A fine leveling robot and its operation method

Abstract

The present invention discloses a precise leveling robot, comprising a frame body; and a walking module respectively controlled by a control system, the walking module being connected to the frame body, and the frame body being fixed relative to the walking module; a precise leveling execution module for performing equal-elevation scraping and / or leveling on a raised concrete floor; a precise leveling height and attitude adjustment module installed above the frame body for adjusting the height and attitude of the precise leveling execution module; and a support steering mechanism installed below the frame body for performing steering adjustment on the walking module, the precise leveling height and attitude adjustment module, and the precise leveling execution module on the frame body. The present invention can always maintain the set height, ensure the flatness of the floor surface, improve the automation of building construction, improve the construction work efficiency, reduce the labor intensity of employees, and reduce the technical requirements for employees.

Description

Technical Field

[0001] The present invention relates to the technical field of building automation equipment, and in particular to a precision leveling robot and an operating method thereof. Background Art

[0002] With the rapid development of society, my country has made great achievements in the field of construction. However, a large number of workers are still needed in construction, and the low degree of automation leads to low construction efficiency. Especially as the population gradually ages over time, problems such as difficulty in hiring and labor shortage are becoming increasingly obvious, so it is very important to improve the degree of automation in construction.

[0003] At present, the construction process of concrete floor usually involves adjusting the flatness and levelness of the floor during the concrete pouring process and after initial setting, and finally meeting the process requirements for floor flatness. This construction method is mostly completed manually. In addition, there are also leveling robots on the market. Most of these robots are large in size. When the machine is placed on the initial setting concrete floor, it will cause damage to the floor. In addition, the structure is relatively complex. For example, the transportation of the machine, the rapid disassembly and assembly of the machine, and the maintainability are poor, which invisibly increases the preparation time before construction or the troubleshooting time, resulting in low work efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a precision leveling robot.

[0005] The technical solution to achieve the purpose of the present invention is: a precision flattening robot, comprising a frame body;

[0006] and are controlled by the control system

[0007] A walking module, the walking module is connected to the frame body and is used to drive the fine leveling robot to walk on the ground during the initial setting and post-initial setting period of concrete, and the frame body is fixed relative to the walking module;

[0008] A fine-leveling execution module, which is used to scrape and / or smooth the raised concrete floor to the same level;

[0009] A precision leveling height and posture adjustment module, which is installed above the frame body and is used to adjust the height and posture of the precision leveling execution module;

[0010] The supporting steering mechanism is installed below the frame body and is used to perform steering adjustment on the walking module, the fine leveling height posture adjustment module and the fine leveling execution module on the frame body.

[0011] Preferably, the fine leveling execution module includes a leveling motor disposed on the roller frame, a rotating shaft with one end connected to the leveling motor, and a roller provided with a scraping plate and a material pushing plate connected to the other end of the rotating shaft. The scraping plate and the material pushing plate move relative to each other. It further includes a turntable fixed to both ends of the roller and a cam groove fixed to the roller frame. The turntable is connected to the cam groove through a bearing. The turntable, the cam groove, and the roller are coaxially arranged and connected through the rotating shaft. At least one roller that can roll along the cam groove is provided in the cam groove. Each roller is connected to one end of a material pushing shaft, and the other end of the material pushing shaft passes through the through hole of the turntable and is connected to the material pushing plate on the roller. The leveling motor drives the roller to rotate circumferentially through the rotating shaft, so that the scraping plate levels the ground, and the turntable on the roller realizes synchronous circumferential movement. Thus, the material pushing plate on the scraping plate generates an up-and-down movement relative to the scraping plate under the path of the cam groove, and the residual concrete after leveling can be pushed away.

[0012] Preferably, the fine leveling height and attitude adjustment module includes a height control component and an execution adjustment component disposed on the main frame body. The height control component includes a laser emission end, a laser reception end, and an inclination sensor. The execution adjustment component includes a connecting plate and two sets of adjustment mechanisms disposed at both ends of the connecting plate. The laser reception end and the inclination sensor are installed on the connecting plate. The laser reception end is used to receive the laser signal of the laser emission end. The fine leveling height and attitude adjustment module moves the connecting plate up and down according to the laser signal of the laser reception end and the angle signal of the inclination sensor to achieve fine leveling height and attitude adjustment.

[0013] Preferably, each adjustment mechanism includes a driving motor, a crank-slider mechanism, a parallelogram link mechanism, and a transfer plate. The driving motor drives the connecting plate connected to the transfer plate to move up and down through the crank-slider mechanism and the parallelogram link mechanism.

[0014] Preferably, the crank-slider mechanism includes a first adjustment link with one end connected to the driving motor. The other end of the first adjustment link is hinged to a second adjustment link. It further includes a slide rail disposed on the vehicle frame and a first slider mounting seat disposed on the slide rail. The middle of the second adjustment link is hinged to the first slider mounting seat.

[0015] Preferably, the parallelogram link mechanism includes a third adjustment link with one end hinged to the first slider mounting seat. The other end of the third adjustment link is hinged to the transfer plate. The end of the second adjustment link away from the first adjustment link is hinged to the transfer plate. The second adjustment link and the third adjustment link are arranged in parallel. The second adjustment link, the first slider mounting seat, the third adjustment link, and the transfer plate form a parallelogram link mechanism.

[0016] Preferably, the support steering mechanism includes a mounting plate connected to the main body of the frame, and is characterized in that: a slewing bearing is provided at the bottom of the mounting plate, a second driving motor is fixedly installed at the top of the mounting plate, the output shaft of the second driving motor penetrates through the mounting plate and is fixedly installed with a gear, a support plate is provided below the slewing bearing, a first driving motor is installed on the support plate, a telescopic driving turntable is installed on the output shaft of the first driving motor, a support leg assembly is provided below the support plate, and a support disc is provided at the bottom of the support leg assembly.

[0017] Preferably, the slewing bearing includes an inner ring and an outer ring, the inner ring and the outer ring can rotate relative to each other, the outer side of the outer ring is integrally formed into a gear shape, the inner ring of the slewing bearing is fixedly connected to the mounting plate, the outer ring of the slewing bearing is fixedly connected to the support plate, and the gear on the output shaft of the second driving motor meshes with the outer ring of the slewing bearing.

[0018] Preferably, the support leg assembly includes a guide rail installed at the bottom of the support plate, a slider is slidably installed on the guide rail, a second slider mounting seat is fixedly installed on the slider, second connecting rods are hingedly installed at opposite ends of the telescopic driving turntable and the second slider mounting seat, a first connecting rod is hingedly installed at the other end of the second slider mounting seat, and one end of the first connecting rod is hingedly installed with a hinge seat, and the hinge seat is fixedly connected to the support disc.

[0019] The present invention also provides an operation method for the leveling robot, including 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 the information of the laser receiving end and the attitude sensor, calculates the position and attitude adjustment amount of the current leveling execution module, and controls the leveling height and attitude adjustment module to adjust the leveling execution module to a suitable range;

[0022] Step 3: The control system starts the leveling execution module and the walking module to start working;

[0023] Step 4: During the work, the laser sensor and the attitude sensor detect in real time and control the position and attitude of the leveling execution module in real time; when the control system calculates that the leveling robot walks to the edge of the operation area, the control system pauses the power of the walking module and the leveling execution module, and starts the support steering mechanism to turn. After turning, the walking module and the leveling execution module are started again;

[0024] Step 5: Repeat until the operation ends.

[0025] With the above technical solution, the present invention has the following beneficial effects: (1) During construction operations, by detecting and adjusting the height and attitude of the fine leveling actuator in real time, the present invention can ensure that the fine leveling execution module is not affected by the movement of the robot, always maintain the set height, ensure the floor surface flatness, improve the automation of building construction, improve construction work efficiency, reduce the labor intensity of employees, and reduce the technical requirements for employees; at the same time, in order to improve the construction quality, the overall robot can be quickly disassembled and assembled, with simple operation and convenient maintenance.

[0026] (2) The structure of the present invention is ingenious and the size is more compact. Under the same material, the lightest fine leveling robot in the prior art weighs 150 kg, while the weight of the fine leveling robot of the present application can be reduced to less than 100 kg, and the weight reduction rate is greatly improved.

[0027] (3) The present invention is provided with two crawlers on the left and right, and small-direction correction can be carried out during walking, solving the technical problem that in the prior art when there is only one crawler, it is impossible to perform fine adjustment when there is a deviation in the walking middle angle.

[0028] (4) The connection of the end execution module of the present application is more flexible and convenient.

[0029] (5) In the present application, the sensor is installed on the adapter plate instead of on the end execution module, preventing the need to adjust or replace the sensor every time an end execution module is replaced, and eliminating the need for repeated adjustment.

[0030] (6) By ingeniously using the crank-slider mechanism and the parallelogram linkage mechanism, the present application can reduce the height of the fine leveling robot, reduce the overall volume and occupied space, improve the automation of building construction, improve construction work efficiency, reduce the labor intensity of employees, and reduce the technical requirements for employees.

[0031] (7) By providing a liftable disc at the bottom of the machine, the device ingeniously uses the linkage mechanism, has a high folding property and a small volume. At the same time, the bottom disc can increase the support contact surface as much as possible, reduce the pressure on the unit area of the concrete floor, thereby reducing the damage to the concrete floor, making the entire support structure particularly stable, making the machine's turning very reliable, and avoiding affecting the quality of the completely solidified concrete floor.

[0032] (8) The feeding method of the roller rotation type can greatly reduce the traction force required by the robot when encountering concrete stockpiles compared with the traditional horizontal feeding method. At the same time, a passive pusher plate is added, and the concrete on the scraper is cleaned every time it rotates, preventing the concrete from being pushed to the back when the roller rotates. At the same time, after the construction is completed, there is no need to worry about the residue of concrete on the scraper, improving the maintenance-free performance; through this structure, the concrete contacted by the scraping blade of the roller type in one rotation is limited. Even if the stockpile is too large, the traction force of the leveling robot is not affected, ensuring the normal progress of the construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to make the content of the present invention easier to be clearly understood, the following further describes the present invention in detail according to specific embodiments and in conjunction with the accompanying drawings, where

[0034] Figure 1 is a schematic structural diagram of the present invention;

[0035] Figure 2 is an exploded view of the present invention;

[0036] Figure 3 is a schematic structural diagram of the present invention with a housing;

[0037] Figure 4 is a partial exploded schematic diagram of the leveling execution module in the present invention (the roller frame is not shown);

[0038] Figure 5 is a schematic structural diagram of the leveling execution module in the present invention;

[0039] Figure 6 is a side view of the leveling execution module in the present invention;

[0040] Figure 7 is a top view of the leveling execution module in the present invention (the roller frame is not shown);

[0041] Figure 8 is Figure 7 a C-C cross-sectional view of (the roller frame is not shown);

[0042] Figure 9 is a partial schematic structural diagram of the leveling execution module in the present invention with the pusher plate fully retracted (state one);

[0043] Figure 10 is a partial schematic structural diagram of the leveling execution module in the present invention with the pusher plate fully retracted (state two);

[0044] Figure 11 is a partial schematic structural diagram of the leveling execution module in the present invention with the pusher plate fully extended (state three);

[0045] Figure 12Partial structural schematic diagram (state four) when the pusher plate of the fine leveling execution module in the present invention is fully extended;

[0046] Figure 13 Structural schematic diagram of the fine leveling height attitude adjustment module in the present invention (the parallelogram link mechanism is in the highest point state);

[0047] Figure 14 For Figure 13 Top view;

[0048] Figure 15 For Figure 13 Front view;

[0049] Figure 16 Structural schematic diagram of the parallelogram link mechanism in the present invention in the lowest point state;

[0050] Figure 17 Structural schematic diagram of the present invention in a state where the heights of the parallelogram link mechanisms on both sides are different;

[0051] Figure 18 Structural schematic diagram of the support state of the support steering mechanism in the present invention;

[0052] Figure 19 Side view of the support steering mechanism in the present invention;

[0053] Figure 20 Bottom view of the support steering mechanism in the present invention. Specific implementation manner Embodiment 1

[0054] See Figures 1 to 20 , the fine leveling robot of this embodiment includes a frame main body 1;

[0055] And a

[0056] traveling module respectively controlled by a control system. The traveling module is connected to the frame main body and is used to drive the fine leveling robot to walk and operate on the ground during the initial setting and after the initial setting of concrete. The frame main body is fixed relative to the traveling module; the traveling modules are respectively arranged on the left and right sides of the frame main body. The traveling module travels in a crawler manner and is provided with a trapezoidal chain. The periphery of the chain is installed with crawler plate attachments. The chain is supported and engaged by several at least 4, preferably 5 sprockets. All sprockets are installed on the crawler mounting plate. Among them, a tension adjustment device is designed in the forward direction of the machine to adjust the tension of the chain, and a driving wheel is designed in the reverse direction of the machine to install a driving motor to drive the robot to walk.

[0057] A fine leveling execution module 3, and the fine leveling execution module 3 is used to perform equal elevation scraping and / or smoothing on the raised concrete ground;

[0058] A fine leveling height and attitude adjustment module, which is installed above the main frame body and is used to adjust the height and attitude of the fine leveling execution module;

[0059] A support steering mechanism, which is installed below the main frame body and is used to adjust the steering of the traveling module, the fine leveling height and attitude adjustment module, and the fine leveling execution module on the main frame body.

[0060] The fine leveling execution module 3 includes a leveling motor 32 provided on a roller frame 31, a rotating shaft 33 with one end connected to the leveling motor, a roller 36 connected to the other end of the rotating shaft and provided with a scraping plate 34 and a pushing plate 35. The scraping plate and the pushing plate move relative to each other. It also includes a turntable 37 fixed to both ends of the roller and a cam groove 38 fixed to the roller frame. The turntable is connected to the cam groove through a bearing 39. The turntable, the cam groove, and the roller are coaxially arranged and connected through the rotating shaft. There is at least one roller 310 that can roll along the cam groove in the cam groove. Each roller is connected to one end of a pushing shaft 311. The other end of the pushing shaft passes through the through hole of the turntable and is connected to the pushing plate on the roller. The leveling motor drives the roller to rotate circumferentially through the rotating shaft, so that the scraping plate levels the ground, and the turntable on the roller makes a synchronous circumferential movement, so that the pushing plate on the scraping plate generates an up and down movement relative to the scraping plate under the path of the cam groove, and the residual concrete after leveling can be pushed away. A pressure roller 313 is hinged on the roller bracket, and the pressure roller is connected to the roller bracket through a tension spring 314. The leveling motor drives the rotating shaft to rotate circumferentially through a transmission device 312

[0061] The fine leveling height and attitude adjustment module includes a height control component and an execution adjustment component provided on the fuselage 29. The height control component includes a laser emission end, a laser reception end 21, and an inclination sensor 22. The execution adjustment component includes a connecting plate 23 and two groups of adjustment mechanisms provided at both ends of the connecting plate. The laser reception end and the inclination sensor are installed on the connecting plate. The laser reception end is used to receive the laser signal of the laser emission end. The fine leveling height and attitude adjustment module moves the connecting plate up and down according to the laser signal of the laser reception end and the angle signal of the inclination sensor to achieve fine leveling height and attitude adjustment.

[0062] Each of the adjustment mechanisms includes a driving motor 24, a crank-slider mechanism, a parallelogram link mechanism, and a transfer plate 25. The driving motor drives the connecting plate connected to the transfer plate to move up and down through the crank-slider mechanism and the parallelogram link mechanism.

[0063] The crank-slider mechanism includes a first adjustment link 26 with one end connected to the driving motor, the other end of the first adjustment link is hinged to a second adjustment link 27, and further includes a slide rail 28 provided on the vehicle frame and a first slider mounting seat 210 provided on the slide rail. The middle part of the second adjustment link is hinged to the first slider mounting seat.

[0064] The parallelogram link mechanism includes a third adjustment link 211 with one end hinged to the first slider mounting seat, the other end of the third adjustment link is hinged to a transfer plate, the end of the second adjustment link far from the first adjustment link is hinged to the transfer plate. The second adjustment link and the third adjustment link are arranged in parallel. The second adjustment link, the first slider mounting seat, the third adjustment link, and the transfer plate form a parallelogram link mechanism.

[0065] The support steering mechanism includes a mounting plate 42 connected to the main body of the frame. It is characterized in that: a slewing bearing 43 is provided at the bottom of the mounting plate 42, a second driving motor 47 is fixedly installed at the top of the mounting plate 42, the output shaft of the second driving motor 47 passes through the mounting plate 42 and is fixedly installed with a gear 48. A support plate 49 is provided below the slewing bearing, a first driving motor 41 is installed on the support plate 49, a telescopic driving turntable 415 is installed on the output shaft of the first driving motor 41. A support leg assembly 413 is provided below the support plate 49, and a support disc 411 is provided at the bottom of the support leg assembly 413.

[0066] The slewing bearing 43 includes an inner ring 4301 and an outer ring 4302. The inner ring 4301 and the outer ring 4302 can rotate relative to each other. The outside of the outer ring 4302 is integrally formed into a gear shape. The inner ring 4301 of the slewing bearing is fixedly connected to the mounting plate 42, the outer ring 4302 of the slewing bearing is fixedly connected to the support plate 49, and the gear 48 on the output shaft of the second driving motor 47 meshes with the outer ring 4302 of the slewing bearing 43.

[0067] The support leg assembly 413 includes a guide rail 414 installed at the bottom of the support plate 49. A slider 412 is slidably installed on the guide rail 414. A second slider mounting seat 410 is fixedly installed on the slider 412. Second connecting rods 44 are hingedly installed at the opposite ends of the telescopic driving turntable 415 and the second slider mounting seat 410. A first connecting rod 45 is hingedly installed at the other end of the second slider mounting seat 410. One end of the first connecting rod 45 is hingedly installed with a hinge seat 46, and the hinge seat 46 is fixedly connected to the support disc 411.

[0068] The operation method of the precise leveling robot includes the following steps:

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

[0070] Step 2: The control system receives the information from the laser receiver and the attitude sensor, calculates the position and attitude adjustment amount of the current fine-leveling execution module 3, and controls the fine-leveling height and attitude adjustment module to adjust the fine-leveling execution module 3 to an appropriate range.

[0071] Step 3: The control system starts the fine-leveling execution module 3 and the traveling module 5 to work.

[0072] Step 4: During the work, the laser sensor and the attitude sensor detect in real time and control the position and attitude of the fine-leveling execution module 3 in real time. When the control system calculates that the fine-leveling robot reaches the edge of the working area, the control system pauses the power of the traveling module 5 and the fine-leveling execution module 3, and starts the support steering mechanism to turn. After turning, the traveling module 5 and the fine-leveling execution module 3 are started again.

[0073] Step 5: Repeat until the work is completed.

[0074] During specific implementation: 1. A leveling instrument is stably placed outside the working area. The leveling instrument is an off-the-shelf product. The principle of the leveling instrument is that a horizontal laser beam is emitted from the center of the leveling instrument, and then the laser beam rotates rapidly along the vertical rotating shaft to form a horizontal laser plane, which will be used as the height reference during the work of the fine-leveling robot.

[0075] 2. After the fine-leveling robot is placed on the working area and started, the working surface height is set first in the first step. The robot senses the position irradiated by the laser through the laser sensor on the adapter at the end of the fine-leveling height and attitude adjustment module and sets it as the initial value.

[0076] 3. The left and right tracks drive the fine-leveling robot to travel along the preset working path, and start to fine-level the concrete floor. During the traveling process, the laser sensor detects the position of the horizontal laser reference plane in real time, and the inclination sensor detects the horizontal inclination angle of the adapter, and transmits the detected data to the robot control system. Through the analysis and calculation of the control system, the deviation amount relative to the initial value is obtained, and then the height and attitude of the adapter are adjusted to the standard range through the height and attitude adjustment mechanism.

[0077] 4. During the traveling process, if there is a deviation between the actual traveling route and the preset route, a small amount of direction correction can be performed by adjusting the speeds of the left and right tracks.

[0078] 5. When a large-scale turn is required, the traveling mechanism and the adjustment mechanism of the fine-leveling robot are both paused, and the support steering mechanism turns the robot itself in place. After turning, each part continues to work until the work is completed.

[0079] 6. The traveling route of the robot can be set or controlled manually by a person, or the traveling path can be automatically planned by the robot control system.

[0080] Specifically, when the fine leveling execution module is working, several (preferably 3) scraping plates are evenly distributed on the circumference of the roller. The scraping plates can lift the excess concrete. A turntable is fixed at each end of the roller. To prevent the roller from throwing the concrete into the groove during rotation and causing concrete accumulation, a pushing plate is provided on each scraping plate. Therefore, relative movement between the scraping plate and the pushing plate is required. At the same time, it is also necessary that the scraping plate at the bottom during the rotation of the roller can scrape the material normally. This can be achieved by designing a cam groove. During the operation, a cam groove is designed, and several (preferably 3) rollers are installed in the groove. The rollers can roll along the path designed by the cam groove. The rollers and the pushing plate are connected by a pushing shaft. The cam groove is connected to the turntable through a bearing, so that the roller and the cam groove can maintain relative movement. Thus, it can be realized that when the roller rotates, it drives the pushing plate to rotate together. Under the designed path of the cam groove, the pushing plate generates relative up-and-down movement relative to the scraping plate, and the residual concrete on the scraping plate can be pushed off. Both ends of the roller support are respectively fixed to the cam groove. One end of the roller support is designed with a mounting position for the leveling motor, and the leveling motor drives the roller to rotate through belt transmission.

[0081] During the implementation of concrete scraping and leveling, the pushing plate will be in different states. For example Figures 9 - 12 As shown, during the process from state one to state two, the pushing plate remains in a fully retracted state. During this process, the scraping plate scrapes the raised concrete on the ground; during the process from state two to state three, the pushing plate extends. During this process, the pushing plate pushes off the residual concrete on the hanging plate; during the process from state three to state four, the pushing plate remains in a fully extended state; during the process from state four to state one, the pushing plate retracts, exposing the scraping plate, and making preparations for the scraping plate to scrape the concrete floor.

[0082] Specifically, when the fine leveling height and attitude adjustment module is working, the laser receiving end and the inclination sensor are installed in the middle of the connecting plate, and the laser emitting end is placed stably on the ground. During construction, the laser emitted by the laser emitting end is used as the height reference. By setting the laser receiver installed on the actuator to receive the laser height and the angle deviation of the inclination sensor, an instruction can be sent to the actuator for corresponding adjustment, so as to ensure the flatness of the construction floor.

[0083] Specifically, the support steering mechanism is in a contracted state when it is not working. When the machine needs to turn, the first drive motor 41 operates to drive the telescopic drive turntable 415 to rotate. The second connecting rod 44 hinged on the telescopic drive turntable 415 starts to move, pushing the slider 412 to move outward along the guide rail 414. At this time, the first connecting rod 45 pushes the support disc 411 to gradually descend. After the support disc 411 gradually touches the ground, the machine is jacked up until the crawlers or wheels of the machine's traveling mechanism are lifted off the ground. The second drive motor 47 starts to operate to drive the gear 48 to rotate, thereby driving the machine to rotate around the first drive motor 41 as the central axis to achieve the machine turning function. When the machine completes the turn, the first drive motor 41 moves in the reverse direction, driving the connecting rods to fold, and then the support disc 11 can be lifted up.

[0084] In the specific embodiments described above, the purpose, technical solutions and beneficial effects of the present invention have been further described in detail. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A fine leveling robot, characterized in that: It includes a frame body (1); and are controlled by the control system A walking module (5), the walking module (5) being connected to the frame body and used to drive the fine leveling robot to walk on the ground during the initial setting and post-initial setting period of concrete, the frame body being fixed relative to the walking module; A fine-leveling execution module (3), the fine-leveling execution module (3) being used to scrape and / or smooth the raised concrete floor at the same elevation; A fine leveling height and posture adjustment module (2), the height and posture fine leveling height and posture adjustment module being installed above the frame body and used for adjusting the height and posture of the fine leveling execution module; A support steering mechanism (4), the support steering mechanism being installed below the frame body and used for steering a walking module, a fine leveling height posture adjustment module, and a fine leveling execution module on the frame body; The fine-leveling execution module (3) comprises a leveling motor (32) arranged on a roller frame (31), a rotating shaft (33) connected to the leveling motor at one end, and a roller (36) connected to the other end of the rotating shaft and provided with a scraper (34) and a pusher plate (35), wherein the scraper and the pusher plate move relative to each other, and further comprises a rotating disk (37) respectively fixed to both ends of the roller and a cam groove (38) fixed to the roller frame, wherein the rotating disk is connected to the cam groove via a bearing (39), and the rotating disk, the cam groove, and the roller are arranged coaxially and penetrated. The cam groove is connected via a rotating shaft, at least one roller (310) capable of rolling along the cam groove is provided in the cam groove, each of the rollers is connected to one end of a pushing shaft (311), the other end of the pushing shaft passes through the through hole of the turntable and is connected to a pushing plate on the drum, the leveling motor drives the drum to rotate in a circle via the rotating shaft, so that the scraper can scrape the ground level, and the turntable on the drum can achieve synchronous circular motion, so that the pushing plate on the scraper can move up and down relative to the scraper along the path of the cam groove, so that residual concrete after scraping can be pushed away; The precise leveling height and attitude adjustment module (2) comprises a height control component and an execution adjustment component arranged on a fuselage (29), the height control component comprising a laser emitting end, a laser receiving end (21) and a tilt sensor (22), the execution adjustment component comprising a connecting plate (23) and two groups of adjustment mechanisms arranged at both ends of the connecting plate, the laser receiving end and the tilt sensor being mounted on the connecting plate, the laser receiving end being used to receive a laser signal from the laser emitting end, and the precise leveling height and attitude adjustment module moves the connecting plate up and down according to the laser signal from the laser receiving end and the angle signal from the tilt sensor to achieve precise leveling height and attitude adjustment.

2. The fine-leveling robot according to claim 1, wherein: Each of the adjustment mechanisms comprises a drive motor (24), a crank slider mechanism, a parallelogram connecting rod mechanism and an adapter plate (25), wherein the drive motor drives a connecting plate connected to the adapter plate to move up and down via the crank slider mechanism and the parallelogram connecting rod mechanism.

3. The fine-leveling robot according to claim 2, wherein: The crank-slider mechanism includes a first adjustment link (26) with one end connected to the driving motor. The other end of the first adjustment link is hinged to a second adjustment link (27). It also includes a slide rail (28) provided on the vehicle frame and a first slider mounting seat (210) provided on the slide rail. The middle of the second adjustment link is hinged to the first slider mounting seat.

4. The fine-leveling robot according to claim 3, wherein: The parallelogram link mechanism includes a third adjustment link (211) with one end hinged to the first slider mounting seat. The other end of the third adjustment link is hinged to a transfer plate. The end of the second adjustment link away from the first adjustment link is hinged to the transfer plate. The second adjustment link and the third adjustment link are arranged in parallel. The second adjustment link, the first slider mounting seat, the third adjustment link, and the transfer plate form a parallelogram link mechanism.

5. The fine-leveling robot according to claim 1, characterized in that: The support steering mechanism includes a mounting plate (42) connected to the main body of the frame. It is characterized in that: a slewing bearing (43) is provided at the bottom of the mounting plate (42). A second driving motor (47) is fixedly installed at the top of the mounting plate (42). The output shaft of the second driving motor (47) penetrates through the mounting plate (42) and is fixedly installed with a gear (48). A support plate (49) is provided below the slewing bearing. A first driving motor (41) is installed on the support plate (49). A telescopic driving turntable (415) is installed on the output shaft of the first driving motor (41). A support leg assembly (413) is provided below the support plate (49). A support disc (411) is provided at the bottom of the support leg assembly (413).

6. The fine-leveling robot according to claim 5, wherein: The slewing bearing (43) includes an inner ring (4301) and an outer ring (4302). The inner ring (4301) and the outer ring (4302) can rotate relative to each other. The outside of the outer ring (4302) is integrally formed in a gear shape. The inner ring (4301) of the slewing bearing is fixedly connected to the mounting plate (42). The outer ring (4302) of the slewing bearing is fixedly connected to the support plate (49). The gear (48) on the output shaft of the second driving motor (47) meshes with the outer ring (4302) of the slewing bearing (43).

7. The fine-leveling robot according to claim 5, wherein: The support leg assembly (413) includes a guide rail (414) installed at the bottom of the support plate (49). A slider (412) is slidably installed on the guide rail (414). A second slider mounting seat (410) is fixedly installed on the slider (412). Second links (44) are hingedly installed at the opposite ends of the telescopic driving turntable (415) and the second slider mounting seat (410). A first link (45) is hingedly installed at the other end of the second slider mounting seat (410). A hinge seat (46) is hingedly installed at one end of the first link (45). The hinge seat (46) is fixedly connected to the support disc (411).

8. The operation method of the fine leveling robot according to any one of claims 1-7, characterized in that, It includes the following steps: Step 1: Receive operation information: Set the floor elevation reference plane and operation area information; Step 2: The control system receives the information of the laser receiving end and the attitude sensor, calculates the position and attitude adjustment amount of the current fine leveling execution module (3), and controls the fine leveling height and attitude adjustment module to adjust the fine leveling execution module (3) to an appropriate range; Step 3: The control system starts the precise leveling execution module (3) and the walking module (5) to work; Step 4: During the work, the laser sensor and the attitude sensor detect in real time and control the position and attitude of the precise leveling execution module (3) in real time; when the control system calculates that the precise leveling robot walks to the edge of the operation area, the control system pauses the power of the walking module (5) and the precise leveling execution module (3), and starts the support steering mechanism to turn. After turning, the walking module (5) and the precise leveling execution module (3) are started again; Step 5: Repeat until the operation ends.

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