Intelligent bulldozing, trowelling and grinding integrated robot for concrete terrace and using method thereof

Abstract

The invention discloses an intelligent bulldozing, trowelling and polishing integrated robot for a concrete terrace and a using method thereof.The intelligent bulldozing, trowelling and polishing integrated robot for the concrete terrace comprises a slurry trowelling part which comprises a transverse frame body unit, a longitudinal frame body unit and a slurry trowelling plate unit and is used for trowelling concrete formed after slight drying, so that the surface of the concrete is smoother; the slurry vibrating part is used for vibrating the slurry which is just paved, so that bubbles in the slurry are reduced; the slurry bulldozing and vibrating part is used for bulldozing the slurry when the slurry is just paved, so that the slurry is uniformly paved on the ground, the slurry bulldozing and vibrating part is also matched with the slurry trowelling part for use, and after the slurry is slightly dried to form concrete, the concrete is trowelled firstly and then vibrated, so that the concrete is compacted; and the walking wheel part is mounted on the slurry trowelling part and is used for carrying and moving the device by constructors. The slurry bulldozing, trowelling and polishing integrated machine can complete three procedures of slurry bulldozing, trowelling and polishing, and integration of slurry bulldozing, trowelling and polishing is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to an intelligent integrated robot for leveling, troweling and polishing a concrete floor, and also to a method for using the intelligent integrated robot for leveling, troweling and polishing a concrete floor. Background Art

[0002] In the process of construction and production, pouring concrete floor is a common process. In the process of pouring many large areas of concrete floor, usually after the steel bars are tied, the concrete is poured through equipment such as sky pumps and ground pumps, and the concrete pouring surface is flattened in time; then wait for the flattened concrete to be slightly formed, smooth it out; after it hardens and dries, the concrete floor is partially polished and flattened. The traditional concrete construction process is mostly done manually. Since the floor is often laid over a large area, manual methods are time-consuming and labor-intensive, but the molding quality and labor efficiency are average. Moreover, the flatness of the laid concrete floor is difficult to guarantee, and secondary corrections are required. Therefore, a robot that integrates intelligent leveling, troweling and polishing of concrete floors is needed to assist humans in completing the work of laying concrete floors. Summary of the invention

[0003] Based on the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide an intelligent integrated robot for leveling, troweling and polishing of concrete floors and a method of using the same, which can improve the efficiency and effect of leveling the device, and can complete the three processes of mud leveling, troweling and polishing, thus realizing the integration of mud leveling, troweling and polishing.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical measures:

[0005] The intelligent flattening, troweling and polishing integrated robot for concrete floor of the present invention comprises: a mud flattening part, which comprises a horizontal frame unit, a vertical frame unit and a mud trowel unit, and is used to flatten the concrete formed after being slightly dried, so that the concrete surface is smoother; a mud vibrating part, which is installed above the mud flattening part, and is used to vibrate the mud just laid to reduce the bubbles in the mud; a mud flattening and vibrating part, which is installed in front of the mud flattening part, and is used to flatten the mud when it is just laid, so that the mud The slurry is evenly spread on the ground and is also used in conjunction with the mud leveling part. After the mud is slightly dried to become concrete, it is first leveled and then vibrated to compact the concrete; the mud leveling and vibration part includes a pushing plate unit and a vibrating ruler unit, and the pushing plate unit includes a pushing plate, a mud leveling and vibration hydraulic cylinder and a mud baffle unit; the vibrating ruler unit includes a vibrating ruler motor, a vibrating ruler, a vibrating ruler frame and a vibrating ruler motor frame; the walking wheel part is installed on the mud leveling part and is used by construction personnel to carry and move the device.

[0006] Preferably, the transverse frame unit includes a telescopic screw a, a telescopic motor a and a transverse frame, one end of the telescopic screw a is connected to the rotating shaft of the telescopic motor a, and the interior of the longitudinal frame unit is provided with a threaded hole threadedly connected to the telescopic screw a, so that the telescopic screw a can be screwed in and out from the interior of the longitudinal frame unit, thereby making the distance between the transverse frame unit and the longitudinal frame unit adjustable; the telescopic motor a is fixed in the square groove in front of the transverse frame unit by bolts, and the transverse frame is used to connect the mud wiper unit and the longitudinal frame unit.

[0007] Furthermore, the longitudinal frame unit includes a telescopic screw b, a telescopic motor b and a longitudinal frame, one end of the telescopic screw b is connected to the rotating shaft of the telescopic motor b, and a threaded hole threadedly connected to the telescopic screw b is provided inside the longitudinal frame unit, so that the telescopic screw b can be screwed in and out from the inside of the longitudinal frame unit, so that the distance between the mud leveling and the vibrating part and the longitudinal frame unit can be adjusted; the telescopic motor b is fixed in the square groove behind the vibrating scale frame by bolts, and the longitudinal frame is respectively connected to the transverse frame unit and the vibrating scale frame by screws.

[0008] Furthermore, the mud wiper plate unit includes a mud wiper plate a, a mud wiper plate b and a mud wiper plate c; the mud wiper plate a includes a steering motor a, a steering wheel a, an articulated seat a, an articulated seat motor a and a wiper plate a, the steering motor a is fixed to the upper surface of the transverse frame by bolts, one side of the steering wheel a is connected to the output shaft of the steering motor a and is located on the lower surface of the transverse frame, and the other side is connected to the articulated seat a by bolts, and the steering wheel a can rotate under the control of the steering motor a; one end of the articulated seat a is connected to the lower surface of the steering wheel a by bolts, and the articulated seat motor a is fixed to both sides of the articulated seat a by bolts, and the articulated seat motor a can control the rotation of the articulated seat a to adjust the inclination angle of the wiper plate a; the articulated seat a includes an inner plate and an outer plate which are rotatably connected to each other, and the inner plate is connected to the outer plate. The plate is connected to the steering wheel a, the outer plate is connected to the wiper plate a, the front end of the rotating shaft of the articulated seat motor a is stuck in the slot of the inner plate of the articulated seat a, and the articulated seat motor a is fixed to the outer surface of the outer plate of the articulated seat a by bolts. When the articulated seat motor a rotates, the inner plate and the outer plate of the articulated seat a will also rotate relative to each other; the top of the wiper plate a is connected to the lower end surface of the outer plate of the articulated seat a by bolts, and the rotation of the inner plate and the outer plate of the articulated seat a can adjust the inclination angle of the wiper plate a; the mud wiper plate b includes a steering motor b, a steering wheel b, an articulated seat b, an articulated seat motor b and a wiper plate b, and the mud wiper plate b has the same structure as the mud wiper plate a; the mud wiper plate c includes a wiper plate c, and the top of the wiper plate c is fixed to the lower surface of the column below the longitudinal frame by bolts for smoothing the mud.

[0009] Preferably, one end of the push plate is a plurality of rings, which are sleeved on a cylinder extending from the surface of the vibrating ruler so as to rotate around the cylinder; the mud leveling and vibration hydraulic cylinder includes a baffle hydraulic cylinder and a height adjustment hydraulic cylinder, one end of the baffle hydraulic cylinder is fixed to the upper surface of the vibrating ruler by bolts, and the other end thereof is connected to an articulated seat, which is fixed to the back of the push plate by bolts, and the extension and retraction of the baffle hydraulic cylinder can control the opening and closing of the push plate, thereby adjusting the angle formed by the two push plates; the height adjustment hydraulic cylinder is fixed to the two side surfaces of the vibrating ruler frame by bolts, and the movable end of the height adjustment hydraulic cylinder is fixed to the two sides of the vibrating ruler motor frame by bolts, and the extension and retraction of the height adjustment hydraulic cylinder can adjust the height of the vibrating ruler from the ground.

[0010] Furthermore, the mud baffle unit includes a mud baffle, a front articulated seat, a rear articulated seat and a baffle slide rail, both ends of the mud baffle are articulated seats, the front articulated seat at one end is fixed to the surface of the two ends of the vibrating ruler by bolts, and the rear articulated seat at the other end is clamped on the slide of the baffle slide rail, so that the rear articulated seat can move back and forth along the baffle slide rail; the mud baffle is used to prevent mud from pouring into the vibrating ruler, the front articulated seat is fixed to one end of the mud baffle by bolts, and the rear articulated seat is fixed to the other end of the mud baffle by bolts; the baffle slide rail is fixed to the back of the push plate by bolts, so that the rear articulated seat can move back and forth along the baffle slide rail.

[0011] Preferably, the vibration ruler motor is fixed to the vibration ruler frame by bolts, the vibration ruler is fixed below the vibration ruler motor frame by bolts, the vibration ruler frame is connected to the longitudinal frame by screws, the vibration ruler motor frame is connected to the movable end of the height adjustment hydraulic cylinder by bolts, so that the height adjustment hydraulic cylinder can adjust the height of the vibration ruler motor frame, the vibration ruler motor frame is connected to the vibration ruler by bolts, and the height adjustment hydraulic cylinder is also used to adjust the height of the vibration ruler.

[0012] Furthermore, the mud vibrating part includes a suspension frame part, a mud vibrating motor unit, an electric hoist unit and a mud vibrator; the bottom cross bar of the suspension frame part is fixed to the upper surface of the longitudinal frame by bolts, providing a frame for the electric hoist unit to be suspended; the mud vibrating motor unit includes a transverse motor unit and a longitudinal motor unit, the transverse motor unit is fixed to the two ends of the top front rod of the suspension frame part by bolts, and is connected to the lead screw, and the rotation of the transverse motor unit can drive the lead screw to rotate, and the lead screw passes through the threaded holes at the two ends of the electric hoist slide rail a and the electric hoist slide rail b, and the rotating lead screw can drive the electric hoist slide rail a and the electric hoist slide rail b to move horizontally, thereby controlling the lateral movement of the electric hoist unit; the longitudinal The motor unit is fixed to the outer sides of the electric trolley a and the electric trolley b on the top of the electric hoist unit by bolts, and can control the rotation of the pulley to drive the electric hoist unit to move longitudinally along the electric hoist slide rail a and the electric hoist slide rail b; the electric hoist unit includes an electric hoist a and an electric hoist b, and the electric hoist a and the electric hoist b have the same structure; the electric trolley a on the top of the electric hoist a is attached to the electric hoist slide rail a, and the movement of the electric trolley a can drive the longitudinal movement of the electric hoist a; correspondingly, the electric trolley b on the top of the electric hoist b is attached to the electric hoist slide rail b, and the movement of the electric trolley b can drive the longitudinal movement of the electric hoist b; the vibrator of the mud vibrator is suspended by the steel wire of the electric hoist unit, and the rise and fall of the vibrator can be controlled.

[0013] Preferably, the walking wheel part comprises a front walking wheel unit, a left walking wheel unit and a right walking wheel unit; the front walking wheel unit comprises a front walking wheel and a front walking wheel motor, the left and right arms of the front walking wheel are connected to both sides of the column in front of the transverse frame body, and the front walking wheel motor is fixed at the connection between the front walking wheel and the column in front of the transverse frame body by bolts, so that the front walking wheel motor can control the front walking wheel to rotate around the connection between the front walking wheel and the column in front of the transverse frame body. When the front walking wheel is needed to drive the entire device to move, the front walking wheel motor controls the front walking wheel to rotate downward so that the front walking wheel contacts the ground; when the front walking wheel is no longer needed to drive the entire device to move, the front walking wheel motor controls the front walking wheel to rotate upward so that the front walking wheel is separated from the ground; the front end of the rotating shaft of the front walking wheel motor is a card key structure, which is stuck in the card slot of the column in front of the transverse frame body, and the front walking wheel motor Fixed on the left and right arms of the front walking wheels, when the front walking wheel motor rotates, the front walking wheel can be controlled to rotate around the connection with the horizontal frame, thereby controlling the front walking wheel to separate from the ground; the left walking wheel unit includes the left walking wheel, the left walking wheel motor and the left walking wheel power motor, the left and right arms of the left walking wheel unit are connected to the two sides of the column on the left side of the longitudinal frame, and the left walking wheel power motor is fixed to the inner side of the left walking wheel by bolts to provide power for the forward movement of the device; the structure of the left walking wheel unit is similar to that of the front walking wheel unit; the inner side of the front walking wheel is also provided with a front walking wheel power motor that provides power for the front walking wheel; the right walking wheel unit includes the right walking wheel, the right walking wheel motor and the right walking wheel power motor, and the left and right arms of the right walking wheel unit are connected to the two sides of the column on the right side of the longitudinal frame; the structure of the right walking wheel unit is the same as that of the left walking wheel unit.

[0014] Correspondingly, the present invention also provides a method for using the intelligent flattening, troweling and polishing integrated robot for concrete floor, the steps of which are as follows:

[0015] S1. When the device is transported to the construction site, the front travel wheel motor, the left travel wheel motor and the right travel wheel motor rotate to respectively lower the front travel wheel, the left travel wheel and the right travel wheel to the ground so that the travel wheel part drives the device as a whole to move to the place where cement needs to be laid;

[0016] S2. After arriving at the cement paving site, the mud needs to be poured onto the ground first, and then the mud leveling process is started; when the mud is leveled, the mud leveling and vibrating parts face forward, and then the height adjustment hydraulic cylinder adjusts the ground height of the vibrating ruler so that the vibrating ruler just touches the ground, and then the baffle hydraulic cylinder adjusts the angle of the push plate according to the amount of mud. If the amount of mud is large, the angle of the push plate is reduced to reduce the resistance of the mud to the device, so that the device can level the mud more smoothly; if the amount of mud is small, the angle of the push plate is increased to increase the leveling area of ​​the device, so that the device can level the mud more efficiently, and then the mud leveling work can be carried out;

[0017] S3. During the process of pushing the mud flat, the electric hoist unit lowers the wire rope downward, so that the vibrating rod of the mud vibrator is inserted into the mud to vibrate the mud, thereby removing the bubbles therein and making the concrete densely combined;

[0018] S4, after the mud is slightly dried to form concrete, the concrete smoothing process is carried out. During the smoothing process, the three running wheels of the running wheel part are lifted up away from the ground so that the mud smear plate unit is in direct contact with the ground, and the smear plates a, b and c are started, so that the trowels under the smear plates a, b and c can smooth the concrete; when the smear plates a, b and c rotate, a propulsion force can be generated to move the device on the flat concrete surface, and the operator can change the direction of the device by adjusting the tilt angle of the smear plates; during operation, tilting one side of the smear plate a or b will cause the device to move to that side, thereby achieving a change of direction;

[0019] S5. It is necessary to control the extension and retraction of the height-adjusting hydraulic cylinder so that the vibrating ruler is in direct contact with the ground, turn on the vibrating ruler motor, and drive the vibrating ruler to vibrate, so as to compact the concrete and ensure the flatness of the concrete surface;

[0020] S6. If it is necessary to smooth a non-horizontal surface such as a wall, first adjust the front running wheel, the left running wheel and the right running wheel so that the three running wheels are in contact with the ground, so that the wiper disc a, the wiper disc b and the wiper disc c are separated from the ground, and then adjust the articulated seat motor a and the articulated seat motor b to rotate the articulated seat a and the articulated seat b so that the angle between the wiper disc a and the wiper disc b and the ground can be adjusted, and then adjust the steering motor a and the steering motor b to drive the wiper disc a and the wiper disc b to rotate, so that the direction of the bottom of the wiper disc can be adjusted, and the wiper disc a and the wiper disc b can be universalized;

[0021] S7. After the concrete is completely dry, the concrete can be polished. The trowels of trowel plates a, b and c can be replaced with concrete polishing tools; the front running wheel, the left running wheel and the right running wheel are lowered so that the three running wheels just touch the ground and will not affect the polishing of the concrete by trowel plates a, b and c. The front running wheel, the left running wheel and the right running wheel drive the device to move.

[0022] From the above, the beneficial effects of the intelligent concrete floor leveling, troweling and polishing integrated robot and the use method thereof of the present invention are as follows:

[0023] 1. This device can complete the three processes of mud leveling, troweling and grinding, realizing the integration of mud leveling, troweling and grinding.

[0024] 2. The smoothing mechanism of the device is universal. In addition to smoothing the ground, it can also smooth the walls. In addition, the universal smoothing mechanism can also cope with some special smoothing scenes, which increases the application range of the device.

[0025] 3. The push plate angle of the device can be adjusted. When the amount of cement is large, the push plate angle can be adjusted to a smaller angle to make the push plate work of the device easier to carry out. When the amount of cement is small, the push plate angle can be adjusted to a larger angle to expand the push plate range. In general, the efficiency and effect of the push plate leveling of the device are improved.

[0026] 4. The mud vibrating part of the device is mainly composed of an electric hoist and a mud vibrator. If necessary, the mud vibrator can be removed so that the electric hoist can be used for other work, thereby improving the practicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0028] Figure 1 It is a schematic diagram of the overall structure of the intelligent flattening, trowelling and polishing integrated robot for concrete flooring of the present invention;

[0029] Figure 2 It is a structural schematic diagram of the mud vibrating part of the present invention;

[0030] Figure 3 It is a structural schematic diagram of the mud vibrating motor unit of the present invention;

[0031] Figure 4 It is a structural schematic diagram of the electric hoist unit of the present invention;

[0032] Figure 5It is a structural schematic diagram of the electric vehicle a of the present invention;

[0033] Figure 6 It is a structural schematic diagram of the electric hoist slide rail a of the present invention;

[0034] Figure 7 It is a structural schematic diagram of the mud leveling part of the present invention;

[0035] Figure 8 It is a structural schematic diagram of the transverse frame unit of the present invention;

[0036] Fig. 9 It is a structural schematic diagram of the longitudinal frame unit of the present invention;

[0037] Fig.10 It is a structural schematic diagram of the mud wiping disc unit of the present invention;

[0038] Fig.11 It is a structural schematic diagram of the mud smear plate a of the present invention;

[0039] Fig.12 It is a structural schematic diagram of the hinged seat a of the present invention;

[0040] Fig.13 It is a structural schematic diagram of the mud smear plate b of the present invention;

[0041] Fig.14 It is a schematic diagram of the structure of the mud smear plate c of the present invention;

[0042] Fig.15 It is a schematic diagram of the structure of the mud bulldozing and vibration part of the present invention;

[0043] Fig.16 It is a structural schematic diagram of the push plate unit of the present invention;

[0044] Fig.17 It is a structural schematic diagram of the mud bulldozing and vibration hydraulic cylinder unit of the present invention;

[0045] Fig.18 It is a structural schematic diagram of the mud baffle unit of the present invention;

[0046] Fig.19 It is a structural schematic diagram of a vibrating ruler unit of the present invention;

[0047] Fig. 20 It is a structural schematic diagram of the running wheel part of the present invention;

[0048] Fig.21 It is a structural schematic diagram of the front running wheel unit of the present invention;

[0049] Fig. 22 It is a structural schematic diagram of the front travel wheel motor of the present invention;

[0050] Fig.23 It is a structural schematic diagram of the left travel wheel unit of the present invention;

[0051] Fig.24 It is a schematic structural diagram of the right walking wheel unit of the present invention.

[0052] Description of reference numerals:

[0053] 1000-mud vibrating part;

[0054] 1100-suspension frame part;

[0055] 1200- Mud vibrator motor unit;

[0056] 1210 - lateral motor unit;

[0057] 1220 - longitudinal motor unit;

[0058] 1300-electric hoist unit;

[0059] 1310-electric hoist a;

[0060] 1320-electric trolley a;

[0061] 1330-electric hoist slide rail a;

[0062] 1340-electric hoist b;

[0063] 1350-electric trolley b;

[0064] 1360-electric hoist slide rail b;

[0065] 1400- Mud vibrator;

[0066] 2000-mud leveling part;

[0067] 2100- horizontal frame unit;

[0068] 2110- telescopic screw a;

[0069] 2120- telescopic motor a;

[0070] 2130- horizontal frame;

[0071] 2200-longitudinal frame unit;

[0072] 2210- telescopic screw b;

[0073] 2220- telescopic motor b;

[0074] 2230-longitudinal frame;

[0075] 2300-mud smear plate unit;

[0076] 2310-mud plaster a;

[0077] 2311- Steering motor a;

[0078] 2312-steering wheel a;

[0079] 2313- articulated seat a;

[0080] 2314- articulated seat motor a;

[0081] 2315-wipe plate a;

[0082] 2320-mud smear plate b;

[0083] 2321-steering motor b;

[0084] 2322-steering wheel b;

[0085] 2323- articulated seat b;

[0086] 2324- articulated seat motor b;

[0087] 2325-wipe plate b;

[0088] 2330-mud smear plate c;

[0089] 2331-wipe plate c;

[0090] 3000-mud bulldozing and vibration part;

[0091] 3100-Push plate unit;

[0092] 3110-push plate;

[0093] 3120-mud bulldozing and vibration hydraulic cylinder;

[0094] 3121-Baffle hydraulic cylinder;

[0095] 3122- Height adjustment hydraulic cylinder;

[0096] 3130-mud baffle unit;

[0097] 3131-mud baffle;

[0098] 3132-front articulated seat;

[0099] 3133-rear hinge seat;

[0100] 3134-Baffle slide rail;

[0101] 3200-vibration ruler unit;

[0102] 3210-Vibration ruler motor;

[0103] 3220-vibration ruler;

[0104] 3230-vibration ruler stand;

[0105] 3240-Vibration ruler motor frame;

[0106] 4000-Travel wheel part;

[0107] 4100-Front travel wheel unit;

[0108] 4110-Front running wheels;

[0109] 4120-Front travel wheel motor;

[0110] 4200-left travel wheel unit;

[0111] 4210-left walking wheel;

[0112] 4220-Left travel wheel motor;

[0113] 4230-left walking wheel power motor;

[0114] 4300-right travel wheel unit;

[0115] 4310-right walking wheel;

[0116] 4320-right walking wheel motor;

[0117] 4330-Right walking wheel power motor. DETAILED DESCRIPTION

[0118] Next, combine Figures 1 to 24 The present invention introduces in detail a robot for intelligent leveling, trowelling and polishing of concrete floors and a method for using the robot.

[0119] Depend on Figure 1 As shown, the integrated robot for intelligent leveling, troweling and polishing of concrete floor of the present invention is divided into a mud vibrating part 1000, a mud leveling part 2000, a mud leveling and vibration part 3000 and a walking wheel part 4000. The mud vibrating part 1000 can vibrate the mud just laid, so as to reduce the bubbles in the mud. The mud leveling part 2000 can level the concrete formed after slightly drying, so that the concrete surface is smoother. The mud leveling and vibration part 3000 can level the mud when the mud is just laid, so that the mud is evenly spread on the ground, and can also be used in conjunction with the mud leveling part 2000. After the mud is slightly dried to become concrete, it is first leveled and then vibrated to compact the concrete. The walking wheel part 4000 can facilitate the construction personnel to carry and move the device.

[0120] like Figure 2 As shown, the mud vibrating part 1000 includes a suspension frame part 1100, a mud vibrating motor unit 1200, an electric hoist unit 1300 and a mud vibrator 1400. The logical relationship of the above components is described in detail below:

[0121] The bottom cross bar of the suspension frame part 1100 is fixed to the upper surface of the longitudinal frame body 2230 by bolts, and can provide a frame for suspension of the electric hoist unit 1300. The mud vibration electric motor unit 1200 includes a transverse motor unit 1210 and a longitudinal motor unit 1220. The transverse motor unit 1210 is fixed to the two ends of the top front rod of the suspension frame part 1100 by bolts and is connected to the lead screw. The rotation of the transverse motor unit 1210 can drive the lead screw to rotate. The lead screw passes through the threaded holes at both ends of the electric hoist slide rail a1330 and the electric hoist slide rail b1360, so the rotating lead screw can drive the electric hoist slide rail a1330 and the electric hoist slide rail b1360 to move horizontally, thereby controlling the horizontal movement of the electric hoist unit 1300; the longitudinal motor unit 1220 is fixed to the outer side of the electric trolley a1320 and the electric trolley b1350 at the top of the electric hoist unit 1300 by bolts, and can control the rotation of the pulley to drive the electric hoist unit 1300 to move longitudinally along the electric hoist slide rail a1330 and the electric hoist slide rail b1360.

[0122] The electric hoist unit 1300 includes an electric hoist a1310 and an electric hoist b1340. Since the electric hoist a1310 and the electric hoist b1340 have the same structure, the same function, and the same connection method, only the electric hoist a1310 will be described, and the electric hoist b1340 will not be described in detail. The electric trolley a1320 on the top of the electric hoist a1310 can be attached to the electric hoist slide rail a1330 (longitudinal slide rail), and the movement of the electric trolley a1320 can drive the longitudinal movement of the electric hoist a1310. Correspondingly, the electric trolley b1350 on the top of the electric hoist b1340 can be attached to the electric hoist slide rail b1360 (longitudinal slide rail), and the movement of the electric trolley b1350 can drive the longitudinal movement of the electric hoist b1340. The vibrator of the mud vibrator 1400 is suspended by the steel wire of the electric hoist unit 1300, and the vibrator can be controlled to rise and fall.

[0123] like Figure 7 As shown, the mud leveling part 2000 includes a horizontal frame unit 2100, a longitudinal frame unit 2200 and a mud wiping plate unit 2300. The logical relationship between the above components is described in detail below:

[0124] The transverse frame unit 2100 includes a telescopic screw a2110, a telescopic motor a2120 and a transverse frame 2130. One end of the telescopic screw a2110 is connected to the rotating shaft of the telescopic motor a2120. The longitudinal frame unit 2200 is provided with a threaded hole threadedly connected to the telescopic screw a2110, so that the telescopic screw a2110 can be screwed in and out from the interior of the longitudinal frame unit 2200, so that the distance between the transverse frame unit 2100 and the longitudinal frame unit 2200 can be adjusted, so that the entire device can be more flexible when working. The telescopic motor a2120 is fixed in the square groove in front of the transverse frame unit 2100 by bolts. The transverse frame 2130 is used to connect the mud wiper unit 2300, the longitudinal frame unit 2200 and the front walking wheel unit 4100.

[0125] The longitudinal frame unit 2200 includes a telescopic screw rod b2210, a telescopic motor b2220 and a longitudinal frame 2230. One end of the telescopic screw rod b2210 is connected to the rotating shaft of the telescopic motor b2220. The interior of the longitudinal frame unit 2200 is provided with a threaded hole threadedly connected to the telescopic screw rod b2210, so that the telescopic screw rod b2210 can be screwed in and out from the interior of the longitudinal frame unit 2200, so that the distance between the mud leveling and the vibration part 3000 and the longitudinal frame unit 2200 can be adjusted, so that the entire device can be more flexible when working. The telescopic motor b2220 is fixed in the square groove behind the vibration scale frame 3230 by bolts. The longitudinal frame 2230 is connected to the transverse frame unit 2100 and the vibration scale frame 3230 respectively by screws.

[0126] like Figure 10-Figure 14As shown, the mud wiping plate unit 2300 includes a mud wiping plate a2310, a mud wiping plate b2320 and a mud wiping plate c2330. The mud wiping plate a2310 includes a steering motor a2311, a steering wheel a2312, an articulated seat a2313, an articulated seat motor a2314 and a wiping plate a2315. The steering motor a2311 is fixed to the upper surface of the transverse frame 2130 by bolts. One side of the steering wheel a2312 is connected to the output shaft of the steering motor a2311 and is located on the lower surface of the transverse frame 2130, and the other side thereof is connected to the articulated seat a2313 by bolts, and the steering wheel a2312 can rotate under the control of the steering motor a2311. One end of the articulated seat a2313 is connected to the lower surface of the steering wheel a2312 by bolts. The articulated seat motor a2314 is fixed to both sides of the articulated seat a2313 by bolts, and the articulated seat motor a2314 can control the rotation of the articulated seat a2313 to adjust the tilt angle of the wiper plate a2315. The articulated seat a2313 includes an inner plate and an outer plate that are rotatably connected to each other, the inner plate is connected to the steering wheel a2312, and the outer plate is connected to the wiper plate a2315. The front end of the rotating shaft of the articulated seat motor a2314 can be stuck in the card slot of the inner plate of the articulated seat a2313. Since the articulated seat motor a2314 is fixed to the outer surface of the outer plate of the articulated seat a2313 by bolts, when the articulated seat motor a2314 rotates, the inner plate and the outer plate of the articulated seat a2313 will also rotate relative to each other. The top of the wiper plate a2315 is connected to the lower end surface of the outer plate of the hinge seat a2313 by bolts, and the rotation of the inner plate and the outer plate of the hinge seat a2313 can adjust the tilt angle of the wiper plate a2315. The mud wiper plate b2320 includes a steering motor b2321, a steering wheel b2322, an hinge seat b2323, an hinge seat motor b2324 and a wiper plate b2325. Since the mud wiper plate b2320 has the same structure, function and connection method as the mud wiper plate a2310, only the mud wiper plate a2310 is described in detail, and the mud wiper plate b2320 is not repeated. The mud wiper plate c2330 includes a wiper plate c2331. The top of the wiper plate c2331 is fixed to the lower surface of the column below the longitudinal frame 2230 by bolts, and the mud can be smoothed.

[0127] like Fig.15 As shown, the mud leveling and vibration part 3000 is installed in front of the mud leveling part 2000, which includes a push plate unit 3100 and a vibration ruler unit 3200. The logical relationship of the above components is described in detail below:

[0128] The push plate unit 3100 includes a push plate 3110, a mud push and vibration hydraulic cylinder 3120 and a mud baffle unit 3130. One end of the push plate 3110 is a plurality of rings, which can be sleeved on a cylinder extending from the surface of the vibration ruler 3220 so as to rotate around the cylinder. The mud push and vibration hydraulic cylinder 3120 includes a baffle hydraulic cylinder 3121 and a height adjustment hydraulic cylinder 3122. One end of the baffle hydraulic cylinder 3121 is fixed to the upper surface of the vibration ruler 3220 by bolts, and the other end thereof is connected to an articulated seat, which is fixed to the back of the push plate 3110 by bolts. The extension and retraction of the baffle hydraulic cylinder 3121 can control the opening and closing of the push plate 3110, thereby adjusting the angle formed by the two push plates 3110. The height adjustment hydraulic cylinder 3122 is fixed to the two side surfaces of the vibration ruler frame 3230 by bolts, and the movable end of the height adjustment hydraulic cylinder 3122 is fixed to the two sides of the vibration ruler motor frame 3240 by bolts. The extension and retraction of the height adjustment hydraulic cylinder 3122 can adjust the height of the vibration ruler 3220 from the ground.

[0129] like Fig.18 As shown, the mud baffle unit 3130 includes a mud baffle 3131, a front hinge seat 3132, a rear hinge seat 3133 and a baffle slide rail 3134. Both ends of the mud baffle 3131 are hinge seats. The front hinge seat 3132 at one end is fixed to the surface of both ends of the vibration ruler 3220 by bolts, and the rear hinge seat 3133 at the other end is clamped on the slideway of the baffle slide rail 3134, so that the rear hinge seat 3133 can move back and forth along the baffle slide rail 3134. The mud baffle 3131 can prevent mud from pouring into the vibration ruler 3220. The front hinge seat 3132 is fixed to one end of the mud baffle 3131 by bolts. The rear hinge seat 3133 is fixed to the other end of the mud baffle 3131 by bolts. The baffle slide rail 3134 is fixed to the back side of the push plate 3110 by bolts, so that the rear hinge seat 3133 can move back and forth along the baffle slide rail 3134.

[0130] like Fig.19 As shown, the vibration ruler unit 3200 includes a vibration ruler motor 3210, a vibration ruler 3220, a vibration ruler frame 3230 and a vibration ruler motor frame 3240. The vibration ruler motor 3210 is fixed to the vibration ruler frame 3230 by bolts. The vibration ruler 3220 is fixed below the vibration ruler motor frame 3240 by bolts. The vibration ruler frame 3230 is connected to the longitudinal frame 2230 by screws. The vibration ruler motor frame 3240 is connected to the movable end of the height adjustment hydraulic cylinder 3122 by bolts, so that the height adjustment hydraulic cylinder 3122 can adjust the height of the vibration ruler motor frame 3240. Since the vibration ruler motor frame 3240 is connected to the vibration ruler 3220 by bolts, the height adjustment hydraulic cylinder 3122 can also adjust the height of the vibration ruler 3220.

[0131] like Fig. 20As shown, the running wheel part 4000 includes a front running wheel unit 4100, a left running wheel unit 4200 and a right running wheel unit 4300. The logical relationship between the above components is described in detail below:

[0132] The front travel wheel unit 4100 includes a front travel wheel 4110 and a front travel wheel motor 4120. The left and right arms of the front travel wheel 4110 are connected to the two sides of the column in front of the transverse frame 2130. The front travel wheel motor 4120 is fixed to the connection between the front travel wheel 4110 and the column in front of the transverse frame 2130 by bolts, so that the front travel wheel motor 4120 can control the front travel wheel 4110 to rotate around the connection between the front travel wheel 4110 and the column in front of the transverse frame 2130. When the front travel wheel 4110 is required to drive the entire device to move, the front travel wheel motor 4120 can control the front travel wheel 4110 to rotate downward so that the front travel wheel 4110 contacts the ground. When the front travel wheel 4110 is not required to drive the entire device to move, the front travel wheel motor 4120 can control the front travel wheel 4110 to rotate upward so that the front travel wheel 4110 is separated from the ground. Since the front end of the rotating shaft of the front travel wheel motor 4120 is a key structure, it can be stuck in the slot of the column in front of the horizontal frame 2130, and the front travel wheel motor 4120 is fixed to the left and right arms of the front travel wheel 4110. When the front travel wheel motor 4120 rotates, the front travel wheel 4110 can be controlled to rotate around the connection with the horizontal frame 2130, thereby controlling the front travel wheel 4110 to separate from the ground.

[0133] like Fig.23 and Fig.24 As shown, the left walking wheel unit 4200 includes a left walking wheel 4210, a left walking wheel motor 4220 and a left walking wheel power motor 4230. The left and right arms of the left walking wheel unit 4200 are connected to the two sides of the column on the left side of the longitudinal frame 2230. The left walking wheel power motor 4230 is fixed to the inner side of the left walking wheel 4210 by bolts and can provide power for the advancement of the device. In addition, the left walking wheel unit 4200 is similar in structure to the front walking wheel unit 4100, has similar functions, and is also connected in a similar manner, so the left walking wheel unit 4200 is not repeated. The inner side of the front walking wheel 4110 is also provided with a front walking wheel power motor that provides power to the front walking wheel 4110. The right walking wheel unit 4300 includes a right walking wheel 4310, a right walking wheel motor 4320 and a right walking wheel power motor 4330. The left and right arms of the right walking wheel unit 4300 are connected to both sides of the column on the right side of the longitudinal frame 2230. Apart from this, the right walking wheel unit 4300 has the same structure, function and connection method as the left walking wheel unit 4200, so the right walking wheel unit 4300 will not be described in detail.

[0134] Accordingly, the present invention also provides a method for using the integrated robot for intelligent leveling, trowelling and polishing of concrete floors, comprising the following steps:

[0135] S1. In the process of transporting the device to the construction site, the front travel wheel motor 4120, the left travel wheel motor 4220 and the right travel wheel motor 4320 rotate to respectively lower the front travel wheel 4110, the left travel wheel 4210 and the right travel wheel 4310 to the ground so that the travel wheel part 4000 can drive the entire device to move to the place where cement laying is required.

[0136] S2. After arriving at the cement paving ground, firstly, the mud needs to be poured onto the ground, and then the mud leveling process is started. When the mud is leveled, the mud leveling and the vibrating part 3000 face forward, and then the height adjustment hydraulic cylinder 3122 adjusts the ground height of the vibration ruler 3220 so that the vibration ruler 3220 just contacts the ground, and then the baffle hydraulic cylinder 3121 adjusts the angle of the push plate 3110 according to the amount of mud. If the amount of mud is large, the angle of the push plate 3110 is reduced, thereby reducing the resistance of the mud to the device, so that the device can be smoother when leveling the mud. If the amount of mud is small, the angle of the push plate 3110 is increased, thereby increasing the leveling area of ​​the device, so that the device can be more efficient when leveling the mud. Then the mud leveling work can be carried out.

[0137] S3. During the process of leveling the mud, the electric hoist unit 1300 lowers the steel wire rope downward, so that the vibrating rod of the mud vibrator 1400 is inserted into the mud to vibrate the mud, thereby eliminating bubbles therein and making the concrete densely combined.

[0138] S4, after the mud is slightly dried to form concrete, the process of smoothing the concrete will be carried out. When smoothing, the three running wheels of the running wheel part 4000 rise upward away from the ground so that the mud wiping disc unit 2300 directly contacts the ground, and the wiping disc a2315, the wiping disc b2325 and the wiping disc c2331 are started, so that the trowels below the wiping disc a2315, the wiping disc b2325 and the wiping disc c2331 can smooth the concrete. When the wiping disc a2315, the wiping disc b2325 and the wiping disc c2331 rotate, they not only play the role of grinding and smoothing, but also can generate a certain propulsion force, which can make the device move on the flat concrete surface. The operator can change the direction of travel of the device by adjusting the inclination angle of the wiping disc. During operation, tilting one side of the wiping disc a2315 or the wiping disc b2325 will cause the device to move to this side, thereby realizing the change of direction.

[0139] S5. At the same time, it is necessary to control the extension and retraction of the height adjustment hydraulic cylinder 3122 so that the vibration ruler 3220 is in direct contact with the ground, turn on the vibration ruler motor 3210, and drive the vibration ruler 3220 to vibrate, so as to compact the concrete and ensure the flatness of the concrete surface.

[0140] S6. If it is necessary to smooth non-horizontal surfaces such as walls, it is necessary to first adjust the front running wheel 4110, the left running wheel 4210 and the right running wheel 4310 so that the three running wheels are in contact with the ground, thereby separating the wiping plate a2315, the wiping plate b2325 and the wiping plate c2331 from the ground, and then adjust the articulated seat motor a2314 and the articulated seat motor b2324 to make the articulated seat a2313 and the articulated seat b2323 rotate so that the angle between the wiping plate a2315 and the wiping plate b2325 and the ground can be adjusted, and then adjust the steering motor a2311 and the steering motor b2321 to drive the wiping plate a2315 and the wiping plate b2325 to rotate, so that the direction of the bottom of the wiping plate can be adjusted to realize the universalization of the wiping plate a2315 and the wiping plate b2325.

[0141] S7. After the concrete is completely dry, the concrete can be polished. It is only necessary to replace the spatulas of the wiper plates a2315, b2325 and c2331 with concrete polishing knives. Since the friction force on the concrete surface is relatively large at this time, the front running wheel 4110, the left running wheel 4210 and the right running wheel 4310 need to be lowered so that the three running wheels just touch the ground and will not affect the polishing of the concrete by the wiper plates a2315, b2325 and c2331. In this way, the device can be driven to move by the front running wheel 4110, the left running wheel 4210 and the right running wheel 4310.

[0142] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A robot for intelligent leveling, troweling and polishing of concrete floor, characterized in that: include: The mud leveling part (2000) includes a transverse frame unit (2100), a longitudinal frame unit (2200) and a mud smear plate unit (2300), and is used to level the concrete formed after being slightly dried, so that the concrete surface is smoother; A mud vibrating part (1000) is installed above the mud leveling part (2000) and is used to vibrate the newly laid mud to reduce bubbles in the mud; The mud leveling and vibrating part (3000) is installed in front of the mud leveling part (2000) and is used to level the mud when it is just laid so that the mud is evenly spread on the ground. It is also used in conjunction with the mud leveling part (2000). After the mud is slightly dried and becomes concrete, it is first leveled and then vibrated to compact the concrete. The mud leveling and vibrating part (3000) includes a push plate unit (3100) and a vibrating ruler unit (3200). The push plate unit (3100) includes a push plate (3110), a mud leveling and vibrating hydraulic cylinder (3120) and a mud baffle unit (3130). The vibrating ruler unit (3200) includes a vibrating ruler motor (3210), a vibrating ruler (3220), a vibrating ruler frame (3230) and a vibrating ruler motor frame (3240). The walking wheel part (4000) is installed on the mud leveling part (2000) and is used by construction workers to carry and move the device.

2. The intelligent flattening, troweling and polishing integrated robot for concrete floor according to claim 1 is characterized in that: The transverse frame unit (2100) comprises a telescopic screw rod a (2110), a telescopic motor a (2120) and a transverse frame (2130), one end of the telescopic screw rod a (2110) is connected to the rotating shaft of the telescopic motor a (2120), and the interior of the longitudinal frame unit (2200) is provided with a threaded hole threadedly connected to the telescopic screw rod a (2110), so that the telescopic screw rod a (2110) can be screwed in and out from the interior of the longitudinal frame unit (2200), so that the distance between the transverse frame unit (2100) and the longitudinal frame unit (2200) can be adjusted; the telescopic motor a (2120) is fixed in a square groove in front of the transverse frame unit (2100) by bolts, and the transverse frame (2130) is used to connect the mud wiper unit (2300) and the longitudinal frame unit (2200).

3. The intelligent flattening, troweling and polishing integrated robot for concrete floor according to claim 2 is characterized in that: The longitudinal frame unit (2200) comprises a telescopic screw rod b (2210), a telescopic motor b (2220) and a longitudinal frame (2230); one end of the telescopic screw rod b (2210) is connected to the rotating shaft of the telescopic motor b (2220); a threaded hole threadedly connected to the telescopic screw rod b (2210) is provided inside the longitudinal frame unit (2200), so that the telescopic screw rod b (2210) can be screwed in and out from the inside of the longitudinal frame unit (2200), so that the distance between the mud leveling and vibration part (3000) and the longitudinal frame unit (2200) can be adjusted; the telescopic motor b (2220) is fixed in a square groove behind the vibration scale frame (3230) by bolts, and the longitudinal frame (2230) is respectively connected to the transverse frame unit (2100) and the vibration scale frame (3230) by screws.

4. The intelligent flattening, troweling and polishing integrated robot for concrete floor according to claim 3 is characterized in that: The mud wiping plate unit (2300) comprises a mud wiping plate a (2310), a mud wiping plate b (2320) and a mud wiping plate c (2330); the mud wiping plate a (2310) comprises a steering motor a (2311), a steering wheel a (2312), an articulated seat a (2313), an articulated seat motor a (2314) and a wiping plate a (2315); the steering motor a (2311) is fixed to the upper surface of the transverse frame (2130) by bolts; one side of the steering wheel a (2312) is connected to the output shaft of the steering motor a (2311) and is located on the lower surface of the transverse frame (2130); the other side of the steering wheel a (2312) is connected to the articulated seat a (2313) by bolts; the steering wheel a (2312) can rotate under the control of the steering motor a (2311); One end of the articulated seat a (2313) is connected to the lower surface of the steering wheel a (2312) by bolts, and the articulated seat motor a (2314) is fixed to both sides of the articulated seat a (2313) by bolts. The articulated seat motor a (2314) can control the rotation of the articulated seat a (2313) to adjust the inclination angle of the wiper plate a (2315); the articulated seat a (2313) includes an inner plate and an outer plate that are rotatably connected to each other, the inner plate is connected to the steering wheel a (2312), and the outer plate is connected to the wiper plate a (2315). The front end of the rotating shaft of the machine a (2314) is stuck in the slot of the inner plate of the hinge seat a (2313), and the hinge seat motor a (2314) is fixed to the outer surface of the outer plate of the hinge seat a (2313) by bolts. When the hinge seat motor a (2314) rotates, the inner plate and the outer plate of the hinge seat a (2313) will also rotate relative to each other; the top of the wipe plate a (2315) is connected to the lower end surface of the outer plate of the hinge seat a (2313) by bolts, and the rotation of the inner plate and the outer plate of the hinge seat a (2313) can adjust the inclination angle of the wipe plate a (2315); The mud smear plate b (2320) includes a steering motor b (2321), a steering wheel b (2322), an articulated seat b (2323), an articulated seat motor b (2324) and a smear plate b (2325), and the mud smear plate b (2320) has the same structure as the mud smear plate a (2310); the mud smear plate c (2330) includes a smear plate c (2331), and the top end of the smear plate c (2331) is fixed to the lower surface of the column below the longitudinal frame (2230) by bolts for smoothing the mud.

5. The intelligent flattening, troweling and polishing integrated robot for concrete floor according to claim 4 is characterized in that: One end of the push plate (3110) is a plurality of circular rings, which are sleeved on a cylinder extending from the surface of the vibration ruler (3220) so as to be able to rotate around the cylinder; the mud leveling and vibration hydraulic cylinder (3120) comprises a baffle hydraulic cylinder (3121) and a height adjustment hydraulic cylinder (3122); one end of the baffle hydraulic cylinder (3121) is fixed to the upper surface of the vibration ruler (3220) by bolts, and the other end thereof is connected to an articulated seat, which is fixed to the back of the push plate (3110) by bolts; the extension and retraction of the baffle hydraulic cylinder (3121) can control the opening and closing of the push plate (3110), thereby adjusting the angle formed by the two push plates (3110); The height adjustment hydraulic cylinder (3122) is fixed to the two side surfaces of the vibration ruler frame (3230) by bolts, and the movable end of the height adjustment hydraulic cylinder (3122) is fixed to the two sides of the vibration ruler motor frame (3240) by bolts. The extension and retraction of the height adjustment hydraulic cylinder (3122) can adjust the height of the vibration ruler (3220) from the ground.

6. The intelligent flattening, troweling and polishing integrated robot for concrete floor according to claim 5 is characterized in that: The mud baffle unit (3130) comprises a mud baffle (3131), a front hinged seat (3132), a rear hinged seat (3133) and a baffle slide rail (3134), both ends of the mud baffle (3131) are hinged seats, the front hinged seat (3132) at one end is fixed to the surface of the two ends of the vibration ruler (3220) by bolts, and the rear hinged seat (3133) at the other end is clamped on the slideway of the baffle slide rail (3134), so that the rear hinged seat (3133) can move back and forth along the baffle slide rail (3134); The mud baffle (3131) is used to prevent mud from pouring into the vibrating ruler (3220); the front hinge seat (3132) is fixed to one end of the mud baffle (3131) by bolts, and the rear hinge seat (3133) is fixed to the other end of the mud baffle (3131) by bolts; the baffle slide rail (3134) is fixed to the back side of the push plate (3110) by bolts, so that the rear hinge seat (3133) can move back and forth along the baffle slide rail (3134).

7. The intelligent flattening, troweling and polishing integrated robot for concrete floor according to claim 6 is characterized in that: The vibration ruler motor (3210) is fixed to the vibration ruler frame (3230) by bolts, the vibration ruler (3220) is fixed below the vibration ruler motor frame (3240) by bolts, the vibration ruler frame (3230) is connected to the longitudinal frame (2230) by screws, the vibration ruler motor frame (3240) is connected to the movable end of the height adjustment hydraulic cylinder (3122) by bolts, so that the height adjustment hydraulic cylinder (3122) can adjust the height of the vibration ruler motor frame (3240), the vibration ruler motor frame (3240) is connected to the vibration ruler (3220) by bolts, and the height adjustment hydraulic cylinder (3122) is also used to adjust the height of the vibration ruler (3220).

8. The intelligent flattening, troweling and polishing integrated robot for concrete floor according to claim 7 is characterized in that: The mud vibrating part (1000) comprises a suspension frame part (1100), a mud vibrating motor unit (1200), an electric hoist unit (1300) and a mud vibrator (1400); The bottom cross bar of the suspension frame part (1100) is fixed to the upper surface of the longitudinal frame body (2230) by bolts, providing a frame for the electric hoist unit (1300) to be suspended; the mud vibration electric motor unit (1200) comprises a transverse motor unit (1210) and a longitudinal motor unit (1220); the transverse motor unit (1210) is fixed to the two ends of the top front rod of the suspension frame part (1100) by bolts, and is connected to the lead screw; the rotation of the transverse motor unit (1210) can drive the lead screw to rotate, and the lead screw passes through the electric hoist slide rail a (1330) and the electric hoist. The threaded holes at both ends of the electric hoist rail b (1360) can be rotated to drive the electric hoist rail a (1330) and the electric hoist rail b (1360) to move horizontally, thereby controlling the horizontal movement of the electric hoist unit (1300); the longitudinal motor unit (1220) is fixed to the outer sides of the electric trolley a (1320) and the electric trolley b (1350) on the top of the electric hoist unit (1300) by bolts, and can control the rotation of the pulley to drive the electric hoist unit (1300) to move longitudinally along the electric hoist rail a (1330) and the electric hoist rail b (1360); The electric hoist unit (1300) comprises an electric hoist a (1310) and an electric hoist b (1340), wherein the electric hoist a (1310) and the electric hoist b (1340) have the same structure; an electric trolley a (1320) on the top of the electric hoist a (1310) is attached to the electric hoist slide rail a (1330), and the movement of the electric trolley a (1320) can drive the longitudinal movement of the electric hoist a (1310); correspondingly, an electric trolley b (1350) on the top of the electric hoist b (1340) is attached to the electric hoist slide rail b (1360), and the movement of the electric trolley b (1350) can drive the longitudinal movement of the electric hoist b (1340); The vibrator of the mud vibrator (1400) is suspended by the steel wire of the electric hoist unit (1300), and the vibrator can be controlled to rise and fall.

9. The intelligent flattening, troweling and polishing integrated robot for concrete floor according to claim 8 is characterized in that: The walking wheel part (4000) comprises a front walking wheel unit (4100), a left walking wheel unit (4200) and a right walking wheel unit (4300); The front travel wheel unit (4100) comprises a front travel wheel (4110) and a front travel wheel motor (4120), the left and right arms of the front travel wheel (4110) being connected to the two sides of the column in front of the transverse frame (2130), and the front travel wheel motor (4120) being fixed to the connection between the front travel wheel (4110) and the column in front of the transverse frame (2130) by bolts, so that the front travel wheel motor (4120) can control the front travel wheel (4110) to rotate around the front travel wheel ( The front wheel (4110) rotates at the connection point with the column in front of the horizontal frame (2130). When the front wheel (4110) is needed to drive the entire device to move, the front wheel motor (4120) controls the front wheel (4110) to rotate downward so that the front wheel (4110) contacts the ground. When the front wheel (4110) is not needed to drive the entire device to move, the front wheel motor (4120) controls the front wheel (4110) to rotate upward so that the front wheel (4110) is separated from the ground. The front end of the rotating shaft of the front running wheel motor (4120) is a key structure, which is stuck in the slot of the column in front of the transverse frame (2130). The front running wheel motor (4120) is fixed on the left and right arms of the front running wheel (4110). When the front running wheel motor (4120) rotates, the front running wheel (4110) can be controlled to rotate around the connection with the transverse frame (2130), thereby controlling the front running wheel (4110) to separate from the ground; The left walking wheel unit (4200) comprises a left walking wheel (4210), a left walking wheel motor (4220) and a left walking wheel power motor (4230); the left and right arms of the left walking wheel unit (4200) are connected to the two sides of the column on the left side of the longitudinal frame (2230); the left walking wheel power motor (4230) is fixed to the inner side of the left walking wheel (4210) by bolts to provide power for the forward movement of the device; the left walking wheel unit (4200) is similar in structure to the front walking wheel unit (4100); the inner side of the front walking wheel (4110) is also provided with a front walking wheel power motor that provides power to the front walking wheel (4110); The right walking wheel unit (4300) comprises a right walking wheel (4310), a right walking wheel motor (4320) and a right walking wheel power motor (4330); the left and right arms of the right walking wheel unit (4300) are connected to the two sides of the column on the right side of the longitudinal frame (2230); the right walking wheel unit (4300) has the same structure as the left walking wheel unit (4200).

10. A method for using the intelligent flattening, troweling and polishing integrated robot for concrete flooring as claimed in claim 9, characterized in that: The steps are: S1. When transporting the device to the construction site, the front travel wheel motor (4120), the left travel wheel motor (4220) and the right travel wheel motor (4320) rotate to respectively lower the front travel wheel (4110), the left travel wheel (4210) and the right travel wheel (4310) to the ground, so that the travel wheel part (4000) drives the device as a whole to move to the place where cement needs to be laid; S2. After arriving at the cement paving site, the mud needs to be poured onto the ground first, and then the mud leveling process is started; when the mud is leveled, the mud leveling and vibrating parts (3000) face forward, and then the height adjustment hydraulic cylinder (3122) adjusts the ground height of the vibrating ruler (3220) so that the vibrating ruler (3220) just contacts the ground, and then the baffle hydraulic cylinder (3121) adjusts the angle of the push plate (3110) according to the amount of mud. If the amount of mud is large, the angle of the push plate (3110) is reduced, thereby reducing the resistance of the mud to the device, so that the device can level the mud more smoothly; if the amount of mud is small, the angle of the push plate (3110) is increased, thereby increasing the leveling area of ​​the device, so that the device can level the mud more efficiently, and then the mud leveling work can be carried out; S3. During the process of leveling the mud, the electric hoist unit (1300) lowers the steel wire rope downward, so that the vibrating rod of the mud vibrator (1400) is inserted into the mud to vibrate the mud, thereby removing bubbles therein and making the concrete densely combined; S4, after the mud is slightly dried to form concrete, the concrete is smoothed. During smoothing, the three running wheels of the running wheel part (4000) are lifted up away from the ground so that the mud smear plate unit (2300) is in direct contact with the ground, and the smear plate a (2315), the smear plate b (2325) and the smear plate c (2331) are started, so that the trowels under the smear plate a (2315), the smear plate b (2325) and the smear plate c (2331) can smooth the concrete; when the smear plate a (2315), the smear plate b (2325) and the smear plate c (2331) rotate, a propulsion force can be generated to move the device on the flat concrete surface, and the operator can change the direction of the device by adjusting the tilt angle of the smear plate; during operation, tilting one side of the smear plate a (2315) or the smear plate b (2325) will cause the device to move to this side, thereby achieving a change of direction; S5. It is necessary to control the extension and retraction of the height adjustment hydraulic cylinder (3122) so that the vibration ruler (3220) is in direct contact with the ground, and turn on the vibration ruler motor (3210) to drive the vibration ruler (3220) to vibrate, thereby compacting the concrete and ensuring the flatness of the concrete surface; S6. If it is necessary to smooth the non-horizontal surface of the wall, first adjust the front running wheel (4110), the left running wheel (4210) and the right running wheel (4310) so that the three running wheels are in contact with the ground, so that the wiping plate a (2315), the wiping plate b (2325) and the wiping plate c (2331) are separated from the ground, and then adjust the articulated seat motor a (2314) and the articulated seat motor b (2324) so ​​that the articulated seat a (2313) and the articulated seat b (2323) rotate so that the angle between the wiping plate a (2315) and the wiping plate b (2325) and the ground can be adjusted, and then adjust the steering motor a (2311) and the steering motor b (2321) to drive the wiping plate a (2315) and the wiping plate b (2325) to rotate, so that the direction of the bottom of the wiping plate can be adjusted, and the wiping plate a (2315) and the wiping plate b (2325) can be universalized; S7. After the concrete is completely dry, the concrete can be polished by replacing the trowels of the trowel plate a (2315), the trowel plate b (2325) and the trowel plate c (2331) with concrete polishing knives; the front walking wheel (4110), the left walking wheel (4210) and the right walking wheel (4310) are lowered so that the three walking wheels just touch the ground and do not affect the polishing of the concrete by the trowel plate a (2315), the trowel plate b (2325) and the trowel plate c (2331), and the front walking wheel (4110), the left walking wheel (4210) and the right walking wheel (4310) are used to drive the device to move.

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