Leveling device and construction robot

Abstract

The present invention discloses a leveling device and a construction robot. The leveling device includes a support assembly, a vibrating plate assembly, a plurality of scraper devices, and a drive device. The support assembly has a front end and a rear end arranged relative to each other in the direction of travel of the construction robot. The vibrating plate assembly is arranged at the rear end of the support assembly and is used to compact the ground. The plurality of scraper devices are rotatably mounted on the front end of the support assembly. Each of the scraper devices includes a transmission shaft and a plurality of scrapers. The scrapers are arranged at intervals along the circumference of the transmission shaft, and the extension direction of each transmission shaft is arranged parallel to the direction of travel of the construction robot. The drive device is mounted on the support assembly and is in transmission connection with the plurality of scraper devices to drive the plurality of scraper devices to rotate relative to the support assembly. This arrangement can prevent concrete slurry on the ground from accumulating at the front end of the construction robot when the construction robot is performing a leveling operation, thereby ensuring unobstructed movement of the construction robot.

Description

Technical Field

[0001] The present invention relates to the field of construction equipment, and in particular to a leveling device and a construction robot. Background Art

[0002] In the construction process, after the ground is poured with concrete, the ground is prone to unevenness, which will affect the next step of construction. In order to level the ground, a leveling machine is usually used to level the concrete when pouring the concrete so that the surface of the solidified concrete is flat.

[0003] However, when the screed is leveling the concrete on the ground, if the height of the concrete accumulation is large, the concrete is likely to accumulate at the front end of the screed, making it difficult for the screed to move on the ground, affecting the efficiency of the screed in leveling the concrete. Therefore, improvement is urgently needed. Summary of the Invention

[0004] This embodiment provides a leveling device, which aims to solve the problem of concrete slurry accumulating at the front end of the leveler when the leveler is leveling the ground.

[0005] To achieve the above-mentioned purpose, the present invention provides a leveling device, which is used in a construction robot, and the leveling device includes a bracket assembly, a vibration plate assembly, a plurality of scraper devices and a driving device; wherein, the bracket assembly has a front end and a rear end relatively arranged in the travel direction of the construction robot, and the vibration plate assembly is arranged at the rear end of the bracket assembly and is used to compact the ground; the plurality of scraper devices are rotatably installed on the front end of the bracket assembly, and each of the scraper devices includes a transmission shaft and a plurality of scrapers, and the scrapers are arranged at intervals along the circumference of the transmission shaft, and the extension direction of each transmission shaft is arranged parallel to the travel direction of the construction robot; the driving device is installed on the bracket assembly, and the driving device is transmission-connected to the plurality of scraper devices to drive the plurality of scraper devices to rotate relative to the bracket assembly.

[0006] In some embodiments of the present invention, the bracket assembly includes a first bracket, a second bracket and a lifting device; wherein, the first bracket is connected to the vibration plate assembly, the second bracket is located in front of the second bracket, and the second bracket is connected to the driving device and the plurality of scraper devices; the lifting device is respectively connected to the first bracket and the second bracket, and the lifting device is used to drive the second bracket to move up and down relative to the first bracket.

[0007] In some embodiments of the present invention, the first bracket includes two connecting rods arranged in parallel along the up-down direction and a crossbeam extending along the left-right direction, the lower ends of the two connecting rods are respectively fixedly connected to the vibration plate assembly, and the two ends of the crossbeam are respectively fixedly connected to the middle part of the connecting rod on the corresponding side; the second bracket includes two connecting plates arranged in parallel along the up-down direction and a mounting plate extending along the left-right direction, the mounting plate is for mounting a plurality of the scraper devices and the driving device, and the two connecting plates are hinged to the connecting rod on the corresponding side through two hinged rods arranged in parallel along the front-back direction; the number of the lifting devices is two, and the two lifting devices are respectively connected to the upper end of the connecting rod on the corresponding side and the upper end of the connecting plate, and the two lifting devices work synchronously to drive the two connecting plates to rise and fall synchronously, thereby driving the second bracket to move in the up-down direction.

[0008] In some embodiments of the present invention, the bracket assembly further includes a vertical pole, one end of the vertical pole is connected to the second bracket, and the other end of the vertical pole extends upward in a direction away from the second bracket; the leveling device further includes a controller and a rangefinder, the rangefinder is installed at a position of the vertical pole away from the second bracket, the rangefinder is used to detect the distance between it and the construction reference horizontal plane, the controller is electrically connected to the lifting device and the rangefinder, and the controller controls the operation of the lifting device according to the detection result of the rangefinder.

[0009] In some embodiments of the present invention, the bracket assembly includes a first bracket and a second bracket, the first bracket is for installing the vibration assembly, and the second bracket is connected to the first bracket and is located in front of the first bracket; multiple transmission shafts are installed in front of the second bracket at intervals along the left and right directions, and the driving device includes a driving motor and a transmission assembly, the transmission assembly is installed on the second bracket and is connected to the multiple transmission shafts, and the driving motor is connected to the transmission assembly to drive the multiple scraper devices to rotate in the same direction.

[0010] In some embodiments of the present invention, the second bracket includes a mounting plate extending in the left-right direction, and the mounting plate is penetrated by a plurality of assembly holes arranged at intervals in the left-right direction in the front-back direction; each of the transmission shafts passes through the corresponding assembly hole and is rotatably connected to the mounting plate, and one end of each transmission shaft located on the front side of the mounting plate is fixedly connected to the scraper; the transmission assembly is installed on the rear side of the mounting plate, and the transmission assembly is transmission-connected to one end of each transmission shaft located on the rear side of the mounting plate.

[0011] In some embodiments of the present invention, the transmission assembly includes an output sprocket, an input sprocket, an input chain, multiple transmission sprockets and an output chain; wherein, each of the transmission sprockets is fixedly connected to one end of the corresponding transmission shaft located on the rear side of the mounting plate, and the output chain is transmission-connected to the multiple transmission sprockets; the input sprocket is fixedly connected to one of the multiple transmission sprockets through a connecting shaft, the output sprocket is fixedly connected to the output shaft of the drive motor, and the output sprocket and the input sprocket are transmission-connected through the input chain.

[0012] In some embodiments of the present invention, the bracket assembly includes a first bracket for mounting the vibration plate assembly and a second bracket connected to the first bracket, and the second bracket is located in front of the second bracket; the second bracket includes a mounting plate and a first baffle connected to the first bracket, and the mounting plate is extended in the left and right directions, and a plurality of scraper devices are arranged at intervals in the left and right directions at the front end of the mounting plate, and the first baffle is installed above the plurality of scraper devices, one side of the first baffle is connected to the mounting plate, and the other end of the first baffle extends forward and upward.

[0013] In some embodiments of the present invention, the second bracket also includes a second baffle, which is arranged at one end in the arrangement direction of the multiple scraper devices. The second baffle is located on the side of the mounting plate close to the completed construction area when the construction robot is working. One end of the second baffle is connected to the mounting plate, and the other end of the second baffle extends forward and is inclined in the direction away from the multiple scraper devices.

[0014] The present invention also provides a construction robot, which includes the leveling device, a machine body and a walking mechanism as described above, wherein the leveling device is installed on the machine body, and the walking mechanism is installed at the bottom of the machine body to drive the machine body to move on the ground.

[0015] In the technical solution of the present invention, a vibration plate assembly is arranged at the rear end of the bracket assembly of the leveling device to compact the ground, and multiple scraper devices are rotatably installed at the front end of the bracket assembly. The extension direction of the transmission shaft of each scraper device is parallel to the moving direction of the construction robot, and each scraper device can rotate relative to the bracket assembly under the drive of the driving device, so that when the construction robot moves on the ground, each scraper device arranged at the front end of the bracket assembly can move excess concrete slurry to either side of the bracket assembly. This can avoid the accumulation of concrete slurry at the front end of the construction robot when the construction robot is leveling the ground, thereby ensuring that the construction robot can move unobstructed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 the structures shown in these drawings without paying any creative work.

[0017] Figure 1 Schematic diagram of the structure of an embodiment of the leveling device of the present invention;

[0018] Figure 2 This is a structural diagram of an embodiment of the present invention in which the second bracket is connected to the driving device and each scraper device;

[0019] Figure 3 This is a structural diagram of an embodiment of the present invention in which the second bracket is connected to the driving device and each scraper device;

[0020] Figure 4 A top view of the structure of an embodiment of a scraper device in the present invention;

[0021] Figure 5 for Figure 3 A magnified view of the structure at part A in the middle.

[0022] Description of Figure Numbers:

[0023] Label name Label name 1000 Leveling device 300 Scraper device 100 Bracket assembly 310 transmission shaft 110 First bracket 311 Scraper segment 111 connecting rod 312 Rotating end 112 beam 313 transmission section 120 Second bracket 320 scraper 121 Connecting plate 400 Drive device 122 Mounting plate 410 drive motor 123 First baffle 420 Transmission components 124 Second baffle 421 Output sprocket 130 lifting device 422 Input sprocket 140 hinged rod 423 Input chain 150 Pole 424 Drive sprocket 200 Vibration plate assembly 425 Output chain 210 Vibration Machine 500 rangefinder 220 Vibration Panel 510 Laser receiver

[0024] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0026] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0027] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] The present invention provides a leveling device, which is used for a construction robot. The leveling device can level the ground under the drive of the construction robot. The leveling device can also prevent concrete slurry from accumulating at the front end of the construction robot during the leveling process.

[0029] See also Figure 1 In each embodiment of the present invention, in order to facilitate the description of the leveling device 1000, the direction of travel of the construction robot during leveling operation is taken as the front, the opposite direction of travel of the construction robot during leveling operation is taken as the back, the two sides of the direction of travel of the construction robot during leveling operation are taken as the left and right sides, the side of the ground supporting the construction robot is taken as the bottom, and the side away from the ground is taken as the top.

[0030] Please continue reading Figure 1 The leveling device 1000 includes a bracket assembly 100, a vibration plate assembly 200, a plurality of scraper devices 300 and a driving device 400. The bracket assembly 100 has a front end and a rear end arranged relative to each other in the traveling direction of the construction robot. The vibration plate assembly 200 is arranged at the rear end of the bracket assembly 100 and is used to compact the ground.

[0031] The bracket assembly 100 is not only used to carry and install the vibration plate assembly 200, the driving device 400 and multiple scraper devices 300, but the bracket assembly 100 can also be used to connect with the construction robot, so that the construction robot can drive the entire leveling device 1000 to move. In addition, since the vibration plate assembly 200 has the function of vibrating and compacting the ground, this requires that the bracket assembly 100 used to install the vibration plate assembly 200 itself has a certain strength and hardness to prevent the bracket assembly 100 from deforming and splitting under the high-frequency vibration of the vibration plate assembly 200. Therefore, the bracket assembly 100 can be made of metal material. At this time, the bracket assembly 100 can be spliced together by multiple metal parts, such as sheet metal, metal processing parts and other parts, or it can be directly formed by one-piece molding such as die casting. The specific formation method of the bracket assembly 100 is not limited here.

[0032] The bracket assembly 100 can have many shapes. The bracket assembly 100 can be set in a square shape or a cylindrical shape. The bracket assembly 100 can also be set in other shapes, which are not listed here one by one. Considering that the bracket assembly 100 is connected to the vibration plate assembly 200 and moves along the front of the operation under the drive of the construction robot, in order to increase the area of the ground leveled by the leveling device 1000 when the construction robot is moving, the bracket assembly 100 can be set in a long strip shape to ensure that it can install a vibration plate assembly 200 with a larger span, ensuring a larger leveling area in one movement of the construction robot, thereby improving the leveling efficiency.

[0033] Multiple scraper devices 300 are rotatably installed on the front end of the bracket assembly 100. Each of the scraper devices 300 includes a transmission shaft 310 and multiple scrapers 320. The scrapers 320 are arranged at intervals along the circumference of the transmission shaft 310. The extension direction of each transmission shaft 310 is arranged parallel to the travel direction of the construction robot. The driving device 400 is installed on the bracket assembly 100. The driving device 400 is transmission-connected to the multiple scraper devices 300 to drive the multiple scraper devices 300 to rotate relative to the bracket assembly 100.

[0034] Specifically, there are various ways to rotatably connect each scraper device 300 to the bracket assembly 100. For example, each scraper device 300 is directly rotatably connected to the bracket assembly 100 via a plurality of transmission shafts 310. The bracket assembly 100 is provided with a plurality of mounting holes aligned with the travel direction of the construction robot. The transmission shaft 310 of each scraper device 300 is rotatably mounted in the corresponding mounting hole to achieve rotatable mounting of each scraper device 300 on the bracket assembly 100.

[0035] For another example, each scraper device 300 is rotationally connected to the bracket assembly 100 through multiple transmission shafts 310 and multiple bearings. The bracket assembly 100 is provided with multiple sleeves that are aligned with the travel direction of the construction robot. Each bearing is installed in the corresponding sleeve. The transmission shaft 310 of each scraper device 300 is passed through the inner hole of the corresponding bearing, and the rotation connection method of the bearing is adopted to reduce friction and reduce the wear of the rotating shaft and the mounting hole. In this way, each scraper device 300 can also be rotatably installed on the bracket assembly 100. There are many other ways to rotationally connect each scraper device 300 to the bracket assembly 100, which are not listed one by one here.

[0036] There are various ways of arranging the scraper devices 300 rotatably mounted on the front end of the bracket assembly 100. The transmission shaft 310 of each scraper device 300 can be rotatably mounted on the front end of the bracket assembly 100 at intervals along the left-right direction, or can be rotatably mounted on the front end of the bracket assembly 100 at intervals along two parallel left-right horizontal directions and up and down. Preferably, in order to ensure that the concrete slurry can be shifted to either left or right side of the leveling device 100 after the scraper devices 300 are rotated, the transmission shaft 310 of each scraper device 300 can be linearly arranged at intervals along the left-right direction from one end of the bracket assembly 100 to the other end of the bracket assembly 100. Such an arrangement can ensure that excess concrete slurry on the ground can be shifted to either left or right side of the leveling device 1000 by the scraper 320 on each scraper device 300.

[0037] It should be noted that there are various types of driving devices 400 for driving the blades to rotate. For example, the driving device 400 may include multiple turbines, worm gears, and motors. The motors are mounted on the bracket assembly 100 and their output shafts are arranged in the left and right horizontal directions. The worm gears are mounted on the output shafts of the motors. Each turbine is fixedly connected to the corresponding transmission shaft 310. The worm gears are in transmission connection with each turbine so that the motors can drive each scraper device 300 to rotate relative to the bracket.

[0038] For another example, the driving device 400 may include multiple transmission wheels, transmission belts, output wheels and motors. The motor is mounted on the bracket assembly 100, and the output wheel is mounted on the output shaft of the motor. Each transmission wheel is fixedly connected to the corresponding scraper device 300. The transmission belt is engaged with the output wheel and each transmission wheel so that the motor can drive each scraper device 300 to rotate relative to the bracket. There are many other driving devices 400 for driving each paddle to rotate, which are not listed here one by one.

[0039] In the technical solution of the present invention, a vibration plate assembly 200 is arranged at the rear end of the bracket assembly 100 of the leveling device 1000 to compact the ground, and multiple scraper devices are rotatably installed at the front end of the bracket assembly 100. The extension direction of the transmission shaft of each scraper device is parallel to the moving direction of the construction robot, and each scraper device 300 can rotate relative to the bracket assembly 100 under the drive of the driving device 400, so that when the construction robot moves on the ground, each scraper device 300 arranged at the front end of the bracket assembly 100 can move excess concrete slurry to either side of the bracket assembly 100, thereby avoiding the accumulation of concrete slurry at the front end of the construction robot and ensuring that the construction robot can move unobstructed.

[0040] Taking into account the large height difference of the concrete slurry on the ground, each scraper device 300 is fixedly arranged on the bracket assembly 100 and cannot adjust its own height to correct the height of the concrete slurry, thereby pushing the excess concrete slurry to either side of the leveling device 1000. In view of this, in order to enable the leveling device 1000 to correct the height of the concrete slurry and push away the excess concrete slurry, in one embodiment of the present invention, the bracket assembly 100 includes a first bracket 110, a second bracket 120 and a lifting device 130; wherein, the first bracket 110 is connected to the vibration plate assembly 200, the second bracket 120 is located in front of the second bracket 120, and the second bracket 120 is connected to the driving device 400 and multiple scraper devices 300; the lifting device 130 is respectively connected to the first bracket 110 and the second bracket 120, and the lifting device 130 is used to drive the second bracket 120 to move relative to the first bracket 110 in the up and down directions.

[0041] With such an arrangement, each scraper device 300 can move up and down relative to the first bracket 110 under the drive of the lifting device 130, that is, move in a direction away from or close to the ground, thereby enabling the leveling device 1000 to adjust its own height to correct the height of the concrete slurry, so that excess concrete slurry is pushed away to one side of the leveling device 1000 by each scraper device 300.

[0042] Specifically, there are many ways to connect the first bracket 110 to the vibration plate assembly 200. The connection between the first bracket 110 and the vibration plate assembly 200 can be a detachable connection, such as a snap connection, a threaded connection, etc. The connection between the first bracket 110 and the vibration plate assembly 200 can also be a fixed connection, such as welding, bonding, etc.; preferably, the first bracket 110 and the vibration plate assembly 200 are detachably connected to facilitate subsequent maintenance and replacement.

[0043] It should be noted that since the vibration plate assembly 200 will generate vibration to achieve the vibration and flattening of the ground, this requires that measures be taken to prevent vibration loosening when connecting the first bracket 110 and the vibration plate assembly 200. For example, when the connection between the first bracket 110 and the vibration plate assembly 200 is threaded, thread glue can be added to the threaded hole, or fastening screws with glue can be used to prevent the vibration of the vibration plate assembly 200 from causing the connection between the first bracket 110 and the vibration plate assembly 200 to loosen.

[0044] In addition, there are various lifting devices 130 for driving the second bracket 120 to move up and down relative to the first bracket 110. For example, the lifting device 130 may include a motor, a lead screw, and a slider. The motor is mounted on the first bracket 110, and the lead screw is fixedly mounted on the output shaft of the motor in the up and down directions. The first bracket 110 is recessed with a sliding groove extending in the up and down directions. The slider is slidably mounted in the sliding groove and cooperates with the lead screw thread. The slider is also fixedly connected to the second bracket 120. In this way, when the motor drives the lead screw to rotate, the slider can slide in the sliding groove driven by the lead screw and thereby drive the second bracket 120 to slide in the up and down direction relative to the second bracket 120.

[0045] For another example, the lifting device 130 may also include a cylinder and a push rod, the second bracket 120 is slidably connected to the first bracket 110, the push rod is slidably installed on the cylinder, the cylinder is installed on the first bracket 110 in the up and down directions, and the end of the push rod away from the cylinder is connected to the second bracket 120. The cylinder pushes the push rod to slide when it works, thereby enabling the second bracket 120 to slide relative to the second bracket 120 in the up and down directions; there are many lifting devices 130 for driving the second bracket 120 to move relative to the first bracket 110 in the up and down directions, which are not listed one by one here.

[0046] Considering that the construction environment is relatively complex, the mechanism of the second bracket 120 moving up and down relative to the first bracket 110 is easily stuck by concrete slurry or dust, and the second bracket 120 and the first bracket 110 are both extended in the left and right directions, and the large length easily causes the second bracket 120 to tilt when moving up and down. In view of this, in order to ensure that the second bracket 120 can move up and down stably, in one embodiment of the present invention, the first bracket 110 includes two connecting rods 111 arranged in parallel along the vertical direction and a connecting rod 112 arranged along the left and right directions. The crossbeam 112 extends to the right, and the lower ends of the two connecting rods 111 are fixedly connected to the vibration plate assembly 200 respectively, and the two ends of the crossbeam 112 are fixedly connected to the middle part of the connecting rod 111 on the corresponding side respectively; the second bracket 120 includes two connecting plates 121 arranged in parallel along the up and down directions and a mounting plate 122 extending along the left and right directions. The mounting plate 122 is used for installing multiple scraper devices 300 and drive devices 400. The two connecting plates 121 are hinged to the connecting rod 111 on the corresponding side through two hinge rods 140 arranged in parallel along the front and back directions.

[0047] With this arrangement, the first bracket 110, the second bracket 120 and the two sets of hinge rods 140 are arranged to form a parallelogram, which can prevent the second bracket 120 from tilting when moving up and down, and the hinged connection makes it less likely to get stuck.

[0048] Specifically, the connecting rod 111 has many shapes. The connecting rod 111 can be set in a rectangular long strip shape, a cylindrical long strip shape, or other long strip shapes. In this embodiment, in order to prevent the concrete slurry from contacting the hinge between the connecting rod 111 and the corresponding hinged rods 140 and causing obstruction, the connecting rod 111 includes two parallel panels arranged in the up and down directions, and each hinged rod 140 extends between the two panels and is hingedly connected to the two panels respectively.

[0049] Similarly, the connecting plate 121 can have many shapes. In this embodiment, in order to prevent the concrete slurry from contacting the hinges between the connecting plate 121 and the corresponding hinged rods 140 and causing connection obstruction, the connecting plate 121 can adopt a U-shaped groove plate, and each hinged rod 140 extends into the groove of the groove plate and is hingedly connected to the two groove walls of the groove respectively. This can prevent the concrete slurry from accumulating at the hinge and causing movement jamming.

[0050] Furthermore, in order to prevent a single lifting device 130 from driving the second bracket 120 to move with insufficient force, in this embodiment, the number of the lifting devices 130 is two, and the two lifting devices 130 are respectively connected to the upper end of the connecting rod 111 and the upper end of the connecting plate 121 on the corresponding side. The two lifting devices 130 work synchronously to drive the two connecting plates 121 to rise and fall synchronously, thereby driving the second bracket 120 to move up and down.

[0051] See also Figure 1 In one embodiment of the present invention, the lifting device 130 consists of two electric cylinders and two push rods. The two push rods are slidably installed on the corresponding electric cylinders. The two electric cylinders are arranged in an up-down direction and are spaced apart on the first bracket 110. The ends of the two electric cylinders away from the push rods are respectively hingedly connected to the upper ends of the corresponding connecting rods 111, and the ends of the two push rods away from the electric cylinders are respectively hingedly connected to the upper ends of the connecting plates 121 on the corresponding sides. The two electric cylinders work to drive the corresponding push rods to slide and thereby drive the second bracket 120 to move up and down relative to the first bracket 110.

[0052] See also Figures 1 to 3In order to enable the leveling device 1000 to automatically correct the height of the concrete slurry according to the height of the concrete slurry on the ground and realize automated construction, in one embodiment of the present invention, the bracket assembly 100 further includes a vertical pole 150, one end of the vertical pole 150 is connected to the second bracket 120, and the other end of the vertical pole 150 extends upward in a direction away from the second bracket 120; the leveling device 1000 further includes a controller and a rangefinder 500, the rangefinder 500 is installed at a position of the vertical pole 150 away from the second bracket 120, and the rangefinder 500 is used to detect the distance between it and the construction reference horizontal plane, the controller is electrically connected to the lifting device 130 and the rangefinder 500, and the controller controls the operation of the lifting device 130 according to the detection result of the rangefinder 500.

[0053] With such an arrangement, the leveling device 1000 can control the driving device to adjust the distance between each scraper device 300 and the ground according to the height of the concrete slurry on the ground, so as to push the concrete slurries of different heights on the ground to one side of the leveling device 1000, so that the height of the concrete slurries moved by each scraper device 300 is consistent.

[0054] In addition, since the second bracket 120 is in the shape of a long strip with a large span extending in the left-right direction, a single rangefinder 500 cannot cover the entire construction ground. In this embodiment, the bracket assembly 100 also includes two vertical poles 150, and the two vertical poles 150 are arranged on both sides of the length direction of the second bracket 120. The rangefinder 500 includes two laser receivers 510, and the two laser receivers 510 are installed at the end of the corresponding vertical pole 150 away from the second bracket 120.

[0055] It is worth noting that when the laser receiver 510 measures the height of the concrete slurry on the ground, it is necessary to use the horizontal laser surface projected by the laser leveler as a construction reference horizontal plane. The laser receiver 510 then detects the height of the concrete slurry by receiving the laser line.

[0056] In order to enable each scraper device 300 to rotate simultaneously relative to the bracket assembly 100 under the drive of the drive device 400, in one embodiment of the present invention, the bracket assembly 100 includes a first bracket 110 and a second bracket 120. The first bracket 110 is for mounting the vibration assembly, and the second bracket 120 is connected to the first bracket 110 and is located in front of the first bracket 110. A plurality of transmission shafts 310 are installed in front of the second bracket 120 at intervals along the left and right directions. The drive device 400 includes a drive motor 410 and a transmission assembly 420. The transmission assembly 420 is installed on the second bracket 120 and is in transmission connection with the plurality of transmission shafts 310. The drive motor 410 is in transmission connection with the transmission assembly 420 to drive the plurality of scraper devices 300 to rotate in the same direction. In this configuration, the drive motor 410 can simultaneously drive each scraper device 300 to rotate.

[0057] To facilitate the rotatable mounting of each scraper assembly 300 on the second bracket 120, the second bracket 120 includes a mounting plate 122 extending in the left-right direction. The mounting plate 122 is provided with a plurality of mounting holes spaced apart in the left-right direction along the front-back direction. Each drive shaft 310 passes through a corresponding mounting hole and is rotatably connected to the mounting plate 122. One end of each drive shaft 310 located on the front side of the mounting plate 122 is fixedly connected to the scraper 320. This facilitates the rotatable mounting of each scraper assembly 300 on the front side of the second bracket 120.

[0058] It should be noted that in order to ensure that each transmission shaft 310 can be rotatably connected to the corresponding assembly hole more smoothly, each transmission shaft 310 can also be provided with a bearing and a sleeve and then connected to the corresponding assembly hole to reduce the friction between the transmission shaft 310 and the assembly hole and improve the service life.

[0059] Also, see Figure 4 The transmission shaft 310 has a scraper section 311 for connecting to the scraper 320, a rotating section 312 for rotating with the assembly hole, and a transmission section 313 for transmitting with the transmission assembly 420, which are arranged in sequence along the front-to-back direction.

[0060] To prevent the transmission assembly 420 from being affected by concrete slurry or other construction materials while the construction robot is driving the leveling device 1000, thereby preventing the transmission from becoming jammed, in this embodiment, the transmission assembly 420 is mounted on the rear side of the mounting plate 122. The transmission assembly 420 is in transmission connection with one end of each transmission shaft 310 located on the rear side of the mounting plate 122. This prevents the concrete slurry on the ground from coming into contact with the transmission assembly 420, which could cause the transmission assembly 420 to become jammed.

[0061] In addition, the leveling device 1000 is also provided with a protective cover, which is used to cover the transmission component 420 so that when the construction robot is performing leveling construction work, the concrete slurry will not come into contact with the transmission component 420 and cause the transmission component 420 to be stuck.

[0062] In order to improve the transmission efficiency of the transmission assembly 420 and avoid the transmission failure caused by the transmission assembly 420 being stuck during the transmission process, please refer to Figure 3 and Figure 5 In one embodiment of the present invention, the transmission assembly 420 includes an output sprocket 421, an input sprocket 422, an input chain 423, multiple transmission sprockets 424 and an output chain 425; wherein, each transmission sprocket 424 is fixedly connected to the corresponding transmission shaft 310 located at the transmission section 313 on the rear side of the mounting plate 122, and the output chain 425 is transmission-connected to the multiple transmission sprockets 424.

[0063] With such an arrangement, each transmission shaft 310 is driven to rotate by a chain drive. When the scraper device 300 encounters a large resistance, it will not lose step due to excessive resistance. Moreover, the output chain 425 can be transmitted together with the opposite sides of each transmission sprocket 424, thereby increasing the transmission force. In addition, each transmission sprocket 424 and the output chain 425 are arranged on the rear side of the mounting plate 122 to avoid contact with the concrete slurry and affect the transmission of the output chain 425.

[0064] Furthermore, the input sprocket 422 is fixedly connected to one of the plurality of transmission sprockets 424 via a connecting shaft, the output sprocket 421 is fixedly connected to the output shaft of the drive motor 410, and the output sprocket 421 and the input sprocket 422 are in transmission connection via an input chain 423. With this arrangement, the drive motor 410 can drive the output sprocket 421 to rotate, thereby driving the input sprocket 422 to rotate. The rotation of the input sprocket 422 can drive one of the plurality of transmission sprockets 424 to rotate, and then drive each transmission sprocket 424 to rotate via the output chain 425, so that each scraper device 300 can rotate in the same direction relative to the mounting plate 122 on the front side of the mounting plate 122.

[0065] It should be noted that there are many structures for each transmission sprocket 424 to be installed on the transmission section 313 of the corresponding transmission shaft 310 for transmission. For example, each transmission sprocket 424 can be installed on the transmission shaft 310 by means of interference fit with the transmission section 313. For example, each transmission sprocket 424 can also be installed on the transmission shaft 310 by protruding a positioning key on the transmission section 313, and a limiting groove is recessed at the position of the positioning key on the transmission sprocket 424, and the limiting groove cooperates with the positioning key to realize the transmission connection; there are many structures for each transmission sprocket 424 to be installed on the transmission section 313 of the corresponding transmission shaft 310 for transmission, which are not listed one by one here.

[0066] In order to prevent the concrete slurry from bypassing the mounting plate 122 and coming into contact with the transmission assembly 420 under the movement of each scraper device 300 when the construction robot is moving to level the ground, in one embodiment of the present invention, the bracket assembly 100 includes a first bracket 110 for mounting the vibration plate assembly 200 and a second bracket 120 connected to the first bracket 110, and the second bracket 120 is located in front of the second bracket 120; the second bracket 120 includes a mounting plate 122 connected to the first bracket 110 and a first baffle 123, the mounting plate 122 extends in the left and right directions, and a plurality of scraper devices 300 are arranged at intervals in the left and right directions at the front end of the mounting plate 122, and the first baffle 123 is installed above the plurality of scraper devices 300.

[0067] With this arrangement, when each scraper device 300 moves the excess concrete slurry on the ground, the concrete slurry will be blocked by the first baffle 123 set above each scraper device 300 and cannot bypass the mounting plate 122 and contact the transmission assembly 420 on the rear side of the mounting plate 122.

[0068] It is worth noting that the first baffle 123 can exist separately and be installed on the mounting plate 122. In this case, the connection between the first baffle 123 and the mounting plate 122 can be a detachable connection, such as a snap connection, a threaded connection, etc., and the connection between the first baffle 123 and the mounting plate 122 can also be a fixed connection, such as welding, bonding, etc.; the first baffle 123 can also be integrally formed with the mounting plate 122, for example, formed by bending sheet metal, or directly integrally formed by an extrusion die; the specific connection method between the first baffle 123 and the mounting plate 122 is not specifically limited here.

[0069] In addition, one side of the first baffle 123 is connected to the mounting plate 122, and the other end of the first baffle 123 is extended upward and tilted forward from the connection position with the mounting plate 122 to ensure that each scraper device 300 is covered by the first baffle 123, ensuring that the concrete slurry cannot pass through the first baffle 123, and the first baffle 123 can simultaneously press the concrete slurry downward so that it flows to the location of the scraper device 300, thereby facilitating construction operations.

[0070] In addition, the other end of the first baffle 123 extends upward and tilted forward from the connection point with the mounting plate 122, which can increase the front end opening of the second bracket 120, thereby increasing the amount of concrete slurry entering the scraper device 300 and making construction operations more convenient.

[0071] Considering that when the construction robot drives the leveling device 1000 to level the ground, the excess concrete slurry on the ground will be pushed to one side of the leveling device 1000 by each scraper device 300. At this time, it is difficult to ensure that there will be no excess concrete slurry on the other side of the leveling device 1000. When the construction robot performs the next leveling, the concrete slurry will accumulate on the leveled ground, requiring rework, which reduces the leveling efficiency of the construction robot. In view of this, in order to prevent the scraper devices 300 from pushing the excess concrete slurry on the ground to the leveled ground, please refer to Figure 2 In one embodiment of the present invention, the second bracket 120 further includes a second baffle 124. The second baffle 124 is disposed at one end in the direction in which the multiple scraping blades 300 are arranged. One end of the second baffle 124 is connected to the mounting plate 122, and the other end of the second baffle 124 extends forward and is tilted away from the multiple scraping blades 300. The second baffle 124 prevents concrete slurry from migrating onto the leveled surface, thereby improving the leveling efficiency of the construction robot.

[0072] It is worth noting that the second baffle 124 can be set at the left end of the second bracket 120, or at the right end of the second bracket 120. The specific setting of the second baffle 124 at the left end or the right end of the second bracket 120 can be determined according to the operation construction path. For example, when the construction robot is leveling the ground from left to right one by one during the leveling operation, the second baffle 124 can be set at the left end of the second bracket 120 to prevent the concrete slurry from accumulating at the completed left end during the leveling operation; for another example, when the construction robot is leveling the ground from right to left one by one during the leveling operation, the second baffle 124 can be set at the right end of the second bracket 120 to prevent the concrete slurry from accumulating at the completed right end during the leveling operation.

[0073] In addition, the second baffle 124 extends forward and is tilted away from the multiple scraper devices 300 to expand more concrete slurry and guide the concrete slurry to the location of the scraper devices 300, thereby facilitating construction operations.

[0074] In one embodiment of the present invention, the vibration plate assembly 200 includes a vibration panel 220 and a vibrator 210. The vibrator 210 is installed on the bracket assembly 100. The vibration panel 220 is installed on the bracket assembly 100 and abuts against the ground. The vibrator 210 drives the vibration panel 220 to vibrate to vibrate and compact the ground.

[0075] In this way, the vibration machine 210 can drive the vibration panel 220 to vibrate when it is working. The side of the vibration panel 220 that contacts the ground is driven by the construction robot to vibrate and compact the ground, thereby achieving leveling construction of the ground.

[0076] It is worth noting that the lower end of the front edge of the vibration panel 220 is chamfered. This prevents protruding hard objects on the ground, such as sand and gravel, from blocking the vibration plate. Through the chamfer, the vibration plate can directly pass over the protruding objects, preventing obstruction when the construction robot moves.

[0077] The present invention also provides a construction robot, which includes a leveling device 1000, a machine body and a walking mechanism. The leveling device 1000 is installed on the machine body, and the walking mechanism is installed at the bottom of the machine body to drive the machine body to move on the ground.

[0078] The specific structure of the leveling device 1000 refers to the above embodiments. Since this construction robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0079] The operations of this construction machine are as follows:

[0080] When the ground needs to be leveled, the vibrator 210 of the leveling device 1000 on the construction robot starts working. The vibrator 210 transmits the vibration source to the vibration plate, and the vibration plate contacts the ground to vibrate and flatten the ground.

[0081] At this time, the walking mechanism of the construction robot works to drive the machine body to move forward, and then the driving motor 410 provided on the second bracket 120 works to drive the output sprocket 421 to rotate, and then drives the input sprocket 422 to rotate through the input chain 423. The rotation of the input sprocket 422 can drive one of the multiple transmission sprockets 424 to rotate, and then drives each transmission sprocket 424 to rotate through the output chain 425, so that each scraper device 300 can rotate at the front end of the second bracket 120, and push the excess concrete slurry on the ground to one side of the leveling device 1000;

[0082] Furthermore, when the concrete slurry on the ground varies significantly, two laser rangefinders 500 installed on either side of the second support 120 receive a horizontal laser plane projected at a predetermined position by a laser leveling device installed on the outside, which serves as a construction reference level. The received data is fed back to the controller, which then drives the lifting device 130 to adjust the height of the second support 120 based on the feedback signal, causing the second support 120 to move up and down relative to the first support 110. Adjusting the height of the second support 120 adjusts the height of the concrete slurry moved by each scraper device 300, ensuring a consistent height of the concrete slurry after being moved by each scraper device 300. This prevents concrete slurry from accumulating in front of the construction robot's travel direction, hindering its work and increasing its difficulty.

[0083] At this time, after the construction robot has finished leveling the first area of the ground, when it then levels the second area of the ground in the first area, it should be noted that the construction robot's moving direction is consistent with the moving direction when leveling the first area of the ground. At this time, the excess concrete slurry on the ground will be moved to the side of the ground to be constructed by the construction robot, while the other side is blocked by the second baffle 124 to prevent the concrete slurry from being moved to the ground of the first area that has been constructed, thereby causing excess concrete slurry to appear on the leveled ground. This process is repeated until the ground is leveled.

[0084] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A leveling device, used in a construction robot, characterized in that: The leveling device includes a bracket assembly, a vibration plate assembly, a plurality of scraper devices and a driving device; wherein, The support assembly has a front end and a rear end that are arranged opposite to each other in the travel direction of the construction robot, and the vibration plate assembly is arranged at the rear end of the support assembly and is used to compact the ground; The plurality of scraper devices are rotatably mounted on the front end of the bracket assembly, each of the scraper devices comprises a transmission shaft and a plurality of scrapers, the scrapers are arranged at intervals along the circumference of the transmission shaft, and the extension direction of each transmission shaft is parallel to the travel direction of the construction robot; The driving device is installed on the bracket assembly and is in transmission connection with the plurality of scraper devices to drive the plurality of scraper devices to rotate relative to the bracket assembly.

2. The leveling device according to claim 1, characterized in that: The bracket assembly includes a first bracket, a second bracket and a lifting device; wherein, The first bracket is connected to the vibration plate assembly, the second bracket is located in front of the second bracket, and the second bracket is connected to the driving device and the plurality of scraper devices; The lifting device is connected to the first bracket and the second bracket respectively, and is used to drive the second bracket to move up and down relative to the first bracket.

3. The leveling device according to claim 2, characterized in that: The first bracket includes two connecting rods arranged in parallel in the vertical direction and a crossbeam extending in the left and right directions, the lower ends of the two connecting rods are respectively fixedly connected to the vibration plate assembly, and the two ends of the crossbeam are respectively fixedly connected to the middle part of the connecting rod on the corresponding side; The second bracket includes two connecting plates arranged in parallel along the vertical direction and a mounting plate extending in the left-right direction, the mounting plate is used to mount the plurality of scraper devices and the driving device, and the two connecting plates are hingedly connected to the connecting rods on the corresponding sides through two hinge rods arranged in parallel along the front-back direction; There are two lifting devices, which are respectively connected to the upper end of the connecting rod and the upper end of the connecting plate on the corresponding side. The two lifting devices work synchronously to drive the two connecting plates to rise and fall synchronously, thereby driving the second bracket to move up and down.

4. The leveling device according to claim 2, characterized in that: The bracket assembly further includes a vertical rod, one end of which is connected to the second bracket, and the other end of which extends upward in a direction away from the second bracket; The leveling device also includes a controller and a rangefinder. The rangefinder is installed at a position of the vertical pole away from the second bracket. The rangefinder is used to detect the distance between it and the construction reference datum horizontal plane. The controller is electrically connected to the lifting device and the rangefinder. The controller controls the operation of the lifting device according to the detection result of the rangefinder.

5. The leveling device according to claim 1, characterized in that: The bracket assembly includes a first bracket and a second bracket, the first bracket is for mounting the vibration assembly, and the second bracket is connected to the first bracket and is located in front of the first bracket; Multiple transmission shafts are installed in front of the second bracket at intervals along the left and right directions. The driving device includes a driving motor and a transmission assembly. The transmission assembly is installed on the second bracket and is connected to the multiple transmission shafts. The driving motor is connected to the transmission assembly to drive the multiple scraper devices to rotate in the same direction.

6. The leveling device according to claim 5, characterized in that: The second bracket includes a mounting plate extending in the left-right direction, and the mounting plate is provided with a plurality of assembly holes arranged at intervals in the left-right direction through the mounting plate in the front-back direction; Each of the transmission shafts passes through a corresponding assembly hole and is rotatably connected to the mounting plate, and one end of each transmission shaft located on the front side of the mounting plate is fixedly connected to the scraper; The transmission assembly is installed on the rear side of the mounting plate, and the transmission assembly is in transmission connection with one end of each transmission shaft located on the rear side of the mounting plate.

7. The leveling device according to claim 6, characterized in that: The transmission assembly includes an output sprocket, an input sprocket, an input chain, a plurality of transmission sprockets and an output chain; wherein, Each of the transmission sprockets is fixedly connected to one end of the corresponding transmission shaft located on the rear side of the mounting plate, and the output chain is transmission-connected to the plurality of transmission sprockets; The input sprocket is fixedly connected to one of the plurality of transmission sprockets via a connecting shaft, the output sprocket is fixedly connected to the output shaft of the drive motor, and the output sprocket is transmission-connected to the input sprocket via the input chain.

8. The leveling device according to claim 1, characterized in that: The bracket assembly includes a first bracket for mounting the vibration plate assembly and a second bracket connected to the first bracket, wherein the second bracket is arranged in front of the second bracket; The second bracket includes a mounting plate and a first baffle connected to the first bracket, the mounting plate extends in the left and right directions, and a plurality of scrapers are arranged at intervals in the left and right directions at the front end of the mounting plate. The first baffle is installed above the plurality of scraper devices, one side of the first baffle is connected to the mounting plate, and the other end of the first baffle extends forward and upward.

9. The leveling device according to any one of claims 2 to 8, characterized in that: The second bracket also includes a second baffle, which is arranged at one end in the arrangement direction of the multiple scrapers. The second baffle is located on the side of the mounting plate close to the completed construction area when the construction robot is working. One end of the second baffle is connected to the mounting plate, and the other end of the second baffle extends forward and is inclined in the direction away from the multiple scraper devices.

10. A construction robot, characterized in that: The construction robot includes a leveling device as described in any one of claims 1 to 9, a machine body, and a walking mechanism, wherein the leveling device is installed on the machine body, and the walking mechanism is installed at the bottom of the machine body to drive the machine body to move on the ground.

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