Mobile robot for laying curbstones and method for laying curbstones

Abstract

The present invention provides a mobile robot for laying curbstones and a method for laying curbstones. The frame of the mobile robot is provided with a lifting mechanism, a clamping and pushing mechanism, and a laying mechanism. The lifting mechanism is used to lift the curbstone upward; the clamping device clamps the two ends of a curbstone on the uppermost layer of the lifting mechanism and conveys it forward, then releases it and lays it flat on the conveying mechanism, and the conveying mechanism conveys the curbstone forward in the X direction to the laying mechanism; the buffer plate of the laying mechanism supports the curbstone conveyed by the conveying mechanism, and the curbstone lying flat on the conveying mechanism is conveyed to the guide ramp plate by the downwardly flipped buffer plate, and the curbstone slides down on the surface of the guide ramp plate and stands on the ground. The equipment provided by the present invention is a fully mechanized operation for the storage, lifting, transmission and laying of curbstones. Compared with the manual laying method, the present invention has a good laying effect and high efficiency, and can also reduce labor costs.

Description

Technical Field

[0001] The invention relates to municipal construction equipment, and in particular to a mobile robot for laying curbstones and a method for laying curbstones. Background Art

[0002] With the development of the current urban construction level, the requirements for municipal pavements are getting higher and higher. Sidewalks, squares and other places usually require large areas of flat floor tiles and curbstones. At present, the laying of floor tiles and curbstones generally adopts pure manual work or a combination of mechanical and manual methods. The construction method of combining mechanical and manual methods is: the bricks are lifted by ropes through a crane, and then the bricks are unloaded after the landing point is manually controlled, and finally compacted. This laying method is time-consuming and labor-intensive, and the laying effect depends on the technical level of the construction workers. At the same time, the labor intensity of the workers is high, and more construction workers are required, which increases the laying cost. Summary of the invention

[0003] The present invention aims to provide a new mobile robot for laying curbstones. The entire laying process is fully automated and mechanized. Compared with the existing laying methods, the present invention has high laying efficiency, neatly laid bricks, no need for manual labor to carry heavy work, and reduces labor costs. In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0004] A mobile robot for laying curbstones, wherein the curbstones are long strips of stone, the mobile robot comprises a movable frame, the length direction of the frame is assumed to be the X direction, the width direction is assumed to be the Y direction, the mobile robot moves in the Y direction to continuously lay the curbstones, and is characterized in that a lifting mechanism and a clamping and pushing mechanism are installed at the rear of the frame, a multi-axis mechanical arm is installed at the front of the frame, a laying mechanism is installed on the mechanical arm, and the transmission mechanism located between the laying mechanism and the clamping and pushing mechanism is installed on the frame;

[0005] The lifting mechanism is provided with a first transmission mechanism, a lifting plate and a lifting device, wherein the first transmission mechanism transfers the curbstones stacked up and down to the lifting plate and the lifting device drives the lifting plate to lift upward;

[0006] The clamping and pushing mechanism comprises a forward guide rail and a clamping device slidably mounted on the forward guide rail, wherein the clamping device clamps both ends of the length of the curbstone after it is lifted to the top and conveys it forward in the X direction, then releases it and lays it flat on the conveying mechanism, and the conveying mechanism conveys the curbstone forward in the X direction to the laying mechanism;

[0007] The laying mechanism is provided with a laying frame installed on a mechanical boom, a curb laying opening with adjustable width in the Y direction is provided in the middle of the laying frame, a vertical guard plate in the Y direction is installed on the front side of the curb laying opening, a buffer plate that can be flipped downward is installed on the rear side of the curb laying opening, a guide ramp is fixed between the vertical guard plate and the buffer plate, the buffer plate supports the curb transported by the conveying mechanism, and the curb lying on the conveying mechanism is transported to the guide ramp by the downward flipped buffer plate, the curb slides downward on the guide ramp and stands on the ground in the Y direction.

[0008] Furthermore, the lifting mechanism is provided with a longitudinal lifting bracket installed at the rear of the frame, the first transmission mechanism is fixedly installed at the bottom of the longitudinal lifting bracket, the lifting plate is driven by the lifting device on the longitudinal lifting bracket to perform lifting movement in the vertical direction of the first transmission mechanism, and the lifting plate is provided with an open groove corresponding to the position of the first transmission mechanism so that the lifting plate can be lowered below the upper surface of the first transmission mechanism;

[0009] A storage bracket is installed at the bottom of the rear side of the lifting bracket, the front end of the storage bracket is rotatably connected to the bottom of the rear side of the longitudinal lifting bracket, the storage bracket can be turned upside down and folded for storage with the front end as the rotation point, and a second transmission mechanism is provided on the storage bracket;

[0010] The storage support conveys the stacked curbstones forward in the X direction to the first conveying mechanism, and the first conveying mechanism continues to convey the curbstones forward to the lifting plate.

[0011] Furthermore, lifting devices are installed on the longitudinal lifting bracket and are respectively located on both sides of the lifting plate in the Y direction, and each of the lifting devices includes:

[0012] a lifting cylinder, the lifting cylinder being vertically fixed on the longitudinal lifting bracket;

[0013] A lifting chain, the two ends of which are fixedly connected to the lifting plate and the top rod of the lifting cylinder, respectively; or

[0014] The two ends of the lifting chain are respectively located on both sides of the lifting cylinder and span the top rod of the lifting cylinder. One end of the lifting chain is fixedly connected to the lifting plate, and the other end is fixed to the longitudinal lifting bracket on one side of the lifting cylinder.

[0015] Furthermore, vertical guide channel steel rails are provided on the longitudinal lifting bracket and are located on both sides of the lifting plate. A lifting web is slidably installed up and down on each of the vertical guide channel steel rails, and one end of the lifting chain and the lifting plate are fixedly connected to the lifting web.

[0016] Furthermore, the storage bracket is installed at the bottom of the longitudinal lifting bracket through a reset flip bracket, and a spring support is installed at the bottom of the longitudinal lifting bracket;

[0017] A limit steel pipe and a reset spring are installed at the bottom of the reset and flip bracket. The limit steel pipe passes through the two baffles on the back of the reset and flip bracket in sequence and is rotatably connected to the spring support. The reset spring is sleeved on the limit steel pipe between the two baffles.

[0018] The transverse width of the storage bracket is smaller than the transverse width of the longitudinal lifting bracket, and the storage bracket is rotatably connected to the bottom center of the longitudinal lifting bracket.

[0019] Furthermore, the forward guide rail is provided with two first slide rails with a length in the X direction, an upper rail is provided on the opposite side of the first slide rail, and a lower lifting rail located below the upper rail is provided on the first slide rail, the lower lifting rail is provided with two front and rear entrance openings opening downwards, a front and rear pair of first rollers are installed in each upper rail, and second rollers are respectively fixed at the front and rear ends on both sides of the clamping device, and the corresponding first rollers and second rollers are movably connected by a driven rod, and the first transverse propulsion cylinder drives the first roller to slide forward in the upper rail to drive the clamping device to move transversely forward, and during the forward sliding process of the first roller, the driven rod drives the second roller to enter the lower lifting rail from the entrance to raise the height of the clamping device;

[0020] The clamping device comprises a clamping frame, which is equipped with a second slide rail in the Y direction and a multi-link linkage mechanism, on which two clamping plates that can slide relatively are arranged, and the multi-link linkage mechanism is composed of a middle swing rod and two clamping links hinged at both ends of the swing rod, the center of the swing rod is rotatably connected to the clamping frame through a swing rod center pin, and the other ends of the two clamping links are respectively hingedly connected to the opposite surfaces of the two clamping plates;

[0021] One end of the swing rod is hinged to the clamping drive cylinder, and the clamping drive cylinder drives the multi-link linkage mechanism to drive the two clamping plates to slide relative to or towards each other on the second slide rail to clamp or release the curbstone.

[0022] Furthermore, a pair of front and rear first rollers in the upper track are both installed on a side push plate, and the side push plate is fixedly connected to the top rod of the first transverse propulsion cylinder. The first transverse propulsion cylinder pushes the side push plate to drive the first roller to roll back and forth in the upper track.

[0023] Furthermore, the conveying mechanism is a transmission mechanism based on rollers or belts.

[0024] Furthermore, a mechanical arm is symmetrically installed on the left and right sides of the front part of the frame, and the two mechanical arms are fixedly connected by a connecting rod. Vertical guide rails and horizontal guide rails are fixed on the left and right sides of the front part of the frame. A vertical slider support that slides up and down is installed on the vertical guide rail, and a horizontal slider that slides horizontally is installed on the horizontal guide rail. The vertical slider support is connected to a vertical lifting mechanism fixed to the front part of the frame, and the horizontal slider is connected to a horizontal pushing mechanism fixed to the front part of the frame. The vertical lifting mechanism and the horizontal pushing mechanism are any one of a cylinder, a hydraulic cylinder, an electric push rod, and a spiral screw pair.

[0025] The mechanical boom includes a longitudinal leg and a horizontal upper arm and lower arm. The front ends of the upper arm and the lower arm are hingedly connected to the legs, the rear end of the upper arm is hingedly connected to the vertical slider support, the lower arm is fixedly connected to the horizontal slider, and the rear end of the lower arm is movably connected to the upper arm through a connecting rod support arm. The upper arm, the lower arm, and the legs and connecting rod support arms hinged at the front and rear ends constitute a parallel four-bar linkage mechanism. A quick-release mounting bracket is installed at the bottom of the leg, a swing cylinder is connected between the quick-release mounting bracket and the leg, and a quick-release supporting universal wheel is installed at the bottom of the quick-release mounting bracket.

[0026] Furthermore, the quick-release mounting bracket is provided with two rotating shafts, the first rotating shaft is installed on the supporting leg through a pin shaft, the second rotating shaft is hingedly connected to the swing rod of the swing cylinder, and the swing cylinder drives the quick-release mounting bracket to rotate with the pin shaft as the axis;

[0027] The quick-release mounting bracket is provided with two triangular plates arranged in parallel, the three vertices of the two triangular plates are fixedly connected by connecting columns, the first connecting column is coaxially arranged with the pin shaft, and the other two second connecting columns are used to connect with the bayonet sockets reserved by the laying mechanism, and the second rotating shaft is arranged between two of the connecting columns;

[0028] One of the second connecting columns is an optical axis, and the other second connecting column is a locking shaft with a non-circular cross-section. One end of the locking shaft is fixedly connected to the handle. The two bayonet holes of the quick-release mounting bracket are respectively clamped on the second connecting columns and the handle is rotated to lock and fix the laying mechanism and the quick-release mounting bracket. A buckle for fixing the handle is provided on the outer side of one of the triangular plates.

[0029] Furthermore, the laying frame is detachably mounted between the quick-release mounting brackets on both sides, and width adjustment plates are symmetrically mounted on both sides of the vehicle width of the laying frame, the spacing of the width adjustment plates is adjustable, and the width adjustment plates are vertical plates in the X direction and are provided with outer bent edges at the rear end;

[0030] The paving frame is symmetrically provided with horizontal thickness positioning wheels on both sides of the vehicle width. During the paving process of the curbstone paving equipment, the thickness positioning wheel at the rear end in the traveling direction abuts against the back side wall of the paved curbstone. The thickness positioning wheel is fixed on a thickness adjustment plate. The thickness adjustment plate is a vertical plate in the Y direction and its position in the X direction is adjustable. A thickness adjustment spring is provided between the thickness adjustment plate and the paving frame.

[0031] The rotating shaft of the buffer plate is a horizontal rotating shaft in the Y direction, both ends of the horizontal rotating shaft are connected to the laying frame, and a buffer spring is installed on the horizontal rotating shaft between the laying frame and the buffer plate;

[0032] A vertical plate perpendicular to the ground and parallel to the vertical guard plate is provided at the front end of the guide ramp plate, and a gap equivalent to the thickness of the curb is left between the vertical plates.

[0033] Furthermore, the paving frame is provided with soil-crushing and cleaning plates on both sides of the vehicle width, the top of the soil-crushing and cleaning plates is hinged on the paving frame to rotate in the Y direction, a roller is installed on the soil-crushing and cleaning plates, and the outer side of the soil-crushing and cleaning plates is an inclined surface;

[0034] During the paving process of the mobile robot, the soil cleaning plate at the front end of the travel direction is in a drooping state to clean the broken soil in the curb paving groove, and the soil cleaning plate at the rear side of the travel direction is flipped upward to a horizontal arrangement and the roller wheel rolls on the upper surface of the paved curb.

[0035] A method for laying curbstones based on the mobile robot comprises the following steps:

[0036] S1, transferring the stacked curbstones onto the lifting plate, and driving the lifting device to lift the lifting plate upward;

[0037] S2, the clamping device clamps the two ends of a curbstone on the uppermost layer of the lifting plate and conveys it forward in the X direction, then releases and places it flat on the conveying mechanism, and the conveying mechanism conveys the curbstone forward in the X direction to the laying mechanism;

[0038] S3, the buffer plate supports the curbstone transported by the conveying mechanism, and the curbstone lying flat on the conveying mechanism is transported to the guide ramp plate by the downwardly flipped buffer plate, and the curbstone slides downward on the surface of the guide ramp plate and stands on the ground.

[0039] The advantages of the present invention are:

[0040] 1) The storage, lifting, transportation and laying of the curbstones are fully mechanized. Compared with the manual laying method, the present invention has good laying effect and high efficiency, and can also reduce labor costs;

[0041] 2) The curbstones transferred from the rear of the frame are lifted by the lifting mechanism. A set of lifting devices are provided on both sides of the lifting plate, so that the lifting plate fully loaded with curbstones is more stable during the lifting process; the storage bracket on the rear side of the lifting mechanism is used as a mechanism for temporarily storing curbstones. The forklift transfers the curbstones to the storage bracket, and the storage bracket transfers the curbstones to the lifting plate. The storage bracket can be folded upwards when not in use to reduce the occupied space;

[0042] 3) The clamping mechanism is used to clamp the curbstone on the lifting plate and transport it forward to place it on the conveying mechanism. After clamping the curbstone, the clamping mechanism slides toward the front of the vehicle. During the forward sliding process, the height of the clamping mechanism will be raised to avoid scratches between the lower surface of the curbstone clamped by the clamping mechanism and the upper surface of the curbstone on the lifting plate, thereby ensuring the beauty of the curbstone during the transmission process. The clamping mechanism adopts a multi-link linkage mechanism to make the two clamping plates move at the same time. On the one hand, the structure is more compact, and on the other hand, it ensures that the two clamping plates always move synchronously and the movement is more linear;

[0043] 4) The laying mechanism is used to erect the curbstones lying flat by the conveying mechanism on the ground. The spacing of the width adjustment plates of the laying mechanism is adjustable to adjust the width of the curbstone laying opening to adapt to the laying of curbstones of different lengths. Soil cleaning plates are arranged on the left and right sides of the frame of the laying mechanism. During the laying process of the mobile robot, the soil cleaning plate in the front can clean the broken soil in the curbstone laying groove, and the soil cleaning plate in the rear can roll the laid curbstone downward to make the curbstone laid more neatly. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0045] Figure 1 The overall appearance diagram of a mobile robot for laying curbstones provided by the present invention;

[0046] Figure 2 The figure is a top view of the mobile robot for laying curbstones;

[0047] Figure 3a A three-dimensional diagram of the lifting mechanism;

[0048] Figure 3b A three-dimensional diagram of a lifting plate of a lifting mechanism rising to mid-air;

[0049] Figure 3cIt is a side view of the storage bracket of the lifting mechanism after it is unfolded;

[0050] Figure 3d This is a side view of the storage bracket after it is folded;

[0051] Figure 4a It is a side view of the clamping and pushing mechanism;

[0052] Figure 4b It is a three-dimensional diagram of the clamping and pushing mechanism;

[0053] Figure 4c A bottom view of the clamping and pushing mechanism;

[0054] Figure 4d for Figure 4a A schematic diagram behind the side panels of the forward guide rail is shown, showing a schematic diagram of the forward guide rail being provided with two upper and lower tracks (i.e., an upper track and a lower lifting track), wherein the clamping device is the starting section of the travel of the forward guide rail;

[0055] Figure 4e It is a side view of the clamping and pushing mechanism sliding to the end of the travel of the forward guide rail;

[0056] Figure 4f It is the left view of the clamping and pushing mechanism;

[0057] Figure 5a is a three-dimensional diagram of a mechanical arm;

[0058] Figure 5b It is a side view of the mechanical arm;

[0059] Figure 5c A perspective view of the quick-release mounting bracket;

[0060] Figure 6a A three-dimensional view of the laying mechanism after the front vertical guard plate is hidden;

[0061] Figure 6b It is a top view of the laying mechanism;

[0062] Figure 6c It is a side view of the laying mechanism;

[0063] Figure 6d It is the front view of the laying mechanism. DETAILED DESCRIPTION

[0064] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0065] In order to fully understand the present invention, detailed steps and detailed structures will be proposed in the following description to illustrate the technical solution of the present invention. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0066] Reference Figure 1 As shown, the present invention provides a mobile robot 10, such as Figure 1 As shown, the mobile robot 10 includes a frame 11, on which a walking device 12 is installed. The walking device 12 is provided with four steerable walking wheels 13, and the walking device 12 can drive the mobile robot 10 to walk. For the convenience of the following description, we assume that the length direction of the frame 11 is the X direction, and the width direction is the Y direction. The mobile robot 10 moves in the Y direction to continuously lay the curbstone 001.

[0067] A lifting mechanism 100 and a clamping and pushing mechanism 200 are installed at the rear of the vehicle frame 11, a multi-axis mechanical arm 500 is installed at the front of the vehicle frame 11, a curbstone laying mechanism 400 is installed on the mechanical arm 500, and a transmission mechanism 300 located between the curbstone laying mechanism 400 and the clamping and pushing mechanism 200 is installed on the vehicle frame 11;

[0068] The lifting mechanism 100 is provided with a first transmission mechanism 104, a lifting plate 103 and a lifting device 120. The first transmission mechanism 104 transfers the stacked curbstones to the lifting plate 103 and the lifting device 120 drives the lifting plate 103 to lift upward.

[0069] The clamping and pushing mechanism 200 includes a forward guide rail 210 and a clamping device 220 slidably mounted on the forward guide rail 210. The clamping device 220 clamps both ends of the length of the curbstone after it is lifted to the top and conveys it forward in the X direction, then releases it and lays it flat on the conveying mechanism 300. The conveying mechanism 300 conveys the curbstone forward in the X direction to the curbstone laying mechanism 400.

[0070] The curbstone laying mechanism 400 is provided with a laying frame 410 installed on the mechanical boom 500, and a curbstone laying opening 411 with adjustable width in the Y direction is provided in the middle of the laying frame 410, a vertical guard plate 416 in the Y direction is installed on the front side of the curbstone laying opening 411, and a buffer plate 420 that can be flipped downward is installed on the rear side of the curbstone laying opening 411, and a guide ramp plate 413 is fixed between the vertical guard plate 416 and the buffer plate 420, and the buffer plate 420 supports the curbstone transported by the conveying mechanism 300, and the downwardly flipped buffer plate 420 sends the curbstone 001 lying flat on the conveying mechanism 300 to the guide ramp plate 413, and the curbstone 001 slides down on the guide ramp plate 413 and stands on the ground in the Y direction.

[0071] The mobile robot 10 of the present invention lifts the stacked curbstones as a whole through the lifting mechanism 100, and then the clamping and pushing mechanism 200 clamps the curbstones one by one and transfers them to the conveying mechanism 300 for flat placement, and the conveying mechanism 300 transfers the flatly placed curbstones to the curbstone laying mechanism 400, and the curbstone laying mechanism 400 lays the curbstones vertically in the curbstone laying groove. The whole process is fully mechanized, which greatly improves the laying efficiency and reduces the labor cost required; at the same time, when laying the curbstones, the device does not require manual assistance, and the operator does not need to participate in heavy work, which reduces people's labor intensity.

[0072] The structure of the lifting mechanism 100 is further described below:

[0073] The lifting mechanism 100 is provided with a longitudinal lifting bracket 102 installed at the rear of the vehicle frame 11, and the first transmission mechanism 104 is fixedly installed at the bottom of the longitudinal lifting bracket 102. The lifting plate 103 is driven by the lifting device 120 on the longitudinal lifting bracket 102 to perform lifting and lowering movements in the vertical direction of the first transmission mechanism 104. The lifting plate 103 is provided with an open groove corresponding to the position of the first transmission mechanism 104 so that the lifting plate 103 can be lowered below the upper surface of the first transmission mechanism 104. A storage bracket 130 is installed at the bottom of the rear side of the lifting bracket. The front end of the storage bracket 130 is rotatably connected to the bottom of the rear side of the longitudinal lifting bracket 102. The storage bracket 130 can be turned upside down and folded for storage with the front end as the rotation point (such as Figure 3b and 3c As shown), a second conveying mechanism 132 is provided on the storage support 130; the storage support 130 conveys the stacked curbstones forward in the X direction to the first conveying mechanism 104, and the first conveying mechanism 104 continues to convey the curbstones forward to the lifting plate 103.

[0074] In an optional embodiment, a lifting device 120 is installed on the longitudinal lifting bracket 102 and is located on both sides of the lifting plate 103 in the Y direction. Each lifting device 120 includes a lifting cylinder 121 and a lifting chain 122. The lifting cylinder 121 is vertically fixed on the longitudinal lifting bracket 102; the two ends of the lifting chain 122 are fixedly connected to the lifting plate 103 and the top rod of the lifting cylinder 121, or the two ends of the lifting chain 122 are respectively located on both sides of the lifting cylinder 121 and cross the top rod of the lifting cylinder 121, one end of the lifting chain 122 is fixedly connected to the lifting plate 103, and the other end is fixed to the longitudinal lifting bracket 102 on one side of the lifting cylinder 121. The top rod of the lifting cylinder 121 slides upward to drive the end of the lifting chain 122 to move upward, and the two groups of lifting chains 122 drive the middle lifting plate 103 to be steadily lifted.

[0075] In an optional embodiment, vertical guide channel steel rails 105 are provided on the longitudinal lifting bracket 102 and are located on both sides of the lifting plate 103. A lifting web 106 is slidably installed up and down on each vertical guide channel steel rail 105, and one end of the lifting chain 122 and the lifting plate 103 are fixedly connected to the lifting web 106.

[0076] In an optional embodiment, the storage bracket 130 is installed at the bottom of the longitudinal lifting bracket 102 through the reset flip bracket 131, and a spring support 135 is installed at the bottom of the longitudinal lifting bracket 102;

[0077] A limit steel pipe 138 and a return spring 137 are installed at the bottom of the reset flip bracket 131. The limit steel pipe 138 passes through the two baffles 136 on the back of the reset flip bracket 131 in sequence and is rotatably connected to the spring support 135. The return spring 137 is sleeved on the limit steel pipe 138 between the two baffles 136.

[0078] The lateral width of the storage bracket 130 is smaller than the lateral width of the longitudinal lifting bracket 102 , and the storage bracket 130 is rotatably connected to the bottom center of the longitudinal lifting bracket 102 .

[0079] The lifting mechanism 100 adopts the lifting principle of a forklift, and the lifting cylinder 121 and the lifting chain 122 are placed on the left and right sides. One end of the chain is connected to the frame, and the other end is connected to the brick lifting plate 103. The left and right sides of the lifting plate 103 are equipped with bearings, which can roll up and down on the vertical guide channel steel track 105. The storage bracket 130 is provided with a second transmission mechanism 132, which is composed of rollers, sprocket chains, drive motors, etc., to achieve the reception and transmission of bricks. After the operation is completed, the storage bracket 130 can be rotated 90 degrees in the vertical plane, such as Figure 3c as shown to reduce floor space.

[0080] Combination Figure 3a-3d As shown, the design highlights of the lifting mechanism 100 are: 1) The design of the storage and lifting parts can ensure the continuous supply of bricks, meet the front-end brick demand, improve efficiency, and have a compact structure. 2) The lifting part design can accurately lift the corresponding height according to the thickness of the brick. 3) When the forklift places the material in the design, the clamp formed by the two end plates of the forklift corresponds to the storage vertical plate, and the width of the storage vertical plate is much smaller than the width of the clamp, which can be applied to various types of forklifts, convenient for the placement and transportation of large and small bricks, and the operation is very convenient. 4) When the storage material operation is completed, the storage vertical plate can be manually pushed and rotated upward 90° to fold the storage part to a vertical state, reducing the length of the entire vehicle, which is convenient for transfer and transportation. And when the storage mechanism is laid flat, its storage outer frame and the frame can limit themselves to support its flat state. The spring assembly makes it easy to place and fold the storage structure.

[0081] Refer to the following Figures 4a-4fAs shown, the structure of the clamping and pushing mechanism 200 is further described:

[0082] The forward guide rail 210 is provided with two first slide rails 211 with a length in the X direction, an upper rail 212 is provided on the opposite inner side of the first slide rail 211, a lower lifting rail 213 is provided on the first slide rail 211 and is located below the upper rail 212, and two front and rear openings 213-1 with openings facing downward are provided on the lower side of the lower lifting rail 213, a front and rear pair of first rollers 202 are installed in each upper rail 212, and second rollers 221 are respectively fixed at the front and rear ends of both sides of the clamping device 220, and the corresponding first rollers 202 and second rollers 221 are movably connected through a driven rod 230, and the first transverse propulsion cylinder 240 drives the first roller 202 to slide forward in the upper rail 212 to drive the clamping device 220 to move transversely forward, and during the forward sliding process of the first roller 202, the second roller 221 is driven by the driven rod 230 to enter the lower lifting rail 213 from the entry 213-1 to raise the height of the clamping device 220.

[0083] In an optional embodiment, the front and rear pair of first rollers 202 in the upper track 212 are both installed on a side push plate 214, and the side push plate 214 is fixedly connected to the top rod of the first transverse propulsion cylinder 240. The first transverse propulsion cylinder 240 pushes the side push plate 214 to drive the front and rear pair of first rollers 202 to roll back and forth in the upper track 212.

[0084] The upper and lower ends of the driven rod 230 are respectively hinged to the first roller 202 in the upper first slide rail 211 and the second roller 221 of the clamping device, with a total of four hinge points, thereby forming a parallel four-bar linkage (such as Figure 4d The four corners of the clamping device are movably connected to the bottom of the first slide rail 211 through the connecting rod 230; the second roller 221 is rotatably installed on the frame of the clamping device 220. During operation, the first transverse propulsion cylinder 240 drives the side push plate 214 to drive the first roller 202 to roll forward in the upper track 212, and the lower end of the driven rod 230 drives the clamping device 220 to form a parallel four-bar linkage to push the entire clamping mechanism forward. Before the clamping device 220 slides forward, the second roller 221 set on the clamping device 220 first enters the lower lifting track 213 to lift the height of the clamping device 220, so the height of the curbstone clamped by it will also be increased to avoid friction between the clamped brick body and the curbstone below it, which may scratch the surface of the brick body. Figure 4eAs shown. The clamping device 220 is first raised a little and then moves forward. Preferably, when the clamping device 220 is at the rearmost position of the travel, the two second rollers 221 are exactly located at the entrance of the lower lifting track 213, so that the clamping device 220 is first raised and then slides forward.

[0085] like Figure 4c As shown, the clamping device 220 includes a clamping frame 223, which is equipped with a second slide rail 224 in the Y direction and a multi-link linkage mechanism. Two relatively slidable clamping plates 225 are arranged on the second slide rail 224. The multi-link linkage mechanism is composed of a middle swing rod 226 and two clamping links 227 hinged at both ends of the swing rod 226. The center of the swing rod 226 is rotatably connected to the clamping frame 223 through a swing rod center pin, and the other ends of the two clamping links 227 are respectively hingedly connected to the opposite surfaces of the two clamping plates 225; one end of the swing rod 226 is hinged to the clamping drive cylinder 228, and the clamping drive cylinder 228 drives the multi-link linkage mechanism to drive the two clamping plates 225 to slide relative to or towards each other on the second slide rail 224 to clamp or release the curb.

[0086] By adopting the above-mentioned multi-link linkage mechanism, only one clamping drive cylinder 228 is required to realize that the two clamping plates 225 can slide relative to or towards each other on the second slide rail 224 to clamp or release the curbstone, which simplifies the drive structure. On the other hand, the movement of the two clamping plates 225 is synchronized, making the clamping and releasing actions more linear. Preferably, the opposite surfaces of the two clamping plates 225 are detachably mounted with rubber plates to protect the floor tiles when clamping the floor tiles.

[0087] In an optional embodiment, the conveying mechanism 300 is a roller or belt based transmission mechanism.

[0088] The structure of the curbstone laying mechanism 400 is further described below:

[0089] Two quick-release bayonet holes 417 (such as Figure 6c As shown), the laying frame 410 can be detachably mounted on the quick-release mounting bracket 531 of the front-end mechanical arm 500 of the brick paving machine. Width adjustment plates 412 are symmetrically installed on both sides of the vehicle width of the laying frame 410 (the opening area between the two width adjustment plates 412 is the curb paving opening 411, and the width adjustment plate 412 passes through the first adjustable guide rail 418 in the Y direction and is fixed to the laying frame 410 through the adjustment plate 414. The adjustment plate 414 is provided with a plurality of fixing holes. The spacing between the two width adjustment plates 412 is adjusted through different fixing holes, so that manual adjustment of curbs of different lengths can be achieved. Preferably, the width adjustment plate 412 is a vertical plate in the X direction and is provided with an outer bent edge 415 at the rear end to play a guiding role.

[0090] A thickness adjustment component is provided on the laying frame 410, which can realize automatic elastic adjustment of swivels of different thicknesses. Its specific structure is as follows: the laying frame 410 is symmetrically equipped with horizontal thickness positioning wheels 430 on both sides of the vehicle width. During the paving process of the curb paving equipment, the thickness positioning wheel 430 at the rear end in the traveling direction abuts against the back side wall of the laid curb 002, and the thickness positioning wheel 430 is fixed on a thickness adjustment plate 431. The thickness adjustment plate 431 is a vertical plate in the Y direction. The thickness adjustment plate 431 is fixed to the laying frame 410 through a second adjustment guide rail 433. A thickness adjustment spring 432 is provided on the second adjustment guide rail 433, wherein the thickness adjustment plate 431 is adjustable in the front and rear position in the X direction, thereby adjusting the distance between the thickness positioning wheel 430 and the vertical guard plate 416.

[0091] The buffer plate 420 is used to buffer the falling bricks. Its rotation axis is a horizontal rotation axis in the Y direction. Both ends of the horizontal rotation axis are connected to the laying frame 410 , and a buffer spring 421 is installed on the horizontal rotation axis between the laying frame 410 and the buffer plate 420 .

[0092] The laying frame 410 is provided with soil cleaning plates 440 on both sides of the vehicle width. The top of the soil cleaning plates 440 is hinged on the laying frame 410 to rotate in the Y direction. A roller 441 is installed on the soil cleaning plates 440. The cross section of the soil cleaning plates 440 in the X direction is a right triangle, and the outer side is an inclined surface. During the laying process of the brick paving machine, the soil cleaning plates 440 at the front end of the traveling direction are in a drooping state to clean the soil in the paving groove of the curbstone, and the soil cleaning plates 440 at the rear side of the traveling direction are flipped upward to a horizontal arrangement and the roller 441 rolls on the upper surface of the laid curbstone.

[0093] A guide ramp plate 413 is fixed between the vertical guard plate 416 and the buffer plate 420. A vertical plate 413-1 is provided at the front end of the guide ramp plate 413, which is perpendicular to the ground and parallel to the vertical guard plate 416. A gap equivalent to the thickness of the curb is left between the vertical plate 413-1 and the vertical guard plate 416. The buffer plate 420 is turned downward to make the curb 001 fall onto the guide ramp plate 413. The curb 001 slides down on the guide ramp plate 413 into the gap and stands on the ground in the Y direction.

[0094] The structure of the mechanical arm 500 is further described below:

[0095] A mechanical arm 500 is symmetrically installed on the left and right sides of the front of the frame 11, and the two mechanical arms 500 are fixedly connected by a connecting rod 540. A vertical guide rail 501 and a horizontal guide rail 503 are fixed on the left and right sides of the front of the frame 11. A vertical slider support 502 that slides up and down is installed on the vertical guide rail 501, and a horizontal slider 504 that slides horizontally is installed on the horizontal guide rail 503; the vertical slider support 502 is connected to a vertical lifting mechanism 505 fixed to the front of the frame 11, and the horizontal slider 504 is connected to a horizontal pushing mechanism 506 fixed to the front of the frame 11. The vertical lifting mechanism 505 and the horizontal pushing mechanism 506 are any one of a cylinder, a hydraulic cylinder, an electric push rod, and a screw pair.

[0096] The mechanical arm 500 includes a longitudinal leg 530 and a horizontal upper arm 510 and a lower arm 520. The front ends of the upper arm 510 and the lower arm 520 are both hingedly connected to the leg 530. The rear end of the upper arm 510 is hingedly connected to the vertical slider support 502. The lower arm 520 is fixedly connected to the horizontal slider 504 and the rear end of the lower arm 520 is movably connected to the upper arm 510 through a connecting rod support arm 521. Figure 5b As described above, the upper arm 510, the lower arm 520, the leg 530 and the connecting rod support arm 521 form a parallelogram structure (as shown by the dotted line). The advantage of the parallelogram structure is that the front leg can be better controlled by the rear vertical lifting mechanism 505 and the horizontal pushing mechanism 506. A quick-release mounting bracket 531 is installed at the bottom of the leg 530, and a swing cylinder 532 is connected between the quick-release mounting bracket 531 and the leg 530. A quick-release first supporting universal wheel 533 is installed at the bottom of the quick-release mounting bracket 531.

[0097] like Figure 5c As shown, the quick-release mounting bracket 531 is provided with two rotating shafts, the first rotating shaft is installed on the support leg 530 through the pin shaft 531-2, the second rotating shaft 531-6 is hingedly connected to the swing rod of the swing cylinder 532, and the swing cylinder 532 drives the quick-release mounting bracket 531 to rotate around the pin shaft 531-2 as the axis.

[0098] The quick-release mounting bracket 531 is provided with two parallel triangular plates 531-1, and the three vertices of the two triangular plates 531-1 are fixedly connected by connecting columns, the first connecting column is coaxially arranged with the pin 531-2, and the other two second connecting columns are used to connect with the bayonet reserved for the laying mechanism, and the second rotating shaft 531-6 is arranged between two of the connecting columns; one of the second connecting columns is an optical axis 531-7, and the other second connecting column is a locking shaft 531-3 with a non-circular cross section, and one end of the locking shaft 531-3 is fixedly connected with the handle 531-4. After the bayonet 417 of the laying frame 410 of the curb is respectively clamped on the optical axis 531-7 and the locking shaft 531-3, and the handle 531-4 is turned to rotate the locking shaft 531-3 to clamp the laying mechanism, so that the laying mechanism and the quick-release mounting bracket 531 are locked and fixedly connected. A buckle 531 - 5 for fixing the handle 531 - 4 is provided on the outer side surface of one of the triangular plates, so as to keep the handle 531 - 4 fixed in a locked state.

[0099] The mechanical arm 500 can realize the longitudinal and vertical positioning of the front-mounted curbstone laying mechanism 400 and provide support for it. Through the coordinated operation of the vertical lifting mechanism 505, the horizontal pushing mechanism 506 and the swing cylinder 532 of the mechanical arm 500, it can ensure that the front-end curbstone laying mechanism 400 always maintains a horizontal state, which is convenient for soil cleaning, curbstone placement, curbstone rolling, etc.

[0100] A quick-release mounting bracket 531 is installed at the bottom of the leg 530 to facilitate quick-release connection with the curb paving mechanism 400. The angle of the quick-connect device can be adjusted by extending and retracting the swing cylinder 532, which facilitates quick positioning and combination with the connection structure of the curb paving mechanism 400, thereby achieving quick installation and disassembly.

[0101] In other embodiments, we can also remove the curbstone laying mechanism 400 from the mechanical arm 500 and replace it with other mechanisms. For example, the curbstone laying mechanism 400 for laying curbstones can be replaced with a mechanism for laying flat bricks, thereby meeting different brick laying requirements. At the same time, the lifting mechanism 100, the clamping and pushing mechanism 200, and the conveying mechanism 300 on the frame do not need to be changed, thereby enhancing the scalability of the present invention.

[0102] The working process of the present invention is described in detail below:

[0103] First, we stack the curbstones 001 on the forklift's cargo fork, with the front and back sides of the stacked curbstones 001 touching each other. Then we put down the storage bracket 130 to make it horizontal, and drive the forklift to transfer the curbstones to the storage bracket 130. Since the storage bracket 130 is rotatably connected to the bottom center of the longitudinal lifting bracket 102, a space for the cargo fork to move is formed on both sides of the storage bracket 130. When the forklift drives close to the mobile robot 10, the storage bracket 130 can extend into the opening center of the cargo fork. After the forklift drives into place, it unloads the curbstones and leaves.

[0104] The storage rack 130 is provided with a roller or belt transmission mechanism to transport the stacked curbstones 001 forward to the lifting plate 103 of the lifting mechanism 100, and the first transmission mechanism 104 of the lifting mechanism 100 relays the curbstones 001 to continue to be transported forward, so that the curbstones 001 are completely located on the lifting plate 103. The top rods of the lifting device 120 on both sides of the lifting plate 103 slide upward, and the top rods drive the lifting chains 122 to move upward, thereby driving the lifting webs 106 on both sides to move upward steadily, thereby raising the height of the lifting plate 103.

[0105] The clamping device 220 of the clamping and pushing mechanism 200 slides backward to the rear of the vehicle, and the clamping plate 225 clamps and fixes the left and right ends of the top curbstone 001, and then the clamping device 220 moves toward the front of the vehicle. When the clamping device 220 slides forward, the second roller 221 slides into the lower lifting track 213 to raise its own height, so that the clamping device 220 slightly raises the height of the curbstone 001 while driving the curbstone 001 forward, so as to avoid the curbstone 001 being scratched by the clamped curbstone 001 and the curbstone 001 on the lifting plate 103, thereby affecting the appearance of the curbstone 001.

[0106] When the clamping device 220 slides on the forward guide rail 210 to above the conveying mechanism 300 , the two clamping plates 225 are loosened, and the curbstone 001 falls onto the conveying mechanism 300 , and the conveying mechanism 300 continues to transport the curbstone 001 forward.

[0107] When the conveying mechanism 300 moves to the front end, the curb 001 is first blocked by the buffer plate 420 of the curb laying mechanism 400. The lower side of the curb 001 contacts the buffer plate 420, and then the buffer plate 420 flips downward. The curb 001 loses the obstruction of the buffer plate 420 and slides onto the guide ramp 413. Under the action of gravity, the curb 001 slides forward on the guide ramp 413. When it falls from the guide ramp 413, it is blocked by the vertical guard plate 416 and stands upright in the curb laying groove in the Y direction. At this time, the laying operation of a curb 001 is completed, so that the curb 001 stands upright in the curb laying groove on the ground.

[0108] Then, the walking device 12 drives the mobile robot 10 to move horizontally in the vehicle width direction. The paving frame 410 is provided with two soil cleaning plates 440 on both sides of the vehicle width direction. Among them, the soil cleaning plate 440 located at the front side of the paving direction is in a drooping state. During the movement of the mobile robot, the soil cleaning plate 440 can clean out the soil in the curbstone paving groove, making the curbstone paving groove smoother, so as to ensure that the subsequent curbstones fall into the paving groove more neatly as a whole. The soil crushing and cleaning plate 440 located at the rear side of the paving direction is rotated to a horizontal state, and the roller wheel 441 of the soil crushing and cleaning plate 440 rolls on the upper surface of the curb 001 at the rear side of the paving direction of the paving frame 410, and the curb laid at the rear is rolled downward during the lateral movement of the mobile robot 10; and the thickness positioning wheel 430 located at the rear side of the paving direction abuts against the back of the curb laid at the rear, and the thickness positioning wheel 430 provides forward rolling for the curb during the lateral movement; by rolling the curb laid at the rear downward and forward, the laid curb can be made more neat.

[0109] The mechanical arm 500 is used to provide support for the curbstone laying mechanism 400, and the curbstone laying mechanism 400 is installed between two quick-release mounting brackets 531 through a quick-release structure. When the mobile robot is in a non-laying working state, the mechanical arm 500 slides upward on the vertical guide rail 501 to drive the curbstone laying mechanism 400 off the ground and make it suspended in the air, so as to protect the curbstone laying mechanism 400; when the mobile robot moves to the designated position, the mechanical arm 500 descends, and the horizontal pushing mechanism 506 drives the legs 530 to move horizontally forward and backward to adjust the position of the curbstone laying mechanism 400 at the bottom of the mechanical arm 500.

[0110] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A mobile robot for laying curbstones, wherein the curbstones (001) are long strips of stone, the mobile robot comprises a frame (11), the length direction of the frame (11) is an X direction, and the width direction is a Y direction, the mobile robot moves in the Y direction to continuously lay the curbstones (001), characterized in that: A lifting mechanism (100) and a clamping and pushing mechanism (200) are installed at the rear of the vehicle frame (11); a multi-axis mechanical arm (500) is installed at the front of the vehicle frame (11); a curbstone laying mechanism (400) is installed on the mechanical arm (500); and a transmission mechanism (300) located between the curbstone laying mechanism (400) and the clamping and pushing mechanism (200) is installed on the vehicle frame (11); The lifting mechanism (100) is provided with a first transmission mechanism (104), a lifting plate (103) and a lifting device (120); the first transmission mechanism (104) transfers the curbstones stacked up and down to the lifting plate (103), and the lifting device (120) drives the lifting plate (103) to lift upward; The clamping and pushing mechanism (200) comprises a forward guide rail (210) and a clamping device (220) slidably mounted on the forward guide rail (210); the clamping device (220) clamps the two ends of the length of the curbstone after it is lifted to the top and conveys it forward in the X direction, then releases it and lays it flat on the conveying mechanism (300); the conveying mechanism (300) conveys the curbstone forward in the X direction to the curbstone laying mechanism (400); the conveying mechanism (300) is a transmission mechanism based on rollers or belts; The curbstone laying mechanism (400) is provided with a laying frame (410), a curbstone laying opening (411) with adjustable width in the Y direction is provided in the middle of the laying frame (410), a vertical guard plate (416) in the Y direction is installed on the front side of the curbstone laying opening (411), a buffer plate (420) that can be flipped downward is installed on the rear side of the curbstone laying opening (411), a guide ramp plate (413) is fixed between the vertical guard plate (416) and the buffer plate (420), the buffer plate (420) supports the curbstone conveyed by the conveying mechanism (300), and the downward flipped buffer plate (420) conveys the curbstone (001) lying flat on the conveying mechanism (300) to the guide ramp plate (413), and the curbstone (001) slides downward on the guide ramp plate (413) and stands on the ground in the Y direction; The forward guide rail (210) is provided with two first slide rails (211) having a length in the X direction, an upper rail (212) is provided on the opposite side of the first slide rail (211), and a lower lifting rail (213) located below the upper rail (212) is provided on the first slide rail (211), the lower lifting rail (213) is provided with two front and rear entrances (213-1) opening downward, a front and rear pair of first rollers (202) are installed in each upper rail (212), and second rollers are respectively fixed at the front and rear ends on both sides of the clamping device (220) (221), the corresponding first roller (202) and the second roller (221) are movably connected via a driven rod (230), the first transverse propulsion cylinder (240) drives the first roller (202) to slide forward in the upper track (212) to drive the clamping device (220) to move transversely forward, and during the forward sliding process of the first roller (202), the driven rod (230) drives the second roller (221) to enter the lower lifting track (213) from the entrance (213-1) to raise the height of the clamping device (220); The clamping device (220) comprises a clamping frame (223), the clamping frame (223) is equipped with a second slide rail (224) in the Y direction and a multi-link linkage mechanism, two clamping plates (225) that can slide relative to each other are arranged on the second slide rail (224), the multi-link linkage mechanism is composed of a middle swing rod (226) and two clamping links (227) hinged at both ends of the swing rod (226), the center of the swing rod (226) is rotatably connected to the clamping frame (223) through a swing rod center pin, and the other ends of the two clamping links (227) are respectively hingedly connected to the opposite surfaces of the two clamping plates (225); One end of the swing rod (226) is hinged to the clamping drive cylinder (228), and the clamping drive cylinder (228) drives the multi-link linkage mechanism to drive the two clamping plates (225) to slide relative to or towards each other on the second slide rail (224) to clamp or release the curbstone.

2. The mobile robot according to claim 1, characterized in that: The lifting mechanism (100) is provided with a longitudinal lifting bracket (102) installed at the rear of the frame (11); the first transmission mechanism (104) is fixedly installed at the bottom of the longitudinal lifting bracket (102); the lifting plate (103) is driven by the lifting device (120) on the longitudinal lifting bracket (102) to perform lifting movement in the vertical direction of the first transmission mechanism (104); the lifting plate (103) is provided with an open groove corresponding to the position of the first transmission mechanism (104) so ​​that the lifting plate (103) can be lowered below the upper surface of the first transmission mechanism (104); A storage bracket (130) is installed at the bottom of the rear side of the lifting bracket, the front end of the storage bracket (130) is rotatably connected to the bottom of the rear side of the longitudinal lifting bracket (102), the storage bracket (130) can be turned upside down and folded for storage with the front end as the rotation point, and a second transmission mechanism (132) is arranged on the storage bracket (130); The storage support (130) transports the curbstones stacked up and down forward in the X direction to the first transmission mechanism (104), and the first transmission mechanism (104) continues to transport the curbstones forward to the lifting plate (103).

3. The mobile robot according to claim 2, characterized in that: Lifting devices (120) are installed on the longitudinal lifting bracket (102) and are respectively located on both sides of the lifting plate (103) in the Y direction. Each of the lifting devices (120) includes: A lifting cylinder (121), wherein the lifting cylinder (121) is vertically fixed on the longitudinal lifting bracket (102); A lifting chain (122), the two ends of which are respectively fixedly connected to the lifting plate (103) and the top rod of the lifting cylinder (121), or The two ends of the lifting chain (122) are respectively located on both sides of the lifting cylinder (121) and span the top rod of the lifting cylinder (121); one end of the lifting chain (122) is fixedly connected to the lifting plate (103), and the other end is fixed to the longitudinal lifting bracket (102) on one side of the lifting cylinder (121).

4. The mobile robot according to claim 3, characterized in that: The longitudinal lifting bracket (102) is provided with vertical guide channel steel rails (105) located on both sides of the lifting plate (103), and a lifting web (106) is slidably installed up and down on each of the vertical guide channel steel rails (105), and one end of the lifting chain (122) and the lifting plate (103) are fixedly connected to the lifting web (106).

5. The mobile robot according to claim 2, characterized in that: The storage bracket (130) is installed at the bottom of the longitudinal lifting bracket (102) through a reset flip bracket (131), and a spring support (135) is installed at the bottom of the longitudinal lifting bracket (102); A limit steel pipe (138) and a return spring (137) are installed at the bottom of the reset and flip bracket (131); the limit steel pipe (138) passes through two baffles (136) on the back of the reset and flip bracket (131) in sequence and is rotatably connected to the spring support (135); the return spring (137) is sleeved on the limit steel pipe (138) between the two baffles (136); The transverse width of the storage bracket (130) is smaller than the transverse width of the longitudinal lifting bracket (102), and the storage bracket (130) is rotatably connected to the bottom center of the longitudinal lifting bracket (102).

6. The mobile robot according to claim 1, characterized in that: A pair of front and rear first rollers (202) in the upper track (212) are both mounted on a side push plate (214), and the side push plate (214) is fixedly connected to a push rod of the first transverse propulsion cylinder (240). The first transverse propulsion cylinder (240) pushes the side push plate (214) to drive the first roller (202) to roll forward and backward in the upper track (212).

7. The mobile robot according to claim 1, characterized in that: A mechanical arm (500) is symmetrically mounted on the left and right sides of the front of the vehicle frame (11), and the two mechanical arms (500) are fixedly connected via a connecting rod (540). A vertical guide rail (501) and a horizontal guide rail (503) are fixed on the left and right sides of the front of the vehicle frame (11). A vertical slider support (502) that slides up and down is mounted on the vertical guide rail (501), and a horizontal slider (504) that slides horizontally is mounted on the horizontal guide rail (503). The vertical slider support (502) is connected to a vertical lifting mechanism (505) fixed to the front of the vehicle frame (11), and the horizontal slider (504) is connected to a horizontal pushing mechanism (506) fixed to the front of the vehicle frame (11); The mechanical arm (500) comprises a longitudinal leg (530) and a horizontal upper arm (510) and a lower arm (520); the front ends of the upper arm (510) and the lower arm (520) are both hingedly connected to the leg (530); the rear end of the upper arm (510) is hingedly connected to a vertical slider support (502); the lower arm (520) is fixedly connected to the horizontal slider (504); and the rear end of the lower arm (520) is movably connected to the upper arm (510) via a connecting rod support arm (521); the upper arm (510), the lower arm (520), the leg (530) hinged at the front and rear ends, and the connecting rod support arm (521) form a parallel four-bar linkage mechanism; A quick-release mounting bracket (531) is installed at the bottom of the supporting leg (530), a swing cylinder (532) is connected between the quick-release mounting bracket (531) and the supporting leg (530), and a quick-release supporting universal wheel (533) is installed at the bottom of the quick-release mounting bracket (531).

8. The mobile robot according to claim 7, characterized in that: The quick-release mounting bracket (531) is provided with two rotating shafts, the first rotating shaft is installed on the supporting leg (530) through a pin shaft (531-2), the second rotating shaft (531-6) is hingedly connected to the swing rod of the swing cylinder (532), and the swing cylinder (532) drives the quick-release mounting bracket (531) to rotate around the pin shaft (531-2) as the axis; the quick-release mounting bracket (531) is provided with two triangular plates (531-1) arranged in parallel, and the three vertices of the two triangular plates (531-1) are fixedly connected through connecting columns, the first connecting column is coaxially arranged with the pin shaft (531-2), and the other two second connecting columns are used for connecting with the bayonet sockets reserved by the laying mechanism, and the second rotating shaft (531-6) is arranged between two of the connecting columns; One of the second connecting columns is an optical axis (531-7), and the other second connecting column is a locking shaft (531-3) with a non-circular cross section. One end of the locking shaft (531-3) is fixedly connected to the handle (531-4). Two bayonet holes of the quick-release mounting bracket (531) are respectively clamped on the second connecting columns, and the handle is rotated so that the laying mechanism and the quick-release mounting bracket (531) are locked and fixedly connected. A buckle (531-5) for fixing the handle (531-4) is provided on the outer side surface of one of the triangular plates.

9. The mobile robot according to claim 1, characterized in that: The laying frame (410) is detachably mounted on a mechanical arm (500), and width adjustment plates (412) are symmetrically mounted on both sides of the vehicle width of the laying frame (410), the spacing of the width adjustment plates (412) is adjustable, and the width adjustment plates (412) are vertical plates in the X direction and are provided with outer bent edges (415) at the rear end; The paving frame (410) is symmetrically provided with horizontal thickness positioning wheels (430) on both sides of the vehicle width. During the paving process of the curbstone paving equipment, the thickness positioning wheel (430) at the rear end in the traveling direction abuts against the back side wall of the paved curbstone. The thickness positioning wheel (430) is fixed on a thickness adjustment plate (431). The thickness adjustment plate (431) is a vertical plate in the Y direction and its position in the X direction is adjustable. A thickness adjustment spring (432) is provided between the thickness adjustment plate (431) and the paving frame (410). The rotating shaft of the buffer plate (420) is a horizontal rotating shaft in the Y direction, both ends of the horizontal rotating shaft are connected to the laying frame (410), and a buffer spring (421) is installed on the horizontal rotating shaft between the laying frame (410) and the buffer plate (420); A vertical plate (413-1) perpendicular to the ground and parallel to the vertical guard plate (416) is provided at the front end of the guide ramp plate (413), and a gap is left between the vertical plate and the vertical guard plate (416).

10. The mobile robot according to claim 9, characterized in that: The laying frame (410) is provided with soil-crushing and cleaning plates (440) on both left and right sides of the vehicle width, the top end of the soil-crushing and cleaning plates (440) is hinged on the laying frame (410) to rotate in the Y direction, a roller (441) is installed on the soil-crushing and cleaning plates (440), and the outer side edge of the soil-crushing and cleaning plates (440) is an inclined surface; During the paving process of the mobile robot, the soil cleaning plate (440) at the front end in the direction of travel is in a drooping state to clean the soil in the paving groove of the curbstone, and the soil cleaning plate (440) at the rear side in the direction of travel is flipped upward to a horizontal arrangement and the roller wheel (441) rolls on the upper surface of the laid curbstone.

11. A method for laying curbstones based on the mobile robot according to any one of claims 1 to 10, characterized in that: The steps include: Transferring the stacked curbstones onto the lifting plate (103), and driving the lifting device (120) to lift the lifting plate (103) upward; The clamping device (220) clamps the two ends of a curbstone on the uppermost layer of the lifting plate (103) and conveys it forward in the X direction, then releases the clamping device and places the curbstone flat on the conveying mechanism (300), and the conveying mechanism (300) conveys the curbstone forward in the X direction to the curbstone laying mechanism (400); The buffer plate (420) supports the curbstone transported by the conveying mechanism (300), and the curbstone (001) lying flat on the conveying mechanism (300) is transported to the guide ramp plate (413) by the downwardly turned buffer plate (420), and the curbstone (001) slides downward on the surface of the guide ramp plate (413) and stands on the ground.

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