A front mechanical arm of a mobile robot

Abstract

The present invention provides a front mechanical boom for a mobile robot, which is composed of a left boom and a right boom symmetrically installed on the left and right sides of the front part of the laying locomotive frame; both the left boom and the right boom include longitudinal legs, as well as horizontal upper arms and lower arms. The front ends of the upper arms and the lower arms are both hinged to the legs, the upper arms are hinged to the tops of the legs, the rear end of the lower arm is movably connected to the middle part of the upper arm through a connecting rod support arm. The upper arm, the lower arm, the legs hinged at the front and rear ends, and the connecting rod support arm form a parallelogram linkage mechanism. The vertical lifting mechanism is hinged to the upper arm, and the horizontal pushing mechanism is fixedly connected to the connecting rod support arm; a quick-release mounting bracket is installed at the bottom of the leg, the laying mechanism is connected to the quick-release mounting bracket, and a swing cylinder is connected between the quick-release mounting bracket and the leg to adjust the angle of the quick-release mounting bracket by the swing cylinder. The front mechanical boom of the present invention can provide stable support for the laying mechanism on the front side of the mobile robot.

Description

Technical Field

[0001] The present invention relates to municipal construction equipment, and particularly to a front mechanical boom of a mobile robot. Background Art

[0002] With the development of the current urban construction level, the requirements for municipal road surfaces are getting higher and higher. Large areas of flat paving bricks and curbstones usually need to be laid in places such as sidewalks and squares. Currently, the laying of paving bricks and curbstones generally adopts pure manual operation or a combination of machinery and manual labor. The construction method of the combination of machinery and manual labor is as follows: the bricks are lifted by a rope through a crane, and then the landing position is manually controlled and the bricks are unloaded, and finally the compaction operation is carried out. This laying method is time-consuming and laborious. 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.

[0003] In order to improve efficiency, there are currently some brick-laying machines, but these brick-laying machines generally can only lay one type of brick, that is, they can only lay paving bricks or curbstones separately. If both curbstones and paving bricks need to be laid, then at least two different types of brick-laying machines are required to lay them separately, which makes the cost higher.

[0004] Therefore, there is an urgent need to develop a new mechanical boom on the paving machine body, which can be quickly disassembled from the end laying device to meet the needs of different sites and quickly and efficiently switch between the curbstone end laying device and the road brick end laying device. Summary of the Invention

[0005] The present invention provides a front mechanical boom of a mobile robot. The front mechanical boom is installed on the front side of the brick-laying mobile robot to provide support for the laying mechanism. Let the length of the mobile machine be in the X direction and the width be in the Y direction. The mechanical boom is composed of a left boom and a right boom symmetrically installed on the left and right sides of the front part of the brick-laying machine frame. The left boom and the right boom are fixedly connected by a connecting rod.

[0006] Both the left boom and the right boom include a longitudinal leg, a horizontal upper arm, and a lower arm. The front ends of the upper arm and the lower arm are hinged to the leg. The upper arm is hinged to the top end of the leg. The rear end of the lower arm is movably connected to the middle part of the upper arm through a connecting rod support arm. The upper arm, the lower arm, the front and rear hinged legs, and the connecting rod support arm form a parallelogram four-bar mechanism. The vertical lifting mechanism is hinged to the upper arm, and the horizontal pushing mechanism is fixedly connected to the connecting rod support arm.

[0007] A quick-release mounting bracket is installed at the bottom of the outrigger. The brick laying mechanism is connected to the quick-release mounting bracket. A swing cylinder is connected between the quick-release mounting bracket and the outrigger. The angle of the quick-release mounting bracket is adjusted by the swing cylinder. A first supporting universal wheel is installed at the bottom of the quick-release mounting bracket. A vertical lifting mechanism and a horizontal pushing mechanism are respectively installed on both sides of the vehicle frame.

[0008] Furthermore, vertical guide rails are installed on the left and right sides at the front of the vehicle frame. A vertically sliding vertical slider support is installed on the vertical guide rails. The ejector rod of the vertical lifting mechanism and the rear end of the upper arm are both hinged to the vertical slider support.

[0009] Furthermore, the horizontal pushing mechanism is provided with a horizontal slider, and the horizontal slider is fixedly connected to the connecting rod support arm.

[0010] Furthermore, the quick-release mounting bracket is provided with two rotating shafts. The first rotating shaft is installed on the outrigger through a pin shaft. The second rotating shaft is hinged to the swing rod of the swing cylinder. The swing cylinder drives the quick-release mounting bracket to rotate around the pin shaft.

[0011] Furthermore, the quick-release mounting bracket is provided with two parallel triangular plates. 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. The other two second connecting columns are used to connect with the reserved bayonets of the brick laying mechanism. The second rotating shaft is arranged between two of the connecting columns;

[0012] One of the second connecting columns is a smooth shaft, 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 bayonets of the quick-release mounting bracket are respectively stuck on the second connecting column, and the handle is rotated to lock and fixedly connect the brick laying mechanism and the quick-release mounting bracket.

[0013] Furthermore, a buckle for fixing the handle is arranged on the outer side surface of one of the triangular plates.

[0014] The advantages of the present invention are as follows: Different types of brick laying mechanisms (pavement brick laying mechanism and curbstone laying mechanism) can be quickly disassembled and installed on the mechanical boom. On the one hand, the mechanical boom provides stable support for the brick laying mechanism. In addition, the mechanical boom can drive the brick laying mechanism to move vertically and horizontally in the front and back directions, and can accurately adjust the brick laying mechanism to reach the specified position to facilitate the laying of pavement bricks or curbstones; The parallel four-bar linkage mechanism composed of the upper arm, the lower arm, the outriggers hinged at the front and rear ends, and the connecting rod support arm makes the horizontal / vertical movement of the outriggers more linear. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1a It is an overall external view of a paving robot for pavement bricks provided by the present invention;

[0017] Figure 1b It is a top view of the paving robot for pavement bricks;

[0018] Figure 2a It is an overall external view of a paving robot for curb stones provided by the present invention;

[0019] Figure 2b It is a top view of the paving robot for curb stones;

[0020] Figure 3a It is a three-dimensional view of the lifting mechanism;

[0021] Figure 3b It is a three-dimensional view of the lifting plate of the lifting mechanism rising to mid-air;

[0022] Figure 3c It is a side view of the storage bracket of the lifting mechanism after being unfolded;

[0023] Figure 3d It is a side view of the storage bracket after being folded;

[0024] Figure 4a It is a side view of the clamping and pushing mechanism in the X direction;

[0025] Figure 4b It is a three-dimensional view of the clamping and pushing mechanism;

[0026] Figure 4c It is a bottom view of the clamping and pushing mechanism;

[0027] Figure 4d For Figure 4a The schematic diagram after hiding the side plate of the forward moving guide rail shows the schematic diagram of the forward moving guide rail having upper and lower tracks (i.e., the upper track and the lower lifting track), where the clamping device is the starting section of the stroke of the forward moving guide rail;

[0028] Figure 4e It is a side view of the clamping and pushing mechanism sliding to the end of the stroke of the forward moving guide rail;

[0029] Figure 4f It is a side view of the clamping and pushing mechanism in the Y direction;

[0030] Figure 5aIs a perspective view of a mechanical boom;

[0031] Figure 5b Is a side view of a mechanical boom

[0032] Figure 5c Is a perspective view of a quick-release mounting bracket;

[0033] Figure 6a Is a top view of a paving brick laying mechanism;

[0034] Figure 6b Is a side view of a paving brick laying mechanism;

[0035] Figure 6c Is a perspective view of the main frame of a paving brick laying mechanism;

[0036] Figure 6d Is a location diagram of the installation position of the positioning mechanism at the front end of a paving brick laying mechanism;

[0037] Figure 6e Is a perspective view of a paving brick laying mechanism. In this state, the placing device of the flipping mechanism is used to receive bricks from the conveying mechanism;

[0038] Figure 6f Is a perspective view of a flipping mechanism;

[0039] Figure 6g Is a schematic diagram of the leveling mechanism of the flipping mechanism performing a leveling operation;

[0040] Figure 6h Is a schematic diagram of the placing device of the flipping mechanism clamping the paving bricks conveyed by the conveying mechanism (in the same state as Figure 6e );

[0041] Figure 6i Is a schematic diagram of the placing device of the flipping mechanism flipping forward and laying the paving bricks on the ground;

[0042] Figure 6j Is a schematic diagram of the rolling mechanism of the flipping mechanism performing a rolling operation;

[0043] Figure 7a Is a perspective view of a curbstone laying mechanism with the front positioning guard plate hidden;

[0044] Figure 7b Is a top view of a curbstone laying mechanism;

[0045] Figure 7c Is a side view of a curbstone laying mechanism;

[0046] Figure 7d Is a front view of a curbstone laying mechanism. Detailed implementation method

[0047] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

[0048] Referring to Figure 1a As shown, the present invention provides a brick-laying mobile robot 10. A traveling device 12 is installed on the chassis of the frame 11 of the brick-laying mobile robot 10. The traveling device 12 is provided with 4 steerable traveling wheels 13, and the traveling device 12 can drive the brick-laying mobile robot 10 to travel. For the convenience of the following description, we set the length direction of the frame 11 as the X direction and the width direction as the Y direction. Among them, the brick-laying mobile robot 10 of the present invention can be used to lay flat road bricks or curb stones. When laying flat road bricks, the corresponding road brick laying mechanism 400 is installed on the mechanical boom 500 at the front side of the brick-laying mobile robot 10; when laying curb stones, the corresponding curb stone laying mechanism 600 is installed on the mechanical boom 500 at the front side of the brick-laying mobile robot 10.

[0049] The following will first give a detailed structural description of the brick-laying mobile robot 10 equipped with the road brick laying mechanism 400.

[0050] At the tail of the frame 11 of the brick-laying mobile robot 10, a lifting mechanism 100 and a clamping and pushing mechanism 200 are installed. At the front of the frame 11, a front mechanical boom 500 is installed. On the mechanical boom 500, a road brick laying mechanism 400 is installed. And on the frame 11, a conveying mechanism 300 located between the road brick laying mechanism 400 and the clamping and pushing mechanism 200 is installed; 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 road bricks 01 to the lifting plate 103 and drives the lifting plate 103 to lift upward by the lifting device 120; The clamping and pushing mechanism 200 includes a forward movement guide rail 210 and a clamping device 220 slidably installed on the forward movement guide rail 210. The clamping device 220 clamps both ends of the road brick 01 after being lifted to the top, conveys it forward in the X direction, then releases it and lies flat on the conveying mechanism 300. The conveying mechanism 300 conveys the road brick 01 forward in the X direction to the road brick laying mechanism 400; The road brick laying mechanism 400 is provided with a road brick laying frame. On the road brick laying frame, a flipping mechanism 430 that slides back and forth in the X direction is installed. The flipping mechanism 430 is provided with a Y-direction flipping shaft. The flipping mechanism 430 is provided with a placing device 431 that rotates around the flipping shaft. After the placing device 431 clamps a road brick 01 conveyed by the conveying mechanism 300, the placing device 431 flips forward to lay the clamped road brick 01 on the ground; Positioning mechanisms are respectively installed on the road brick laying frame and the flipping mechanism 430. The two sets of positioning mechanisms cooperate to provide positioning for the laying of the road brick 01.

[0051] The brick-laying mobile robot 10 provided by the present invention integrally lifts the stacked road bricks 01 through the lifting mechanism 100. Subsequently, the clamping and pushing mechanism 200 clamps the road bricks one by one and transfers them to the conveying mechanism 300 to lie flat. The conveying mechanism 300 transfers the road bricks lying flat to the road brick laying mechanism 400, and the road brick laying mechanism 400 lays the road bricks flat on the ground in the floor tile laying groove. The whole process is completely mechanized, greatly improving the laying efficiency and reducing the required labor cost at the same time; At the same time, when laying floor tiles, this device does not require manual assistance, and the operator does not need to participate in heavy work, reducing people's labor intensity.

[0052] The structure of the lifting mechanism 100 will be further described below:

[0053] The lifting mechanism 100 is provided with a longitudinal lifting bracket 102 installed at the tail of the vehicle 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 a lifting device 120 on the longitudinal lifting bracket 102 to move up and down in the vertical direction of the first transmission mechanism 104. The lifting plate 103 is provided with an opening 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 up and down with the front end as the rotation point and folded for storage, as Figure 3b and 3c shown. A second transmission mechanism 132 is provided on the storage bracket 130. The storage bracket 130 conveys the floor tiles stacked up and down forward in the X direction to the first transmission mechanism 104, and the first transmission mechanism 104 continues to convey the floor tiles forward onto the lifting plate 103. A guard plate 101 is provided on the upper part of the longitudinal lifting bracket 102.

[0054] In an alternative embodiment, lifting devices 120 are installed on the longitudinal lifting bracket 102 and are 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 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 straddle 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 upward sliding of the top rod of the lifting cylinder 121 drives 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.

[0055] In an alternative 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. One end of the lifting chain 122 and the lifting plate 103 are both fixedly connected to the lifting web 106.

[0056] In an alternative embodiment, the storage bracket 130 is installed at the bottom of the longitudinal lifting bracket 102 through a self-resetting flipping bracket 131, and a spring support 135 is installed at the bottom of the longitudinal lifting bracket 102;

[0057] A limiting steel pipe 138 and a reset spring 137 are installed at the bottom of the self-resetting flipping bracket 131,

[0058] The limiting steel pipe 138 sequentially passes through two baffle plates 136 on the back of the self-resetting flipping bracket 131 and is rotatably connected to the spring support 135. The reset spring 137 is sleeved on the limiting steel pipe 138 between the two baffle plates 136;

[0059] 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 center of the bottom of the longitudinal lifting bracket 102.

[0060] The lifting mechanism 100 adopts the forklift lifting principle. The lifting cylinder 121 and the lifting chain 122 are placed on the left and right sides in combination. One end of the chain is connected to the vehicle frame, and the other end is connected to the brick lifting plate 103. Bearings are installed on the left and right sides of the lifting plate 103 and can roll up and down on the vertical guiding channel steel track 105. A second transmission mechanism 132 is provided on the storage bracket 130. The second transmission mechanism 132 is composed of rollers, a sprocket chain 133, a driving motor 134, etc., to realize the reception and transmission of bricks.

[0061] Combined Figure 3a - 3d As shown, the design highlights of the lifting mechanism 100 are as follows: 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 the structure is compact. 2) The lifting part design can accurately lift the corresponding height according to the brick thickness. 3) When placing materials with a forklift in the design, the clamping opening 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 clamping opening, which can be applicable to various types of forklifts, facilitating the placement and transportation of large and small bricks, and the operation is very convenient. 4) When the storage materials complete the operation, the storage vertical plate can be manually pushed and rotated upward by 90° to retract the storage part to the vertical state, reducing the overall vehicle length and facilitating transfer and transportation. And when the storage mechanism is placed flat, its storage outer frame and the vehicle frame can be self-limited to support its flat state, and the spring assembly is used to easily place and retract the storage structure.

[0062] Next, with reference to Figure 4a - 4f As shown, the structure of the clamping and pushing mechanism 200 will be further described:

[0063] The forward moving guide rail 210 is provided with two first slide rails 211 in the X direction. On the opposite inner sides of the first slide rails 211, upper rails 212 are provided. On the first slide rails 211, lower lifting rails 213 are provided below the upper rails 212. At the lower side edges of the lower lifting rails 213, there are two front and rear inlets 213-1 opening downward. In each upper rail 212, a pair of front and rear first rollers 202 are installed. At the front and rear ends on both sides of the clamping device 220, second rollers 221 are respectively fixed. Between the corresponding first rollers 202 and second rollers 221, they are movably connected by connecting rods 230. Driven by the first transverse translation propulsion cylinder 240, the first rollers 202 slide forward in the upper rails 212 to drive the clamping device 220 to translate forward horizontally. During the forward sliding process of the first rollers 202, through the connecting rods 230, the second rollers 221 are driven to enter the lower lifting rails 213 from the inlets 213-1 to lift the height of the clamping device 220.

[0064] In an alternative embodiment, a pair of front and rear first rollers 202 in the upper rails 212 are both installed on a side push plate 214. The side push plate 214 is fixedly connected to the ejector rod of the first transverse translation propulsion cylinder 240. The first transverse translation propulsion cylinder 240 pushes the side push plate 214 to drive the pair of front and rear first rollers 202 to roll forward and backward in the upper rails 212.

[0065] The upper and lower ends of the connecting rod 230 are respectively hinged to the first rollers 202 in the upper first slide rails 211 and the second rollers 221 of the clamping device, with a total of four hinge points, thus forming a parallelogram four-bar mechanism (such as Figure 4d the rectangular dotted line frame in). That is, the four corners of the clamping device are respectively movably connected below the first slide rails 211 through the connecting rods 230; the second rollers 221 are rotatably installed on the frame of the clamping device 220. During specific operation, the first transverse translation propulsion cylinder 240 drives the side push plate 214 to drive the first rollers 202 to roll forward in the upper rails 212. The lower end of the connecting rod 230 drives the clamping device 220, forming a parallelogram four-bar mechanism to realize the forward pushing of the entire clamping mechanism. Before the clamping device 220 slides forward, the second rollers 221 provided on the clamping device 220 first enter the lower lifting rails 213 to lift the height of the clamping device 220. Therefore, the height of the bricks clamped by it will also increase, avoiding friction between the clamped bricks and the bricks below them and scratching the surface of the bricks, as Figure 4e shown. The clamping device 220 first lifts a little height and then moves forward. Preferably, when the clamping device 220 is at the position at the end of the stroke, both of the two second rollers 221 are exactly located at the inlets of the lower lifting rails 213, so that the clamping device 220 first lifts the height and then slides forward.

[0066] As Figure 4cAs shown in the figure, the clamping device 220 includes 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. On the second slide rail 224, there are two relatively slidable clamping plates 225. The multi-link linkage mechanism consists of a middle swing rod 226 and two clamping link rods 227 hinged at both ends of the swing rod 226. The center of the swing rod 226 is rotationally connected to the clamping frame 223 through a swing rod center pin. The other ends of the two clamping link rods 227 are respectively hinged 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. The multi-link linkage mechanism is driven by the clamping drive cylinder 228 to drive the two clamping plates 225 to slide relatively or in opposite directions on the second slide rail 224 to clamp or release the floor tiles.

[0067] With the above-mentioned multi-link linkage mechanism, only one clamping drive cylinder 228 can be used to achieve the relative or opposite sliding of the two clamping plates 225 on the second slide rail 224 at the same time to clamp or release the floor tiles, which simplifies the drive structure. On the other hand, the movements of the two clamping plates 225 are synchronized, making the clamping and releasing actions more linear. Preferably, rubber plates are detachably installed on the opposite surfaces of the two clamping plates 225 to protect the floor tiles when clamping the floor tiles.

[0068] In an alternative embodiment, the conveying mechanism 300 is a conveying mechanism based on rollers or belts.

[0069] Refer to the following Figure 5a - 5b As shown in the figure, the structure of the mechanical boom 500 will be further described below:

[0070] On the left and right sides of the front part of the vehicle frame 11, a mechanical boom 500 is symmetrically installed. The two mechanical booms 500 are fixedly connected to each other through a connecting rod 540. On the left and right sides of the front part of the vehicle frame 11, a vertical guide rail 501 and a horizontal guide rail 503 are fixed. A vertically sliding vertical slider support 502 is installed on the vertical guide rail 501, and a horizontally sliding horizontal slider 504 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 part of the vehicle frame 11, and the horizontal slider 504 is connected to a horizontal pushing mechanism 506 fixed to the front part of the vehicle frame 11. The vertical lifting mechanism 505 and the horizontal pushing mechanism 506 can be any one of a cylinder, a hydraulic cylinder, an electric push rod, and a screw pair.

[0071] The mechanical boom 500 includes a longitudinal leg 530, a horizontal upper arm 510, and a horizontal lower arm 520. The front ends of the upper arm 510 and the lower arm 520 are both hinged to the leg 530. The rear end of the upper arm 510 is hinged 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. As Figure 5b, the upper arm 510, the lower arm 520, the legs 530 hinged at the front and rear ends, and the link support arm 521 form a parallelogram linkage (as shown by the dotted line). The advantage of the parallelogram structure is that the front legs 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. A swing cylinder 532 is connected between the quick-release mounting bracket 531 and the leg 530. A quick-release first support universal wheel 533 is installed at the bottom of the quick-release mounting bracket 531.

[0072] As Figure 5c shown, the quick-release mounting bracket 531 is provided with two rotating shafts. The first rotating shaft is installed on the 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. The swing cylinder 532 drives the quick-release mounting bracket 531 to rotate around the pin shaft 531-2 as the axis.

[0073] The quick-release mounting bracket 531 is provided with two parallel triangular plates 531-1. 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 shaft 531-2. The other two second connecting columns 531-7 are used to connect with the reserved bayonets of the brick laying mechanism. The second rotating shaft 531-6 is arranged between two of the connecting columns; one of the second connecting columns is a smooth shaft, 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. After the two reserved bayonets of the brick laying mechanism are respectively stuck on the smooth shaft and the locking shaft 531-3, the handle 531-4 is rotated to rotate the locking shaft 531-3 to clamp the brick laying mechanism, so that the brick 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 arranged on the outer side of one of the triangular plates for keeping the handle 531-4 fixed in the locked state.

[0074] The mechanical boom 500 can realize the longitudinal and vertical positioning of the paving mechanism 400 installed at the front and provide support for it. Through the coordinated operation of the vertical lifting mechanism 505, the horizontal pushing mechanism 506 of the mechanical boom 500 and the swing cylinder 532, it can be ensured that the front paving mechanism 400 of the road surface always remains in a horizontal state, which is convenient for ground leveling, floor tile placement, floor tile rolling, etc.

[0075] The quick-release mounting bracket 531 at the bottom of the leg 530 is convenient for quick connection with the paving mechanism 400 of the road surface bricks or the paving mechanism 600 of the curbstone. Through the telescopic movement of the swing cylinder 532, the angle of the quick-release mounting bracket 531 can be adjusted, which is convenient for quick positioning and combination with the paving mechanism 400 of the road surface bricks or the paving mechanism 600 of the curbstone, realizing quick installation and disassembly.

[0076] The mechanical boom 500 is used to provide support for the paving brick laying mechanism 400 or the curb laying mechanism 600. In the non-paving working state, the mechanical boom 500 slides upward along the vertical guide rail 501 to drive the paving brick laying mechanism 400 or the curb laying mechanism 600 away from the ground and suspend it, so as to protect the paving brick laying mechanism 400 or the curb laying mechanism 600; when it moves to the paving position, the mechanical boom 500 descends, and the horizontal pushing mechanism 506 drives the support legs 530 to move horizontally back and forth to adjust the position of the paving brick laying mechanism 400 or the curb laying mechanism 600 at the bottom of the mechanical boom 500.

[0077] The following is with reference to Figure 6a - 6f shown below, and the structure of the paving brick laying mechanism 400 will be further described:

[0078] The main frame structure of the paving brick laying mechanism 400 is as follows: On both sides of the rear of the paving brick laying mechanism 400, there are rear slide rail support plates 401, and on both sides of the front, there are front slide rail support plates 402. At the bottom of the front slide rail support plate 402, there are support feet 404 and second support universal wheels 405. The support feet 404 can, after the paving brick laying mechanism 400 is detached from the mechanical boom 500, together with the second support universal wheels 405, keep the paving brick laying mechanism 400 parked and stable. When the placement bracket 431-5 is pulled out after placing the floor tiles, the manipulator legs can hold against the laid bricks to prevent the positioned bricks from moving. The rear slide rail support plate 401 and the front slide rail support plate 402 are fixedly connected by a quick-release connecting plate 403, and the quick-release connecting plate 403 is provided with two bayonets (as Figure 6b shown) that are respectively stuck on the optical axis and the locking shaft 531-3.

[0079] The paving brick laying mechanism 400 is detachably installed between the quick-release mounting brackets 531 on both sides through the quick-release connecting plate 403.

[0080] On both sides of the flipping mechanism 430, there are side frames 436 that are slidably matched with the front slide rail support plate 402, that is, the side frames 436 can drive the flipping mechanism 430 to slide back and forth, and the flipping mechanism 430 can rotate on the side frames 436. The rear slide rail support plate 401 is connected to the side frame 436 through a horizontal telescopic cylinder 406, and the horizontal telescopic cylinder 406 drives the side frame 436 and its flipping mechanism 430 to move back and forth in the X direction.

[0081] As Figure 6e - 6fAs shown in the figure, a leveling mechanism 432 and a rolling mechanism 433 that rotate around the turning axis are also installed on the turning mechanism 430. The leveling mechanism 432, the rolling mechanism 433, and the placing device 431 rotate synchronously around the turning axis, and the turning axis is the turning oil cylinder 434. The structures and working principles of the leveling mechanism 432 and the rolling mechanism 433 will be further described below:

[0082] The leveling mechanism 432 is provided with a serrated scraper. By turning the leveling mechanism 432, the scraper is in inclined contact with the ground, and the turning mechanism 430 as a whole is driven by the horizontal telescopic cylinder 406 to move back and forth to level the ground. Among them, by adjusting or replacing scrapers of different widths, different widths of bricks can be applied. The leveling mechanism 432 is first positioned by the positioning mechanism, so that the paving mechanism 400 of the road surface bricks reaches the predetermined position. Through the turning of the turning oil cylinder 434, the starting position of the leveling mechanism 432 for leveling is realized. Then, the turning mechanism 430 is driven by the horizontal telescopic cylinder 406 to move horizontally back and forth in the X direction to achieve the purpose of leveling the ground.

[0083] The rolling mechanism 433 is provided with a first rolling wheel with convex ribs on the outer diameter. By turning the rolling mechanism 433, the first rolling wheel is in contact with the upper surface of the laid floor tiles, and the turning mechanism 430 is driven by the horizontal telescopic cylinder 406 to move back and forth to perform a rolling operation on the laid bricks. The outer diameter of the first rolling wheel is provided with convex ribs, and the bricks are compacted by rolling and knocking.

[0084] As Figure 6d shown, a first laser emitter 421 is installed at the front end of the front slide rail support plates 402 on both sides, and a second laser emitter 422 is installed at the front end of the side frames 436 on both sides; each first laser emitter 421 is used to emit a cross-shaped first positioning laser 421-1 to the ground directly below the first laser emitter 421 on the other side, and the second laser emitter 422 is used to emit a cross-shaped second positioning laser 422-1 perpendicular to the ground. The positioning of the laid floor tiles is determined by the coincidence of the second positioning laser 422-1 and the first positioning laser 421-1. Among them, the colors of the first positioning laser 421-1 and the second positioning laser 422-1 are different, which is convenient for us to determine whether the first positioning laser 421-1 and the second positioning laser 422-1 on the same side of the ground coincide.

[0085] Preferably, the angles of the two first laser emitters 421 on the front slide rail support plates 402 are adjustable, so that the included angle between the first positioning laser 421-1 and the ground can be changed, and the distance between the two first positioning lasers 421-1 can be adjusted to adapt to the positioning of floor tiles of different widths.

[0086] The positioning mechanism of the laser controls the paving mechanism 400 of the paving bricks to always maintain a horizontal condition through a mechanical boom, and longitudinally and laterally positions the paving mechanism 400 of the paving bricks based on the principle of laser positioning. The positioning principle is as follows:

[0087] Since two groups of laser positioning devices are provided on the left and right sides of the vehicle frame in the present invention, and are arranged symmetrically left and right. One group is the first laser emitter 421 fixed on the front slide rail support plates 402 on both sides of the front end of the paving brick laying frame, which is fixedly connected to the mechanical boom. Its function is for vehicle positioning. When laying the next brick, the two groups of first laser emitters 421 on the whole vehicle emit the cross-shaped first positioning laser 421-1 to the ground on the opposite side, and use the already laid bricks or markings as marks to roughly position the whole machine, ensuring that the position deviation is within the specified range, and preparing for the adjustment of the position of the front paving mechanism 400 of the paving bricks; the other group is the second laser emitter 422 fixed on the side frame 436 of the flipping mechanism 430, which moves synchronously with the side frame 436. After the whole machine stops, before the leveling, paving, and compaction links, the second laser emitter 422 emits two cross-shaped second positioning lasers 422-1 perpendicular to the ground on the left and right. When the second positioning laser 422-1 on the same side is basically coincident with the first positioning laser 421-1, the placement position can be predicted, and only a small amount of position adjustment is required to complete the paving position positioning, so that the laid bricks are more neat.

[0088] As Figure 6f shown, the placing device 431 is provided with a clamping and fixing frame 431-1. A support plate 431-4 is arranged on one side of the clamping and fixing frame 431-1. The clamping and fixing frame 431-1 is provided with an adjusting guide rail 431-2 in the Y direction. A bracket 431-5 on the same side as the support plate is arranged on the adjusting guide rail 431-2. The bracket 431-5 is connected to the clamping and fixing frame 431-1 through a fine adjustment cylinder 431-3 to adjust the position of the bracket 431-5 in the Y direction, and the lateral fine adjustment positioning of the paving mechanism 400 of the paving bricks can be realized when placing the floor tiles.

[0089] A number of support plates 407 in the X direction are installed on the rear slide rail support plate 401, and rollers are arranged on the support plates 407. The support plates 407 play a role in transferring the bricks in the middle. The conveying mechanism 300 conveys the floor tiles forward in the X direction and transfers them to between the support plate 431-4 and the bracket 431-5 through the support plates 407.

[0090] The paving mechanism 400 of the present invention is an infrared laser positioning paving system that integrates leveling, placing, and compaction. When paving road bricks, under the guidance of the positioning mechanism, the paving mechanism 400 of the road bricks first levels the ground, then places the floor tiles, and finally compacts the floor tiles. The leveling mechanism 432, the placing device 431, and the rolling mechanism 433 are all connected to the tilting oil cylinder 434. The tilting oil cylinder 434 is installed on the side frame 436 through the tilting oil cylinder support plate 435. The tilting oil cylinder 434 enables the leveling mechanism 432, the placing device 431, and the rolling mechanism 433 to tilt more than 180° along with the tilting oil cylinder 434.

[0091] When we need to pave curb stones, the paving mechanism 400 on the mechanical boom can be removed, and the curb stone paving mechanism 600 can be installed to pave the curb stones. The following refers to Figure 7a - 7d As shown, the structure of the curb stone paving mechanism 600 will be further described:

[0092] The curb stone paving mechanism 600 is provided with a curb stone paving frame 610 installed on the mechanical boom 500. A curb stone paving opening 611 with adjustable width in the Y direction is arranged in the middle of the curb stone paving frame 610. A positioning guard plate 616 in the Y direction is installed on the front side of the curb stone paving opening 6411. A buffer plate 620 that can be turned downwards is installed on the rear side of the curb stone paving opening 611. A guiding ramp plate 613 is fixed between the positioning guard plate 616 and the buffer plate 620. There is a gap between the front end of the guiding ramp plate 613 and the positioning guard plate 616. The buffer plate 620 supports the curb stones conveyed by the conveying mechanism 300, and the buffer plate 620 that is turned downwards sends the curb stones 02 lying flat on the conveying mechanism 300 to the guiding ramp plate 613. The curb stones 02 slide downwards on the guiding ramp plate 613 into the gap and stand upright on the ground in the Y direction.

[0093] An interface 617 for quick disassembly is arranged on the curb stone paving frame 610, which is convenient for detachably installing the curb stone paving frame 610 between the quick disassembly mounting brackets 531 of the mechanical boom leg 530. Width adjusting plates 612 are symmetrically installed on both sides of the vehicle width of the curb stone paving frame 610 (the opening area between the two width adjusting plates 612 is the curb stone paving opening 611). The width adjusting plates 612 are fixed on the curb stone paving frame 610 through the adjusting plates 614 and the first adjusting guide rails 618. The adjusting plates 614 are provided with a plurality of fixing holes. By adjusting the distance between the two width adjusting plates 612 through different fixing holes, manual adjustment of bricks with different lengths can be realized. Preferably, the width adjusting plates 612 are vertical plates in the X direction and are provided with folded edges 615 bent outwards at the rear end, which play a guiding role and facilitate the curb stones to better enter the curb stone paving opening 611.

[0094] The curb laying frame 610 is provided with a thickness adjustment component, which can realize the automatic elastic adjustment of rotors with different thicknesses. The specific structure is as follows: On both sides of the vehicle width of the curb laying frame 610, horizontal thickness positioning wheels 630 are symmetrically installed. During the continuous laying of curbs by the brick laying mobile robot, the thickness positioning wheels 630 at the rear end in the traveling direction abut against the back side wall of the laid curb. The thickness positioning wheels 630 are fixed on a thickness adjustment plate 631, and the thickness adjustment plate 631 is a vertical plate in the Y direction. The thickness adjustment plate 631 is fixed on the curb laying frame 610 through a second adjustment guide rail 633. A thickness adjustment spring 632 is arranged on the second adjustment guide rail 633. Among them, the front and rear positions of the thickness adjustment plate 631 in the X direction are adjustable, and thus the distance between the thickness positioning wheels 630 and the positioning guard plate 616 can be adjusted.

[0095] The function of the buffer plate 620 is to buffer the falling bricks. Its rotating shaft is a horizontal rotating shaft in the Y direction. Both ends of the horizontal rotating shaft are connected to the curb laying frame 610, and a buffer spring 621 is installed on the horizontal rotating shaft between the curb laying frame 610 and the buffer plate 620.

[0096] On both the left and right sides of the vehicle width of the curb laying frame 610, soil crushing and cleaning plates 660 are installed. The top ends of the soil crushing and cleaning plates 640 are hinged to the curb laying frame 610 to rotate in the Y direction. A second roller 641 is installed on the soil crushing and cleaning plates 640, and the outer side edge of the soil crushing and cleaning plates 640 is an inclined surface. During the laying process of the curb laying equipment, the soil crushing and cleaning plate 640 at the front end in the traveling direction is in a hanging state for cleaning the crushed soil in the curb laying groove, and the soil crushing and cleaning plate 660 at the rear side in the traveling direction is turned upward to a horizontal arrangement and the second roller 641 rolls on the upper surface of the laid curb 02.

[0097] At the front end of the guiding slope plate 613, there is a vertical plate 613-1 perpendicular to the ground downward and parallel to the positioning guard plate 616. A gap slightly larger than the thickness of the curb is left between the vertical plate 613-1 and the positioning guard plate 616. The curb 02 falls onto the guiding slope plate 613 by the downward flipping of the buffer plate 620, and the curb 02 slides downward on the guiding slope plate 613 into the gap and stands upright on the ground in the Y direction.

[0098] The working process of the pavement bricks will be described in detail below:

[0099] First, we stack the bricks (pavement bricks or curbstones) on the forklift forks, with the front and back of the stacked bricks in contact. Subsequently, we lower the storage bracket 130 to a horizontal state and drive the forklift to transfer the stacked floor tiles to the storage bracket 130. Since the storage bracket 130 is rotatably connected to the central bottom of the longitudinal lifting bracket 102, a space is formed on both sides of the storage bracket 130 for the forklift forks to travel. When the forklift approaches the brick-laying mobile robot 10 for flat bricks, the storage bracket 130 can extend into the central opening of the forklift forks. After the forklift travels to the designated position, it unloads the floor tiles and leaves.

[0100] A second transmission mechanism 132 with rollers or belts is provided on the storage bracket 130. The second transmission mechanism 132 conveys the stacked bricks forward to the lifting plate 103. The ejector rods of the lifting devices 120 on both sides of the lifting plate 103 slide upward, and the ejector rods drive the lifting chain 122 to move upward, thereby driving the lifting webs 106 on both sides to move upward steadily, and then raising the height of the lifting plate 103 as Figure 3b shown.

[0101] The clamping device 220 of the clamping and pushing mechanism 200 slides backward towards the rear of the vehicle. The clamping plates 225 clamp and fix the left and right ends of the topmost brick. Subsequently, the clamping device 220 moves forward. During the forward sliding process of the clamping device 220, the second roller 221 will slide into the lower lifting track 213 to raise its own height, so that the clamping device 220 slightly raises the height of the brick while driving the brick forward, avoiding scratching the brick on the lifting plate 103, which affects the appearance of the brick.

[0102] When the clamping device 220 slides on the forward movement guide rail 210 above the conveying mechanism 300, the two clamping plates 225 are released, and the brick falls onto the conveying mechanism 300, and the conveying mechanism 300 continues to convey the lying brick forward.

[0103] The above steps are the general steps for the pavement brick laying mechanism 400 and the curbstone laying mechanism 600. When laying pavement bricks, the pavement brick laying mechanism 400 is installed on the mechanical boom 500. The laying process of the pavement brick laying mechanism 400 is as follows:

[0104] After the vehicle frame moves to the designated position in the laying area, the position of the pavement brick laying mechanism 400 is positioned through the positioning mechanism 320. The tilting oil cylinder 434 drives the tilting mechanism 430 to tilt as a whole, so that the serrated scraper of the leveling mechanism 432 contacts the ground obliquely. Subsequently, the horizontal telescopic cylinder 406 drives the tilting mechanism 430 to move back and forth as a whole on the setting frame to level the ground, as Figure 6g shown.

[0105] After the ground is leveled, the floor tiles conveyed by the conveying mechanism 300 are transferred to the space between the support plate 407 and the support 431-4 and the bracket 431-5, so that the bricks are clamped by the placing device 431. Subsequently, the tilting oil cylinder 434 drives the tilting mechanism 430 to tilt as a whole, so that the placing device 431 clamping the bricks at the rear side tilts to the front side and becomes horizontal, as Figure 6h - 6i shown. Subsequently, the horizontal telescopic cylinder 406 drives the tilting mechanism 430 to retract, and withdraws the bracket 431-5 from the gap between the paving brick 01 and the ground. At this time, the paving of the paving brick 01 on the ground is completed.

[0106] Subsequently, the tilting oil cylinder 434 drives the tilting mechanism 430 to tilt as a whole, so that the tilting of the rolling mechanism 433 makes the first rolling wheel contact the upper surface of the paved floor tile. Subsequently, the horizontal telescopic cylinder 406 drives the tilting mechanism 430 to move back and forth, and the first rolling wheel rolls the upper surface of the paved floor tile back and forth, as Figure 6j shown.

[0107] After the rolling is completed, the horizontal telescopic cylinder 406 drives the tilting mechanism 430 to retract to the initial position, and the tilting oil cylinder 434 drives the tilting mechanism 430 to tilt to the state where the placing device 431 is connected to the conveying mechanism 300 (that is, return to Figure 6e the state). Subsequently, the vehicle body moves to the next brick laying position, and two sets of positioning mechanisms are used to provide positioning to ensure that the laid bricks fall into the designated position.

[0108] When laying the curbstone, the curbstone laying mechanism 600 is installed on the mechanical boom 500. The laying process of the curbstone laying mechanism 600 is as follows:

[0109] When the curbstone 02 moves to the front end of the conveying mechanism 300, it is first blocked by the buffer plate 620. The lower side surface of the curbstone 02 (that is, the bottom edge for contacting the ground) contacts the buffer plate 620. Subsequently, the buffer plate 620 tilts downward, and the curbstone 02 slides down to the guiding ramp plate 613 without the block of the buffer plate 620. Under the action of gravity, the curbstone 02 slides forward on the guiding ramp plate 613. When falling from the guiding ramp plate 613, it is blocked by the positioning guard plate 616 and stands upright in the Y direction in the curbstone laying groove. At this time, the laying operation of one curbstone 02 is completed, and the curbstone 02 stands upright in the curbstone laying groove on the ground.

[0110] Subsequently, the traveling device 12 drives the brick-laying mobile robot 10 to traverse in the Y direction. The soil cleaning plate 640 located at the front side of the laying direction is in a drooping state. During the progress of the curbstone laying device, the soil cleaning plate 640 can clean the crushed soil in the curbstone laying groove, making the curbstone laying groove smoother to ensure that the subsequent curbstones fall into the laying groove more neatly. The soil cleaning plate 640 located at the rear side of the laying direction is rotated to a horizontal state. The second roller 641 of the soil cleaning plate 640 rolls on the upper surface of the curbstone 02 at the rear side of the laying direction of the laying frame 610, performing a downward rolling operation on the curbstone laid at the rear during the traverse of the brick-laying mobile robot 10; moreover, the thickness positioning wheel 630 located at the rear side of the laying direction abuts against the back surface of the curbstone laid at the rear, and the thickness positioning wheel 630 provides a forward rolling operation on the curbstone during the traverse; by performing downward and forward rolling on the curbstone laid at the rear, the laid curbstone can be made more neat.

[0111] The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and the devices and structures not described in detail should be understood to be implemented in a common manner in the art; any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention, or modify it into an equivalent embodiment with equivalent changes, without departing from the scope of the technical solution of the present invention, which does not affect the essence of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A front mechanical arm of a mobile robot, the front mechanical arm is installed on the front side of the brick-laying mobile robot to provide support for the brick-laying mechanism. Let the length of the mobile robot be in the X direction and the width be in the Y direction. It is characterized in that, The mechanical boom (500) is composed of a left boom and a right boom symmetrically installed on the left and right sides of the front part of the laying locomotive frame (11). The left boom and the right boom are fixedly connected by a connecting rod (540). Both the left boom and the right boom include a longitudinal leg (530), a horizontal upper arm (510), and a lower arm (520). The front ends of the upper arm (510) and the lower arm (520) are hinged to the leg (530). The upper arm (510) is hinged to the top end of the leg (530). The rear end of the lower arm (520) is movably connected to the middle part of the upper arm (510) through a connecting rod support arm (521). The upper arm (510), the lower arm (520), the front and rear hinged legs (530), and the connecting rod support arm (521) form a parallelogram linkage mechanism. The vertical lifting mechanism (505) is hinged to the upper arm (510), and the horizontal pushing mechanism (506) is fixedly connected to the connecting rod support arm (521). A quick-release mounting bracket (531) is installed at the bottom of the leg (530). The brick laying mechanism is connected to the quick-release mounting bracket (531). A swing cylinder (532) is connected between the quick-release mounting bracket (531) and the leg (530). The angle of the quick-release mounting bracket (531) is adjusted by the swing cylinder (532). A first support universal wheel (533) is installed at the bottom of the quick-release mounting bracket (531). The vertical lifting mechanism (505) and the horizontal pushing mechanism (506) are respectively installed on both sides of the frame (11). Vertical guide rails (501) are installed on the left and right sides of the front part of the frame (11). A vertically sliding vertical slider support (502) is installed on the vertical guide rails (501). The push rod of the vertical lifting mechanism (505) and the rear end of the upper arm (510) are both hinged to the vertical slider support (502). The horizontal pushing mechanism (506) is provided with a horizontal slider (504), and the horizontal slider (504) is fixedly connected to the connecting rod support arm (521).

2. The front mechanical arm of the mobile robot according to claim 1, characterized in that, The quick-release mounting bracket (531) is provided with two rotating shafts. The first rotating shaft is installed on the leg (530) through a pin shaft (531-2). The second rotating shaft (531-6) is hinged to the swing rod of the swing cylinder (532). The swing cylinder (532) drives the quick-release mounting bracket (531) to rotate around the pin shaft (531-2).

3. The front mechanical arm of the mobile robot according to claim 2, characterized in that The quick-release mounting bracket (531) is provided with two parallel triangular plates (531-1). 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 shaft (531-2). The other two second connecting columns (531-7) are used to connect to the reserved bayonets of the brick laying mechanism. The second rotating shaft (531-6) is arranged between two of the connecting columns. One of the second connecting columns is a smooth shaft, 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). The two bayonets of the quick-release mounting bracket (531) are respectively stuck on the second connecting columns, and the handle is rotated to lock and fixedly connect the brick laying mechanism and the quick-release mounting bracket (531).

4. The front mechanical arm of the mobile robot according to claim 3, characterized in that A buckle (531-5) for fixing the handle (531-4) is provided on the outer side surface of one of the triangular plates.

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