Concrete leveling robot capable of adaptively adjusting angle of leveling plate

Abstract

The invention discloses a concrete leveling robot capable of adaptively adjusting the angle of a leveling plate. The concrete leveling robot comprises a robot body; the tilt angle sensor is arranged on the robot main body; the leveling assembly comprises a base, a cantilever, a supporting rod and a leveling plate, the base is slidably connected to the robot body, the cantilever is fixedly installed on the base, the supporting rod is rotatably installed at the end of the cantilever, and the leveling plate is fixedly installed on the supporting rod; the leveling assembly comprises a driving motor, a rotating seat and a swing rod, the driving motor is arranged on the cantilever, the rotating seat is fixedly installed at the output end of the driving motor, one end of the swing rod is connected with the rotating seat, and the other opposite end is connected with the supporting rod. Compared with the prior art, the problem that a leveling plate of an existing concrete leveling robot is difficult to fit the ground in real time under the ground fluctuating working condition is solved.

Description

Technical Field

[0001] The invention relates to the technical field of construction robots, and in particular to a concrete leveling robot capable of adaptively adjusting the angle of a leveling plate. Background Art

[0002] As a new type of construction equipment, the concrete leveling robot can automatically complete the concrete leveling task, greatly improving the efficiency and quality of concrete leveling. Through precise control systems and advanced leveling technology, the robot can achieve high-precision leveling effects and can work stably in harsh construction environments, reducing the labor intensity of construction workers and the risks of concrete leveling operations.

[0003] When the existing concrete leveling robot is working on undulating ground, it is easy for the leveling plate to be uneven due to the tilt of the fuselage, which makes it difficult for the leveling plate to fit the ground in real time, affecting the quality of concrete leveling. Summary of the invention

[0004] The purpose of the present invention is to provide a concrete leveling robot capable of adaptively adjusting the angle of a leveling plate, so as to solve the problem that the leveling plate of the existing concrete leveling robot is difficult to fit the ground in real time under undulating ground conditions.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a concrete leveling robot capable of adaptively adjusting the angle of a leveling plate, comprising:

[0006] Robot body;

[0007] A tilt sensor, which is arranged on the robot body;

[0008] The leveling assembly includes a base, a cantilever, a support rod and a leveling plate, wherein the base is slidably connected to the robot body, the cantilever is fixedly mounted on the base, the support rod is rotatably mounted on the end of the cantilever, and the leveling plate is fixedly mounted on the support rod;

[0009] The leveling component includes a driving motor, a rotating seat and a swing rod. The driving motor is arranged on the cantilever, the rotating seat is fixedly installed on the output end of the driving motor, one end of the swing rod is connected to the rotating seat, and the other end opposite to the swing rod is connected to the support rod.

[0010] As a further description of the above technical solution:

[0011] A first slide rail is arranged on the robot body, and the base is slidably connected to the first slide rail.

[0012] As a further description of the above technical solution:

[0013] The swing rod is rotatably mounted on the rotating seat, a connecting block is arranged at the end of the swing rod, the connecting block is rotatably mounted on the end of the swing rod, and the connecting block is detachably mounted on the supporting rod.

[0014] As a further description of the above technical solution:

[0015] A rack is arranged under the support rod, and a locking plate is arranged on one side of the connecting block. The cross section of the locking plate is "L"-shaped. The side plate of the locking plate is fixedly installed on the connecting block. The bottom plate of the locking plate contacts the rack, and a tooth groove for matching the rack is arranged on the bottom plate of the locking plate.

[0016] As a further description of the above technical solution:

[0017] A sliding connection block is arranged on the back of the connection block, and the cross-sectional shape of the sliding connection block is an inverted "T" shape. A sliding groove is arranged on the support rod, and the cross-sectional shape of the sliding groove matches the cross-sectional shape of the sliding connection block.

[0018] As a further description of the above technical solution:

[0019] A second slide rail is arranged on the cantilever, the mounting seat is slidably connected to the second slide rail, and the driving motor is fixedly mounted on the mounting seat.

[0020] As a further description of the above technical solution:

[0021] A reinforcing rod is arranged between the base and the cantilever, one end of the reinforcing rod is fixedly mounted on the base, and the other end opposite to the reinforcing rod is fixedly mounted on the cantilever.

[0022] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0023] 1. In the present invention, the concrete leveling robot realizes ground leveling through the leveling plate. When the concrete leveling robot encounters the condition of ground undulation, the inclination sensor feeds back the inclination angle of the robot body, that is, the inclination angle of the leveling plate, and the onboard controller calculates the compensation angle required for the leveling plate to rotate and level, thereby controlling the driving motor to drive the rotating seat and the swing rod to rotate, and the support rod then drives the leveling plate to rotate with the cantilever as the center, so that the leveling plate is leveled. The onboard controller of the concrete leveling robot adaptively adjusts the angle between the leveling plate and the ground according to the inclination sensor data and the ground undulation condition, so that the leveling plate fits the ground and ensures the ground flatness requirements.

[0024] 2. In the present invention, a reinforcing rod is provided between the base and the cantilever to prevent deformation and settlement of the cantilever end, thereby effectively ensuring that the leveling plate is placed horizontally and ensuring the leveling effect of the bottom surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 The schematic diagram of the structure of a concrete leveling robot capable of adaptively adjusting the angle of the leveling plate is shown in the figure.

[0027] Figure 2 for Figure 1 A partial enlarged view of point A in the middle.

[0028] Figure 3 A schematic diagram of the local structure of a concrete leveling robot that can adaptively adjust the angle of the leveling plate Figure 1 .

[0029] Figure 4 A schematic diagram of the local structure of a concrete leveling robot that can adaptively adjust the angle of the leveling plate Figure 1 .

[0030] Legend:

[0031] 1. Robot body; 11. First slide rail; 2. Inclination sensor; 3. Leveling assembly; 31. Base; 32. Cantilever; 321. Second slide rail; 322. Reinforcement rod; 33. Support rod; 331. Rack; 332. Slide groove; 34. Screw plate; 35. Mounting seat; 4. Leveling assembly; 41. Drive motor; 42. Rotating seat; 43. Swing rod; 44. Connecting block; 441. Locking plate; 442. Sliding connecting block. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of protection of the present invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] In the description of the embodiments of the present invention, it should be noted that the terms "upper", "inner", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0036] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, an indirect connection through an intermediate medium, or the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] Example 1

[0038] See also Figure 1-4 The present invention provides a technical solution: a concrete leveling robot capable of adaptively adjusting the angle of a leveling plate, comprising:

[0039] Robot body 1;

[0040] A tilt sensor 2, which is arranged on the robot body 1;

[0041] The leveling assembly 3 includes a base 31, a cantilever 32, a support rod 33 and a leveling plate 34. The base 31 is slidably connected to the robot body 1, the cantilever 32 is fixedly mounted on the base 31, the support rod 33 is rotatably mounted on the end of the cantilever 32, and the leveling plate 34 is fixedly mounted on the support rod 33;

[0042] The leveling assembly 4 includes a driving motor 41, a rotating seat 42 and a swing rod 43. The driving motor 41 is arranged on the cantilever 32, the rotating seat 42 is fixedly installed at the output end of the driving motor 41, and one end of the swing rod 43 is connected to the rotating seat 42 and the other end is connected to the support rod 33.

[0043] The robot body 1 is provided with a first slide rail 11 , and the base 31 is slidably connected to the first slide rail 11 . The leveling assembly 3 moves along the vertical direction of the first slide rail 11 through the base 31 to achieve overall lifting and lowering, thereby adjusting the height of the leveling plate 34 .

[0044] Working principle: The concrete leveling robot realizes ground leveling through the leveling plate 34. When the concrete leveling robot encounters the undulating ground condition, the inclination sensor 2 feeds back the inclination angle of the robot body 1, that is, the inclination angle of the leveling plate 34. The onboard controller calculates the compensation angle required for the leveling plate 34 to rotate and level it, thereby controlling the drive motor 41 to drive the rotating seat 42 and the swing rod 43 to rotate, and the support rod 33 then drives the leveling plate 34 to rotate with the cantilever 32 as the center, so that the leveling plate 34 is leveled. The onboard controller of the concrete leveling robot adaptively adjusts the angle between the leveling plate and the ground according to the inclination sensor data and the undulating ground condition, so that the leveling plate fits the ground and ensures the ground flatness requirements.

[0045] Example 2

[0046] Based on the above embodiment, this embodiment further makes the following improved technical solution: the swing rod 43 is rotatably mounted on the rotating seat 42, and a connecting block 44 is provided at the end of the swing rod 43. The connecting block 44 is rotatably mounted on the end of the swing rod 43, and the connecting block 44 is detachably mounted on the support rod 33.

[0047] The two swing rods 43 on the rotating seat 42 can be rotated to adjust the included angle, so as to flexibly adjust the installation position of the connecting block 44 according to the cantilever 32 and the support rod 33 of different lengths.

[0048] Example 3

[0049] On the basis of the above-mentioned embodiments, the present embodiment further makes the following improved technical solutions: a rack 331 is arranged under the support rod 33, a locking plate 441 is arranged on one side of the connecting block 44, the cross-section of the locking plate 441 is "L"-shaped, the side plate of the locking plate 441 is fixedly mounted on the connecting block 44, the bottom plate of the locking plate 441 contacts the rack 331, and the bottom plate of the locking plate 441 is provided with a tooth groove for matching the rack 331.

[0050] The connecting block 44 is detachably mounted on the support rod 33 through the locking plate 441 . The locking plate 441 is locked with the support rod 33 by the engagement of the tooth groove on the bottom plate with the rack 331 below the support rod 33 , thereby locking the locking plate 441 and the support rod 33 , thereby locking the swing rod 43 .

[0051] Example 4

[0052] Based on the above embodiments, this embodiment further makes the following improved technical solutions: a sliding connection block 442 is provided on the back of the connection block 44, and the cross-section of the sliding connection block 442 is an inverted "T" shape, and a sliding groove 332 is provided on the support rod 33, and the cross-sectional shape of the sliding groove 332 matches the cross-sectional shape of the sliding connection block 442.

[0053] The connecting block 44 slides on the support rod 33 and hangs the support rod 33 by sliding the connecting block 442 to prevent the support rod 33 from rotating and sinking before the position of the connecting block 44 is locked, thereby ensuring that the support rod 33 is placed horizontally and avoiding collision damage to the leveling plate 34.

[0054] Example 5

[0055] Based on the above embodiments, this embodiment further provides the following improved technical solutions: a second slide rail 321 is provided on the cantilever 32 , the mounting seat 35 is slidably connected to the second slide rail 321 , and the drive motor 41 is fixedly mounted on the mounting seat 35 .

[0056] The second slide rail 321 drives the mounting seat 35 to move linearly through the slider, thereby adjusting the installation position of the drive motor 41, so that the drive motor 41 can cooperate with the swing rod 43 to adjust the distance with the support rod 33, further improving the adjustment range and enhancing its adjustment flexibility.

[0057] Example 6

[0058] On the basis of the above-mentioned embodiments, the present embodiment further makes the following improved technical solutions: a reinforcing rod 322 is arranged between the base 31 and the cantilever 32, and one end of the reinforcing rod 322 is fixedly mounted on the base 31, and the other end is fixedly mounted on the cantilever 32, so as to prevent the end of the cantilever 32 from deforming and settling, effectively ensure that the leveling plate 34 is placed horizontally, and ensure the leveling effect of the bottom surface.

[0059] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A concrete leveling robot capable of adaptively adjusting the angle of a leveling plate, characterized in that: include: Robot body; A tilt sensor, which is arranged on the robot body; A leveling assembly, comprising a base, a cantilever, a support rod and a leveling plate, wherein the base is slidably connected to the robot body, the cantilever is fixedly mounted on the base, the support rod is rotatably mounted on the end of the cantilever, and the leveling plate is fixedly mounted on the support rod; The leveling assembly comprises a driving motor, a rotating seat and a swing rod, wherein the driving motor is arranged on the cantilever, the rotating seat is fixedly installed on the output end of the driving motor, one end of the swing rod is connected to the rotating seat, and the other end opposite to the swing rod is connected to the support rod.

2. A concrete leveling robot capable of adaptively adjusting the angle of a leveling plate according to claim 1, characterized in that: A first slide rail is arranged on the robot body, and the base is slidably connected to the first slide rail.

3. The concrete leveling robot capable of adaptively adjusting the angle of the leveling plate according to claim 1, characterized in that: The swing rod is rotatably mounted on the rotating seat, a connecting block is provided at the end of the swing rod, the connecting block is rotatably mounted on the end of the swing rod, and the connecting block is detachably mounted on the supporting rod.

4. The concrete leveling robot capable of adaptively adjusting the angle of the leveling plate according to claim 3, characterized in that: A rack is arranged below the support rod, and a locking plate is arranged on one side of the connecting block. The cross section of the locking plate is "L"-shaped, and the side plates of the locking plate are fixedly mounted on the connecting block. The bottom plate of the locking plate contacts the rack, and a tooth groove for matching the rack is arranged on the bottom plate of the locking plate.

5. The concrete leveling robot capable of adaptively adjusting the angle of the leveling plate according to claim 4, characterized in that: A sliding connection block is arranged on the back of the connection block, and the cross-sectional shape of the sliding connection block is an inverted "T" shape. A sliding groove is arranged on the support rod, and the cross-sectional shape of the sliding groove matches the cross-sectional shape of the sliding connection block.

6. The concrete leveling robot capable of adaptively adjusting the angle of the leveling plate according to claim 3, characterized in that: The cantilever is provided with a second slide rail, the mounting seat is slidably connected to the second slide rail, and the drive motor is fixedly mounted on the mounting seat.

7. The concrete leveling robot capable of adaptively adjusting the angle of the leveling plate according to claim 1, characterized in that: A reinforcing rod is arranged between the base and the cantilever, one end of the reinforcing rod is fixedly mounted on the base, and the other end opposite to the reinforcing rod is fixedly mounted on the cantilever.

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