A concrete floor fine-leveling robot and an operation method based on the fine-leveling robot

Abstract

The present invention discloses a concrete floor fine-leveling robot, including a walking mechanism, a fuselage body, a fine-leveling actuator, a posture sensor, an adjustment mechanism, a laser sensor, a control system, and a horizontal reference transmitting device, wherein the horizontal reference transmitting device is used to set the concrete floor elevation reference; the control system can control the height and posture of the fine-leveling actuator through the adjustment mechanism according to the horizontal elevation reference reference surface position information and the posture sensor information on the fine-leveling robot. The present invention also provides an operation method based on the concrete floor fine-leveling robot. The present invention can not only realize the automatic control of the floor elevation and the leveling degree of the concrete floor, but also achieve the effect of the original three-step process of scraping and leveling in one operation, thereby greatly improving the operation efficiency.

Description

Technical Field

[0001] The invention relates to the field of concrete floor leveling operation devices, and in particular to a concrete floor fine-leveling robot and an operation method based on the fine-leveling robot. Background Art

[0002] In the construction industry, the elevation and leveling of concrete floors is an important and tedious task. At present, the construction process is mainly divided into the following six steps: first, use an external leveling instrument to control the elevation when pouring concrete; second, use a pallet to roughly level the concrete floor; third, use a scraper to level a large area; fourth, wait for the concrete to be basically solid after about 1 hour of pouring, and use a scraper to scrape the concrete floor longitudinally and horizontally; fifth, use the iron plate of a concrete trowel to level the concrete floor; finally, use the trowel blade to finish the concrete floor. The entire construction process relies heavily on manual labor, which not only consumes manpower and material resources and increases the project cycle, but also the project quality is highly dependent on the workers' operating level and cannot be reliably guaranteed. Summary of the invention

[0003] The present invention is proposed to improve the work efficiency of concrete floor elevation and leveling operations in the construction industry, improve the quality of concrete floor engineering, shorten the engineering cycle, and reduce labor intensity and labor costs.

[0004] The technical solution to achieve the purpose of the present invention is: a concrete floor fine-leveling robot, comprising a walking mechanism, the walking mechanism can drive the fine-leveling robot to walk on the ground during the initial setting and post-initial setting period of concrete;

[0005] A fuselage body, the fuselage body being arranged above the walking mechanism and being rotatable relative to the walking mechanism;

[0006] A fine-leveling actuator, which is used to scrape and / or smooth the raised concrete floor to the same level, and can fill the sunken concrete floor with material;

[0007] A posture sensor, which is arranged on the fine leveling actuator and is used to detect the posture of the fine leveling actuator in real time;

[0008] An adjustment mechanism, the adjustment mechanism connecting the fuselage body and the fine leveling actuator, the adjustment mechanism being capable of adjusting the height and pitch attitude of the fine leveling actuator;

[0009] A horizontal reference transmitting device, the horizontal reference transmitting device is used to set a concrete floor elevation reference, the elevation reference is located at a fixed elevation relative to the reference line, and the elevation reference is a horizontal elevation reference reference surface of the precision leveling robot;

[0010] A laser sensor, the laser sensor is used to receive the laser signal of the horizontal reference transmitting device, the laser sensor is arranged on the fine leveling actuator, and the relative position of the fine leveling robot with respect to the laser reference plane of the horizontal reference transmitting device can be measured by the laser sensor;

[0011] A control system controls the height and posture of the fine-leveling actuator through the adjustment mechanism according to the position information of the horizontal elevation reference plane and the posture sensor information on the fine-leveling robot.

[0012] Preferably, the precision-flattening robot further comprises a steering mechanism, which can enable the precision-flattening robot to steer, and the steering mechanism is arranged on the main body and the walking mechanism; the steering mechanism is controlled by the control system.

[0013] Preferably, the steering mechanism includes a connecting rod support platform and a rotating platform, the connecting rod support platform is arranged on the traveling mechanism through the rotating platform, and the traveling mechanism rotates relative to the connecting rod support platform; the connecting rod support platform includes a connecting rod support mechanism and a linear drive module arranged on the fuselage body, and the linear drive module drives the connecting rod support mechanism to perform opening and closing movements.

[0014] Preferably, the connecting rod support mechanism includes a driving plate slidingly connected to the linear driving module and several connecting rod devices symmetrically arranged on the driving plate, each of the connecting rod devices includes a driving connecting rod, a swing arm, a connecting plate, a direction control connecting rod and a connecting rod base, one end of the driving connecting rod is hinged to the driving plate, and the other end of the driving connecting rod is hinged to the swing arm, the swing arm is provided with a first hinge point, a second hinge point and a third hinge point, the other end of the driving connecting rod is hinged to the swing arm through the first hinge point, one end of the connecting plate is connected to the second hinge point, the other end of the connecting plate is hinged to one end of the direction control connecting rod, the other end of the direction control connecting rod is hinged to one end of the connecting rod base arranged on the fuselage body, and the other end of the connecting rod base is connected to the third hinge point, and the connecting rod device also includes a supporting foot that can be supported on the ground and is arranged at one end of the connecting plate away from the linear driving module.

[0015] Preferably, the swing arm, the connecting plate, the direction control connecting rod and the connecting rod base form a parallelogram mechanism.

[0016] Preferably, the drive plate, drive connecting rod, swing arm and linear drive module form a linear rocker mechanism.

[0017] Preferably, the fine-leveling actuator includes a trowel plate, and the adjustment mechanism includes a front and rear pitch adjustment mechanism for front and rear pitch, a left and right swing angle adjustment mechanism for left and right swing, and an up and down height adjustment mechanism for up and down height adjustment.

[0018] Preferably, the front and rear pitch adjustment mechanism includes a pitch adjustment component and a hinge shaft arranged on the main body of the precision leveling robot, the pitch adjustment component and the main body of the precision leveling robot are hinged through the hinge shaft under the drive of the pitch adjustment motor, and the pitch adjustment component performs pitch movement along the walking mechanism; the left and right swing angle adjustment mechanism includes a left and right swing motor arranged on the pitch adjustment component and a left and right swing component arranged perpendicular to the output shaft of the left and right swing motor, and the left and right swing component performs left and right swing movement along the pitch adjustment component; the up and down height adjustment mechanism includes a height adjustment slider fixed to the precision leveling actuator and a slide rail arranged on the left and right swing component, and the height adjustment slider is driven by the height adjustment motor to drive the precision leveling actuator to slide up and down along the slide rail.

[0019] The present invention also provides an operation method based on the concrete floor fine-leveling robot, comprising the following steps:

[0020] Step 1: Receive operation information: set the floor elevation reference plane and operation area information;

[0021] Step 2: The control system receives information from the laser sensor and the attitude sensor, calculates the current position and attitude adjustment amount of the fine leveling actuator, and controls the adjustment mechanism to adjust the fine leveling actuator to a suitable range;

[0022] Step 3: The control system starts the fine leveling actuator and the walking mechanism to start working;

[0023] Step 4: During operation, the laser sensor and attitude sensor detect and control the position and attitude of the precision leveling actuator in real time;

[0024] Step 5: Repeat until the job is completed.

[0025] As a preferred method, the method further includes step 4': when the control system calculates that the fine-leveling robot walks to the edge of the working area, the control system suspends the power of the walking mechanism and the fine-leveling actuator, and starts the steering mechanism to turn, and then starts the walking mechanism and the fine-leveling actuator again after turning;

[0026] By adopting the above technical solution, the present invention has the following beneficial effects: (1) The present invention discloses a walking robot (hereinafter referred to as a precision leveling robot) mainly used for concrete floor elevation and leveling operations. The precision leveling robot replaces manual scraping and smoothing of the floor. When the concrete floor elevation of the operating area is qualified, the robot can level a large area of ​​concrete floor by walking. The precision leveling robot uses precision sensors to realize automatic control of floor elevation and concrete floor leveling. The effect of the original three-step process of scraping and smoothing can be achieved in one operation, which greatly improves the operation efficiency, ensures the operation quality, and reduces the labor intensity and labor cost.

[0027] (2) The present invention adopts an external horizontal reference transmitting device to set the elevation reference plane. The precision leveling robot receives the elevation reference plane signal through its own sensor and combines its own posture information to control the operation parameters in real time, thereby realizing the elevation and leveling control of a large range of concrete floors.

[0028] (3) The precision leveling robot can replace manual work in the elevation and leveling of concrete floors. The requirements can be met in one operation without the need for reciprocating operations. This reduces labor intensity and labor costs while improving work efficiency.

[0029] (4) The walking mechanism can drive the precision leveling robot to perform large-scale concrete floor elevation and leveling operations, which can ensure that the large-scale concrete floor elevation is consistent and the flatness is qualified, thus solving the difficulty of manual leveling of large-scale concrete floors.

[0030] (5) The control system, adjustment mechanism, steering mechanism, precision leveling actuator and sensor of the precision leveling robot are installed on the main body of the fuselage, and protective measures are provided, so that the precision leveling robot has a compact structure, flexible movement, and can adapt to more complex and harsh construction environments.

[0031] (6) The steering mechanism can enable the precision leveling robot to turn and walk within a certain range, so that the precision leveling robot can walk along a preset path in different construction areas. The connecting rod support mechanism in the steering mechanism is connected to the walking mechanism by a turntable to ensure that the connection is stable and reliable and can withstand large eccentric loads. The opening of the connecting rod support mechanism can lift the precision leveling robot as a whole. In this process, the reasonable distribution of the driving force is also controlled. At the same time, the dead point state of the mechanism can reduce the requirements for the drive, solving the technical problem that the existing technology needs to use multiple driving forces if it needs to achieve multi-functions.

[0032] (7) The fine leveling actuator has the functions of scraping and filling, and can perform leveling operations on different concrete floors to ensure that the concrete floor has a qualified flatness after the operation.

[0033] (8) The posture sensor can detect the posture of the fine leveling actuator in real time, and transmit the posture information of the fine leveling actuator to the control system so that the control system knows the current working posture of the fine leveling actuator.

[0034] (9) The adjustment mechanism can adjust the position and posture of the fine leveling actuator so that the ground elevation and flatness after the operation meet the requirements.

[0035] (10) The concrete floor elevation reference plane is set by the horizontal reference transmitting device to provide the precision leveling robot with a stable and accurate height reference plane, so that the precision leveling robot has an accurate height reference when walking.

[0036] (11) The laser sensor on the precision leveling robot can measure the height position signal of the elevation reference plane, so that the precision leveling robot can calculate the current working surface height of the precision leveling actuator to determine whether the current leveled concrete floor meets the elevation requirements.

[0037] (12) The control system receives the height information and posture information of the fine leveling actuator, and after analysis and calculation by the control system, the position and posture of the fine leveling actuator are controlled in real time through the adjustment mechanism, thereby ensuring that the elevation and flatness of the concrete floor after the operation are within the acceptable range. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein

[0039] Figure 1 It is a structural schematic diagram of the present invention;

[0040] Figure 2 It is a schematic diagram of the structure of the steering mechanism, the fuselage body and the running mechanism;

[0041] Figure 3 for Figure 2 Exploded image;

[0042] Figure 4 It is a front view of the connecting rod support mechanism of the present invention when it is retracted;

[0043] Figure 5 for Figure 2 A partial structural diagram of

[0044] Figure 6 It is a schematic diagram of the semi-expanded structure of the connecting rod support mechanism;

[0045] Figure 7It is a schematic diagram of the structure of the fully expanded connecting rod support mechanism;

[0046] Figure 8 It is a structural schematic diagram of the precision leveling actuator and the adjustment mechanism of the present invention;

[0047] Fig. 9 for Figure 8 Exploded diagram of

[0048] Fig.10 It is a structural schematic diagram of the precision leveling actuator and the adjustment mechanism of the present invention from another perspective;

[0049] Fig.11 for Figure 8 The main view;

[0050] Fig.12 for Figure 8 A cross-sectional view of

[0051] Fig.13 It is a flowchart of the operation process of the present invention. DETAILED DESCRIPTION

[0052] Embodiment 1

[0053] See Figures 1 to 13 The concrete floor fine-leveling robot of this embodiment includes a walking mechanism 700, and the walking mechanism 700 can drive the fine-leveling robot to walk on the ground during the initial setting and post-initial setting period of concrete;

[0054] A body 600, wherein the body 600 is disposed above the walking mechanism 700 and can rotate relative to the walking mechanism 700;

[0055] A steering mechanism 400, which can enable the precision leveling robot to steer, and the steering mechanism 400 is disposed on the body 600 and the walking mechanism 700;

[0056] A fine-leveling actuator 200, which is used to scrape and / or smooth the raised concrete floor to the same level, and can fill the sunken concrete floor with material;

[0057] A posture sensor 202, which may be a gyroscope; the posture sensor 202 is disposed on the fine-leveling actuator 200, and is used to detect the posture of the fine-leveling actuator 200 in real time;

[0058] An adjustment mechanism 300, wherein the adjustment mechanism 300 is connected to the fuselage body 600 and the fine-leveling actuator 200, and the adjustment mechanism 300 can adjust the height and pitch attitude of the fine-leveling actuator 200;

[0059] A horizontal reference transmitting device 100, wherein the horizontal reference transmitting device 100 may be a leveling instrument; the horizontal reference transmitting device 100 is used to set a concrete floor elevation reference, wherein the elevation reference is located at a fixed elevation relative to the reference line, and the elevation reference is a horizontal elevation reference reference surface of a precision leveling robot; the horizontal reference transmitting device 100 is placed on a stable platform outside the concrete floor leveling operation range, and a laser plane emitted by the horizontal reference transmitting device 100 is used to set a precise horizontal elevation reference surface for the precision leveling robot;

[0060] A laser sensor 201, which is used to receive the laser signal of the horizontal reference transmitting device 100. The laser sensor 201 is arranged on the fine-leveling actuator 200. The relative position of the fine-leveling robot with respect to the laser reference plane of the horizontal reference transmitting device 100 can be measured by the laser sensor 201;

[0061] The control system 500 controls the height and posture of the fine-leveling actuator 200 through the adjustment mechanism 300 according to the position information of the horizontal elevation reference plane and the posture sensor information on the fine-leveling robot, and can perform steering control through the steering mechanism 400. The hardware of the control system 500 is set on the fuselage body 600.

[0062] The steering mechanism 400 includes a connecting rod support platform 900 and a rotating platform 800. The connecting rod support platform 900 is arranged on the walking mechanism 700 through the rotating platform 800, and the walking mechanism 700 rotates relative to the connecting rod support platform 900; the connecting rod support platform 900 includes a connecting rod support mechanism 409 and a linear drive module 403 arranged on the fuselage body, and the linear drive module 403 drives the connecting rod support mechanism 409 to perform opening and closing movements. The linear drive module 403 provides the connecting rod support mechanism 409 with power for expansion, support and retraction. The output slider on the linear drive module 403 is fixedly connected to the connecting rod support mechanism 409. The linear drive module 403 can adopt the linear drive module mechanism disclosed in the prior art, so its specific structural composition is not described in detail.

[0063] The connecting rod support mechanism 409 includes a driving plate 404 slidably connected to the linear driving module 403 and a plurality of connecting rod devices symmetrically arranged on the driving plate 404, each of the connecting rod devices includes a driving connecting rod 405, a swing arm 402, a connecting plate 406, a direction control connecting rod 407 and a connecting rod base 408, one end of the driving connecting rod 405 is hinged to the driving plate 404, and the other end of the driving connecting rod 405 is hinged to the swing arm 402, and the swing arm 402 is provided with a first hinge point 412, a second hinge point 410 and a third hinge point 411. The other end of the connecting rod 405 is hinged to the swing arm 402 through the first hinge point 412, one end of the connecting plate 406 is connected to the second hinge point 410, the other end of the connecting plate 406 is hinged to one end of the direction control connecting rod 407, the other end of the direction control connecting rod 407 is hinged to one end of the connecting rod base 408 arranged on the fuselage body 600, and the other end of the connecting rod base 408 is connected to the third hinge point 411, and the connecting rod device also includes a support foot 401 that can be supported on the ground and is arranged at one end of the connecting plate 406 away from the linear drive module 403. When the supporting foot 401 supports the precision leveling robot, the movement state of the supporting foot is close to the downward linear movement, that is, it moves 75mm downward and 3mm horizontally, which is close to the downward linear movement, and the damage to the ground is small. According to experimental verification, this solution can achieve a horizontal displacement change of ≤3mm when the supporting foot is raised or lowered by 75mm.

[0064] The swing arm 402, the connecting plate 406, the direction control connecting rod 407, and the connecting rod base 408 form a parallelogram mechanism. The driving plate 404, the driving connecting rod 405, the swing arm 402, and the linear drive module 403 form a linear rocker mechanism. The present application adopts a connecting rod support mechanism 409 to achieve the supporting function, which can make the precision leveling robot shrink into a smaller state when working, and only unfold when turning, which greatly saves the space occupied, and ensures that the connection is stable and reliable, and can withstand a large eccentric load. The connecting rod support mechanism 409 is composed of a linear rocker mechanism and a parallelogram mechanism, and the swing arm 402, the connecting plate 406, the direction control connecting rod 407, and the connecting rod base 408 form a parallelogram mechanism. The driving plate 404, the driving connecting rod 405, the swing arm 402, and the linear drive module 403 form a linear rocker mechanism. The linear rocker mechanism converts the linear driving force into a rotational driving force and distributes the movement speed of the mechanism (the force is small and the movement speed is fast when it starts to unfold; the load is large and the movement speed is slow when it is supported; this reduces the requirements for the drive system). The parallelogram mechanism realizes the posture control of the support foot to ensure that the support surface of the support foot is always parallel to the ground. The linear rocker mechanism is in a dead point or near dead point state when in the supporting state (that is, the drive plate 404 and the drive connecting rod 405 are in the same parallel straight line, and the two hinge points of the drive connecting rod 405 are at the same level). That is, when the robot is turned in the propped-up state, the connecting rod drive system does not need a large holding force and can even be in standby mode, which reduces the requirements for the drive system and also increases the service life of the drive system.

[0065] The rotary platform 800 includes an inner ring and an outer ring connected by a bearing, the fuselage body 600 is fixedly connected to one of the rings, and the walking mechanism 700 is fixedly connected to the other ring. The relative rotation of the inner ring and the outer ring drives the relative rotation of the fuselage body 600 and the walking mechanism 700.

[0066] The fine leveling actuator 200 includes an auger mechanism 205 for scraping the raised ground, a hopper 203 for unloading materials, and a trowel plate 204 for scraping or filling the concrete ground. The adjustment mechanism 300 includes a front and rear pitch adjustment mechanism for front and rear pitch, a left and right swing angle adjustment mechanism for left and right swing, and an up and down height adjustment mechanism for up and down height adjustment. The present invention uses a hopper 203 to store a certain amount of concrete, which can fill and level the concave concrete ground. The present invention is provided with a trowel plate 204, which can smooth the ground after scraping or filling. The present invention uses an auger mechanism 205 to scrape the raised ground. The auger mechanism 205 is installed on the hopper and can rotate relative to the hopper 203. The auger mechanism 205 can rotate forward or reverse to discharge the excess concrete on the raised ground to a fixed side. The auger mechanism 205 can also be replaced by other rotating tool mechanisms.

[0067] The front and rear pitch adjustment mechanism includes a pitch adjustment component 207 and a hinge shaft 2013 arranged on the main body 600 of the precision-leveling robot. The pitch adjustment component 207 and the main body 600 of the precision-leveling robot are hinged through the hinge shaft 2013 under the drive of the pitch adjustment motor, and the pitch adjustment component 207 performs pitch movement along the walking mechanism 700; the left and right swing angle adjustment mechanism includes a left and right swing motor 208 arranged on the pitch adjustment component 207 and a left and right swing component 209 arranged perpendicular to the output shaft of the left and right swing motor 208. The left-right swing component 209 swings left-right along the pitch adjustment component 207; driven by the left-right swing motor 208, the output shaft of the left-right swing motor 208 drives the left-right swing component 209 to rotate forward or reverse left-right along the output shaft of the left-right swing motor 208; the up and down height adjustment mechanism includes a height adjustment slider 2010 fixed to the fine leveling actuator 200 and a slide rail 2011 arranged on the left-right swing component 209, and the height adjustment slider 2010 is driven by the height adjustment motor to drive the fine leveling actuator 200 to slide up and down along the slide rail 2011.

[0068] During the implementation process: the concrete floor fine-leveling robot operates according to the following operation method:

[0069] Step 1: Receive operation information: set the floor elevation reference plane and operation area information;

[0070] Step 2: The control system 500 receives information from the laser sensor 201 and the posture sensor 202, calculates the current position and posture adjustment amount of the fine-leveling actuator 200, and controls the adjustment mechanism 300 to adjust the fine-leveling actuator 200 to a suitable range;

[0071] Step 3: The control system 500 starts the fine leveling actuator 200 and the walking mechanism 700 to start working;

[0072] Step 4: During operation, the laser sensor 201 and the attitude sensor 202 detect in real time and control the position and attitude of the precision leveling actuator 200 in real time; when the front and rear pitch height needs to be adjusted, it is achieved by adjusting the rotation of the hinge axis between the pitch adjustment component and the main body of the precision leveling robot; when the left and right swing angle needs to be adjusted, under the drive of the left and right swing motor 208, the output shaft of the left and right swing motor 208 drives the left and right swing component 209 to rotate forward or reverse along the output shaft of the left and right swing motor 208; when the up and down height needs to be adjusted, the height adjustment slider 2010 The height adjustment motor drives the fine leveling actuator to slide up and down along the slide rail 2011, thereby adjusting the height distance between the auger mechanism 205 and the trowel plate 204 and the ground. After adjusting to a suitable scene, the leveling mechanism levels the ground through the auger mechanism 205 and the trowel plate 204. When a certain part of the concrete floor protrudes above the elevation, the auger mechanism 205 is used to scrape and level the material, and the material after scraping is then smoothed and adjusted by the trowel plate 204. When a certain part of the concrete floor is below the elevation, the hopper 203 of the fine leveling actuator unloads the material, and the trowel plate 204 continues to achieve smoothing.

[0073] Step 4': When the control system 500 calculates that the precision leveling robot has walked to the edge of the working area, the control system 500 suspends the power of the walking mechanism 700 and the precision leveling actuator 200, and starts the steering mechanism 400 to turn. When the precision leveling robot needs to turn, the steering mechanism 400 first unfolds the connecting rod support mechanism 409 to support the precision leveling robot itself off the concrete ground, and then the rotary drive mechanism drives the rotary platform 800 to rotate, driving the precision leveling robot to rotate to the specified angle through the walking mechanism 700, and finally the connecting rod support mechanism 409 contracts to put down the precision leveling robot after turning. After turning, start the walking mechanism 700 and the precision leveling actuator 200 again;

[0074] Step 5: Repeat until the job is completed.

[0075] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A concrete floor fine-leveling robot, characterized in that: It comprises a walking mechanism (700), and the walking mechanism (700) can drive the fine leveling robot to walk and operate on the ground during the initial setting period of concrete and after the initial setting period; A fuselage main body (600), the fuselage main body (600) being arranged above the walking mechanism (700) and being rotatable relative to the walking mechanism (700); A fine-leveling actuator (200), the fine-leveling actuator (200) being used to scrape and / or smooth a raised concrete floor surface to a uniform elevation, and to fill a sunken concrete floor surface with material; A posture sensor (202), the posture sensor (202) being arranged on the fine-leveling actuator (200) and used for real-time detection of the posture of the fine-leveling actuator (200); an adjustment mechanism (300), the adjustment mechanism (300) being connected to the fuselage main body (600) and the fine-leveling actuator (200), the adjustment mechanism (300) being capable of adjusting the height and pitch attitude of the fine-leveling actuator (200); A horizontal reference transmitting device (100), the horizontal reference transmitting device (100) being used to set a concrete floor elevation reference, the elevation reference being located at a fixed elevation relative to a reference line, the elevation reference being a horizontal elevation reference reference surface of a precision leveling robot; A laser sensor (201), the laser sensor (201) being used to receive a laser signal from a horizontal reference transmitting device (100), the laser sensor (201) being arranged on the fine-leveling actuator (200), and the relative position of the fine-leveling robot relative to the laser reference plane of the horizontal reference transmitting device (100) being measured by the laser sensor (201); A control system (500), wherein the control system (500) controls the height and posture of the fine-leveling actuator (200) through the adjustment mechanism (300) according to the position information of the horizontal elevation reference plane and information of the posture sensor (202) on the fine-leveling robot; The precision-flattening robot further comprises a steering mechanism (400), wherein the steering mechanism (400) can enable the precision-flattening robot to steer, and the steering mechanism (400) is arranged on the body (600) and the walking mechanism (700); the steering mechanism (400) is controlled by the control system (500); The steering mechanism (400) comprises a connecting rod support platform (900) and a rotating platform (800); the connecting rod support platform (900) is arranged on the walking mechanism (700) via the rotating platform (800); the walking mechanism (700) rotates relative to the connecting rod support platform (900); the connecting rod support platform (900) comprises a connecting rod support mechanism (409) and a linear drive module (403) arranged on the fuselage body (600); the linear drive module (403) drives the connecting rod support mechanism (409) to perform opening and closing movements; The connecting rod support mechanism (409) comprises a driving plate (404) slidably connected to the linear driving module (403) and a plurality of connecting rod devices symmetrically arranged on the driving plate (404), each of the connecting rod devices comprising a driving connecting rod (405), a swing arm (402), a connecting plate (406), a direction control connecting rod (407) and a connecting rod base (408), one end of the driving connecting rod (405) is hinged to the driving plate (404), and the other end of the driving connecting rod (405) is hinged to the swing arm (402), and the swing arm (402) is provided with a first hinge point (412), a second hinge point (410) and a third hinge point (411), and the The other end of the driving connecting rod (405) is hinged to the swing arm (402) via a first hinge point (412); one end of the connecting plate (406) is connected to the second hinge point (410); the other end of the connecting plate (406) is hinged to one end of a direction control connecting rod (407); the other end of the direction control connecting rod (407) is hinged to one end of a connecting rod base (408) disposed on the fuselage body (600); the other end of the connecting rod base (408) is connected to the third hinge point (411); the connecting rod device further comprises a support foot (401) that is disposed at one end of the connecting plate (406) away from the linear driving module (403) and can be supported on the ground; The fine leveling actuator (200) comprises a trowel plate (204), and the adjustment mechanism (300) comprises a front-to-back pitch adjustment mechanism for front-to-back pitch, a left-to-right swing angle adjustment mechanism for left-to-right swing, and a top-to-bottom height adjustment mechanism for top-to-bottom height adjustment; The front-to-rear pitch adjustment mechanism comprises a pitch adjustment component (207) and a hinge shaft (2013) provided on the body (600) of the precision-leveling robot; the pitch adjustment component (207) and the body (600) of the precision-leveling robot are hinged via the hinge shaft (2013) under the drive of a pitch adjustment motor, and the pitch adjustment component (207) performs pitch motion along the walking mechanism (700); the left-right swing angle adjustment mechanism comprises a left-right swing motor (208) provided on the pitch adjustment component (207) and A left-right swing component (209) is arranged perpendicularly to the output shaft of the left-right swing motor (208), and the left-right swing component (209) performs left-right swinging motion along the pitch adjustment component (207); the up-down height adjustment mechanism comprises a height adjustment slider (2010) fixed to the fine leveling actuator (200) and a slide rail (211) arranged on the left-right swing component (209), and the height adjustment slider (210) is driven by the height adjustment motor to drive the fine leveling actuator (200) to slide up and down along the slide rail (211).

2. The concrete floor fine-leveling robot according to claim 1, characterized in that: The swing arm (402), the connecting plate (406), the direction control connecting rod (407), and the connecting rod base (408) form a parallelogram mechanism.

3. The concrete floor fine-leveling robot according to claim 1, characterized in that: The driving plate (404), the driving connecting rod (405), the swing arm (402), and the linear driving module (403) form a linear rocker mechanism.

4. An operation method based on the concrete floor fine-leveling robot according to any one of claims 1 to 3, characterized in that: The steps include: Step 1: Receive operation information: set the floor elevation reference plane and operation area information; Step 2: The control system (500) receives information from the laser sensor (201) and the attitude sensor (202), calculates the current position and attitude adjustment amount of the fine leveling actuator (200), and controls the adjustment mechanism (300) to adjust the fine leveling actuator (200) to a suitable range; Step 3: The control system (500) starts the fine leveling actuator (200) and the walking mechanism (700) to start working; Step 4: During operation, the laser sensor (201) and the posture sensor (202) detect in real time and control in real time the position and posture of the precision leveling actuator (200); Step 5: Repeat until the job is completed.

5. The operation method of the concrete floor fine-leveling robot according to claim 4 is characterized in that: The method further comprises step 4': when the control system (500) calculates that the fine-leveling robot has walked to the edge of the working area, the control system (500) suspends the power of the walking mechanism (700) and the fine-leveling actuator (200), and starts the steering mechanism (400) to turn, and after turning, starts the walking mechanism (700) and the fine-leveling actuator (200) again.

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