A small laser concrete paver and elevation setting method thereof

Abstract

The invention relates to a small laser concrete paver and an elevation setting method thereof. The small laser concrete paver comprises a vehicle body, a leveling mechanism, a control unit and an operating console are arranged on the upper part of the vehicle body, a rotating mechanism is arranged on the lower part of the leveling mechanism, a telescopic mechanism is arranged on the rotating mechanism, a scraper is arranged at the front end of the telescopic mechanism, an anti-collision mechanism is arranged at the front end of the scraper, the anti-collision mechanism comprises a pressure sensor and a floating pressing plate, the pressure sensor is arranged at the rear side of the pressing plate so that the pressing plate contacts the pressure sensor when shrinking backwards, the pressure sensor is electrically connected to the control unit so that the pressure signal change detected by the pressure sensor can be transmitted to the control unit, the leveling mechanism, the rotating mechanism, the telescopic mechanism are electrically connected to the control unit, and the operating console is electrically connected to the control unit so that an operator can operate the control unit through the operating console to drive the leveling mechanism, the rotating mechanism and the telescopic mechanism to move.

Description

Technical Field

[0001] The invention relates to the technical field of building construction auxiliary equipment, in particular to a small laser concrete paver and an elevation setting method thereof. Background Art

[0002] Laser concrete pavers are widely used in the construction industry. For example, in the patent document with the patent application publication number CN108755348A and the patent name of a laser paver and its elevation setting method, a laser paver is recorded, which includes a vehicle body and a laser marking instrument, and also includes: a small push rod arranged at the left and right ends of the front of the vehicle body; a scraper is fixed at the lower part of the small push rod; the left and right ends of the scraper are respectively fixed with transition connectors, and a laser marking instrument is arranged on the rear side of the transition connector, and a vertical rod is fixed on the upper part of each transition connector, and a height-adjustable receiver is arranged on each vertical rod; the laser marking instrument emits a laser plane parallel to the horizontal plane to present a horizontal laser line on the target object projected by the laser plane. The above equipment has a low degree of automation when used, especially when paving near the wall of a building, it requires too much manual intervention and the paving efficiency is low. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a small laser concrete paver with simple structure, high automation and high paving efficiency and a method for setting its elevation.

[0004] In order to solve the above technical problems, the present invention provides a small laser concrete paver, including a body, a leveling mechanism, a control unit and a control console are arranged on the upper part of the body, a rotating mechanism is arranged on the lower part of the leveling mechanism, a telescopic mechanism is arranged on the rotating mechanism, a scraper is arranged at the front end of the telescopic mechanism, an anti-collision mechanism is arranged at the front end of the scraper, the anti-collision mechanism includes a pressure sensor and a floating pressure plate, the pressure sensor is placed on the rear side of the pressure plate so that the pressure plate contacts the pressure sensor when it contracts backward, the pressure sensor is electrically connected to the control unit so that the pressure signal change detected by the pressure sensor can be transmitted to the control unit, the leveling mechanism, the rotating mechanism, and the telescopic mechanism are electrically connected to the control unit, and the control console is electrically connected to the control unit so that the operator can operate the control unit through the control console to drive the leveling mechanism, the rotating mechanism, and the telescopic mechanism to move.

[0005] Furthermore, the anti-collision mechanism also includes a sensor mounting frame, a roller, a guide rod, a roller mounting frame, a torsion spring reset plate, and a push rod. The sensor mounting frame is fixedly arranged at the front end of the scraper, a sensor mounting groove is arranged in the middle of the sensor mounting frame, the pressure sensor is fixedly arranged in the sensor mounting groove, a guide rod is arranged on one side of the front end of the sensor mounting groove, and a rotatable torsion spring reset plate is arranged on the other side of the front end of the sensor mounting groove. One side of the pressure plate is slidably matched with the guide rod, and the other side of the pressure plate is fixedly connected to the torsion spring reset plate. A roller mounting frame is arranged at the front end of the pressure plate, and the roller is rotatably arranged on the roller mounting frame. The rotation direction of the roller is the same as the swing direction of the scraper, and a push rod is arranged between the rear end of the pressure plate and the pressure sensor, so that when the roller is squeezed, the pressure plate is pushed to move along the guide rod, and the pressure plate drives the push rod to touch the pressure sensor. When the roller is removed from the squeezing, the torsion spring reset plate drives the pressure plate and the push rod to reset.

[0006] Furthermore, the telescopic mechanism includes a motor, an extension rod, a sliding table and a slider that slide together. The top of the slide is fixedly connected to the bottom end of the rotating mechanism, the motor is transmission-coordinated with the slider, the tail end of the extension rod is fixedly connected to the slider, a guide plate is provided at the front end of the slide, a guide hole that matches the extension rod is provided on the guide plate, the front end of the extension rod extends out of the guide hole and is fixedly connected to the tail end of the scraper, so that the motor can drive the slider, the extension rod and the scraper to telescopically move along the slide.

[0007] Furthermore, the rotating mechanism includes a rotating platform, a connecting flange and a reduction motor placed on the lower side of the vehicle body. The rotating platform and the connecting flange are rotationally matched, the reduction motor and the rotating platform are transmission matched, and the top end of the slide is fixedly connected to the bottom end of the rotating platform so that the reduction motor can drive the rotating platform and the slide to rotate reciprocatingly.

[0008] Furthermore, the leveling mechanism includes a lifting frame, a lifting platform, a plurality of guide slides, a plurality of transmission links, and a Z-axis electric push rod. The top end of each guide slide rod is fixedly connected to the top end of the lifting frame, and the bottom end of each guide slide rod is fixedly connected to the bottom end of the lifting frame. The lifting platform is slidably matched with the guide slide rods, and each guide slide rod is vertically arranged to the lifting platform. The front end of the Z-axis electric push rod is hingedly matched with the lifting platform, and the Z-axis electric push rod is electrically connected to the control unit. The top end of each transmission link rod is fixedly connected to the lifting platform, and the bottom end of each transmission link rod is fixedly connected to the connecting flange. Each transmission link rod is vertically arranged to the lifting platform, so that the Z-axis electric push rod can drive the rotating platform to rise and fall along the guide slide rods.

[0009] Furthermore, the leveling mechanism also includes an outer frame, an X-axis electric push rod, an X-axis adjustment plate, a Y-axis electric push rod, a Y-axis adjustment plate, a crane beak bracket, an X-axis angle sensor, and a Y-axis angle sensor. The outer frame is fixedly arranged on the vehicle body, the X-axis angle sensor is fixedly arranged on the X-axis adjustment plate, and the left and right sides of the X-axis adjustment plate are respectively hinged with the outer frame and the X-axis electric push rod, and the X-axis angle sensor and the X-axis electric push rod are respectively electrically connected to the control unit so that the X-axis electric push rod can drive one side of the X-axis adjustment plate to rise and fall; the Y-axis adjustment One end of the plate is hingedly matched with the front end of the X-axis adjustment plate, the bottom end of the crane beak bracket is fixedly set at the rear end of the X-axis adjustment plate, the top end of the crane beak bracket is hingedly matched with the top end of the Y-axis electric push rod, the bottom end of the Y-axis electric push rod is hingedly matched with the other end of the Y-axis adjustment plate, the Y-axis angle sensor is fixedly set on the Y-axis adjustment plate, the Y-axis angle sensor and the Y-axis electric push rod are electrically connected with the control unit, so that the Y-axis electric push rod can drive one end of the Y-axis adjustment plate to rise and fall; the lifting frame is fixedly set on the Y-axis adjustment plate.

[0010] Furthermore, the small laser concrete paver also includes a laser marker for emitting a horizontal laser plane and at least two industrial cameras, wherein the industrial cameras are fixedly mounted on the lifting platform and are electrically connected to the control unit for identifying the height difference between the position of the lifting platform and the horizontal laser plane emitted by the laser marker.

[0011] Furthermore, rotatable main wheels are arranged on both sides of the middle part of the vehicle body, and rotatable auxiliary wheels are arranged on both sides of the rear end of the vehicle body to facilitate movement.

[0012] The elevation setting method of the small laser concrete paver comprises the following steps:

[0013] Step 1: Place the small laser concrete paver near the 50-degree line and set up a laser marker. Turn on the laser marker. The laser marker will emit a laser line on the building wall. Adjust the height of the laser marker so that the laser line on the building wall coincides with the 50-degree line.

[0014] Step 2: Read the angle data of the X-axis angle sensor on the X-axis adjustment plate and the Y-axis angle sensor on the Y-axis adjustment plate through the control unit to determine whether the lifting platform is horizontal. When the lifting platform is in a horizontal state, it can be lifted and lowered vertically; when there is an angle difference between the X-axis adjustment plate and the horizontal plane measured by the X-axis angle sensor, the control unit drives the X-axis electric push rod to extend and retract, and adjust the height of one side of the X-axis adjustment plate, until the angle difference between the X-axis adjustment plate and the horizontal plane measured by the X-axis angle sensor is 0, the X-axis adjustment plate is set horizontally, and when there is an angle difference between the Y-axis adjustment plate and the horizontal plane measured by the Y-axis angle sensor, the control unit drives the Y-axis electric push rod to extend and retract, and adjust the height of one side of the Y-axis adjustment plate, until the angle difference between the Y-axis adjustment plate and the horizontal plane measured by the Y-axis angle sensor is 0, the Y-axis adjustment plate is set horizontally, and the lifting platform is in a horizontal state;

[0015] Step three, use the industrial camera installed on the lifting platform to take a picture of the laser line on the building wall, calculate the height difference between the lifting platform and the laser line in the vertical direction, and feed it back to the control unit. The control unit drives the Z-axis electric push rod to drive the lifting platform to adjust the height so that the lifting platform reaches the calibrated height.

[0016] The elevation setting method of the small laser concrete paver comprises the following steps:

[0017] Step 1: Place the small laser concrete paver near the 50-degree line and set up a laser marker. Turn on the laser marker. The laser marker will emit a laser line on the building wall. Adjust the height of the laser marker so that the laser line on the building wall coincides with the 50-degree line.

[0018] Step 2: Use multiple industrial cameras installed on the lifting platform to take pictures of the laser line on the building wall to determine whether the plane where each industrial camera is located is parallel to the laser line on the building wall. If they are not parallel, the control unit drives the corresponding X-axis electric push rod and / or the Y-axis electric push rod to extend and retract, so that one side of the corresponding X-axis adjustment plate and / or the Y-axis adjustment plate is lifted and lowered until the plane where each industrial camera is located is parallel to the laser line on the building wall. At this time, the X-axis adjustment plate and the Y-axis adjustment plate are horizontally arranged, and the lifting platform is in a horizontal state.

[0019] Step three, use the industrial camera installed on the lifting platform to take a picture of the laser line on the building wall, calculate the height difference between the lifting platform and the laser line in the vertical direction, and feed it back to the control unit. The control unit drives the Z-axis electric push rod to drive the lifting platform to adjust the height so that the lifting platform reaches the calibrated height.

[0020] The working method of the above-mentioned small laser concrete paver comprises the following steps:

[0021] Step 1: Place the small laser concrete paver near the 50-degree line and set up a laser marker. Turn on the laser marker. The laser marker will emit a laser line on the building wall. Adjust the height of the laser marker so that the laser line on the building wall coincides with the 50-degree line.

[0022] Step 2: Read the angle data of the X-axis angle sensor on the X-axis adjustment plate and the Y-axis angle sensor on the Y-axis adjustment plate through the control unit to determine whether the lifting platform is horizontal. When the lifting platform is in a horizontal state, it can be lifted and lowered vertically; when there is an angle difference between the X-axis adjustment plate and the horizontal plane measured by the X-axis angle sensor, the control unit drives the X-axis electric push rod to extend and retract, and adjust the height of one side of the X-axis adjustment plate, until the angle difference between the X-axis adjustment plate and the horizontal plane measured by the X-axis angle sensor is 0, the X-axis adjustment plate is set horizontally, and when there is an angle difference between the Y-axis adjustment plate and the horizontal plane measured by the Y-axis angle sensor, the control unit drives the Y-axis electric push rod to extend and retract, and adjust the height of one side of the Y-axis adjustment plate, until the angle difference between the Y-axis adjustment plate and the horizontal plane measured by the Y-axis angle sensor is 0, the Y-axis adjustment plate is set horizontally, and the lifting platform is in a horizontal state;

[0023] Step 3: The laser line on the building wall is photographed by an industrial camera installed on the lifting platform, and the height difference between the lifting platform and the laser line in the vertical direction is calculated and fed back to the control unit. The control unit drives the Z-axis electric push rod to drive the lifting platform to adjust the height so that the lifting platform reaches the calibrated height;

[0024] Step 4: After the lifting platform is adjusted, the control unit drives the rotating mechanism to rotate back and forth, and the rotating mechanism drives the telescopic mechanism to rotate back and forth. At the same time, the control unit drives the telescopic mechanism to extend and retract, so as to drive the scraper to move forward and backward to expand the paving range;

[0025] Step 5: After the scraper has leveled the concrete, the operator moves the vehicle body to the designated position and repeats steps 1 to 4;

[0026] Step six, during the paving process, when the scraper is blocked by the building wall or encounters a corner while rotating, the anti-collision mechanism installed at the front end of the scraper is subjected to pressure from the wall. The pressure first acts on the roller floatingly connected to the front end of the anti-collision mechanism. The roller is pressurized and the push rod is pressed to cause the pressure sensor to deform and generate a pressure signal. The pressure signal is transmitted to the control unit, and the control unit controls the motor on the telescopic mechanism to start and retract the scraper. The faster the pressure signal increases, the faster the motor speed will increase, and the speed at which the scraper retracts will also increase. If the pressure sensor detects a decrease in the pressure signal while the scraper is rotating, the control unit will control the telescopic mechanism to extend the scraper. The faster the pressure signal decreases, the faster the scraper extends, until the extended length of the scraper is the maximum and the telescopic mechanism stops moving. The concrete in the corners and walls can be scraped flat through the cooperation of the rotating mechanism, the telescopic mechanism and the anti-collision mechanism.

[0027] In the field of construction, the 50 line refers to the building 50 line, which is determined as ±0.000 on the floor finish of each floor. ±0.000 is a reference surface for the main project. The line drawn on the wall with an ink fountain 50CM above ±0.000 is the 50 line. The starting ground surface used for making the 50 line is the reference surface for paving road materials. If there is no such line on the construction site, the 50 line can be manually made on any immovable object with ±0.000 as the reference.

[0028] Technical effects of the invention: (1) Compared with the prior art, the small laser concrete paver of the present invention is provided with an anti-collision mechanism at the front end of the scraper, so that the scraper can be automatically extended and retracted when it hits the building wall or corner, and can quickly pave the wall side and corner, effectively improving the paving efficiency and paving quality; (2) The anti-collision mechanism adopts a roller whose rotation direction is consistent with the rotation direction of the scraper for rolling contact, so that it can quickly form rolling contact with the building wall during the paving process to avoid damage to the anti-collision mechanism; (3) The setting of the X-axis angle sensor and the Y-axis angle sensor can conveniently detect the angle difference between the X-axis adjustment plate, the Y-axis adjustment plate and the horizontal plane, which is convenient for adjusting the X-axis adjustment plate and the Y-axis adjustment plate to ensure that the lifting platform is lifted and lowered in the specified direction; (4) The setting of the industrial camera can conveniently determine the lifting height of the lifting platform, which is convenient for automated operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0030] Figure 1 It is a three-dimensional structural schematic diagram of the small laser concrete paver of the present invention;

[0031] Figure 2 It is a three-dimensional structural schematic diagram of the small laser concrete paver of the present invention from another angle;

[0032] Figure 3 It is a structural schematic diagram of the leveling structure of the present invention;

[0033] Figure 4 is a schematic diagram of the leveling structure of the present invention from another angle;

[0034] Figure 5 It is a schematic diagram of the three-dimensional structure after the telescopic mechanism, scraper and anti-collision mechanism are assembled;

[0035] Figure 6 It is a three-dimensional structural schematic diagram of the anti-collision mechanism;

[0036] Figure 7 It is a structural schematic diagram of the anti-collision mechanism from another angle;

[0037] Figure 8 This is a schematic diagram of the structure of a small laser concrete paver when in use;

[0038] Fig. 9 yes Figure 8 Top view of the .

[0039] In the figure: vehicle body 1, leveling mechanism 2, rotating mechanism 3, telescopic mechanism 4, scraper 5, anti-collision mechanism 6, control unit 7, operating table 8, laser marking instrument 9, X-axis electric push rod 10, outer frame 11, X-axis adjustment plate 12, Y-axis adjustment plate 13, crane beak bracket 14, Y-axis electric push rod 15, lifting frame 16, lifting platform 17, Z-axis electric push rod 18, push rod bracket 19, guide slide bar 20, reduction motor 21, X-axis angle sensor 22, Y-axis angle sensor 23, mounting bracket 24, industrial camera Camera 25, slide 26, slider 27, motor 28, extension rod 29, roller 30, pressure sensor 31, push rod 32, roller mounting frame 33, pressure plate 34, guide rod 35, sensor mounting frame 36, torsion spring reset plate 37, guide plate 38, connecting flange 39, transmission connecting rod 40, first rotating pin 41, first hinge 42, second rotating pin 43, second hinge 44, third rotating pin 45, fourth rotating pin 46, fifth rotating pin 47, sixth rotating pin 48, shaft sleeve 49, rotating platform 50;

[0040] 50 line 71, building wall 72, laser line 73, paving plane 74, operator 75, front wall 76;

[0041] Push handle 81, main wheel 82, auxiliary wheel 83. DETAILED DESCRIPTION

[0042] Example 1 Figure 1 to Figure 2As shown, the small laser concrete paver of this embodiment includes a vehicle body 1, a laser marking instrument 9, two industrial cameras 25, a leveling mechanism 2, a rotating mechanism 3, a telescopic mechanism 4, a scraper 5, an anti-collision mechanism 6, a control unit 7 and an operating console 8. The leveling mechanism 2, the control unit 7 and the operating console 8 are arranged on the upper part of the vehicle body 1. The control unit 7 is placed at the rear of the vehicle body 1. The control unit 7 can use a PLC control system, a single-chip microcomputer system, or an industrial control computer; rotatable main wheels 82 are arranged on both sides of the vehicle body 1, and rotatable auxiliary wheels 83 are arranged on both sides of the rear end of the vehicle body 1. A push handle 81 is also fixedly arranged at the rear end of the vehicle body 1 to facilitate the operator 75 to push the vehicle body 1 to move; the operating console 8 is fixedly arranged on the top of the push handle 81, and the operating console 8 is electrically connected to the control unit 7. The operating console 8 can be a button-type operating console or a touch screen-type operating console, so that the operator 75 can issue instructions to the control unit 7 when pushing the vehicle body 1 to move.

[0043] The leveling mechanism 2 includes a cubic outer frame 11 which is formed by welding four vertical supports, four top horizontal supports, four middle horizontal supports, and four bottom horizontal supports. The outer frame 11 is fixedly arranged on the vehicle body 1. Figure 3 and Figure 4 As shown, the leveling mechanism 2 also includes an X-axis electric push rod 10, an X-axis adjustment plate 12, a Y-axis electric push rod 15, a Y-axis adjustment plate 13, a crane beak bracket 14, an X-axis angle sensor 22, and a Y-axis angle sensor 23 placed in the outer frame 11. The X-axis angle sensor 22 is fixedly arranged on the lower side of the right end of the X-axis adjustment plate 12. The left end of the X-axis adjustment plate 12 is hingedly matched with the middle cross brace on the left side of the outer frame 11 through a first hinge 42. The right end of the X-axis adjustment plate 12 is hingedly matched with the X-axis electric push rod 10 through a second rotating pin 43. The tail end of the rod 10 is hinged, the top end of the X-axis electric push rod 10 is hinged with the bottom end of the X-axis electric push rod mounting frame via the first rotating pin 41, the top end of the X-axis electric push rod mounting frame is fixedly connected to the middle part of the top cross brace on the right side of the outer frame 11, the X-axis angle sensor 22 and the X-axis electric push rod 10 are electrically connected to the control unit 7 respectively, so that the X-axis electric push rod 23 can drive the X-axis adjustment plate 12 to rotate around the first hinge 42, realize the lifting and lowering of the right end of the X-axis adjustment plate 12, and level the X-axis adjustment plate 12.

[0044] The front end of the Y-axis adjustment plate 13 and the front end of the X-axis adjustment plate 12 are hingedly matched via the second hinge 44, so that the Y-axis adjustment plate 13 can be rotatably set on the X-axis adjustment plate 12, the bottom end of the crane beak bracket 14 is fixedly set on the rear end of the X-axis adjustment plate 12, the top end of the crane beak bracket 14 and the top end of the Y-axis electric push rod 15 are hingedly matched via the third rotating pin 45, the bottom end of the Y-axis electric push rod 15 and the rear end of the Y-axis adjustment plate 13 are hingedly matched via the fourth rotating pin 46, the Y-axis angle sensor 23 is fixedly set on the Y-axis adjustment plate 13, the Y-axis angle sensor 23, the Y-axis electric push rod 15 and the control unit 7 are electrically connected, so that the Y-axis electric push rod 15 can drive the Y-axis adjustment plate 13 to rotate around the second hinge 44, realize the lifting and lowering of the rear end of the Y-axis adjustment plate 13, and level the Y-axis adjustment plate 13.

[0045] The leveling mechanism 2 also includes a lifting frame 16, a lifting platform 17, four guide slides 20, four transmission connecting rods 40, a Z-axis electric push rod 18, and a push rod bracket 19. The lifting frame 16 is fixed by welding with four lifting frame vertical supports, four lifting frame top cross supports, and four lifting frame bottom cross supports to form a cubic lifting frame 16; the lifting platform 17 includes an upper lifting plate and a lower lifting plate arranged in parallel, and shaft sleeves 49 are respectively arranged at the four corners of the upper lifting plate and the lower lifting plate, and the four guide slides pass through the shaft sleeves 49 at the four corners respectively, and the top end of each guide slide 20 is fixedly connected to the lifting frame top cross support of the lifting frame 16, and the bottom end of each guide slide 20 is fixedly connected to the lifting frame bottom cross support of the lifting frame 16, so that each guide slide 20 is vertically arranged with the upper lifting plate and the lower upgrading plate. The upper lifting plate and the lower lifting plate can slide and rise and fall along the guide slide bar 20; the top ends of the four transmission connecting rods 40 are fixedly connected to the upper lifting plate respectively, the middle part of each transmission connecting rod 40 is fixedly connected to the lower lifting plate, and the bottom end of each transmission connecting rod 40 passes through the Y-axis adjustment plate 13, the X-axis adjustment plate 12, and the vehicle body 1, and is used to connect the rotating mechanism 3 under the vehicle body 1; the bottom end of the Z-axis electric push rod 18 passes through the upper lifting plate and is hingedly matched with the lower upgrading plate via the sixth rotating pin 48, the top end of the Z-axis electric push rod 18 is hingedly matched with the push rod bracket 19 via the fifth rotating pin 47, and the push rod bracket 19 is fixedly set on the top cross brace of the lifting frame 16, and the Z-axis electric push rod 18 is electrically connected to the control unit 7, so that the Z-axis electric push rod 18 can drive the upper lifting plate, the lower lifting plate, and the transmission connecting rod 40 to rise and fall along the guide slide bar 20.

[0046] like Figure 5As shown, the rotating mechanism 3 includes a rotating platform 50, a connecting flange 39 and a reduction motor 21, and the telescopic mechanism 4 includes a motor 28, an extension rod 29, a sliding table 26 and a slider 27 that are slidably matched. The rotating platform 50 is rotationally matched with the connecting flange 39, and the reduction motor 21 is transmission matched with the rotating platform 50. The top end of the slider 26 is fixedly connected to the bottom end of the rotating platform 50, so that the reduction motor 21 can drive the rotating platform 50 and the slider 26 to reciprocate; the motor 28 is transmission matched with the slider 27, and the tail end of the extension rod 29 is fixedly connected to the slider 27. A guide plate 38 is provided at the front end of the slider 26, and a guide hole that is compatible with the extension rod 29 is provided on the guide plate 38. The front end of the extension rod 29 extends out of the guide hole and is fixedly connected to the tail end of the scraper 5, so that the motor 28 can drive the slider 27, the extension rod 29, and the scraper 5 to telescopically move along the slide 26.

[0047] like Figure 6 and Figure 7 As shown, the anti-collision mechanism 6 includes a pressure sensor 31, a floating pressure plate 34, a sensor mounting frame 36, a roller 30, a guide rod 35, a roller mounting frame 33, a torsion spring reset plate 37, and a top rod 32. The tail end of the sensor mounting frame 36 is fixedly arranged on the upper side of the front end of the scraper 5, and a sensor mounting groove is arranged in the middle part of the sensor mounting frame 36 along the extension direction of the scraper 5. The pressure sensor 31 is fixedly arranged in the sensor mounting groove, two guide rods 35 are arranged on one side of the front end of the sensor mounting groove, and a rotatable torsion spring reset plate 37 is arranged on the other side of the front end of the sensor mounting groove. One side of the pressure plate 34 is slidably matched with the guide rod 35, and the other side of the pressure plate 34 is fixedly connected to the torsion spring reset plate 37. A roller mounting frame 33 is provided at the front end, and the roller 30 is rotatably provided on the roller mounting frame 33. The rotation direction of the roller 30 is the same as the swing direction of the scraper 5. A push rod 32 is provided between the rear end of the pressure plate 34 and the pressure sensor 31, so that when the roller 30 is squeezed, the pressure plate 34 is pushed to move along the guide rod 35, and the pressure plate 34 drives the push rod 32 to touch the pressure sensor 31. When the roller 30 shrinks to the limit, the roller 30 should not extend out of the front end of the scraper 5 to avoid leaving a dead angle when the scraper 5 is scraping; when the roller 30 is removed from squeezing, the torsion spring reset plate 37 drives the pressure plate 34 and the push rod 32 to reset; the pressure sensor 31 is electrically connected to the control unit 7, so that the pressure signal change detected by the pressure sensor 8 can be transmitted to the control unit 7.

[0048] A mounting bracket 24 is fixedly provided on one side of the lifting platform 17, and an industrial camera 25 is fixedly provided on both sides of the mounting bracket 24. The laser marking instrument 9 is used to emit a horizontal laser surface, and the industrial camera 25 is electrically connected to the control unit 7 to identify the height difference between the position of the lifting platform 17 and the horizontal laser surface emitted by the laser marking instrument 9.

[0049] Example 2

[0050] When the small laser concrete paver is used for concrete paving on a floor, the elevation setting method includes the following steps:

[0051] Step 1: Place the small laser concrete paver near the 50 line 71 and set up the laser marker 9; the operator 75 turns on the laser marker 9, and the laser surface emitted by the laser marker 9 illuminates the building wall 72 to form a laser line 73. Adjust the height of the laser marker 9 so that the laser line 73 on the building wall 72 coincides with the 50 line 71;

[0052] Step 2, read the angle data of the X-axis angle sensor 22 on the X-axis adjustment plate 12 and the Y-axis angle sensor 23 on the Y-axis adjustment plate 13 through the control unit 7, and judge whether the lifting platform 17 is horizontal. When the lifting platform 17 is in a horizontal state, it can be lifted and lowered vertically; when there is an angle difference between the X-axis adjustment plate 12 and the horizontal plane measured by the X-axis angle sensor 22, the control unit 7 drives the X-axis electric push rod 10 to extend and retract, and adjust the height of one side of the X-axis adjustment plate 12, until the angle difference between the X-axis adjustment plate 12 and the horizontal plane measured by the X-axis angle sensor 22 is 0, the X-axis adjustment plate 12 is set horizontally, and when there is an angle difference between the Y-axis adjustment plate 13 and the horizontal plane measured by the Y-axis angle sensor 23, the control unit 7 drives the Y-axis electric push rod 15 to extend and retract, and adjust the height of one side of the Y-axis adjustment plate 13, until the angle difference between the Y-axis adjustment plate 13 and the horizontal plane measured by the Y-axis angle sensor 23 is 0, the Y-axis adjustment plate 13 is set horizontally, and the lifting platform 17 is in a horizontal state;

[0053] Step three, the industrial camera 25 installed on the lifting platform 17 takes a picture of the laser line 73 on the building wall 72, calculates the height difference between the lifting platform 17 and the laser line 73 in the vertical direction, and feeds it back to the control unit 7. The control unit 7 drives the Z-axis electric push rod 18 to drive the lifting platform 17 to adjust the height, so that the lifting platform 17 reaches the calibrated height.

[0054] Example 3

[0055] Another method for setting the elevation of the small laser concrete paver used for concrete paving on a floor surface includes the following steps:

[0056] Step 1: Place the small laser concrete paver near the 50 line and set up the laser marker 9; turn on the laser marker 9, and the laser surface emitted by the laser marker 9 will illuminate the building wall 72 to form a laser line 73. Adjust the height of the laser marker 9 so that the laser line 73 on the building wall 72 coincides with the 50 line 71;

[0057] Step 2: The laser line 73 on the building wall 72 is photographed by two industrial cameras 25 arranged on the lifting platform 17 to determine whether the plane where each industrial camera 25 is located is parallel to the laser line 73 on the building wall 72. If they are not parallel, the control unit 7 drives the corresponding X-axis electric push rod 10 and / or the Y-axis electric push rod 15 to extend and retract, so that one side of the corresponding X-axis adjustment plate 10 and / or the Y-axis adjustment plate 15 is lifted and lowered until the plane where each industrial camera 25 is located is parallel to the laser line 73 on the building wall 72. At this time, the X-axis adjustment plate 12 and the Y-axis adjustment plate 13 are arranged horizontally, and the lifting platform 17 is in a horizontal state.

[0058] Step three, the industrial camera 25 installed on the lifting platform 17 takes a picture of the laser line 73 on the building wall 72, calculates the height difference between the lifting platform 17 and the laser line 73 in the vertical direction, and feeds it back to the control unit 7. The control unit 7 drives the Z-axis electric push rod 18 to drive the lifting platform 17 to adjust the height, so that the lifting platform 17 reaches the calibrated height.

[0059] Example 4

[0060] When the small laser concrete paver is used for concrete paving on a floor, its working method includes the following steps:

[0061] Step 1: Place the small laser concrete paver near the 50 line 71 and set up the laser marker 9; the operator 75 turns on the laser marker 9, and the laser surface emitted by the laser marker 9 illuminates the building wall 72 to form a laser line 73. Adjust the height of the laser marker 9 so that the laser line 73 on the building wall 72 coincides with the 50 line 71;

[0062] Step 2, read the angle data of the X-axis angle sensor 22 on the X-axis adjustment plate 12 and the Y-axis angle sensor 23 on the Y-axis adjustment plate 13 through the control unit 7, and judge whether the lifting platform 17 is horizontal. When the lifting platform 17 is in a horizontal state, it can be lifted and lowered vertically; when there is an angle difference between the X-axis adjustment plate 12 and the horizontal plane measured by the X-axis angle sensor 22, the control unit 7 drives the X-axis electric push rod 10 to extend and retract, and adjust the height of one side of the X-axis adjustment plate 12, until the angle difference between the X-axis adjustment plate 12 and the horizontal plane measured by the X-axis angle sensor 22 is 0, the X-axis adjustment plate 12 is set horizontally, and when there is an angle difference between the Y-axis adjustment plate 13 and the horizontal plane measured by the Y-axis angle sensor 23, the control unit 7 drives the Y-axis electric push rod 15 to extend and retract, and adjust the height of one side of the Y-axis adjustment plate 13, until the angle difference between the Y-axis adjustment plate 13 and the horizontal plane measured by the Y-axis angle sensor 23 is 0, the Y-axis adjustment plate 13 is set horizontally, and the lifting platform 17 is in a horizontal state;

[0063] Step 3: The laser line 73 on the building wall 72 is photographed by the industrial camera 25 installed on the lifting platform 17, and the height difference between the lifting platform 17 and the laser line 73 in the vertical direction is measured and fed back to the control unit 7. The control unit 7 drives the Z-axis electric push rod 18 to drive the lifting platform 17 to adjust the height, so that the lifting platform 17 reaches the calibrated height;

[0064] Step 4: After the lifting platform 17 is adjusted, the control unit 7 drives the reduction motor 21 of the rotating mechanism 3 to work, driving the rotating platform 50 to reciprocate, and the rotating platform 50 drives the telescopic mechanism 4 to reciprocate. At the same time, the control unit 7 drives the motor 28 of the telescopic mechanism 4 to work, and the motor 28 drives the slider 27 to extend and retract, and the slider 27 drives the extension rod 29 and the scraper 5 to move forward and backward to expand the paving range. Figure 8 As shown;

[0065] Step 5: After the scraper 5 has leveled the concrete, the operator 75 moves the vehicle body 1 to a designated position and repeats steps 1 to 4;

[0066] Step six, during the paving process, the scraper 5 is blocked by the building wall 72 when rotating, or encounters a wall corner formed by the front wall 76 and the building wall 72. The anti-collision mechanism 6 installed at the front end of the scraper 5 is subjected to pressure from the wall (for example, the building wall 72, or the front wall 76). The pressure first acts on the roller 30 floatingly connected to the front end of the anti-collision mechanism 6. The roller 30 is pressed and the top rod 32 is pressed to deform the pressure sensor 31 to generate a pressure signal. The pressure signal is transmitted to the control unit 7, and the control unit 7 controls the motor 28 on the telescopic mechanism 4 to start retracting the scraper 5; the faster the pressure signal increases, the speed of the motor 28 will increase, and the speed of retraction of the scraper 5 will also increase; if the pressure sensor 31 detects a decrease in the pressure signal when the scraper 5 is rotating, the control unit 7 will control the telescopic mechanism 4 to extend the scraper 5; the faster the pressure signal decreases, the faster the speed of extension of the scraper 5 is also, until the extension length of the scraper 5 is maximum, and the telescopic mechanism 4 stops moving. Fig. 9 As shown; through the cooperation of the rotating mechanism 3, the telescopic mechanism 4 and the anti-collision mechanism 6, the concrete at the corners and walls can be scraped flat.

[0067] Obviously, the above embodiments are merely examples for clearly explaining the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. However, these obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A small laser concrete paver, characterized in that: It comprises a vehicle body, wherein a leveling mechanism, a control unit and a control console are arranged on the upper part of the vehicle body, a rotating mechanism is arranged on the lower part of the leveling mechanism, a telescopic mechanism is arranged on the rotating mechanism, a scraper is arranged at the front end of the telescopic mechanism, an anti-collision mechanism is arranged at the front end of the scraper, the anti-collision mechanism comprises a pressure sensor and a floating pressure plate, the pressure sensor is arranged at the rear side of the pressure plate so that the pressure plate contacts the pressure sensor when it contracts backward, the pressure sensor is electrically connected to the control unit so that the pressure signal change detected by the pressure sensor can be transmitted to the control unit, the leveling mechanism, the rotating mechanism and the telescopic mechanism are electrically connected to the control unit, and the control console is electrically connected to the control unit so that the operator can operate the control unit through the control console to drive the leveling mechanism, the rotating mechanism and the telescopic mechanism to move; The anti-collision mechanism also includes a sensor mounting frame, a roller, a guide rod, a roller mounting frame, a torsion spring reset plate, and a push rod, wherein the sensor mounting frame is fixedly arranged at the front end of the scraper, a sensor mounting slot is arranged in the middle of the sensor mounting frame, the pressure sensor is fixedly arranged in the sensor mounting slot, a guide rod is arranged on one side of the front end of the sensor mounting slot, a rotatable torsion spring reset plate is arranged on the other side of the front end of the sensor mounting slot, one side of the pressure plate is slidably matched with the guide rod, and the other side of the pressure plate is fixedly connected to the torsion spring reset plate, a roller mounting frame is arranged at the front end of the pressure plate, the roller is rotatably arranged on the roller mounting frame, the rotation direction of the roller is the same as the swing direction of the scraper, and a push rod is arranged between the rear end of the pressure plate and the pressure sensor, so that when the roller is squeezed, the pressure plate is pushed to move along the guide rod, and the pressure plate drives the push rod to touch the pressure sensor, and when the roller is removed from squeezing, the torsion spring reset plate drives the pressure plate and the push rod to reset; The control unit is selected from a PLC control system, a single chip microcomputer system, or an industrial control computer.

2. The small laser concrete paver according to claim 1 is characterized in that: The telescopic mechanism includes a motor, an extension rod, a sliding table and a slider that slide together. The top of the slide is fixedly connected to the bottom end of the rotating mechanism, the motor is in transmission cooperation with the slider, the tail end of the extension rod is fixedly connected to the slider, a guide plate is provided at the front end of the slide, a guide hole that matches the extension rod is provided on the guide plate, the front end of the extension rod extends out of the guide hole and is fixedly connected to the tail end of the scraper, so that the motor can drive the slider, the extension rod and the scraper to move telescopically along the slide.

3. The small laser concrete paver according to claim 2 is characterized in that: The rotating mechanism includes a rotating platform, a connecting flange and a reduction motor placed on the lower side of the vehicle body. The rotating platform and the connecting flange are rotationally matched, the reduction motor and the rotating platform are transmission matched, and the top end of the slide is fixedly connected to the bottom end of the rotating platform so that the reduction motor can drive the rotating platform and the slide to reciprocate.

4. The small laser concrete paver according to claim 3 is characterized in that: The leveling mechanism includes a lifting frame, a lifting platform, a plurality of guide slides, a plurality of transmission links, and a Z-axis electric push rod. The top end of each guide slide rod is fixedly connected to the top end of the lifting frame, and the bottom end of each guide slide rod is fixedly connected to the bottom end of the lifting frame. The lifting platform is slidably matched with the guide slide rods, and each guide slide rod is vertically arranged to the lifting platform. The front end of the Z-axis electric push rod is hingedly matched with the lifting platform, and the Z-axis electric push rod is electrically connected to the control unit. The top end of each transmission link rod is fixedly connected to the lifting platform, and the bottom end of each transmission link rod is fixedly connected to the connecting flange. Each transmission link rod is vertically arranged to the lifting platform, so that the Z-axis electric push rod can drive the rotating platform to rise and fall along the guide slide rods.

5. The small laser concrete paver according to claim 4, characterized in that: The leveling mechanism also includes an outer frame, an X-axis electric push rod, an X-axis adjustment plate, a Y-axis electric push rod, a Y-axis adjustment plate, a crane beak bracket, an X-axis angle sensor, and a Y-axis angle sensor. The outer frame is fixedly arranged on the vehicle body, and the X-axis angle sensor is fixedly arranged on the X-axis adjustment plate. The left and right sides of the X-axis adjustment plate are respectively hinged with the outer frame and the X-axis electric push rod. The X-axis angle sensor and the X-axis electric push rod are respectively electrically connected to the control unit so that the X-axis electric push rod can drive one side of the X-axis adjustment plate to rise and fall; One end is hingedly matched with the front end of the X-axis adjustment plate, the bottom end of the crane beak bracket is fixedly set at the rear end of the X-axis adjustment plate, the top end of the crane beak bracket is hingedly matched with the top end of the Y-axis electric push rod, the bottom end of the Y-axis electric push rod is hingedly matched with the other end of the Y-axis adjustment plate, the Y-axis angle sensor is fixedly set on the Y-axis adjustment plate, the Y-axis angle sensor and the Y-axis electric push rod are electrically connected with the control unit, so that the Y-axis electric push rod can drive one end of the Y-axis adjustment plate to rise and fall; the lifting frame is fixedly set on the Y-axis adjustment plate.

6. The small laser concrete paver according to claim 4 or 5, characterized in that: It also includes a laser line marker for emitting a horizontal laser plane and at least two industrial cameras, each of which is fixedly arranged on the same plane of the lifting platform. The industrial camera is electrically connected to the control unit and is used to identify the height difference between the position of the lifting platform and the horizontal laser plane emitted by the laser line marker.

7. A method for setting the elevation of a small laser concrete paver according to claim 6, characterized in that: The steps include: Step 1: Place the small laser concrete paver near the 50-degree line and set up a laser marker. Turn on the laser marker. The laser marker will emit a laser line on the building wall. Adjust the height of the laser marker so that the laser line on the building wall coincides with the 50-degree line. Step 2: Read the angle data of the X-axis angle sensor on the X-axis adjustment plate and the Y-axis angle sensor on the Y-axis adjustment plate through the control unit to determine whether the lifting platform is horizontal. When the lifting platform is in a horizontal state, it can be lifted and lowered vertically; when there is an angle difference between the X-axis adjustment plate and the horizontal plane measured by the X-axis angle sensor, the control unit drives the X-axis electric push rod to extend and retract, and adjust the height of one side of the X-axis adjustment plate, until the angle difference between the X-axis adjustment plate and the horizontal plane measured by the X-axis angle sensor is 0, the X-axis adjustment plate is set horizontally, and when there is an angle difference between the Y-axis adjustment plate and the horizontal plane measured by the Y-axis angle sensor, the control unit drives the Y-axis electric push rod to extend and retract, and adjust the height of one side of the Y-axis adjustment plate, until the angle difference between the Y-axis adjustment plate and the horizontal plane measured by the Y-axis angle sensor is 0, the Y-axis adjustment plate is set horizontally, and the lifting platform is in a horizontal state; Step three, use the industrial camera installed on the lifting platform to take a picture of the laser line on the building wall, calculate the height difference between the lifting platform and the laser line in the vertical direction, and feed it back to the control unit. The control unit drives the Z-axis electric push rod to drive the lifting platform to adjust the height so that the lifting platform reaches the calibrated height.

8. A method for setting the elevation of a small laser concrete paver according to claim 6, characterized in that: The steps include: Step 1: Place the small laser concrete paver near the 50-degree line and set up a laser marker. Turn on the laser marker. The laser marker will emit a laser line on the building wall. Adjust the height of the laser marker so that the laser line on the building wall coincides with the 50-degree line. Step 2: Use multiple industrial cameras installed on the lifting platform to take pictures of the laser line on the building wall to determine whether the plane where each industrial camera is located is parallel to the laser line on the building wall. If they are not parallel, the control unit drives the corresponding X-axis electric push rod and / or the Y-axis electric push rod to extend and retract, so that one side of the corresponding X-axis adjustment plate and / or the Y-axis adjustment plate is lifted and lowered until the plane where each industrial camera is located is parallel to the laser line on the building wall. At this time, the X-axis adjustment plate and the Y-axis adjustment plate are horizontally arranged, and the lifting platform is in a horizontal state. Step three, use the industrial camera installed on the lifting platform to take a picture of the laser line on the building wall, calculate the height difference between the lifting platform and the laser line in the vertical direction, and feed it back to the control unit. The control unit drives the Z-axis electric push rod to drive the lifting platform to adjust the height so that the lifting platform reaches the calibrated height.

9. A working method of the small laser concrete paver according to claim 6, characterized in that: The steps include: Step 1: Place the small laser concrete paver near the 50-degree line and set up a laser marker. Turn on the laser marker. The laser marker will emit a laser line on the building wall. Adjust the height of the laser marker so that the laser line on the building wall coincides with the 50-degree line. Step 2: Read the angle data of the X-axis angle sensor on the X-axis adjustment plate and the Y-axis angle sensor on the Y-axis adjustment plate through the control unit to determine whether the lifting platform is horizontal. When the lifting platform is in a horizontal state, it can be lifted and lowered vertically; when there is an angle difference between the X-axis adjustment plate and the horizontal plane measured by the X-axis angle sensor, the control unit drives the X-axis electric push rod to extend and retract, and adjust the height of one side of the X-axis adjustment plate, until the angle difference between the X-axis adjustment plate and the horizontal plane measured by the X-axis angle sensor is 0, the X-axis adjustment plate is set horizontally, and when there is an angle difference between the Y-axis adjustment plate and the horizontal plane measured by the Y-axis angle sensor, the control unit drives the Y-axis electric push rod to extend and retract, and adjust the height of one side of the Y-axis adjustment plate, until the angle difference between the Y-axis adjustment plate and the horizontal plane measured by the Y-axis angle sensor is 0, the Y-axis adjustment plate is set horizontally, and the lifting platform is in a horizontal state; Step 3: The laser line on the building wall is photographed by an industrial camera installed on the lifting platform, and the height difference between the lifting platform and the laser line in the vertical direction is calculated and fed back to the control unit. The control unit drives the Z-axis electric push rod to drive the lifting platform to adjust the height so that the lifting platform reaches the calibrated height; Step 4: After the lifting platform is adjusted, the control unit drives the rotating mechanism to rotate back and forth, and the rotating mechanism drives the telescopic mechanism to rotate back and forth. At the same time, the control unit drives the telescopic mechanism to extend and retract, so as to drive the scraper to move forward and backward to expand the paving range; Step 5: After the scraper has leveled the concrete, the operator moves the vehicle body to the designated position and repeats steps 1 to 4; Step 6: During the paving process, when the scraper is blocked by the building wall or encounters a wall corner while rotating, the anti-collision mechanism installed at the front end of the scraper is subjected to pressure from the wall. The pressure first acts on the roller connected to the front end of the anti-collision mechanism in a floating manner. The roller is pressed, and the push rod is pressed to deform the pressure sensor to generate a pressure signal. The pressure signal is transmitted to the control unit, and the control unit controls the motor on the telescopic mechanism to start retracting the scraper. The faster the pressure signal increases, the speed of the motor will increase and the speed at which the scraper retracts will also increase; if the pressure sensor detects a decrease in the pressure signal while the scraper is rotating, the control unit will control the telescopic mechanism to extend the scraper; the faster the pressure signal decreases, the faster the scraper extends, until the scraper is extended to the maximum length and the telescopic mechanism stops moving; through the cooperation of the rotating mechanism, the telescopic mechanism and the anti-collision mechanism, the concrete in the corners and walls can be scraped flat.

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