, a matching edge 22, a hinge 23,

A driving device 3,

A leveling sheet 4, a pressing strip 41,

A scraper connecting plate 50, a flange 501, a first rotating plate 51, an arc hole 511, a fixed plate 52, a fixed rod 53, a locking rod 54, a reinforcing plate 55,

A laser receiver 6,

Vehicle body 200, frame 210, running gear 220.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "longitudinal," "lateral," "length," "upper," "lower," "front," "rear," "left," "right," "rear," "vertical," "horizontal," "top," "bottom," "axial," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.

The screed 100 of the present embodiment is described below with reference to the drawings of the specification.

A screed apparatus 100 according to an embodiment of the present invention, as shown in fig. 1, includes: mounting bracket 1, scraper blade 2, drive arrangement 3 and slice 4 of floating.

Wherein the screed 2 is movably connected to the mounting frame 1, as shown in fig. 3, the screed 2 is arranged inclined with respect to a horizontal plane. The scrapers 2 are arranged obliquely, and only the included angle formed between the plane where the scrapers 2 are located and the horizontal plane is an acute angle. In some specific examples, the inclined arrangement of the screed 2 means that the included angle between the screed and the surface of the structure to be levelled is acute.

As shown in fig. 1, two sets of driving devices 3 are provided, two sets of driving devices 3 are respectively disposed at two ends of the scraper 2, one end of each set of driving device 3 is connected to the mounting frame 1, the other end of each set of driving device 3 is connected to the scraper 2, and the scraper 2 is driven to move up and down when each set of driving device 3 moves telescopically. Here, the two sets of driving devices 3 may individually control one end of the blade 2 to ascend and descend, or the two sets of driving devices 3 may be linked to control the entire blade 2 to ascend and descend at the same time.

As shown in fig. 1, a troweling sheet 4 is attached to the squeegee 2, and the troweling sheet 4 is used to trowel the surface of the structure.

As apparent from the above structure, the mounting bracket 1 of the screed 100 according to the embodiment of the present invention provides a mounting point for connection between the screed 100 and other components (such as the vehicle body 200 described later) of the screed robot 1000.

Through set up scraper blade 2 and drive arrangement 3 on leveling device 100, when drive arrangement 3 operation, can be according to the pending condition quick adjustment scraper blade 2 on structure surface, two sets of drive arrangement 3 can adjust the height and the gradient of scraper blade 2 for the structure surface respectively to guarantee the levelness after the floating piece 4 of scraper blade 2 rear side and the structure surface contact, so that the structure surface is floated, and the adjustment speed is fast.

During leveling operation, the heights of the scraping plate 2 and the leveling sheet 4 and the levelness between the leveling sheet 4 and the surface of the structure are flexibly adjusted, the operation efficiency is high, the contact surface between the leveling sheet 4 and the surface of the structure can be uniformly stressed, and a smooth surface effect can be formed after leveling.

In some examples, the direction of extension of the troweling sheet 4 coincides with the direction of extension of the squeegee 2. After the height and the levelness of the scraper 2 are adjusted, the height and the levelness of the leveling sheet 4 can be synchronously adjusted.

Optionally, the leveling sheet 4 is a rubber member, and the leveling sheet 4 is extended and disposed at the end of the scraper 2. The leveling sheet 4 has certain flexibility, can reduce the acting force for scraping and leveling the surface of the structure in the construction operation process, prevent the surface of the structure from being excessively leveled and increase the smooth surface effect of the surface of the structure.

Optionally, the trowelling sheet 4 is detachably connected with the scraping plate 2, and the detachable connection can be bolt-nut connection or buckle connection. The detachable troweling sheet 4 can be conveniently detached for cleaning by adopting a detachable connection mode, and the troweling sheets 4 with different specifications can be conveniently replaced.

Optionally, a bead 41 is provided adjacent to the troweling sheet 4 and the squeegee 2. The bead 41 increases the local strength of the connection between the troweling sheet 4 and the squeegee 2, and increases the reliability of the connection.

In some embodiments of the invention, as shown in figures 1 and 2, the screed 100 further comprises a blade web 50, with the blades 2 being angularly adjustably attached to the blade web 50. By adjusting the angle between the scraper connecting plate 50 and the scraper 2, the inclination of the scraper 2 relative to the horizontal plane can be adjusted to adapt to different construction working conditions. In some examples, the screed 2 is also used for screeding in contact with a structure surface, and by adjusting the inclination of the screed 2, the force applied by the screed 2 to the structure surface during screeding may be adjusted.

Alternatively, the scraper attachment plate 50 may be rotatably connected to the mounting frame 1, and the output of the drive means 3 may be movably connected to the scraper attachment plate 50. The scraper connecting plate 50 and the mounting frame 1 can be adjusted in a rotating mode, so that when the driving device 3 operates, the scraper 2 can be adjusted more easily, and the stress of the scraper 2 during lifting movement is balanced.

Alternatively, as shown in fig. 1, the scraper connecting plate 50 is vertically arranged, the scraper connecting plate 50 is vertically provided with a first rotating plate 51, the scraper 2 is vertically provided with a second rotating plate 21, the first rotating plate 51 is parallel to the second rotating plate 21, and the first rotating plate 51 and the second rotating plate 21 are suitable for positioning the scraper 2 and the scraper connecting plate 50. When the blade 2 is adjusted in inclination angle with respect to the blade attachment plate 50, the first rotation plate 51 and the second rotation plate 21, which are disposed in parallel, can be guided. In the description of the present invention, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between the described features, whether they are sequential or not.

Advantageously, the first and second rotating plates 51 and 21 are formed in a sector shape, and one side of the sector-shaped first rotating plate 51 is connected to the blade connecting plate 50, and the other side thereof can be brought into contact with and stopped against the blade 2 when rotated to a certain position with respect to the blade 2. Accordingly, one side of the second rotating plate 21 of the fan shape is connected to the squeegee 2, and the other side thereof is capable of contacting and stopping against the squeegee connecting plate 50 when rotated to a certain position with respect to the squeegee connecting plate 50.

Alternatively, one of the first and second rotating plates 51 and 21 may be provided with a circular hole 511, and the other of the first and second rotating plates 51 and 21 may be provided with a guide (not shown) penetrating the circular hole 511, the guide moving along the trajectory of the circular hole 511 and forming a guide when the blade 2 is angularly adjusted with respect to the blade attachment plate 50.

Alternatively, the guide member is a bolt member, and when the angle of the squeegee 2 with respect to the squeegee connecting plate 50 is adjusted to a predetermined position, a nut is attached to the bolt member and fastened, thereby positioning the squeegee 2 and the squeegee connecting plate 50.

Alternatively, as shown in fig. 1, a plurality of first rotating plates 51 are provided at intervals in the longitudinal direction (the left-right direction in the drawing) of the blade attachment plate 50, and correspondingly, a plurality of second rotating plates 21 are provided at intervals in the longitudinal direction of the blade 2, and the second rotating plates 21 are provided in pairs corresponding to the first rotating plates 51. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

Advantageously, as shown in fig. 1, the end of the blade web 50 is formed with a flange 501, the end of the blade 2 is formed with a mating edge 22, and the flange 501 and the mating edge 22 are in surface contact and can be fixed by a connector.

Alternatively, as shown in fig. 1, a hinge 23 is provided at the joint between the squeegee 2 and the squeegee connecting plate 50 so that the squeegee 2 can be attached to the squeegee connecting plate 50 in an openable and closable manner.

In some embodiments of the present invention, as shown in fig. 1 and 2, the mounting frame 1 includes two fixing frames 11, and the scraper blade connecting plate 50 is rotatably connected to the two fixing frames 11, respectively. The two fixing frames 11 can respectively provide mounting points for the connection of the scraper connecting plates 50, and the fixing frames 11 are more stably supported.

As shown in fig. 2, two fixing frames 11 are respectively vertically provided with a supporting frame 12, and each supporting frame 12 is connected with a group of driving devices 3. The support frame 12 lifts the driving device 3 and provides an intermediate connection for connecting the driving device 3 with the fixed frame 11, and the support frame 12 stably supports the driving device 3, so that the driving device 3 is more stable in driving operation.

In some examples, as shown in fig. 1, a first hinge plate 13 is hinged between the fixing frame 11 and the scraper connecting plate 50, a second hinge plate 14 is hinged between the supporting frame 12 and the driving device 3, one end of the driving device 3 is hinged at one end of the second hinge plate 14, and the other end of the driving device 3 is hinged on the scraper connecting plate 50, so that a quadrilateral support part is formed, four sides are the supporting rod 12, the first hinge plate 13, the second hinge plate 14 and the driving device 3 respectively, and the four sides are hinged with each other. The driving device 3 can not only drive the scraper 3 to move up and down, but also form small-angle rotation in a small range, so that the leveling device 100 can be more suitable for variable working conditions on the surface of a structure in the leveling construction process.

alternatively, as shown in fig. 2, a reinforcing plate is provided on the rear side of the blade attachment plate 50 to increase the local strength of the blade attachment plate 50.

In some embodiments of the present invention, as shown in fig. 2 and 3, two sets of laser receivers 6 are disposed on the blade connection plate 50, the two sets of laser receivers 6 are respectively disposed adjacent to the two sets of driving devices 3, and each set of laser receiver 6 receives a signal and controls the adjacent driving device 3 to adjust the extension and retraction. The laser receiver 6 is arranged, so that the distance between the scraper 2 and the surface of the structure can be fed back in real time when the driving device 3 drives and adjusts the height and levelness of the scraper 2, the scraper 2 is controlled to be kept at a reasonable position relative to the surface of the structure in real time, the scraping, leveling and leveling are ensured, and the effect is good.

Optionally, as shown in fig. 1, the leveling device 100 further includes a fixing plate 52, the fixing plate 52 is connected to the blade connecting plate 50, and each set of laser receivers 6 is detachably mounted on the fixing plate 52. The fixing plate 52 provides a connection attachment point for the laser receiver 6.

advantageously, the fixing plate 52 is provided with a fixing rod 53 with adjustable height, one end of the fixing rod 53 being provided with the laser receiver 6. By adjusting the height of the fixing rod 53 relative to the fixing plate 52, the distance of the laser receiver 6 relative to the surface of the structure can be adjusted, which is beneficial to adjusting the laser receiver 6 to a proper height and feeding back signals quickly, and ensures the reliability of signal transmission.

Optionally, a guide sleeve is arranged on the fixing plate 52, and a fixing rod 53 is sleeved in the guide sleeve, so that the fixing rod 53 can be adjusted up and down relative to the guide sleeve to change the ground clearance.

In some examples, a locking rod 54 is openably and closably provided on the fixing plate 52, and the locking rod 54 locks the fixing rod 53 to the fixing plate 52. Further, the locking rod 54 is locked on the outer wall of the guide sleeve, and when the fixing rod 53 adjusts the height relative to the guide sleeve, the locking rod 54 is locked outside the guide sleeve.

In some embodiments of the invention, the driving means 3 is an electric push rod, a hydraulic cylinder or a pneumatic cylinder. No matter the electric push rod, the hydraulic cylinder or the air cylinder are rotated, the three parts all have telescopic driving arms, so when the driving device 3 operates, the driving device 3 drives the scraper connecting plate 50 to move up and down, and then drives the scraper 2 and the trowelling sheet 4 to move up and down to adjust the positions.

A flattening robot 1000 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

A flattening robot 1000 according to an embodiment of the present invention, as shown in fig. 4, includes: the leveling device 100 is the leveling device 100, and the mounting frame 1 of the leveling device 100 is connected to the vehicle body 200 and is used for leveling the surface of a structure.

From the above results, in the leveling robot 1000 according to the embodiment of the present invention, the leveling device 100 is connected to the vehicle body 200 through the mounting frame 1, and during the driving of the vehicle body 200, the leveling device 100 integrally moves along with the vehicle body 200 to level the surface of the structure, so that the leveling robot has the advantages of high mechanization degree, high speed and high leveling efficiency.

Optionally, the leveling robot 1000 further includes a frame 210 and a traveling mechanism 220, the traveling mechanism 220 is disposed at the bottom of the frame 210 and used for traveling during the leveling operation, and the front portion of the frame 210 is connected with the mounting frame 1.

Advantageously, as shown in fig. 4, the running mechanism 220 includes a plurality of rollers disposed in parallel under the frame 210, on one hand, the rollers can drive the vehicle body 200 to run, and on the other hand, the rollers can be used for leveling a surface of a structure (such as a surface of a concrete building). In the description of the present invention, "a plurality" means two or more unless otherwise specified.

The detailed structure of the screed 100 and the screed robot 1000 according to the embodiments of the present invention will be described with reference to the drawings attached hereto.