A ground leveling robot

Abstract

The application discloses a ground leveling robot, which comprises an electrical system, a leveling execution head connected with the electrical system, and a screw propeller assembled on the electrical system, wherein the electrical system is electrically connected with the screw propeller and the leveling execution head. The screw propeller is used to replace the existing track chassis, so that the problem of large ground pressure of the ground leveling robot can be solved, the deformation of the steel bars in the un-solidified concrete can be reduced, the surface of the screw propeller is smooth, the screw propeller has buoyancy, and thus the cleaning is convenient, the screw propeller is not prone to being stuck, and the feasibility is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ground leveling equipment, in particular to a ground leveling robot. BACKGROUND

[0002] In the process of construction, the building body can only form a rough cement ground after completing the grouting construction and subsequently removing the formwork. Since the cement ground area is quite large, a large number of manpower and time are required to complete the cement paste leveling construction. Currently, the cement ground leveling construction is mainly performed by manpower using a screed to scrape the semi-dry cement paste of the cement ground.

[0003] A concrete laser leveling machine is disclosed in Chinese Patent No. CN103758351A, which comprises a frame, a laser system and a computer control system. A hydraulic telescopic rod is connected to the frame, the end of the hydraulic telescopic rod is connected with a horizontally arranged connecting frame, the two ends of the connecting frame are respectively connected with hydraulic cylinders, the piston rod of the hydraulic cylinder is hinged with an auger frame, the auger frame is provided with an auger hydraulic motor, the auger hydraulic motor is drivingly connected with an auger, the front part of the auger frame is connected with a leveling plate, and the leveling plate is connected with a vibration motor. The leveling machine generates vibration by the vibration motor to drive the leveling plate during walking, so as to tamp the concrete and level the concrete by the leveling plate, which is convenient and fast.

[0004] However, the following problems still exist. In the process of on-site construction, since four wheels are used for driving, the ground pressure is large. If the ground steel reinforcement frame is not firmly bound, the steel reinforcement frame is prone to deformation and loosening, which finally causes poor concrete forming and even quality accidents. The solution to reduce the ground pressure generally uses a tracked chassis. However, the tracked chassis is prone to being stuck and difficult to clean, and the practical feasibility is not high. SUMMARY

[0005] In order to overcome at least one of the defects of the prior art, the present application provides a ground leveling robot. The spiral propeller is used to replace the existing tracked chassis, which can solve the problem of large ground pressure of the ground leveling robot, reduce the deformation of the steel reinforcement in the un-solidified concrete, and the spiral propeller surface is smooth and has buoyancy, so it is easy to clean and not prone to being stuck, and the feasibility is significantly improved.

[0006] The technical scheme adopted by the present application to solve the problems is as follows: a ground leveling robot, comprising: an electrical system; a leveling execution head connected with the end of the electrical system; a spiral propeller assembled at the bottom of the electrical system; wherein the electrical system is electrically connected with the spiral propeller and the leveling execution head.

[0007] By adopting the above scheme, the screw propeller provides power for the walking of the whole robot, the electrical system is drivingly connected with the leveling execution head, the electrical system outputs energy and control signals for the whole machine operation, and the leveling execution head is a functional element which vibrates and scrapes to level and compact the concrete ground by accepting instructions of the electrical system.

[0008] Further, the screw propeller comprises a first screw roller, a second screw roller arranged in parallel with the first screw roller, and a driving device; wherein the first screw roller, the second screw roller and the driving device are drivingly connected.

[0009] By adopting the above scheme, the first screw roller and / or the second screw roller are controlled to rotate by the driving device, so as to realize the functions of advancing, reversing and turning left and right of the whole robot.

[0010] Further, the driving device comprises a driving motor comprising a first motor and a second motor, and driving wheels arranged at the same end of the first screw roller and the second screw roller; wherein the first motor is drivingly connected with the driving wheel of the first screw roller, and the second motor is drivingly connected with the driving wheel of the second screw roller.

[0011] By adopting the above scheme, two driving motors are arranged to control the two screw rollers separately, so as to improve the flexibility of the whole robot, make the turning more convenient, and enable the robot to walk freely on the un-solidified concrete.

[0012] Further, the first motor and the driving wheel of the first screw roller are drivingly connected by a chain, and the second motor and the driving wheel of the second screw roller are drivingly connected by a chain.

[0013] By adopting the above scheme, the chain driving can transmit motion and power when the distance between the two shafts is far, avoid the limitation of the installation position of the driving motor, and work under the conditions of low speed, heavy load and high temperature, and in the case of much dust, so the use environment is various, and the chain driving can work on the un-solidified concrete, ensure the accurate transmission ratio, transmit larger power, and the force acting on the shaft is smaller, and the transmission efficiency is high.

[0014] Further, the screw propeller further comprises a support, the support comprises a driving member housing located at one end of the first screw roller and the second screw roller where the driving wheels are installed, a shielding housing located at the other end of the first screw roller and the second screw roller, and a connecting rod connected between the driving member housing and the shielding housing; wherein the first screw roller and the second screw roller are both rotationally connected between the driving member housing and the shielding housing.

[0015] By adopting the above scheme, the fixing and limiting effect of the first spiral roller and the second spiral roller is improved through the connecting structure of the support, and the working stability of the first spiral roller and the second spiral roller is enhanced.

[0016] Further, the connecting rod is provided with an assembly rod perpendicular to the connecting rod, and the assembly rod is used for assembly and fixation with the bottom of the electrical system.

[0017] By adopting the above scheme, the effect of fixing the electrical system can be achieved.

[0018] Further, the first spiral roller and the second spiral roller are hollow inside, and the surfaces are provided with spiral curved surface structures.

[0019] By adopting the above scheme, the weight of the first spiral roller and the second spiral roller is reduced, and especially the buoyancy on the unhardened concrete can be improved, so as to facilitate displacement.

[0020] Further, the spiral curved surface structure on the surface of the first spiral roller is opposite in spiral direction to the spiral curved surface structure on the surface of the second spiral roller.

[0021] By adopting the above scheme, the driving displacement effect of the leveling robot can be achieved through the two symmetrically arranged first spiral rollers and second first spiral rollers.

[0022] Further, the first spiral roller and the second spiral roller are provided with a conical surface at one end of the connecting driving wheel, so as to reserve a mounting space for the driving wheel.

[0023] By adopting the above scheme, the connecting driving wheel is facilitated, and the aesthetic appearance is improved.

[0024] Further, the electrical system includes a battery, a controller and a navigation system, so as to output energy and control signals for overall operation.

[0025] By adopting the above scheme, the power supply and control effect of the leveling robot itself can be achieved.

[0026] In summary, the ground leveling robot provided by the present application has the following technical effects:

[0027] 1. The spiral propeller arranged under the leveling robot is used for reducing the pressure of the robot on the concrete surface when walking on the unhardened concrete, so as to avoid deformation or loosening of the reinforcing steel bars;

[0028] 2. The spiral curved surface structure is arranged on the surfaces of the first spiral roller and the second spiral roller, so as to increase the volume and improve the buoyancy, and facilitate cleaning of the surfaces of the first spiral roller and the second spiral roller;

[0029] 3. The first spiral roller and the second spiral roller have buoyancy, and the pressure on the concrete floor is small when walking, and the concrete is not squeezed to cause local shortage of concrete;

[0030] 4. The spiral direction of the spiral curved surface structure of the first spiral roller and the second spiral roller is opposite, the advancing, retreating and turning functions of the leveling robot can be realized, and walking on the concrete fluid is more flexible. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a schematic diagram of the three-dimensional structure of the embodiment of the present application;

[0032] Figure 2 is a schematic diagram of the spiral propeller structure of the embodiment of the present application;

[0033] Figure 3 is Figure 2 is an enlarged view of area A in figure 1;

[0034] Figure 4 is a schematic diagram of the spiral roller structure of the embodiment of the present application.

[0035] In the figure, the meanings of the reference signs are as follows: 1, electrical system; 2, leveling execution head; 21, connecting rod assembly; 3, spiral propeller; 31, first spiral roller; 32, second spiral roller; 33, drive member housing; 34, shielding housing; 35, connecting rod; 351, assembly rod; 36, drive wheel; 37, drive motor; 371, first motor; 372, second motor; 38, chain; 4, support shaft; 5, conical surface. DETAILED DESCRIPTION

[0036] In order to better understand and implement, the technical solutions in the embodiments of the present application will be described and discussed clearly and completely below in combination with the drawings of the present application. Obviously, only some examples of the present application are described here, and not all examples. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0037] In order to facilitate the understanding of the embodiments of the present application, the following will be further explained and described with specific examples in combination with the drawings, and each embodiment does not constitute a limitation on the embodiments of the present application.

[0038] In the description of the present application, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the specification of the present application herein is only for the purpose of describing specific embodiments and is not intended to limit the present application.

[0040] Embodiment 1 of the present application is shown in Figure 1 The embodiment 1 discloses a ground leveling robot, comprising an electrical system 1, a leveling execution head 2 and a screw propeller 3 connected electrically, the screw propeller 3 is assembled at the bottom of the electrical system 1 to provide power for the overall robot walking; a connecting rod assembly 21 is further arranged between the electrical system 1 and the leveling execution head 2, one end of the connecting rod assembly 21 is hingedly connected with the end of the electrical system 1, and the other end is hingedly connected with the leveling execution head 2, so that the electrical system 1 and the leveling execution head 2 are connected through single-point hinge, realizing the effect of main support driving in the form of seesaw. The electrical system 1 comprises a battery, a controller and a navigation system, for outputting energy and control signals for the overall operation of the robot, which can realize the power supply and control effect of the leveling robot itself, the leveling execution head 2 is an execution function element, which vibrates and flattens by accepting the instructions of the electrical system 1, so as to compact and level the concrete ground. In the embodiment 1, the electrical system 1 and the leveling execution head 2 are basically the same as the conventional leveling robot, therefore the driving effect and connection function of the two are not described herein.

[0041] The electrical system 1 and the screw propeller 3 are connected in a fixed manner, which includes but is not limited to welding, screwing or clamping.

[0042] Refer to Figure 2As shown in the embodiment 1, the screw propeller 3 is symmetrically arranged, and the screw propeller 3 comprises a first screw roller 31, a second screw roller 32, a support and a driving device, the second screw roller 32 is parallel to the first screw roller 31; the support is used for connecting and fixing the first screw roller 31 and the second screw roller 32; the first screw roller 31 and the second screw roller 32 both comprise a support shaft 4 at both ends, the support shaft 4 is rotatably connected to the support, so as to facilitate the self-rotation effect of the first screw roller 31 and the second screw roller 32; the driving device is arranged and fixed above the support, the first screw roller 31, the second screw roller 32 and the driving device are drivingly connected, the rotation of the first screw roller 31 and the second screw roller 32 is controlled by the driving device, and the forward and reverse functions of the whole robot are realized.

[0043] Specifically, the first screw roller 31 and the second screw roller 32 are hollow inside, so as to reduce the self-weight of the first screw roller 31 and the second screw roller 32; the first screw roller 31 and the second screw roller 32 are both provided with a spiral curved surface structure on the surface, so as to improve the buoyancy, and the spiral curved surface structure can facilitate the displacement on the un-solidified concrete. The spiral curved surface structure is a structure attached to the surface of the roller in a spiral shape, which is similar to a thread, but different from the thread in that the surface of the thread is sharp. The cross section of the spiral curved surface structure is composed of a plurality of semicircular structures, and the overall surface is designed as a smooth curved surface without edges and corners, so as to be not easy to accumulate concrete and convenient to clean. The spiral curved surface structures on the surfaces of the first screw roller 31 and the second screw roller 32 are symmetrically arranged, so that the spiral directions of the spiral curved surface structures are opposite. Through the first screw roller 31 and the second screw roller 31 with opposite spiral directions, the driving displacement effect of the leveling robot can be realized.

[0044] The support comprises a driving member housing 33, a shielding housing 34 and a connecting rod 35. One end of the screw propeller 3 close to the leveling execution head 2 is the front of the screw propeller 3, and the other end of the screw propeller 3 away from the leveling execution head 2 is the back of the screw propeller 3. The driving member housing 33 is arranged at the front of the screw propeller 3, and the shielding housing 34 is arranged at the back of the screw propeller 3. The first screw roller 31 and the second screw roller 32 are arranged in parallel between the driving member housing 33 and the shielding housing 34. The connecting rod 35 is parallel to the first screw roller 31 and the second screw roller 32, and the connecting rod 35 is fixedly connected with the driving member housing 33 and the shielding housing 34 perpendicularly. The fixed connection mode includes but is not limited to threaded fixing, screw fixing or welding fixing. Through the connecting structure of the support, the fixing and limiting effect of the first screw roller 31 and the second screw roller 32 is improved, and the working stability of the first screw roller 31 and the second screw roller 32 is enhanced.

[0045] In the embodiment 1, the driving member shell 33 and the shielding shell 34 are both triangular, and the support shaft 4 of the first spiral roller 31 and the second spiral roller 32 and the connecting rod 35 are arranged at each corner of the triangle, respectively, and the structure is stable after being connected, of course, in other embodiments, other shapes of the driving member shell 33 and the shielding shell 34 can also be adopted, and the embodiment is not limited in a specific manner.

[0046] The connecting rod 35 of the support is further provided with an assembly rod 351 perpendicular to the connecting rod 35, and the assembly rod 351 is fixed to the bottom surface of the electrical system 1, and the fixing mode between the electrical system 1 and the assembly rod 351 includes but is not limited to welding, hinging or screw fixing, in the embodiment 1, the bottom surface of the electrical system 1 is provided with two downward extending connecting plates, the connecting plates are provided with through holes, the assembly rod 351 passes through the through holes and is screw fixed, and the electrical system 1 and the assembly rod 351 are fixedly connected by screwing.

[0047] Referring to Figures 2-4 As shown in the figure, the driving device includes a driving motor 37 and a driving wheel 36, the driving motor 37 includes a first motor 371 and a second motor 372, the driving wheel 36 is provided with two, and is arranged at the end close to the leveling execution head 2 of the first spiral roller 31 and the second spiral roller 32, which is the front of the spiral propeller 3, the driving member shell 33 is located at the end of the first spiral roller 31 and the second spiral roller 32 where the driving wheel 36 is installed, that is, the front of the spiral propeller 3, the first motor 371 and the driving wheel 36 of the first spiral roller 31 are driven and connected by a chain 38, the second motor 372 and the driving wheel 36 of the second spiral roller 32 are driven and connected by a chain 38, the driving member shell 33 is used for covering and protecting the chain 38, in order to facilitate the installation of the chain 38, the end of the first spiral roller 31 and the second spiral roller 32 in front of the spiral propeller 3 is provided with a conical surface 5, which improves the overall aesthetic appearance. The first motor 371 and the second motor 372 are used to control the first spiral roller 31 and the second spiral roller 32, respectively, which improves the flexibility and makes the turning more convenient, so that the robot can walk freely on the unhardened concrete.

[0048] In the embodiment 1, the first motor 371 and the second motor 372 are both servo motors, and the servo motor is further connected with a servo motor speed reducer, the chain 38 is connected after the connection of the servo motor speed reducer, and the chain 38 is driven and connected with the driving wheel 36 on the respective spiral roller to drive the spiral roller to rotate.

[0049] The driving steps and principles of the leveling robot are as follows:

[0050] Referring to Figures 1-4The screw propeller 3 drives the whole of the leveling robot. Assuming that the side of the leveling robot's leveling execution head 2 is the front side, the first screw roller 31 and the second screw roller 32 of the screw propeller 3 are respectively located at the left side and the right side of the bottom of the leveling robot. The screw surface structure of the first screw roller 31 and the second screw roller 32 is a spiral shape, and the spiral directions are opposite. If the spiral direction of the left roller is left-handed, the spiral direction of the right roller is right-handed. Since the roller is a hollow structure, the un-solidified concrete is a fluid, which can provide buoyancy for the roller. When the volume of the roller is sufficient, the leveling robot can float on the concrete. At this time, the leveling robot will not be pressed on the reinforcement frame, so as to avoid the deformation and loosening of the reinforcement.

[0051] When it is needed to realize the forward movement of the leveling robot, the first screw roller 31 and the second screw roller 32 are respectively driven to rotate by the first motor 371 and the second motor 372. From the rear side of the screw propeller 3, the first screw roller 31 located at the left side rotates counterclockwise, and the second screw roller 32 located at the right side rotates clockwise. Then, the first screw roller 31 receives the forward thrust of the concrete, and the second screw roller 32 also receives the forward thrust of the concrete, so as to realize the forward movement of the leveling robot.

[0052] Similarly, when it is needed to realize the backward movement of the leveling robot, from the rear side of the screw propeller 3, the first screw roller 31 located at the left side rotates clockwise, and the second screw roller 32 located at the right side rotates counterclockwise. Then, the first screw roller 31 receives the backward thrust of the concrete, and the second screw roller 32 also receives the backward thrust of the concrete, so as to realize the backward movement of the leveling robot.

[0053] When it is needed to realize the left turning of the leveling robot, from the rear side of the screw propeller 3, the first screw roller 31 located at the left side rotates clockwise, and the second screw roller 32 located at the right side also rotates clockwise, so as to realize the left turning of the leveling robot.

[0054] When it is needed to realize the right turning of the leveling robot, from the rear side of the screw propeller 3, the first screw roller 31 located at the left side rotates counterclockwise, and the second screw roller 32 located at the right side also rotates counterclockwise, so as to realize the right turning of the leveling robot.

[0055] Meanwhile, due to the existence of the screw roller, the concrete can flow in the opposite direction of the movement of the robot when the robot moves. When the concrete is unevenly distributed, the leveling head can be lifted, and the concrete can be evenly distributed through the rapid movement of the robot. When the concrete is evenly distributed, the leveling head is lowered, and the robot moves slowly. The leveling head can level the small amount of concrete flowing due to the slow movement.

[0056] When the construction is completed on the normal road surface, the roller is directly pressed on the ground, and the left-right translation and steering of the leveling robot can be realized by driving the roller to rotate slowly through the motor.

[0057] When the leveling robot needs to move to the left, the first spiral roller 31 and the second spiral roller 32 rotate counterclockwise from the rear side of the screw propeller 3;

[0058] When the leveling robot needs to move to the right, the first spiral roller 31 and the second spiral roller 32 rotate clockwise from the rear side of the screw propeller 3;

[0059] When the leveling robot needs to turn to the left, the first spiral roller 31 on the left side remains stationary, and the second spiral roller 32 on the right side rotates clockwise from the rear side of the screw propeller 3, so that the leveling robot can turn to the left.

[0060] When the leveling robot needs to turn to the right, the first spiral roller 31 on the left side rotates counterclockwise, and the second spiral roller 32 on the right side remains stationary from the rear side of the screw propeller 3, so that the leveling robot can turn to the right.

[0061] In summary, the ground leveling robot provided by the application has the following technical effects:

[0062] 1. The screw propeller 3 is arranged below the leveling robot to reduce the pressure of the robot on the concrete surface when walking on unhardened concrete, so as to avoid deformation or loosening of the reinforcing steel bars;

[0063] 2. The spiral curved surface structure is arranged on the surfaces of the first spiral roller 31 and the second spiral roller 32, so as to increase the volume and improve the buoyancy, and facilitate cleaning of the surfaces of the first spiral roller 31 and the second spiral roller 32;

[0064] 3. Since the first spiral roller 31 and the second spiral roller 32 have buoyancy, the pressure on the concrete surface is small when walking, and the concrete will not be squeezed to cause local shortage of concrete;

[0065] 4. Since the spiral curved surface structures on the surfaces of the first spiral roller 31 and the second spiral roller 32 have opposite spiral directions, the forward, backward and steering functions of the leveling robot can be realized, and the robot is more flexible when walking on the concrete fluid.

[0066] The technical means disclosed in the application scheme is not limited to the technical means disclosed in the above embodiments, but also includes technical solutions composed of any combination of the above technical features. It should be noted that, for ordinary skilled persons in the art, without departing from the principles of the application, some improvements and refinements can be made, and these improvements and refinements are also considered within the protection scope of the application.

Claims

1. A ground leveling robot, characterized in that: include: Electrical system (1); A leveling actuator head (2) is connected to an electrical system (1); A spiral propeller (3) is assembled in the electrical system (1). The spiral propeller (3) includes a first spiral drum (31), a second spiral drum (32), and a drive device. The first spiral drum (31) and the second spiral drum (32) are driven and connected to the drive device. The second spiral drum (32) is arranged parallel to the first spiral drum (31). The first spiral drum (31) and the second spiral drum (32) are hollow inside and have spiral curved surface structures on their surfaces. The spiral curved surface structures are spirally attached to the surface of the drums. The spiral curved surface structures on the surface of the first spiral drum (31) and the spiral curved surface structures on the surface of the second spiral drum (32) have opposite spiral directions. The first spiral drum (31) and the second spiral drum (32) are connected to a drive wheel (36) with a tapered surface (5) to reserve installation space for the drive wheel (36). The electrical system (1) is electrically connected to the screw propeller (3) and the leveling actuator head (2).

2. The ground leveling robot according to claim 1, characterized in that: The driving device includes: A drive motor (37), the drive motor (37) comprising a first motor (371) and a second motor (372); Drive wheels (36) are respectively disposed at the same end of the first spiral roller (31) and the second spiral roller (32); The first motor (371) is driven to drive the drive wheel (36) of the first spiral drum (31), and the second motor (372) is driven to drive the drive wheel (36) of the second spiral drum (32).

3. A ground leveling robot according to claim 2, characterized in that: The first motor (371) is connected to the drive wheel (36) of the first spiral roller (31) by a chain (38), and the second motor (372) is connected to the drive wheel (36) of the second spiral roller (32) by a chain (38).

4. A ground leveling robot according to claim 1, characterized in that: The propeller (3) further includes a support frame: the support frame includes: A drive housing (33) is located at one end of the first spiral roller (31) and the second spiral roller (32) where the drive wheel (36) is mounted; A shielding shell (34) is located at the other end of the first spiral roller (31) and the second spiral roller (32); A connecting rod (35) is connected between the drive housing (33) and the shielding housing (34); The first spiral roller (31) and the second spiral roller (32) are both rotatably connected between the drive housing (33) and the shielding housing (34).

5. A ground leveling robot according to claim 4, characterized in that: The connecting rod (35) is provided with an assembly rod (351) perpendicular to the connecting rod (35), and the assembly rod (351) is used to assemble and fix with the electrical system (1).

6. A ground leveling robot according to claim 1, characterized in that: The electrical system (1) includes a battery, a controller, and a navigation system for outputting energy and control signals.

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