A curbstone laying robot and its laying method

Abstract

This invention discloses a curbstone laying robot and its laying method, comprising: a vehicle body for moving the entire device; a trenching section located at the right front end of the vehicle body for trenching the curbstone; a concrete pouring section located at the front end of the main vehicle body for pouring a concrete base layer for the curbstone in the trench and feeding concrete into the curbstone joints after the curbstone is placed; a robotic arm located at the rear end of the main vehicle body for gripping the curbstone and facilitating its placement after trenching and concrete pouring; and a leveling section installed at the right rear end of the vehicle body for leveling the soil excavated by the trenching section. This invention effectively solves the drawbacks of manual transportation and laying of curbstones, which are labor-intensive, time-consuming, and inefficient. It features a high level of automation, convenient operation, high work efficiency, and achieves synchronous, precise, and integrated completion of curbstone transportation and installation.

Description

Technical Field

[0001] This invention relates to the technical field of road engineering equipment, and in particular to a curbstone laying robot, as well as a method for laying curbstones using the robot. Background Technology

[0002] Currently, in the installation of road curbs, to ensure work efficiency, aesthetic appearance, and flatness, the traditional methods of manual transportation, manual installation, and leveling with guide lines are widely used both domestically and internationally. During tight deadlines, a large number of workers are required, increasing the difficulty of on-site management and raising the risk of construction safety hazards. Traditional curb installation relies heavily on manual labor, which is not only inefficient, time-consuming, and costly, but also extremely physically demanding on workers.

[0003] Invention patent CN111422757A discloses an integrated device for short-distance transportation and installation of curb stones, which reduces labor intensity. However, it still requires other paving work and a large amount of manpower and material resources. Therefore, a curb stone paving robot is still needed. Summary of the Invention

[0004] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a curbstone laying robot, which can control each part to work according to the set program through the control box, effectively solving the disadvantages of labor-intensive and time-consuming manual transportation and laying of curbstones, and low efficiency. It has a high level of construction automation, is easy to operate, and mechanical operation replaces manual operation, resulting in high work efficiency. It can also complete the transfer and installation of curbstones synchronously, accurately and in an integrated manner.

[0005] This invention also provides a method for laying curb stones using a robot, which effectively solves the problems of labor-intensive and time-consuming manual transportation and laying of curb stones, resulting in low efficiency. The method increases the level of construction automation, replaces manual operation with mechanical operation, and achieves high work efficiency. It also enables the synchronous, precise, and integrated completion of the transfer and installation of curb stones.

[0006] To achieve the above objectives, the present invention employs the following technical measures:

[0007] This invention provides a curbstone laying robot, comprising: a vehicle body for moving the entire device; a trenching section located at the right front end of the vehicle body for trenching the curbstone; a concrete pouring section located at the front end of the main vehicle body for pouring a concrete base layer for the curbstone in the trench and feeding concrete into the curbstone joints after the curbstone is placed; a robotic arm located at the rear end of the main vehicle body for gripping the curbstone and facilitating the placement of the curbstone after trenching and concrete pouring; and a leveling section installed at the right rear end of the vehicle body for leveling the soil excavated by the trenching section.

[0008] Preferably, the trenching section mainly consists of a digging disc, a digging disc support, a hinged seat, a digging disc support rod, and an electric push rod a. The digging disc is the main structure of the trenching section. One end of the digging disc support rod is hinged to the hinged seat to facilitate the rotation of the digging disc support rod and to balance the non-axial force on the support rod. The other end is welded to the support frame of the digging disc to fix the digging disc and prevent the support frame from rotating when the digging disc is working. The digging disc support has a triangular structure and is welded to the vehicle body. Both ends of the electric push rod a have round holes, which are fixed to the hinged seat by pins. The hinged seat is fixed to the digging disc support rod and the digging disc support, respectively. The electric push rods a on both sides of the digging disc are connected to the digging disc support and the digging disc support rod through the hinged seat, thereby controlling the raising and lowering of the digging disc.

[0009] Furthermore, the excavator head mainly consists of a conveyor belt, rollers, stepper motor a, motor base, support frame, bucket, rotating ring, and soil baffle. The conveyor belt, rollers, stepper motor a, motor base, and soil baffle are all mounted on the support frame. The support frame is welded and fixed to the excavator head support rods on both sides. The motor base is welded to the support frame, and the stepper motor a is placed on the motor base. The stepper motor a is connected to the rollers via keyways. The support frame is press-fitted into the rotating ring via the rollers. The operation of the stepper motor a drives the rollers to rotate, thereby driving the rotating ring to rotate. The bucket welded to the rotating ring completes the excavation work.

[0010] Furthermore, the buckets are in multiple sets and welded to the rotating ring, and the buckets are welded with teeth to loosen the soil; the conveyor belt is fixedly installed on the support frame, and the conveyor belt rotates towards the vehicle body to transport the soil to the left end of the excavator plate, which facilitates subsequent leveling work and prevents it from blocking the wheels; when the buckets finish digging and rise to a higher position, the soil will fall from the buckets onto the conveyor belt and then be moved to the side.

[0011] Preferably, the vehicle body mainly consists of a stone-carrying trolley, small wheels, large wheels, a geared motor, a battery, a control box, a support plate, a traction ring, a hook, a diagonal frame, and a large vehicle frame. A traction ring is welded and fixed to the front end of the stone-carrying trolley, and a hook is welded and fixed to the rear end of the large vehicle frame. The stone-carrying trolley is attached to the rear end of the large vehicle frame via the traction ring and the hook. The large wheels are interference-fitted onto the large vehicle frame via bearings and fixed to the geared motor via keyways. The geared motor drives the large wheels to rotate. The control box is mounted on the large vehicle frame to control the operation of the entire device. The diagonal frame is welded and fixed to the large vehicle frame to support the leveling section.

[0012] Furthermore, the concrete pouring section mainly consists of a concrete bucket, a bucket support, a mixer, short pipe a, short pipe b, a concrete pump, bends a, b, and c, a tee connector a, a long pipe, and an auger feeding mechanism. The concrete bucket is placed on the bucket support and is used to hold the concrete. A hole is drilled in the concrete bucket, through which it is fixed to short pipe a for conveying concrete. The mixer consists of a mixing blade and a stepper motor b. The mixer and the concrete bucket are interference-fitted through a bearing and a hole at the bottom of the concrete bucket. A component of the same size is fixed to the bearing. The ring can rotate with the bearing; the stepper motor b is placed on the horizontal plate at the bottom of the bucket support; the mixer makes the concrete aggregate poured into the concrete bucket more evenly mixed; the inlet of the concrete pump is connected to the concrete bucket through the bend a and the short pipe a, and draws concrete from the concrete bucket; the bend a, the short pipe a, and the concrete pump are all fixedly connected by threads; the outlet of the concrete pump is fixedly connected to the tee connector a through a threaded connection, and is used to output concrete; one end of the tee connector a is connected to the long pipe and the bend c, and is used to pour the concrete foundation layer.

[0013] Preferably, the auger feeding mechanism mainly consists of an auger conveying shaft, a round cover, a stepper motor c, a three-way connector b, an auger tube, a support, and a pouring head. Both ends of the auger tube have threads, and the auger tube is fixed to the three-way connector b and the pouring head respectively via these threads. The auger conveying shaft is connected to the stepper motor c via a keyway. The auger conveying shaft is housed inside the auger tube. The center hole of the round cover is press-fitted with the rod of the auger conveying shaft via a bearing and is welded to one end of the three-way connector b to prevent excessive leakage of the conveyed concrete. The function of the auger is as follows: When concrete is fed into the auger pipe from the tee joint b, the stepper motor c drives the auger conveyor shaft to rotate, and the auger conveyor shaft delivers the concrete to the pouring head; the inlet end of the pouring head is cylindrical and has threads on the inner wall for fixing to the auger pipe, and its outlet end is square to facilitate feeding concrete into the curbstone joints; the support is welded and fixed to the outer wall of the auger pipe, and then fixed to the hanging arm of the robotic arm by bolts. After the robotic arm completes the placement of the curbstone, it controls the auger feeding mechanism to perform the feeding operation.

[0014] Furthermore, the robotic arm mainly consists of a base, bearing a, small telescopic cylinder a, large telescopic cylinder a, large electric push rod, stepper motor e, support column, ring a, ring b, counterweight, slide rail a, electric push rod b, telescopic arm, stepper motor d, connecting plate a, small telescopic cylinder b, large telescopic cylinder b, small electric push rod, hanging arm, electric push rod c, clamping plate, gear, rack, rubber strip, slide rail b, connecting plate b, bearing b, bearing c, and bearing d. The small telescopic cylinder a is connected to the large telescopic cylinder a by a keyway and is partially hollow, facilitating circuit connection from the middle. The small telescopic cylinder a is fixed to the stepper motor e by the keyway. The small telescopic cylinder a is interference-fitted onto the ring a by bearing a. The base is connected to the ring a by four support columns. The machine e is placed on the base, the support column bears the pressure, and the stepper motor e is not subjected to force; the large telescopic cylinder a is interference-fitted onto the ring b through the bearing d, and its top is welded to the telescopic arm, while the ring b is not welded to the telescopic arm so that the telescopic arm can rotate on the ring b. The telescopic arm is placed on the ring b, and the ring b serves to support the telescopic arm; the two ends of the three large electric push rods are respectively welded to the rings a and b, providing force for the lifting and lowering of the mechanical arm; the stepper motor e drives the small telescopic cylinder a to rotate, the small telescopic cylinder a drives the large telescopic cylinder a to rotate through the keyway, and the rotation of the large telescopic cylinder a drives the telescopic arm welded to it to rotate. During this process, neither the rings a nor the ring b rotate; the slide rail a is welded to the end of the telescopic arm; the... A counterweight is fixedly placed on a slider on slide rail a to balance the force at the front end of the robotic arm. The side of the electric push rod b is welded to the telescopic arm, and the telescopic end of the electric push rod b is welded to the counterweight. When the robotic arm moves, the counterweight can be pushed to the rear end; when not working, it can be pushed to the front end to balance the force at both ends of the robotic arm. The connecting plate a is welded to the telescopic arm. The stepper motor d is connected to the large telescopic cylinder b via a keyway, and the stepper motor d is placed on the connecting plate a. The large telescopic cylinder b is interference-fitted to the connecting plate a via bearing c. The large telescopic cylinder b and the small telescopic cylinder b are connected via a keyway, and the large telescopic cylinder b is also partially hollow inside. The small telescopic cylinder b is interference-fitted to the connecting plate b via bearing b, and the small telescopic cylinder b is welded to the hanging arm. Plate b is not connected to the hanging arm; the two ends of the two small electric push rods are welded to the connecting plate a and connecting plate b respectively, providing force for the clamping part; the force of the connecting plate a is transmitted to the small electric push rod, then to the small telescopic cylinder b through the bearing c, and then to the clamping part of the hanging arm that is already connected; the stepper motor d drives the large telescopic cylinder b to rotate, and then drives the small telescopic cylinder b to rotate through the keyway, thereby rotating the hanging arm; the two slide rails b are welded and fixed to the hanging arm; the racks are welded and fixed to the sliders on the two slide rails b respectively; the gears are fixed to the hanging arm by the pin shaft and mesh between the serrated surfaces of the two racks; the two clamping plates are welded to the sides of the two racks respectively; the rubber strips are evenly fixed to the inner side of the clamping part of the clamping plate, which plays the role of protecting the curb when clamping the curb;The electric push rod c is welded to the side of the hanging arm, and its telescopic end is welded and fixed to a rack. When the electric push rod c pushes one rack, the other rack moves in the opposite direction through the action of the gears, thereby achieving the clamping and placement of the curb stone.

[0015] Preferably, the leveling section mainly consists of a compaction roller, a turning plate, a crossbar, a roller rod, a large iron block, a small iron block, a slide rail c, and an electric push rod d; the slide rail c is welded and fixed to the inclined frame; the small iron block and the large iron block are respectively welded and fixed to the slider of the slide rail c; the crossbar is welded and fixed to the large iron block and the small iron block, and is parallel to the ground; the turning plate is welded and fixed to the front end of the crossbar; the roller rod is welded to the crossbar; the compaction roller is interference-fitted with the crossbar through a bearing, and the lowest point of the compaction roller is on the same horizontal line as the turning plate; the compaction roller... The inner side and the outer side of the turning board are on the same surface so that the soil turned by the turning board can be compacted by the compaction roller; a small steel plate is welded to the end of the roller rod that is not welded to the crossbar to prevent the compaction roller from slipping; the side of the electric push rod d is welded to the inclined frame, and its telescopic end is welded to a small iron block to push the turning and compaction device; the inclined frame is a triangular structure and is inclined downward. When the electric push rod d pushes the small iron block downward, it drives the turning board and the compaction roller downward, thereby performing the leveling work; when not in use, the electric push rod d moves upward, and the turning board and the compaction roller can be retracted.

[0016] Accordingly, the present invention also provides a method for laying curb stones using a paving robot, the steps of which are as follows:

[0017] S1. When laying curb stones on the roadside, first use a forklift to load the curb stones onto the stone-carrying trolley, and then hook the stone-carrying trolley behind the main frame. Then start the mixer, pour concrete into the concrete bucket, start the concrete pump, and then drive the equipment to the desired working position. Lower the excavation plate and leveling section to the working height and start the work.

[0018] S2. When the excavator head is lowered to the working height by the action of the electric push rod a, the stepper motor a drives the roller to rotate, which in turn drives the rotating ring to rotate. The bucket welded on the rotating ring can then complete the digging work. When the bucket finishes digging and rises to a high position, the soil will fall out of the bucket and onto the conveyor belt. The conveyor belt rotates towards the vehicle body, thereby transporting the soil to the left end of the excavator head.

[0019] S3. The robot moves forward while working. The concrete pump draws concrete from the concrete bucket. The discharge port of the concrete pump is fixed to the tee connector a for outputting concrete. One end of the tee connector a is connected to the long pipe and the bend pipe c for pouring the concrete subbase. The other end of the tee connector a is connected to the auger feeding mechanism through a pipe for feeding concrete into the auger feeding mechanism. The auger feeding mechanism is fixed on the hanging arm. After the robotic arm completes the placement of the curbstone, it can control the auger feeding mechanism to perform the feeding operation.

[0020] S4. The robotic arm has two lifting control parts, two rotating control parts, one telescopic control part, and one gripping part, which can easily complete the gripping and placement of the curbstone. At the same time, it can control the auger feeding mechanism to perform the feeding work. The robotic arm places the curbstone at the right end of the ditch. After the soil turning plate and the compaction roller descend to the horizontal plane, the soil turning plate will push the soil on the left side of the ditch into the ditch via the conveyor belt. The compaction roller will then compact the soil.

[0021] Therefore, the beneficial effects of the curbstone laying robot and its laying method of the present invention are as follows:

[0022] 1. Compared with the prior art, the front end of the present invention is equipped with a trenching device, which can complete the trenching of the construction ground;

[0023] 2. The present invention has a concrete pouring device in the middle, which facilitates the pouring of a concrete bedding layer into the excavated concrete trench. Pouring the concrete bedding layer can enhance the stability of the curbstone and prevent the soil and stones under the curbstone from slipping. At the same time, a concrete feeding device is installed to replace manual feeding of concrete into the curbstone gaps. Feeding concrete into the curbstone gaps can enhance the fixation of the curbstone and prevent loose stones, soil and other materials from entering the gaps.

[0024] 3. This invention uses a robotic arm to grip and place curb stones, which effectively solves the problems of labor-intensive and time-consuming manual transportation and laying of curb stones, resulting in low efficiency. The level of construction automation is increased, and mechanical operation replaces manual operation, resulting in high work efficiency. It also achieves synchronous, precise, and integrated completion of curb stone transfer and installation.

[0025] 4. The rear end of the device is welded with a soil leveling device. After the paving of the curbstone is completed, the excavated soil can be pushed back into the trench to fill the gaps in the trench and compact the soil, making the road surface smoother.

[0026] 5. This invention is mainly driven by electricity, making the entire device more environmentally friendly. At the same time, the operation of this invention is controlled by a control box, realizing close cooperation between the various parts of the device and improving the overall working efficiency. Attached Figure Description

[0027] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0028] Figure 1 This is a schematic diagram of the overall structure of the curbstone laying robot of the present invention;

[0029] Figure 2 This is a schematic diagram of the trench portion of the present invention;

[0030] Figure 3 This is a schematic diagram of the excavator section of the present invention;

[0031] Figure 4 This is a schematic diagram of the vehicle body portion of the present invention;

[0032] Figure 5 This is a schematic diagram of the concrete pouring part of the present invention;

[0033] Figure 6 This is a schematic diagram of the mixer of the present invention.

[0034] Figure 7 This is a schematic diagram of the auger feeding mechanism of the present invention;

[0035] Figure 8 This is a schematic diagram of the robotic arm portion of the present invention;

[0036] Figure 9 This is a bottom view of the robotic arm portion of the present invention.

[0037] Figure 10 This is a schematic diagram of the telescopic cylinder of the present invention;

[0038] Figure 11 This is a schematic diagram of the auger feeding mechanism of the present invention installed on the hanging arm;

[0039] Figure 12 This is a schematic diagram of the structure of the leveling part of the present invention.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1000 - Trenching section:

[0042] 1100 - Excavator section;

[0043] 1101-Conveyor belt; 1102-Roller; 1103-Stepper motor a; 1104-Motor base; 1105-Support frame; 1106-Dig bucket; 1107-Swivel ring; 1108-Soil baffle;

[0044] 1200-Digging disc support;

[0045] 1300-Hinged Seat;

[0046] 1400 - Excavator support rod;

[0047] 1500-Electric Actuator a;

[0048] 2000 - Body Section:

[0049] 2001 - Stone-carrying trolley; 2002 - Small wheels; 2003 - Large wheels; 2004 - Gear motor; 2005 - Battery; 2006 - Control box; 2007 - Support plate; 2008 - Traction ring; 2009 - Hook; 2010 - Diagonal frame; 2011 - Trolley frame;

[0050] 3000 - Concrete pouring section:

[0051] 3100 - Concrete Bucket;

[0052] 3200-barrel support;

[0053] 3300 - Mixer;

[0054] 3301 - Stirring blade; 3302 - Stepper motor b;

[0055] 3400-Short tube a; 3401-Short tube b;

[0056] 3500 - Concrete Pump;

[0057] 3600-Bend a; 3601-Bend b; 3602-Bend c;

[0058] 3700-Tee Connector a;

[0059] 3800 - Long tube;

[0060] 3900 - Screwdriver feeding mechanism;

[0061] 3901-Auger conveyor shaft; 3902-Round cover; 3903-Stepper motor c; 3904-T-connector b; 3905-Auger pipe; 3906-Support; 3907-Pouring head;

[0062] 4000 - Robotic Arm Section:

[0063] 4001-Base; 4002-Bearing a; 4003-Small telescopic cylinder a; 4004-Large telescopic cylinder a; 4005-Large electric push rod; 4006-Stepper motor e; 4007-Support column; 4008-Ring a; 4009-Ring b; 4010-Counterweight; 4011-Slide rail a; 4012-Electric push rod b; 4013-Telescopic arm; 4014-Stepper motor d; 40 15-Connecting plate a; 4016-Small telescopic cylinder b; 4017-Large telescopic cylinder b; 4018-Small electric push rod; 4019-Hanging arm; 4020-Electric push rod c; 4021-Clamping plate; 4022-Gear; 4023-Rack; 4024-Rubber strip; 4025-Slide rail b; 4026-Connecting plate b; 4027-Bearing b; 4028-Bearing c; 4029-Bearing d;

[0064] 5000-Leveling Section:

[0065] 5001-Compactor roller; 5002-Turnover plate; 5003-Horizontal bar; 5004-Roller rod; 5005-Large iron block; 5006-Small iron block; 5007-Slide c; 5008-Electric push rod d. Detailed Implementation

[0066] Below, in conjunction with Figures 1 to 12 This invention provides a detailed description of a curbstone laying robot and its laying method.

[0067] Depend on Figure 1 As shown, the curbstone laying robot of the present invention consists of a trenching section 1000, a vehicle body section 2000, a concrete pouring section 3000, a robotic arm section 4000, and a leveling section 5000. The vehicle body section 2000 serves as the support for the entire device. The trenching section 1000 is located at the right front end of the vehicle body section 2000 and is used to trench for laying curbstones. The concrete pouring section 3000 is located at the front end of the main body section of the vehicle body section 2000 and is used to pour concrete into the trench for laying curbstones. The system involves laying a concrete foundation and feeding concrete into the kerbstone joints after the kerbstones are placed. The robotic arm 4000 is located at the rear end of the main body of the vehicle body 2000, close to the stone-carrying trolley 2001, which facilitates the picking up of kerbstones and the placement of kerbstones after trenching and concrete pouring. The leveling section 5000 is installed at the right rear end of the vehicle body 2000 and is used to level the soil excavated by the trenching section 1000. The entire device works together to complete all the work of kerbstone laying.

[0068] like Figure 2 and Figure 3As shown, the trenching section 1000 mainly consists of a digging disc section 1100, a digging disc support 1200, a hinge seat 1300, a digging disc support rod 1400, and an electric push rod a1500. The digging disc section 1100 mainly consists of a conveyor belt 1101, rollers 1102, a stepper motor a1103, a motor base 1104, a support frame 1105, a bucket 1106, a rotating ring 1107, and a soil baffle 1108. The digging disc section 1100 is the main structure of the trenching section 1000. The conveyor belt 1101, rollers 1102, stepper motor a1103, motor base 1104, and soil baffle 1108 are all mounted on the support frame 1105. The support frame 1105 is welded and fixed to the digging disc support rods 1400 on both sides. The motor base 1104 is welded to the support frame 1105. The stepper motor a1103 is placed on the motor base 1104. The stepper motor a1103 is connected to the roller 1102 through a keyway. The stepper motor a1103 is a ZD-3HE2270D model stepper motor. The support frame 1105 is interference-fitted into the rotating ring 1107 through the roller 1102. When the stepper motor a1103 works, it drives the roller 1102 to rotate, thereby driving the rotating ring 1107 to rotate. The digging bucket 1106 welded on the rotating ring 1107 can then complete the digging work.

[0069] Multiple buckets 1106 are welded to the rotating ring 1107, and teeth are welded onto the buckets 1106 to loosen the soil. A conveyor belt 1101 is fixedly mounted on the support frame 1105. The conveyor belt 1101 rotates towards the vehicle body, transporting soil to the left end of the excavator face 1100, facilitating subsequent leveling work and preventing obstruction of the wheels. When the buckets 1106 finish excavating and rise to a higher position, the soil falls from the buckets 1106 onto the conveyor belt 1101, and is then moved to the side. The conveyor belt 1101 is driven by a motor.

[0070] One end of the excavator support rod 1400 is hinged to the hinge seat 1300, which facilitates the rotation of the excavator support rod 1400 and balances the non-axial force on the excavator support rod 1400. The other end is welded to the support frame 1105 to fix the excavator part 1100 and prevent the support frame 1105 from rotating when the excavator part 1100 is working. The soil baffles 1108 are welded to both sides of the conveyor belt 1101. When the electric push rod a1500 drives the excavator support rod 1400 to rotate downward, the conveyor belt 1101 will tilt slightly. When the conveyor belt 1101 tilts, the soil baffles 1108 can act as a stop. To prevent soil slippage, the hinge seat 1300 is fixed to the digging plate bracket 1200 with screws. The digging plate bracket 1200 is welded and fixed to the vehicle body 2000. The triangular structure of the digging plate bracket 1200 allows it to withstand greater forces. Both ends of the electric push rod a1500 have round holes, which are fixed to the hinge seat 1300 by pins. The hinge seat 1300 is fixed to the digging plate support rod 1400 and the digging plate bracket 1200 respectively. The same structure is present on both sides of the digging plate 1100, which pushes the digging plate support rod 1400 to rotate, thereby controlling the rise and fall of the digging plate 1100. The electric push rods a1500 on both sides of the digging disc section 1100 are connected to the digging disc bracket 1200 and the digging disc support rod 1400 through hinged seats. The electric push rods a1500 control the raising and lowering of the digging disc section 1100. The structure on both sides of the digging disc section 1100 balances the non-axial force generated by the electric push rods a1500, making it easier for the electric push rods a1500 to drive the digging disc support rod 1400 to rotate. The digging disc support rod 1400, the electric push rods a1500 and the digging disc bracket 1200 together form a triangular structure, which enables the structure to withstand greater forces and facilitates trenching.

[0071] like Figure 4As shown, the vehicle body 2000 consists of a stone-carrying trolley 2001, small wheels 2002, large wheels 2003, a geared motor 2004, a storage battery 2005, a control box 2006, a support plate 2007, a traction ring 2008, a hook 2009, a diagonal frame 2010, and a large vehicle frame 2011. Two stone-carrying trolleys 2001 can be equipped. When one is working, the other can be used to load stones, thereby improving the working efficiency of the device. The rear end of the stone-carrying trolley 2001 does not have a crossbar, so that a forklift can directly push the curb stones onto the stone-carrying trolley 2001. The axle of the small wheel 2002 is fixed to the stone-carrying trolley 2001 by an interference fit bearing. It has no power unit and is easy to pull. The front end of the stone-carrying trolley 2001 is welded and fixed with a traction ring 2008, and the rear end of the main frame 2011 is welded and fixed with a hook 2009. The stone-carrying trolley 2001 is hung on the rear end of the main frame 2011 through the traction ring 2008 and the hook 2009. The main frame 2011 consists of the main frame body and the steel frame fence welded to the main frame body. The right end of the main frame body does not have a platform, which facilitates trenching, concrete pouring, curb stone placement and leveling work. The large wheel 2003 is interference-fitted onto the large frame 2011 via bearings and fixed to the geared motor 2004 via a keyway. The geared motor 2204 is an SZG22F model geared motor. The geared motor 2004 drives the large wheel 2003 to rotate, providing power. One of the geared motors 2004 is mounted on a support plate 2207, which is welded to the large frame 2011. The rear large wheel 2003 does not have the geared motor 2004 or support plate 2207 installed to prevent obstruction of the installed curb stones. The overall structure has power units at both ends of the wheels, enabling the device to move. When one side... The geared motor 2004 drives the large wheel 2003 to rotate, while the vehicle body can turn to the side where the large wheel 2003 is not rotating when the other large wheel 2003 is not rotating. Two batteries 2005 are installed on the main frame 2011. The batteries 2005 are both high-power batteries of model 24V100AH ​​produced by Cangzhou Xinxin Auto Parts Co., Ltd., to supply power to all parts of the device. The control box 2006 is installed on the main frame 2011 to realize the operation control of the entire device. The inclined frame 2010 is welded and fixed to the main frame 2011 to support the leveling part 5000.

[0072] like Figure 5 , Figure 6 , Figure 7As shown, the concrete pouring section 3000 consists of a concrete bucket 3100, a bucket support 3200, a mixer 3300, short pipes a3400 and b3401, a concrete pump 3500, elbows a3600, b3601, c3602, a tee connector a3700, a long pipe 3800, and an auger feeding mechanism 3900. The concrete bucket 3100 is placed on the bucket support 3200 and is used to hold concrete. A hole is drilled in the concrete bucket 3100, through which it is fixed to the short pipe a3400 for conveying concrete. The mixer 3300 consists of a mixing blade 3301 and a stepper motor b3302. The stepper motor b3302 is an 86BYG model stepper motor. The mixer 3300 and the concrete bucket 3100 are interference-fitted through a bearing and a hole at the bottom of the concrete bucket 3100. A circular ring of the same size is fixed on the bearing and can rotate with the bearing. To prevent concrete from leaking out from the bottom; the stepper motor b3302 is placed on the horizontal plate at the bottom of the bucket support 3200; the mixer 3300 can make the concrete aggregate poured into the concrete bucket 3100 more evenly mixed, improving the strength of the concrete; the inlet of the concrete pump 3500 is connected to the concrete bucket 3100 through the elbow a3600 and the short pipe a3400, and draws concrete from the concrete bucket 3100. The elbow a3600, the short pipe a3400, and the concrete pump 3500 are all fixedly connected by threads; the concrete pump The discharge port of 3500 is fixed to the tee connector A3700 via a threaded connection for discharging concrete. One end of the tee connector A3700 is connected to the long pipe 3800 and the bend pipe C3602 for pouring a concrete subbase. Pouring the concrete subbase enhances the stability of the curbstone and prevents the soil and stones beneath it from slipping. The long pipe 3800 is threadedly fixed to the tee connector A3700 and the bend pipe C3602. The other end of the tee connector A3700 is threadedly fixed to the short pipe B3401. b3401 is fixedly connected to the bend b3601 via threads; the bend b3601 is connected to the tee connector b3904 via a sufficiently long concrete hose to feed concrete into the auger feeding mechanism 3900; the concrete hose must be long enough because the auger feeding mechanism 3900 is welded to the hanging arm 4019, and the relative position of the auger feeding mechanism 3900 and the tee connector b3904 will change when the robotic arm 4000 rotates, so the concrete hose needs to be long enough to prevent it from falling off during operation.

[0073] like Figure 7As shown, the auger feeding mechanism 3900 consists of an auger conveyor shaft 3901, a round cover 3902, a stepper motor c3903, a three-way connector b3904, an auger tube 3905, a support 3906, and a pouring head 3907. The stepper motor c3903 is an 86BYG model stepper motor. Both ends of the auger tube 3905 have threads, and the auger tube 3905 is fixed to the three-way connector b3904 and the pouring head 3907 respectively through the threads. The auger conveyor shaft 3901 is connected to the stepper motor c3903 through a keyway. The auger conveyor shaft 3901 is placed inside the auger tube 3905. The center hole of the round cover 3902 is interference-fitted with the rod of the auger conveyor shaft 3901 through a bearing, and is welded to one end of the three-way connector b3904 to prevent the conveyed concrete from being conveyed into the auger. The concrete feed mechanism serves to prevent excessive soil leakage. When concrete is fed into the auger pipe 3905 through the tee joint b3904, the stepper motor c3903 drives the auger conveyor shaft 3901 to rotate, which delivers the concrete to the pouring head 3907. The inlet end of the pouring head 3907 is cylindrical with threads on the inner wall for fixing to the auger pipe 3905, and the outlet end is square to facilitate feeding concrete into the curbstone gaps. Feeding concrete into the curbstone gaps can enhance the fixation of the curbstone and prevent loose stones, soil, etc. from entering the gaps. The support 3906 is welded and fixed to the outer wall of the auger pipe 3905 and then fixed to the hanging arm 4019 with bolts. After the robotic arm 4000 completes the placement of the curbstone, it can control the auger feeding mechanism 3900 to perform the feeding operation.

[0074] like Figure 8 , Figure 9 As shown, the robotic arm 4000 consists of a base 4001, bearing a 4002, small telescopic cylinder a 4003, large telescopic cylinder a 4004, large electric push rod 4005, stepper motor e 4006, support column 4007, ring a 4008, ring b 4009, counterweight 4010, slide rail a 4011, electric push rod b 4012, telescopic arm 4013, stepper motor d 4014, connecting plate a 4015, and small telescopic cylinder b 4016. The system consists of a large telescopic cylinder (b4017), a small electric push rod (4018), a hanging arm (4019), an electric push rod (c4020), a clamping plate (4021), a gear (4022), a rack (4023), a rubber strip (4024), a slide rail (b4025), a connecting plate (b4026), bearings (b4027), bearings (c4028), and bearings (d4029). Stepper motors (e4006 and d4014) are both model ZD-3HE2270D stepper motors. Figure 10As shown, the small telescopic cylinder a4003 and the large telescopic cylinder a4004 are connected by a keyway and are partially hollow to facilitate circuit connection from the middle; the small telescopic cylinder a4003 is fixed to the stepper motor e4006 via the keyway; the small telescopic cylinder a4003 is interference-fitted onto the ring a4008 via the bearing a4002; the base 4001 and the ring a4008 are connected by four support pillars 4007, and the stepper motor e4006 is placed on the base 4001. 007 bears the pressure, while the stepper motor e4006 is not subjected to force; the large telescopic cylinder a4004 is interference-fitted onto the ring b4009 via the bearing d4029, and its top is welded and fixed to the telescopic arm 4013, while the ring b4009 is not welded to the telescopic arm 4013 so that the telescopic arm 4013 can rotate on the ring b4009. The telescopic arm 4013 is placed on the ring b4009, and the ring b4009 serves to support the telescopic arm 4013.

[0075] The two ends of the three large electric push rods 4005 are welded to rings a4008 and b4009 respectively, providing force for the lifting and lowering of the robotic arm 4000. Stepper motor e4006 drives the small telescopic cylinder a4003 to rotate, which in turn drives the large telescopic cylinder a4004 to rotate via a keyway. The rotation of the large telescopic cylinder a4004 drives the telescopic arm 4013 welded to it to rotate. During this process, rings a4008 and b4009 do not rotate. The telescopic arm 4013 has the same structure as the crane telescopic arm. It is telescopic and load-bearing; the slide rail a4011 is welded to the end of the telescopic arm 4013; the counterweight 4010 is fixedly placed on the slider on the slide rail a4011 to balance the force at the front end of the robotic arm part 4000; the side of the electric push rod b4012 is welded to the telescopic arm 4013, and the telescopic end of the electric push rod b4012 is welded to the counterweight 4010. When the robotic arm part 4000 moves, the counterweight 4010 can be pushed to the rear end, and when not working, it can be pushed to the front end to balance the force at both ends of the robotic arm part 4000.

[0076] Connecting plate A4015 is welded to telescopic arm 4013. Stepper motor D4014 is connected to large telescopic cylinder B4017 via a keyway, and stepper motor D4014 is placed on connecting plate A4015. Large telescopic cylinder B4017 is interference-fitted to connecting plate A4015 via bearing C4028. Large telescopic cylinder B4017 is connected to small telescopic cylinder B4016 via a keyway, and both are partially hollow inside. Small telescopic cylinder B4016 is interference-fitted to connecting plate B4026 via bearing B4027, and small telescopic cylinder B4016 is welded to hanging arm 4013. On 019, the connecting plate b4026 is not connected to the hanging arm 4019; the two ends of the two small electric push rods 4018 are welded to the connecting plate a4015 and the connecting plate b4026 respectively, providing force for the clamping part; the force of the connecting plate a4015 is transmitted to the small electric push rod 4018, and then to the small telescopic cylinder b4016 through the bearing c4028, and then to the clamping part of the hanging arm 4019 that is already connected; the stepper motor d4014 drives the large telescopic cylinder b4017 to rotate, and then drives the small telescopic cylinder b4016 to rotate through the keyway, thereby rotating the hanging arm 4019.

[0077] Two slide rails b4025 are welded and fixed to the hanging arm 4019; racks 4023 are welded and fixed to the sliders on the two slide rails b4025 respectively; gears 4022 are fixed to the hanging arm 4019 by pins and mesh between the serrated surfaces of the two racks 4023; two clamping plates 4021 are welded to the sides of the two racks 4023 respectively; rubber strips 4024 are evenly fixed to the inner side of the clamping part of the clamping plate 4021, which serves to protect the curb when clamping it; electric The side of the push rod c4020 is welded to the hanging arm 4019, and the telescopic end of the electric push rod c4020 is welded and fixed to a rack 4023. When the electric push rod c4020 pushes one rack 4023 to move, the other rack 4023 will move in the opposite direction through the action of the gear 4022, thereby realizing the clamping and placement of the curb stone. The curb stone should be placed on the side outside the ditch without soil, so that when leveling the soil, the soil can be pushed to the other side, which is conducive to the fixation of the curb stone.

[0078] like Figure 12As shown, the leveling section 5000 consists of a compaction roller 5001, a turning plate 5002, a crossbar 5003, a roller rod 5004, a large iron block 5005, a small iron block 5006, a slide rail c5007, and an electric push rod d5008. The slide rail c5007 is welded and fixed to the inclined frame 2010. The small iron block 5006 and the large iron block 5005 are respectively welded and fixed to the slider of the slide rail c5007. The crossbar 5003 is welded and fixed to the large iron block 5005 and the small iron block 5006, and is parallel to the ground. The turning plate 5002 is welded and fixed to the front end of the crossbar 5003. The roller rod 5004 is welded to the crossbar 5003. The compaction roller 5001 is interference-fitted with the crossbar 5003 via bearings, and the lowest point of the compaction roller 5001 is on the same horizontal line as the turning plate 5002. The inner side is on the same surface as the outer side of the turning plate 5002 so that the soil turned by the turning plate 5002 can be compacted by the compaction roller 5001; a small steel plate is welded to the end of the roller rod 5004 that is not welded to the crossbar 5003 to prevent the compaction roller 5001 from slipping; the side of the electric push rod d5008 is welded to the inclined frame 2010, and its telescopic end is welded to the small iron block 5006 to push the turning and compaction device; the inclined frame 2010 has a triangular structure, which has a certain stability to withstand pressure, and the inclined frame 2010 is inclined downward. When the electric push rod d5008 pushes the small iron block 5006 downward, it drives the turning plate 5002 and the compaction roller 5001 downward, thereby performing the leveling work; when not working, the electric push rod d5008 moves upward, and the turning plate 5002 and the compaction roller 5001 can be retracted.

[0079] Accordingly, the paving method of the curbstone paving robot provided by the present invention includes the following steps:

[0080] S1. When laying curb stones on the roadside, first use a forklift to load the curb stones onto the stone-carrying trolley 2001, and then hook the stone-carrying trolley 2001 behind the main frame 2011. Then start the mixer 3300, pour concrete into the concrete bucket 3100, start the concrete pump 3500, and then drive the device to the desired working position. Lower the excavator section 1100 and the leveling section 5000 to the working height to start the work.

[0081] S2. When the excavator plate 1100 is lowered to the working height by the electric push rod a1500, the stepper motor a1103 drives the roller 1102 to rotate, which in turn drives the rotating ring 1107 to rotate. The excavator bucket 1106 welded on the rotating ring 1107 can then complete the excavation work. When the excavator bucket 1106 finishes excavating the soil and rises to a higher position, the soil will fall out of the excavator bucket 1106 and fall onto the conveyor belt 1101. The conveyor belt 1101 rotates towards the vehicle body, thereby transporting the soil to the left end of the excavator plate 1100.

[0082] S3. The robot moves forward while working. The concrete pump 3500 draws concrete from the concrete bucket 3100. The discharge port of the concrete pump 3500 is fixed to the tee connector a3700 for outputting concrete. One end of the tee connector a3700 is connected to the long pipe 3800 and the bend pipe c3602 for pouring the concrete subbase. The other end of the tee connector a3700 is connected to the auger feeding mechanism 3900 through a pipe for conveying concrete into the auger feeding mechanism 3900. The auger feeding mechanism 3900 is fixed on the hanging arm 4019. After the robotic arm part 4000 completes the placement of the curbstone, the auger feeding mechanism 3900 can be controlled to perform the feeding operation.

[0083] S4. The robotic arm 4000 has two lifting control parts, two rotating control parts, one telescopic control part, and one gripping part, which can easily complete the gripping and placement of the curbstone. At the same time, it can control the auger feeding mechanism 3900 to perform feeding work. The robotic arm 4000 places the curbstone at the right end of the ditch. After the soil turning plate 5002 and the compaction roller 5001 descend to the horizontal plane, the soil turning plate 5002 will transport the soil on the left side of the ditch edge to the ditch via the conveyor belt 1101 and push it into the ditch. The compaction roller 5001 then compacts the soil.

[0084] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A curbstone laying robot, characterized in that, include: The vehicle body (2000) is used to move the entire device; the vehicle body (2000) mainly consists of a stone-carrying trolley (2001), small wheels (2002), large wheels (2003), a geared motor (2004), a storage battery (2005), a control box (2006), a support plate (2007), a traction ring (2008), a hook (2009), a diagonal frame (2010), and a large vehicle frame (2011); The trenching section (1000), located at the right front end of the vehicle body section (2000), is used for trenching the curbstone. The trenching section (1000) mainly consists of a digging disc section (1100), a digging disc support (1200), a hinge seat (1300), a digging disc support rod (1400), and an electric push rod a (1500). The digging disc section (1100) is the main structure of the trenching section (1000). One end of the digging disc support rod (1400) is hinged to the hinge seat (1300), and the other end is welded to the support frame (1105) of the digging disc section (1100). The digging disc support (1200) has a triangular structure and is welded and fixed to the vehicle body section (2000). The excavator section (1100) is mainly composed of a conveyor belt (1101), rollers (1102), stepper motor a (1103), motor base (1104), support frame (1105), bucket (1106), rotating ring (1107), and soil baffle (1108); The conveyor belt (1101), roller (1102), stepper motor a (1103), motor base (1104), and soil baffle (1108) are all installed on the support frame (1105). The support frame (1105) is welded and fixed to the digging disc support rods (1400) on both sides. The motor base (1104) is welded to the support frame (1105). The stepper motor a (1103) is placed on the motor base (1104). The stepper motor a (1103) is connected to the roller (1102) through a keyway. The support frame (1105) is interference-fitted into the rotating ring (1107) through the roller (1102). The stepper motor a (1103) drives the roller (1102) to rotate, thereby driving the rotating ring (1107) to rotate. The digging bucket (1106) welded on the rotating ring (1107) completes the digging work. The concrete pouring section (3000), located at the front end of the vehicle body section (2000), is used to pour a concrete cushion layer for the curbstone in the trench and to feed concrete into the curbstone joints after the curbstone is placed. The robotic arm (4000) is located at the rear end of the main body of the vehicle body (2000) and is used to grip the curbstone and facilitate the placement of the curbstone after the trenching and concrete pouring work. The leveling section (5000) is installed at the right rear end of the vehicle body section (2000) and is used to level the soil excavated by the trenching section (1000).

2. The curbstone laying robot according to claim 1, characterized in that, The electric push rod a (1500) has round holes at both ends, which are fixed to the hinge seat (1300) by a pin. The hinge seat (1300) is fixed to the digging disc support rod (1400) and the digging disc bracket (1200) respectively. The electric push rods a (1500) on both sides of the digging disc part (1100) are connected to the digging disc bracket (1200) and the digging disc support rod (1400) by the hinge seat, and thus the raising and lowering of the digging disc part (1100) is controlled by the electric push rod a (1500).

3. The curbstone laying robot according to claim 2, characterized in that, The buckets (1106) are in multiple sets and welded to the rotating ring (1107), and the buckets (1106) are welded with teeth to loosen the soil; the conveyor belt (1101) is fixedly installed on the support frame (1105), and the conveyor belt (1101) rotates towards the vehicle body to transport the soil to the left end of the excavator plate (1100), which facilitates subsequent leveling work and prevents the wheels from being blocked; when the buckets (1106) finish digging and rise to a high place, the soil will fall out of the buckets (1106) and onto the conveyor belt (1101), and then be sent to the side.

4. The curbstone laying robot according to claim 3, characterized in that, A traction ring (2008) is welded and fixed to the front end of the stone-carrying trolley (2001), and a hook (2009) is welded and fixed to the rear end of the main frame (2011). The stone-carrying trolley (2001) is hung on the rear end of the main frame (2011) through the traction ring (2008) and the hook (2009). The main wheel (2003) is interference-fitted on the main frame (2011) through a bearing and is fixed to the geared motor (2004) through a keyway. The geared motor (2004) drives the main wheel (2003) to rotate. The control box (2006) is placed on the trolley frame (2011) to control the operation of the entire device; the inclined frame (2010) is welded and fixed to the trolley frame (2011) to support the leveling section (5000).

5. The curbstone laying robot according to claim 4, characterized in that, The concrete pouring section (3000) mainly consists of a concrete bucket (3100), a bucket support (3200), a mixer (3300), short pipe a (3400), short pipe b (3401), a concrete pump (3500), bend a (3600), bend b (3601), bend c (3602), tee joint a (3700), a long pipe (3800), and an auger feeding mechanism (3900). The concrete bucket (3100) is placed on the bucket support (3200) for holding concrete. A hole is opened in the concrete bucket (3100) and it is fixed to the short pipe a (3400) through the hole for conveying concrete. The mixer (3300) consists of a mixing blade (3301) and a stepper motor b (3302). The mixer (3300) and the concrete bucket (3100) are interference-fitted with the hole at the bottom of the concrete bucket (3100) through a bearing. A ring of the same size is fixed on the bearing and can rotate with the bearing. The stepper motor b (3302) is placed on the horizontal plate at the bottom of the bucket support (3200). The mixer (3300) makes the concrete aggregate poured into the concrete bucket (3100) more uniformly mixed. The inlet of the concrete pump (3500) is connected to the concrete bucket (3100) through the bent pipe a (3600) and the short pipe a (3400) to extract concrete from the concrete bucket (3100). The bent pipe a (3600), the short pipe a (3400) and the concrete pump (3500) are all fixedly connected by threads. The outlet of the concrete pump (3500) is fixed to the tee connector a (3700) through a threaded connection to output concrete. One end of the tee connector a (3700) is connected to the long pipe (3800) and the bent pipe c (3602) to pour the concrete foundation layer.

6. The curbstone laying robot according to claim 5, characterized in that, The auger feeding mechanism (3900) mainly consists of an auger conveying shaft (3901), a round cover (3902), a stepper motor c (3903), a three-way connector b (3904), an auger pipe (3905), a support (3906), and a pouring head (3907); Both ends of the auger tube (3905) are threaded, and the auger tube (3905) is fixed to the tee connector b (3904) and the pouring head (3907) respectively by the threads; the auger conveying shaft (3901) is connected to the stepper motor c (3903) by a keyway, and the auger conveying shaft (3901) is placed inside the auger tube (3905). The center hole of the round cover (3902) is interference-fitted with the rod of the auger conveying shaft (3901) by a bearing, and is welded to the tee connector b (3904). One end of the auger pipe (3905) serves to prevent excessive leakage of the delivered concrete. When the concrete is fed into the auger pipe (3905) from the tee joint b (3904), the stepper motor c (3903) drives the auger conveyor shaft (3901) to rotate, and the auger conveyor shaft (3901) delivers the concrete to the pouring head (3907). The inlet end of the pouring head (3907) is cylindrical, and the inner wall has threads for fixing to the auger pipe (3905). Its outlet end is square, which facilitates feeding concrete into the cracks of the curbstone. The support (3906) is welded and fixed to the outer wall of the auger pipe (3905), and then fixed to the hanging arm (4019) of the robotic arm part (4000) by bolts. After the robotic arm part (4000) completes the placement of the curbstone, the auger feeding mechanism (3900) is controlled to perform the feeding operation.

7. The curbstone laying robot according to claim 6, characterized in that, The robotic arm (4000) mainly consists of a base (4001), bearing a (4002), small telescopic cylinder a (4003), large telescopic cylinder a (4004), large electric push rod (4005), stepper motor e (4006), support column (4007), ring a (4008), ring b (4009), counterweight (4010), slide rail a (4011), electric push rod b (4012), telescopic arm (4013), and stepper motor d (4004). Composed of: 014), connecting plate a (4015), small telescopic cylinder b (4016), large telescopic cylinder b (4017), small electric push rod (4018), hanging arm (4019), electric push rod c (4020), clamping plate (4021), gear (4022), rack (4023), rubber strip (4024), slide rail b (4025), connecting plate b (4026), bearing b (4027), bearing c (4028), and bearing d (4029); The small telescopic cylinder a (4003) and the large telescopic cylinder a (4004) are connected by a keyway and are partially hollow to facilitate circuit connection from the middle; the small telescopic cylinder a (4003) is fixed to the stepper motor e (4006) by a keyway; the small telescopic cylinder a (4003) is interference-fitted onto the ring a (4008) by a bearing a (4002); the base (4001) and the ring a (4008) are connected by four support pillars (4007), the stepper motor e (4006) is placed on the base (4001), and the support pillars (4007) are connected to the ring a (4008) by four support pillars (4007). 07) Bearing pressure, the stepper motor e (4006) is not subjected to force; the large telescopic cylinder a (4004) is interference-fitted on the ring b (4009) through the bearing d (4029), and the top is welded to the telescopic arm (4013), while the ring b (4009) and the telescopic arm (4013) are not welded, so that the telescopic arm (4013) can rotate on the ring b (4009). The telescopic arm (4013) is placed on the ring b (4009), and the ring b (4009) plays the role of supporting the telescopic arm (4013); The two ends of the three large electric push rods (4005) are respectively welded to rings a (4008) and b (4009) to provide force for the lifting and lowering of the robotic arm (4000); the stepper motor e (4006) drives the small telescopic cylinder a (4003) to rotate, and the small telescopic cylinder a (4003) drives the large telescopic cylinder a (4004) to rotate through the keyway. The rotation of the large telescopic cylinder a (4004) drives the telescopic arm (4013) welded to it to rotate. During this process, rings a (4008) and b (4009) do not rotate; the slide rail a (4 011) Welded to the end of the telescopic arm (4013); The counterweight (4010) is fixedly placed on the slider on the slide rail a (4011) to balance the force at the front end of the robotic arm part (4000); The side of the electric push rod b (4012) is welded to the telescopic arm (4013), and the telescopic end of the electric push rod b (4012) is welded to the counterweight (4010). When the robotic arm part (4000) moves, the counterweight (4010) can be pushed to the rear end, and when not working, it can be pushed to the front end to balance the force at both ends of the robotic arm part (4000); The connecting plate a (4015) is welded to the telescopic arm (4013). The stepper motor d (4014) is connected to the large telescopic cylinder b (4017) via a keyway, and the stepper motor d (4014) is placed on the connecting plate a (4015). The large telescopic cylinder b (4017) is interference-fitted onto the connecting plate a (4015) via a bearing c (4028). The large telescopic cylinder b (4017) is connected to the small telescopic cylinder b (4016) via a keyway, and both are partially hollow inside. The small telescopic cylinder b (4016) is connected via a bearing b (4027). The small telescopic cylinder b (4016) is welded to the hanging arm (4019), while the connecting plate b (4026) and the hanging arm (4019) are not connected; the two ends of the two small electric push rods (4018) are welded to the connecting plate a (4015) and the connecting plate b (4026) respectively, providing force for the clamping part; the force of the connecting plate a (4015) is transmitted to the small electric push rod (4018), and then to the small telescopic cylinder b (4016) through the bearing c (4028), and then to the clamping part that is already connected to the hanging wall (4019); The stepper motor d (4014) drives the large telescopic cylinder b (4017) to rotate, and then drives the small telescopic cylinder b (4016) to rotate through the keyway, thereby rotating the hanging arm (4019); Two slide rails b (4025) are welded and fixed to the hanging arm (4019); the racks (4023) are respectively welded and fixed to the sliders on the two slide rails b (4025); the gears (4022) are fixed to the hanging arm (4019) by pins and mesh between the serrated surfaces of the two racks (4023); two clamping plates (4021) are respectively welded to the sides of the two racks (4023); the rubber strips (4024) are evenly fixed to the clamping plates (4021). The inner side of the clamping part serves to protect the curbstone when clamping it; the side of the electric push rod c (4020) is welded to the hanging arm (4019), and the telescopic end of the electric push rod c (4020) is welded and fixed to a rack (4023); when the electric push rod c (4020) pushes one rack (4023) to move, through the action of the gear (4022), the other rack (4023) will move in the opposite direction, thereby realizing the clamping and placement of the curbstone.

8. The curbstone laying robot according to claim 7, characterized in that, The leveling section (5000) mainly consists of a compaction roller (5001), a turning plate (5002), a crossbar (5003), a roller rod (5004), a large iron block (5005), a small iron block (5006), a slide rail c (5007), and an electric push rod d (5008). The slide rail c (5007) is welded and fixed to the inclined frame (2010). The small iron block (5006) and the large iron block (5007) are respectively welded and fixed to the slider of the slide rail c (5007). The crossbar (5003) is welded and fixed to the large iron block (5007) and the small iron block (5006), and is parallel to the ground. The turning plate (5002) is welded and fixed to the front end of the crossbar (5003); the roller rod (5004) is welded to the crossbar (5003); the compaction roller (5001) is interference-fitted with the crossbar (5003) through a bearing, and the lowest point of the compaction roller (5001) is on the same horizontal line as the turning plate (5002). The inner side of the compaction roller (5001) and the outer side of the turning plate (5002) are on the same surface so that the soil turned by the turning plate (5002) can be compacted by the compaction roller (5001); a small steel plate is welded to the end of the roller rod (5004) that is not welded to the crossbar (5003) to prevent the compaction roller (5001) from slipping. The side of the electric push rod d (5008) is welded to the inclined frame (2010), and its telescopic end is welded to the small iron block (5006) to push the soil turning and compacting device. The inclined frame (2010) has a triangular structure and is inclined downward. When the electric push rod d (5008) pushes the small iron block (5006) downward, it drives the soil turning plate (5002) and the compaction roller (5001) downward, thereby performing soil leveling work. When not working, the electric push rod d (5008) moves upward, and the soil turning plate (5002) and the compaction roller (5001) can be retracted.

9. A method for laying curb stones using a robot as described in claim 8, characterized in that, The steps are as follows: S1. When laying curb stones on the roadside, first use a forklift to load the curb stones onto the stone-carrying trolley (2001), and then hook the stone-carrying trolley (2001) behind the main frame (2011). Then start the mixer (3300), pour concrete into the concrete bucket (3100), start the concrete pump (3500), and then drive the device to the desired working position. Lower the excavator section (1100) and the leveling section (5000) to the working height and start the work. S2. When the excavator plate (1100) is lowered to the working height by the action of the electric push rod a (1500), the stepper motor a (1103) drives the roller (1102) to rotate, thereby driving the rotating ring (1107) to rotate. The excavator bucket (1106) welded on the rotating ring (1107) can then complete the excavation work. When the excavator bucket (1106) finishes excavating the soil and rises to a high place, the soil will fall out of the excavator bucket (1106) and fall onto the conveyor belt (1101). The conveyor belt (1101) rotates towards the vehicle body, thereby transporting the soil to the left end of the excavator plate (1100). S3. The robot moves forward while working. The concrete pump (3500) draws concrete from the concrete bucket (3100). The discharge port of the concrete pump (3500) is fixed to the tee connector a (3700) for outputting concrete. One end of the tee connector a (3700) is connected to the long pipe (3800) and the bend pipe c (3602) for pouring the concrete foundation. The other end of the tee connector a (3700) is connected to the auger feeding mechanism (3900) through the pipe for conveying concrete into the auger feeding mechanism (3900). The auger feeding mechanism (3900) is fixed on the hanging arm (4019). After the robotic arm (4000) completes the placement of the curbstone, the auger feeding mechanism (3900) can be controlled to perform the feeding operation. S4. The robotic arm (4000) has two lifting control parts, two rotating control parts, one telescopic control part and one gripping part, which can easily complete the gripping and placement of the curbstone. At the same time, it can control the auger feeding mechanism (3900) to perform feeding work. The robotic arm (4000) places the curbstone at the right end of the ditch. After the soil turning plate (5002) and the compaction roller (5001) are lowered to the horizontal plane, the soil turning plate (5002) will transport the conveyor belt (1101) to push the soil on the left side of the ditch into the ditch. The compaction roller (5001) then compacts the soil.

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