A crawler stone paving robot with level correction

Abstract

The present invention discloses a crawler-type stone paving robot with level correction, comprising a vehicle body, crawler chassis are respectively arranged on both sides of the bottom of the vehicle body, and the crawler chassis is driven by an engine; the vehicle body comprises a vehicle head and a loading platform arranged at the rear of the vehicle head; a crank arm crane mechanism is arranged above the vehicle head, and an intelligent lifter is installed on the crank arm crane mechanism, and a stone grabbing device is connected to the lower end of the control handle of the intelligent lifter; a guide rail and a fork-mounted mechanism moving forward and backward along the guide rail are arranged on the loading platform, and the fork-mounted mechanism comprises a fork mast, a fork frame, a fork and several groups of hydraulic cylinders; a level sensor is also arranged on the vehicle body, and hydraulic support legs are respectively arranged at the four corners of the vehicle body. The present invention saves labor and effort, is easy to operate and maintain, and also has the level correction function and the stone trimming function, can be used under the working condition with a slope, and can perform trimming processing on the stone, and has diversified functions.

Description

Technical Field

[0001] The invention relates to the technical field of stone paving equipment, in particular to a crawler-type stone paving robot with level correction function. Background Art

[0002] The paving of roadbed stones, pavement stones and curb stones is an important part of municipal engineering and plays a decisive role in the appearance of the entire city. However, the paving of stone pavement is a very heavy physical labor. As an outdoor project, the installation environment is relatively harsh and very complex. At present, both at home and abroad, manual handling and masonry are adopted. Workers can only move and pave manually by using ropes, steel wires, etc., which not only causes great harm to the workers' lumbar spine, palms and other parts, but also often causes damage to the edges of the stones such as cracks; at the same time, at some workstations, the stones may need to be cut to meet various paving requirements. Workers need to cut the stones manually, which consumes a lot of time and labor, and increases labor intensity.

[0003] This relatively primitive way of transporting and paving stones not only requires a large amount of labor, but also has a very high labor intensity and low labor efficiency. Workers also face various risks of work-related injuries. Usually, the maximum weight of a road stone is 25kg and the minimum is 15kg. With three people in a group, the daily paving area is only about 15 square meters. Since workers need to bend over frequently during the entire labor process, it is easy to cause lumbar muscle strain or even spinal injury. During the process of loading and aligning stones, it is also easy to injure fingers, and stones falling and injuring legs, feet or other torso parts. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a crawler stone paving robot with horizontal correction, which solves the problem that a large amount of manpower is required to transport, pave, cut stones and the risk of work-related injuries during traditional stone paving construction, saves labor and effort, and is easy to operate and maintain; at the same time, the present invention also has horizontal correction function and stone trimming function, can be used under various working conditions with slopes, and can perform stone trimming processing; the present invention can grab, transport and pave stones, and has various functions.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a crawler stone paving robot with horizontal correction, comprising a vehicle body, crawler chassis are respectively provided on both sides of the bottom of the vehicle body, and the crawler chassis is driven by an engine; the vehicle body comprises a vehicle head and a loading platform arranged at the rear of the vehicle head; a crank arm crane mechanism is provided above the vehicle head, and an intelligent lifter is installed on the crank arm crane mechanism, and a stone grabbing device is connected to the lower end of the control handle of the intelligent lifter; a guide rail and a fork-loading mechanism moving forward and backward along the guide rail are provided on the loading platform, and the fork-loading mechanism comprises a fork mast, a fork frame, a fork and several groups of hydraulic cylinders for driving the fork-loading mechanism; a horizontal sensor is also provided on the vehicle body, and hydraulic support legs are respectively provided at the four corners of the vehicle body; the horizontal sensor, the hydraulic support legs, the engine and several groups of hydraulic cylinders are all connected to a control device arranged on the vehicle body.

[0006] As a further improvement of the present invention: a stone trimming mechanism is also provided on both sides of the vehicle body, and the stone trimming mechanism includes a lifting frame, a cutting saw blade, and a cutting motor driving the cutting saw blade to rotate, and a slide rail is provided on the lifting frame, and the cutting motor moves forward and backward along the slide rail. Specifically, the lifting frame is driven by a lifting hydraulic cylinder, and the cutting motor is driven by a horizontal hydraulic cylinder to move forward and backward along the slide rail, and the lifting hydraulic cylinder, the horizontal hydraulic cylinder, and the cutting motor are all connected to a control device, and the control device can be externally connected to a power supply.

[0007] As a further improvement of the present invention: the crank arm lifting mechanism includes a column, a first crank arm and a second crank arm, the rear end of the first crank arm is rotatably connected to the top of the column, and a main unit of the intelligent lifter is installed, the front end of the first crank arm is hinged to the rear end of the second crank arm through a folding arm joint, and a spring signal line and a control handle of the intelligent lifter are sequentially arranged below the front end of the second crank arm, and the upper end of the control handle is connected to the main unit of the intelligent lifter through a steel wire rope via a pulley.

[0008] Furthermore, the column is a telescopic column, and a fourth hydraulic cylinder for driving the column to be telescopic is provided on one side of the column; the folding arm joint is provided with an electromagnetic brake; and the stone grabbing device is a vacuum suction cup or a clamp. The present invention can not only grab stones by vacuum suction cups, but also can be equipped with clamps to realize the grabbing of special-shaped stones as needed. In addition to stones such as roadbed stones, the equipment can also realize the functions of grabbing and transporting objects such as cement boards and green trees.

[0009] As a further improvement of the present invention: the fork mast comprises an inner fork mast and an outer fork mast, the outer fork mast is connected to a support via a second hydraulic cylinder, the outer fork mast and the support are fixedly mounted on a sliding base plate, a roller is provided at the bottom of the sliding base plate, the roller cooperates with the guide rail position; the sliding base plate is driven by the first hydraulic cylinder to move back and forth on the loading platform; one side of the inner fork mast is embedded in the outer fork mast through rollers, and is driven to rise and fall by a third hydraulic cylinder, a fork frame is provided on the other side of the inner fork mast, and a fork is hung on the fork frame.

[0010] As a further improvement of the present invention: the level sensor is an electronic level; the fork is an L-shaped fork; the control device is arranged at the front of the vehicle, and the control device includes a mechanical control panel and a wireless receiving device, and the wireless receiving device uses an infrared receiver. During the working process, the vehicle body can be controlled to move by mechanical control and wireless remote control. In the remote control mode, the operator can better observe the walking route and avoid obstacles, etc., which is suitable for transportation of various distances.

[0011] As a further improvement of the present invention: the crawler chassis comprises a driving wheel, a guide wheel, a track-supporting wheel and a crawler track, the driving wheel is connected to the engine via a rotating shaft, and the crawler track is a rubber crawler track. Specifically, the crawler track is made of nitrile rubber and fiber material.

[0012] Preferably, the vehicle body may also be provided with a dust removal device. Specifically, the dust removal device is a spray dust removal device. The spray dust removal device may be installed at the rear of the vehicle head facing the loading platform, or may be installed on both sides of the loading platform.

[0013] Preferably, the engine is a diesel engine.

[0014] Preferably, the engine is a drive motor, and the drive motor is connected to a battery in the vehicle body.

[0015] The present invention can adopt a diesel engine or a battery as a power source, and cooperate with a rubber crawler to realize functions such as moving forward, moving backward, and turning.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) The present invention has a level correction function and can be used in various working conditions with slopes. It uses a level sensor to sense whether the vehicle body is in a horizontal state, and through the hydraulic support legs at the four corners of the vehicle body, the vehicle body is automatically parallel to the horizontal ground, thereby ensuring the safety and comfort of work;

[0018] (2) The present invention also has a stone trimming function, which realizes the edge grinding and trimming of the stone through the stone trimming mechanism on both sides of the vehicle body, making the stone more regular and more automated;

[0019] (3) The present invention adopts a double-folding arm type intelligent lifting device, and an intelligent lifter is installed on the crank arm crane, which uses wire transmission to achieve the lifting, lifting and lowering of the stone. Only a small amount of effort is required from the workers to achieve the effect of lifting the stone, saving labor and effort, and avoiding injuries to the workers; the folding arm joint is provided with a brake device to ensure that there will be no shaking or swinging during the walking process; in addition, the column is designed to be liftable to minimize the height of the equipment, which is convenient for storage and transportation;

[0020] (4) The present invention adopts a hydraulically driven fork-loading mechanism with a maximum load of 1500kg, which can transport the entire pallet of stone or part of the stone to the work station where it needs to be installed at one time, avoiding repeated round trips; at the same time, since the hydraulic drive system is a closed loop, it is easy to maintain and is particularly suitable for outdoor or field operations;

[0021] (5) The present invention adopts a crawler chassis, which has good off-road capabilities and can adapt to various road conditions such as muddy, potholes, ditches and ridges. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the side structure of the articulated boom crane mechanism of Example 1 when it is unfolded.

[0023] Figure 2 This is a top view of the structure of Example 1 when loading stones.

[0024] Figure 3 This is a side view of the first working state of Example 1 when loading stone.

[0025] Figure 4 This is a side view of the second working state of Example 1 when loading stone.

[0026] Figure 5 It is a schematic diagram of the working range of the crank arm crane mechanism of the present invention.

[0027] Figure 6 It is a side structural diagram of the second embodiment.

[0028] Figure 7 This is a side structural diagram of the third embodiment. DETAILED DESCRIPTION

[0029] The present invention is further described with reference to the accompanying drawings and embodiments:

[0030] Embodiment 1: A crawler-type stone paving robot with level correction.

[0031] See also Figure 1-2A crawler-type stone paving robot with horizontal correction includes a body 100, and crawler chassis 1 are respectively provided on both sides of the bottom of the body, and the crawler chassis is driven by an engine; the crawler chassis 1 includes a driving wheel, a guide wheel, a track roller and a crawler 11, and the driving wheel is connected to the engine through a rotating shaft, and the crawler 11 is a rubber crawler. Specifically, the crawler 11 is made of nitrile rubber plus fiber material, and adding composite fiber to the nitrile rubber material can effectively enhance the friction performance of the nitrile rubber. In this embodiment, the engine is a diesel engine with a rated power of 35kW.

[0032] The vehicle body includes a vehicle head 2 and a loading platform 3 arranged at the rear of the vehicle head; a crank arm hanging mechanism 4 is arranged above the vehicle head, and an intelligent lifter 5 is installed on the crank arm hanging mechanism; the crank arm hanging mechanism 4 includes a column 41, a first crank arm 42 and a second crank arm 43, the rear end of the first crank arm is rotatably connected to the top of the column, and a host 51 of the intelligent lifter is installed, the front end of the first crank arm is hinged with the rear end of the second crank arm through a folding arm joint, and a spring signal line 52 and a control handle 53 of the intelligent lifter are arranged below the front end of the second crank arm in sequence, the upper end of the control handle is connected to the host of the intelligent lifter through a steel wire rope via a pulley, and the lower end of the control handle of the intelligent lifter is connected to a stone grabbing device 6. The pulley is arranged at the front end of the second crank arm.

[0033] Specifically, see Figure 5 The articulated arm crane mechanism 4 and the intelligent lifter 5 constitute a double-folding arm type intelligent lifting device, wherein the maximum arm span of the articulated arm crane mechanism can reach 2800mm, and its working range is the area after the arm span is rotated 360° with the column as the center.

[0034] In this embodiment, the intelligent lifter 5 adopts a 200kg intelligent lifter, which uses wire transmission to achieve the lifting, lifting and lowering of the stone. Workers only need one hand to operate the maximum 100kg of stone, and all movement speeds are controllable; the intelligent lifter 5 can realize the hand-held coaxial automatic suspension function through the control handle. The operator only needs to apply 2-3kg of force to the stone to achieve lifting control, which is particularly suitable for precise positioning and secondary paving; the intelligent lifter is a prior art, and its main unit is generally composed of a servo drive, a servo motor, a reducer, a sensor and a main control board, etc., which mainly provide the equipment with precise control, the power required for lifting and signal processing; the function of the spring signal line is to transmit signals between the main control board and the handle, and the transmitted signals include lifting direction, lifting speed, emergency stop signal fault signal, etc.; the user controls the lifting and lowering of the equipment through the control handle.

[0035] More specifically, the column 41 is a telescopic column, and a fourth hydraulic cylinder 44 is provided on one side of the column for driving the column to be telescopic. The maximum telescopic stroke of the column is 550 mm. The column is designed to be liftable to minimize the height of the equipment, which is convenient for storage and transportation. The folding arm joint is provided with an electromagnetic brake to ensure that there will be no shaking or swinging during walking. In addition, the stone grabbing device 6 is a vacuum suction cup or a clamp. The present invention can not only grab the stone 102 through a vacuum suction cup, but also can be equipped with a clamp as needed to realize the grabbing of special-shaped stones. In addition to stones such as roadbed stones, the equipment can also realize the functions of grabbing and transporting objects such as cement boards and green trees.

[0036] A level sensor is also provided inside the vehicle body, and hydraulic support legs 7 are provided at the four corners of the vehicle body respectively; the level sensor, the hydraulic support legs 7, the engine and several groups of hydraulic cylinders are all connected to a control device provided on the vehicle body.

[0037] The level sensor is an electronic level; the control device and the level sensor are both located at the front of the vehicle. The control device includes a mechanical control panel and a wireless receiving device. The mechanical control panel is provided with a mechanical joystick, and the wireless receiving device uses an infrared receiver. During operation, the vehicle body can be controlled by mechanical control and wireless remote control. The mechanical joystick is used to control the forward, backward and turning of the crawler chassis. In the remote control mode, the operator can better observe the walking route and avoid obstacles, etc., which is suitable for transportation of various distances.

[0038] In a specific implementation, the vehicle head may be provided with a driving control seat, and the mechanical control panel is provided in front of the driving control seat. The mechanical control panel may also be provided with a plurality of control switch buttons for realizing a horizontal correction function and a stone fork loading function.

[0039] See also Figure 3-4 The loading platform is provided with a guide rail and a fork-mounted mechanism 8 moving forward and backward along the guide rail, the fork-mounted mechanism includes a fork mast, a fork frame, a fork 83 and a plurality of groups of hydraulic cylinders for driving the fork-mounted mechanism; the fork mast includes an inner fork mast 81 and an outer fork mast 82, the plurality of groups of hydraulic cylinders include a first hydraulic cylinder for adjusting the forward and backward movement of the fork mast, a second hydraulic cylinder for adjusting the forward and backward tilt angle of the outer fork mast, and a third hydraulic cylinder for driving the inner fork mast to rise and fall; the setting direction of the guide rail and the first hydraulic cylinder is the same as the linear motion direction of the vehicle body.

[0040] The outer mast 82 of the fork is connected to the support 84 through the second hydraulic cylinder 86, and the outer mast 82 of the fork and the support 84 are fixedly mounted on the sliding base plate. The bottom of the sliding base plate is provided with rollers, and the rollers cooperate with the guide rail position; the sliding base plate is driven by the first hydraulic cylinder 85 to move back and forth on the loading platform; one side of the inner mast of the fork is embedded in the outer mast of the fork through rollers, and is driven to rise and fall by the third hydraulic cylinder, and the other side of the inner mast of the fork is provided with a fork frame, and a fork 83 is hung on the fork frame; the fork 83 is an L-shaped fork.

[0041] When the present invention loads stone, first the first hydraulic cylinder 85 drives the fork gantry to move backward to the rear end of the loading platform, and then the third hydraulic cylinder drives the inner gantry of the fork to descend until the bottom of the fork touches the ground, which is the first working state when loading stone. At this time, the fork loads or unloads the stone 101; the third hydraulic cylinder then drives the inner gantry of the fork to rise until the bottom of the fork is flush with the loading platform, which is the second working state when loading stone. At this time, the first hydraulic cylinder 85 drives the fork gantry to move forward as a whole, that is, to load the stone 101 to be transported or the empty fork onto the loading platform. During the whole process, due to the extension and retraction of the second hydraulic cylinder 86, the fork gantry can tilt forward and backward to facilitate the forking and stacking of goods, and to stabilize the goods during the forking and transportation process; thereafter, the worker can control the movement of the vehicle body through the mechanical joystick for subsequent stone transportation.

[0042] Embodiment 2: A crawler-type stone paving robot with level correction and stone trimming functions.

[0043] See also Figure 6 , a crawler stone paving robot with level correction, including a body 200, crawler chassis are respectively provided on both sides of the bottom of the body, and the crawler chassis is driven by an engine; the body includes a head and a loading platform arranged at the rear of the head; a crank arm crane mechanism is provided above the head, and an intelligent lifter is installed on the crank arm crane mechanism, and a stone grabbing device is connected to the lower end of the control handle of the intelligent lifter; a guide rail and a fork loading mechanism moving forward and backward along the guide rail are provided on the loading platform, and the fork loading mechanism includes a fork mast, a fork frame, a fork and a plurality of hydraulic cylinders for driving the fork loading mechanism; a level sensor is also provided on the body, and hydraulic support legs are respectively provided at the four corners of the body; the level sensor, hydraulic support legs, engine and a plurality of hydraulic cylinders are all connected to the control device arranged on the body. The engine adopts a diesel engine with a rated power of 35kW.

[0044] The two sides of the vehicle body are also provided with a stone trimming mechanism 9, which includes a lifting frame 91, a cutting saw blade, and a cutting motor 92 for driving the cutting saw blade to rotate. The lifting frame 91 is provided with a slide rail, and the cutting motor 92 moves forward and backward along the slide rail, and the cutting saw blade faces the direction of the loading platform. Specifically, the lifting frame is driven by a lifting hydraulic cylinder, and the cutting motor is driven by a horizontal hydraulic cylinder to move forward and backward along the slide rail. The lifting hydraulic cylinder, the horizontal hydraulic cylinder, and the cutting motor are all connected to a control device, and the control device can be externally connected to a power supply.

[0045] Embodiment 3: A crawler-type stone paving robot with level correction and dust removal functions.

[0046] See also Figure 7 A crawler stone paving robot with level correction, comprising a vehicle body 300, with crawler chassis respectively arranged on both sides of the bottom of the vehicle body, and the crawler chassis is driven by an engine; the vehicle body comprises a head 301 and a loading platform 302 arranged at the rear of the head; a crank arm crane mechanism is arranged above the head, and an intelligent lifter is installed on the crank arm crane mechanism, and a stone grabbing device is connected to the lower end of the control handle of the intelligent lifter; a guide rail and a fork-loading mechanism moving forward and backward along the guide rail are arranged on the loading platform, and the fork-loading mechanism comprises a fork mast, a fork frame, a fork and a plurality of hydraulic cylinders for driving the fork-loading mechanism; a level sensor is also arranged on the vehicle body, and hydraulic support legs are respectively arranged at the four corners of the vehicle body; the level sensor, hydraulic support legs, engine and a plurality of hydraulic cylinders are all connected to the control device arranged on the vehicle body. The engine adopts a diesel engine with a rated power of 35kW.

[0047] The vehicle body may also be provided with a dust removal device 10, specifically, the dust removal device 10 is a spray dust removal device, and the spray dust removal device may be installed at the rear of the vehicle head 301, or installed at both sides of the loading platform 302, with its spray port facing the loading platform 302. The dust removal device in this embodiment can effectively avoid the generation of dust during the transportation of stone materials, which harms the working environment and is more environmentally friendly.

[0048] Embodiment 4: A crawler stone paving robot with level correction, comprising a vehicle body, with crawler chassis respectively provided on both sides of the bottom of the vehicle body, and the crawler chassis is driven by an engine; the vehicle body comprises a vehicle head and a loading platform arranged at the rear of the vehicle head; a crank arm crane mechanism is provided above the vehicle head, and an intelligent lifter is installed on the crank arm crane mechanism, and a stone grabbing device is connected to the lower end of the control handle of the intelligent lifter; a guide rail and a fork-mounted mechanism moving forward and backward along the guide rail are provided on the loading platform; a level sensor is also provided on the vehicle body, and hydraulic support legs are respectively provided at the four corners of the vehicle body; the level sensor, hydraulic support legs, engine and several groups of hydraulic cylinders are all connected to a control device arranged on the vehicle body.

[0049] The technical solution of this embodiment is different from that of the first embodiment in that the engine is a drive motor, and the drive motor is connected to a battery in the vehicle body.

[0050] In summary, after reading the present invention document, ordinary technicians in this field can make various other corresponding transformation schemes based on the technical scheme and technical concept of the present invention without creative mental work, which all fall within the scope of protection of the present invention.

Claims

1. A crawler-type stone paving robot with level correction, comprising a vehicle body, characterized in that: Crawler chassis are respectively provided on both sides of the bottom of the vehicle body, and the crawler chassis is driven by an engine; the vehicle body includes a vehicle head and a loading platform arranged at the rear of the vehicle head; a crank arm crane mechanism is provided above the vehicle head, and an intelligent lifter is installed on the crank arm crane mechanism, and a stone grabbing device is connected to the lower end of the control handle of the intelligent lifter; a guide rail and a fork-loading mechanism that moves forward and backward along the guide rail are provided on the loading platform, and the fork-loading mechanism includes a fork mast, a fork frame, a fork and a plurality of groups of hydraulic cylinders for driving the fork-loading mechanism; a level sensor is also provided on the vehicle body, and hydraulic support legs are respectively provided at the four corners of the vehicle body; the level sensor, the hydraulic support legs, the engine and the plurality of groups of hydraulic cylinders are all connected to a control device arranged on the vehicle body; The two sides of the vehicle body are also provided with a stone trimming mechanism, which includes a lifting frame, a cutting saw blade and a cutting motor driving the cutting saw blade to rotate, and a slide rail is provided on the lifting frame, and the cutting motor moves forward and backward along the slide rail; The crank arm lifting mechanism includes a column, a first crank arm and a second crank arm, the rear end of the first crank arm is rotatably connected to the top of the column, and a host of an intelligent lifter is installed, the front end of the first crank arm is hinged to the rear end of the second crank arm through a folding arm joint, and a spring signal line and a control handle of the intelligent lifter are arranged below the front end of the second crank arm in sequence, and the upper end of the control handle is connected to the host of the intelligent lifter through a steel wire rope via a pulley; The fork gantry comprises an inner fork gantry and an outer fork gantry; The plurality of groups of hydraulic cylinders include a first hydraulic cylinder for adjusting the forward and backward movement of the fork mast, a second hydraulic cylinder for adjusting the forward and backward tilt angle of the fork outer mast, and a third hydraulic cylinder for driving the fork inner mast to rise and fall; the setting direction of the guide rail and the first hydraulic cylinder is the same as the linear movement direction of the vehicle body; The outer mast of the fork is connected to a support through a second hydraulic cylinder, the outer mast of the fork and the support are fixedly mounted on a sliding base plate, a roller is provided at the bottom of the sliding base plate, and the roller matches the position of the guide rail; the sliding base plate is driven by the first hydraulic cylinder to move back and forth on the loading platform; one side of the inner mast of the fork is embedded in the outer mast of the fork through rollers, and is driven to rise and fall by a third hydraulic cylinder, and a fork frame is provided on the other side of the inner mast of the fork, and a fork is hung on the fork frame.

2. The crawler-type stone paving robot with level correction according to claim 1, characterized in that: The column is a telescopic column, and a fourth hydraulic cylinder for driving the column to be telescopic is provided on one side of the column; the folding arm joint is provided with an electromagnetic brake; and the stone grabbing device is a vacuum suction cup or a clamp.

3. The crawler-type stone paving robot with level correction according to claim 1, characterized in that: The level sensor is an electronic level; the fork is an L-shaped fork; the control device is arranged at the front of the vehicle, and the control device includes a mechanical control panel and a wireless receiving device, and the wireless receiving device adopts an infrared receiver.

4. The crawler-type stone paving robot with level correction according to claim 1, characterized in that: The crawler chassis comprises a driving wheel, a guide wheel, a track-supporting wheel and a crawler track; the driving wheel is connected to the engine via a rotating shaft, and the crawler track is a rubber crawler track.

5. The crawler-type stone paving robot with level correction according to claim 1, characterized in that: The engine is a diesel engine.

6. The crawler-type stone paving robot with level correction according to claim 1, characterized in that: The engine is a drive motor, and the drive motor is connected to a battery in the vehicle body.

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