A kind of intelligent robot for building construction and its using method

Abstract

The present invention belongs to the technical field of filling and compaction, and in particular to an intelligent robot for construction and a method for using the same. Aiming at the problems that the existing manual filling of soil by personnel is inefficient, and specific equipment is needed for re-compacting and filling, and the amount of filling materials cannot be accurately controlled, the following scheme is proposed, including a mobile platform, a storage box is fixedly penetrated on the top of the mobile platform for storing raw materials for filling, a discharge port is provided at the bottom of the storage box, a discharge pipe is fixed at the bottom of the storage box, and the discharge pipe cooperates with the discharge port, a spreading plate is provided under the discharge pipe for flattening the raw materials in potholes, and a stirring rod is rotated in the storage box. In the present invention, the filling and compaction operations of the potholes can be automatically completed, thereby greatly improving the filling efficiency, and the levelness of the potholes with the road surface after filling can be more accurately controlled during the filling process, thereby ensuring the beauty and safety of the road after filling.

Description

Technical Field

[0001] The present invention relates to the technical field of filling and compaction, and in particular to an intelligent robot for building construction and a method for using the same. Background Art

[0002] There are often projects such as earth excavation and filling in construction. During the construction process, there will be some potholes on the road or ground, so it is necessary to fill the potholes with soil, sand or asphalt.

[0003] The prior art still has the following disadvantages in the process of filling work:

[0004] 1. When large potholes appear, large machinery is generally required to fill them. However, for small potholes, large machinery cannot operate and workers need to fill them manually, which slows down the filling speed and increases the labor intensity of workers.

[0005] 2. When filling manually, only the surface can be leveled, and the filler cannot be compacted, which requires the use of specific equipment to compact it again later, thus affecting the efficiency of filling;

[0006] 3. When filling small potholes, the filling is usually completed in one go and the amount of material cannot be controlled, so bulges or depressions are likely to occur later.

[0007] In view of the above problems, the present invention document proposes an intelligent construction robot and a method for using the same. Summary of the invention

[0008] The purpose of the present invention is to solve the shortcomings of low efficiency of manual filling by personnel, the need to use specific equipment for tamping and filling again, and the inability to control the amount of filling materials, and to propose an intelligent construction robot and a method of using the same.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] An intelligent robot for construction includes a mobile platform, a material storage box is fixedly penetrated on the top of the mobile platform for storing raw materials for filling, a discharge port is arranged at the bottom of the material storage box, a discharge pipe is fixed at the bottom of the material storage box, and the discharge pipe cooperates with the discharge port, a material spreading plate is arranged below the discharge pipe for flattening the raw materials in the pit, and a stirring rod is rotated in the material storage box for stirring and breaking up the raw materials in the material storage box;

[0011] It also includes a plurality of electric wheels, each of which is arranged at the bottom of the mobile platform and is used to drive the mobile platform to move above the pothole;

[0012] The material spreading plate is provided with a scraper and a roller, which are used to flatten and compact the raw materials respectively;

[0013] The material discharge structure is arranged on the top of the material storage box and is used to control the raw materials in the material storage box to be discharged smoothly into the pit through the discharge pipe;

[0014] The lifting structure is arranged at the bottom of the moving platform, and is used to control the lifting of the spreading plate, and the lifting structure cooperates with the material discharge structure to drive the spreading plate and the scraper to complete the leveling of the raw materials;

[0015] The adjustment structure is arranged inside the spreading plate and is used to turn the directions of the roller and the scraper and to adjust the leveling and compacting modes.

[0016] In a possible design, the unloading structure includes a U-shaped plate fixed to the top of the storage box, the top of the U-shaped plate is fixed with a first motor through a frame, the top of the stirring rod is rotatably connected to the top inner wall of the U-shaped plate, the output shaft of the first motor is fixedly connected to the top of the stirring rod through a coupling, the bottom end of the stirring rod passes through a discharge port and extends into a discharge pipe, a plurality of first fan-shaped plates are fixed in the discharge pipe, the sides of the plurality of first fan-shaped plates close to each other are rotatably connected to the outer wall of the stirring rod, a plurality of second fan-shaped plates are fixed to the outer wall of the stirring rod, and the first fan-shaped plates are fixed to the outer wall of the stirring rod. The tops of the two fan-shaped plates are on the same horizontal plane as the bottom of the first fan-shaped plate, and multiple first fan-shaped plates and multiple second fan-shaped plates are used together to close the discharge pipe; the first motor drives the stirring rod and the second fan-shaped plate to rotate, and the stirring rod is used to stir and break up the raw materials in the storage box to facilitate the discharge of the raw materials through the discharge pipe, and the stirring rod drives the second fan-shaped plate to rotate. After the second fan-shaped plate overlaps with the first fan-shaped plate, the closure of the discharge pipe is released, which not only allows the raw materials to be discharged through the discharge pipe, but also the second fan-shaped plate and the first fan-shaped plate can further break up the raw materials when they reciprocate and stagger, thereby preventing the raw materials from clogging the discharge pipe.

[0017] In one possible design, the lifting structure includes an annular track groove arranged at the bottom of the moving platform, two sliding cylinders are slidably connected in the annular track groove, and bending rods are slidably connected in the two sliding cylinders. Strong electromagnets are fixedly embedded in the top inner walls of the two sliding cylinders, and iron sheets are fixedly embedded on the tops of the two bending rods. The strong electromagnets generate magnetic attraction with the bending rods through the iron sheets to drive the bending rods to lift and lower, and the ends of the two bending rods close to each other are fixedly connected to the two sides of the spreading plate respectively, and two vertical plates are fixed at the bottom end of the stirring rod, and the spreading plate slides. The material spreading plate is dynamically arranged between two vertical plates, a rectangular slide is arranged in the material spreading plate, a plurality of tension springs are fixed on the top inner wall of the rectangular slide, a same fixed block is fixed on the bottom ends of the plurality of tension springs, and the fixed block slides in the rectangular slide, and the two ends of the fixed block are respectively fixedly connected to the two vertical plates, and the material spreading plate can be smoothly lifted and lowered through the fixed block, and the cooperation between the two vertical plates and the material spreading plate can drive the material spreading plate to rotate; when material spreading is required, the strong electromagnet releases the magnetic attraction force on the bending rod, and the material spreading plate and the bending rod move down to the pit under the action of their own gravity and the tension of the tension spring, and flatten the raw materials under the drive of the stirring rod.

[0018] In one possible design, the adjustment structure includes a groove arranged at the bottom of the material spreading plate, a rotating shaft is rotatably connected in the groove, the bottom of the rotating shaft is fixedly connected to the top of the scraper, connecting ears are fixed on both sides of the top of the rotating shaft, a transmission rod is provided on the side where the two connecting ears are close to each other, the roller is fixedly sleeved on the outer wall of the transmission rod, a second motor is fixed to one side of the material spreading plate through a frame, and the output shaft of the second motor is fixedly connected to one end of the rotating shaft through a coupling; the rotating shaft is driven by the second motor to rotate, so that the roller and the scraper can be turned, and then switched to the material spreading and compaction mode.

[0019] In a possible design, a movable groove is provided on the side where the two connecting ears are close to each other, and sliding blocks are slidably connected in the two movable grooves. A plurality of first springs are fixed to the bottom of the two sliding blocks, and the bottom ends of the plurality of first springs are respectively fixed to the bottom inner walls of the corresponding movable grooves, and the two ends of the transmission rod are respectively rotated and extended into the two sliding blocks; when the rolling roller compacts the raw materials downward, the pushing force of the first spring on the sliding block increases the compacting force of the rolling roller on the raw materials.

[0020] In a possible design, a U-shaped placement plate is welded to the top of the mobile platform, and a camera is fixed on the top of the U-shaped placement plate to capture information about potholes on the road surface, making it easier for the mobile platform to be moved to the potholes for filling.

[0021] In one possible design, a plurality of tool boxes for placing construction tools are fixed on the top of the mobile platform. A mounting plate is fixed on the top of the mobile platform. A warning light is installed on the side of the mounting plate away from the material storage box to warn passing vehicles during the construction process.

[0022] In a possible design, two slots are provided at the bottom of the discharge pipe. When the bending rod and the spreading plate move up, the spreading plate is inserted into the slots to limit the spreading plate. At this time, multiple second fan-shaped plates cooperate with multiple first fan-shaped plates to close the discharge pipe. Trapezoidal plates are fixed on both sides of the scraper to push the spreading plate up through the bottom inclined surface of the trapezoidal plate when the raw materials are flattened.

[0023] In one possible design, an L-shaped rod is fixed to one side of the material spreading plate, a circular groove is provided at the bottom of the L-shaped rod, a pressure sensor is fixedly embedded at the top of the circular groove, a sliding plate located below the pressure sensor is slidably connected in the circular groove, a second spring is fixed between the top of the sliding plate and the bottom of the pressure sensor, a fixing rod is fixed to the bottom of the sliding plate, a ball is provided at the bottom end of the fixing rod, which is used to reduce the friction between the L-shaped rod and the road surface when the material spreading plate drives the L-shaped rod to rotate, a limiting ring for limiting the sliding plate is fixed in the circular groove, and the bottom inner wall of the material storage box slides with a ball for controlling A closing plate with a cross-sectional area of ​​the discharge port, and the bottom end of the stirring rod passes through the closing plate, a making way groove for making way for the stirring rod is provided in the closing plate, a pull rod is fixed to the side of the closing plate away from the making way groove, an electric push rod is fixed to the bottom of the movable platform through a frame, the output shaft of the electric push rod slides and extends into the material storage box and is fixedly connected to one end of the pull rod; the electric push rod is used to control the movement of the closing plate through the pull rod, thereby controlling the speed of discharging raw materials from the discharge port, thereby reducing the discharge amount of raw materials when the pothole is about to be filled, so that the raw materials in the pothole can be compacted and be at the same level with the road surface.

[0024] In this application, a method for using a construction intelligent robot comprises the following steps:

[0025] S1. Place the raw materials in the storage box, and the camera will shoot the road conditions. After a small pothole is found, the mobile platform will move to the top of the pothole; the strong electromagnet will be powered off, and the spreading plate and the bending rod will fall into the pothole under the action of gravity and the tension spring. The ball will contact the ground and squeeze the second spring, and the pressure sensor will detect the pressure; then, the electric push rod will move the closing plate through the pull rod to release the sealing of the discharge port, and the raw materials will enter the discharge pipe;

[0026] S2, when filling, the first motor drives the stirring rod to rotate, stirs the raw materials and drives the second fan-shaped plate to rotate; when the second fan-shaped plate overlaps with the first fan-shaped plate, the raw materials are poured into the pit; the stirring rod also drives the spreading plate to rotate through the vertical plate, and the spreading plate and the scraper spread the raw materials; as the raw materials are poured and flattened, the pits are gradually filled;

[0027] S3. When the material spreading plate moves up, the L-shaped rod moves up synchronously, and the sliding plate gradually reduces the extrusion force on the pressure sensor; when the raw material is flattened to the same level as the road surface, the electric push rod pushes the closing plate to close the discharge port, and the raw material can only enter the discharge pipe through the clearance groove, reducing the discharge speed and facilitating the later leveling and compaction;

[0028] S4. When the raw material needs to be compacted, the second motor drives the rotating shaft to rotate, driving the scraper and the roller to flip and contact the raw material; the stirring rod drives the roller to rotate, and the roller rolls on the raw material to compact;

[0029] S5. After the filling is completed, the strong electromagnet generates magnetic attraction on the bending rod, driving the spreading plate to move up and get into the slot, completing the positioning of the spreading plate; at this time, the second fan-shaped plate cooperates with the first fan-shaped plate to close the discharge pipe.

[0030] Beneficial effect: In the present invention, the output shaft of the first motor is fixedly connected to the top end of the stirring rod, a plurality of first fan-shaped plates are fixed in the discharge pipe, a plurality of second fan-shaped plates are fixed on the outer wall of the stirring rod, two vertical plates are fixed on the bottom end of the stirring rod, and the material spreading plate is slidably arranged between the two vertical plates; the stirring rod is used to stir and scatter the raw materials in the storage box to facilitate the discharge of the raw materials, and the stirring rod drives the second fan-shaped plate to rotate, and after the second fan-shaped plate overlaps with the first fan-shaped plate, the closure of the discharge pipe is released, not only the raw materials are discharged through the discharge pipe, but also the second fan-shaped plate and the first fan-shaped plate can further scatter the raw materials when they are reciprocated and staggered, so as to avoid the raw materials blocking the discharge pipe. In addition, the stirring rod drives the material spreading plate to rotate through the vertical plate, so as to automatically complete the leveling of the raw materials;

[0031] In the present invention, a rotating shaft is rotatably connected in the groove, the bottom of the rotating shaft is fixedly connected to the top of the scraper, connecting ears are fixed on both sides of the top of the rotating shaft, a transmission rod is provided on the side where the two connecting ears are close to each other, and the roller is fixedly sleeved on the outer wall of the transmission rod; the rotating shaft is driven by the second motor to rotate, so that the roller and the scraper can be turned around, and then switched to the material spreading and compacting mode, and the compacting operation is automatically completed after the raw materials are flattened, thereby improving the efficiency of road filling;

[0032] In the present invention, a pressure sensor is fixedly embedded in the top of the circular groove, a sliding plate is slidably connected in the circular groove, a second spring is fixed between the sliding plate and the pressure sensor, and a ball bearing is provided at the bottom of the sliding plate through a fixing rod. A closing plate is slidably provided on the bottom inner wall of the material storage box, and an electric push rod is fixed to the bottom of the movable platform through a frame. The output shaft of the electric push rod slides and extends into the material storage box and is fixedly connected to one end of the pull rod; the electric push rod is used to control the movement of the closing plate through the pull rod, thereby controlling the speed of discharging raw materials from the discharge port, thereby reducing the discharge amount of the raw materials when the pothole is about to be filled, so that the raw materials in the pothole can be compacted and be at the same level with the road surface.

[0033] In the present invention, the filling and compaction operations of potholes can be automatically completed, which greatly improves the filling efficiency. In addition, during the filling process, the horizontality between the potholes and the road surface can be more accurately controlled to ensure the beauty and safety of the road after filling. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a three-dimensional structure of a construction intelligent robot provided by the present invention from a first-person perspective;

[0035] Figure 2 A schematic diagram of a three-dimensional structure of a second viewing angle of an intelligent construction robot provided by the present invention;

[0036] Figure 3 A schematic cross-sectional view of a construction intelligent robot provided by the present invention;

[0037] Figure 4 This is a schematic diagram of a three-dimensional cross-sectional structure of a material discharge pipe of a construction intelligent robot provided by the present invention;

[0038] Figure 5 A schematic diagram of a three-dimensional exploded structure of a vertical plate, a rotating shaft and a material spreading plate of a construction intelligent robot provided by the present invention;

[0039] Figure 6 This is a three-dimensional cross-sectional structural schematic diagram of a sliding cylinder of a construction intelligent robot provided by the present invention;

[0040] Figure 7 A schematic diagram of a three-dimensional exploded structure of a road roller, a connecting ear and a scraper of an intelligent robot for construction provided by the present invention;

[0041] Figure 8 A schematic diagram of a three-dimensional exploded structure of a transmission rod, a sliding block and a transmission rod of a construction intelligent robot provided by the present invention;

[0042] Fig. 9A schematic diagram of a partial three-dimensional exploded cross-sectional structure of an L-shaped rod, a fixed rod and a ball of a construction intelligent robot provided by the present invention;

[0043] Fig.10 A schematic diagram of a three-dimensional exploded structure of a mobile platform, a material storage box and a closing plate of a construction intelligent robot provided by the present invention;

[0044] Fig.11 This is a schematic diagram of a partial cross-sectional exploded structure of a material spreading plate, a road roller and a scraper of a construction intelligent robot provided by the present invention.

[0045] In the figure: 1, moving table; 2, electric wheel; 3, material storage box; 4, stirring rod; 5, material spreading plate; 6, U-shaped plate; 7, first motor; 8, discharge port; 9, discharge pipe; 10, first sector plate; 11, second sector plate; 12, card slot; 13, annular track slot; 14, sliding cylinder; 15, bending rod; 16, strong electromagnet; 17, vertical plate; 18, rectangular slide; 19, tension spring; 20, fixed block; 21, groove; 22, rotating shaft; 23, second motor; 24, scraper Plate; 25, connecting ear; 26, transmission rod; 27, moving groove; 28, sliding block; 29, first spring; 30, roller; 31, L-shaped rod; 32, circular groove; 33, pressure sensor; 34, sliding plate; 35, second spring; 36, fixing rod; 37, ball; 38, limiting ring; 39, closing plate; 40, giving way groove; 41, pull rod; 42, electric push rod; 43, U-shaped placement plate; 44, camera; 45, tool box; 46, mounting plate; 47, trapezoidal plate. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0047] Example 1: Reference Figure 1-Figure 4 , robot, relates to the technical field of engineering robots, the intelligent robot for construction includes a mobile platform 1, and four electric wheels 2 are arranged at the bottom of the mobile platform 1. The four electric wheels 2 can drive the mobile platform 1 to move flexibly at the construction site, ensuring that the robot can accurately move above the pothole. A material storage box 3 is fixedly penetrated through the top of the mobile platform 1, and this material storage box 3 is used to store raw materials for filling, such as sand, gravel, etc. A discharge port 8 is opened at the bottom of the material storage box 3, and a discharge pipe 9 is fixedly connected directly below the discharge port 8. The discharge pipe 9 is closely matched with the discharge port 8 to ensure that the raw materials can be discharged smoothly.

[0048] Reference Figure 1 and Figure 3A stirring rod 4 is arranged in the material storage box 3, and the top of the stirring rod 4 is rotatably connected to the top inner wall of the U-shaped plate 6, and the U-shaped plate 6 is fixed to the top of the material storage box 3. A first motor 7 is fixed on the top frame of the U-shaped plate 6, and the output shaft of the first motor 7 is fixedly connected to the top of the stirring rod 4 through a coupling. When the first motor 7 is started, it can drive the stirring rod 4 to rotate in the material storage box 3, stir and break up the raw materials, and ensure the uniformity of the raw materials.

[0049] Reference Figure 3 and Figure 4 , the bottom end of the stirring rod 4 not only passes through the discharge port 8, but also extends into the discharge pipe 9. In the discharge pipe 9, a plurality of first fan-shaped plates 10 are fixed, and one side of these first fan-shaped plates 10 is rotatably connected to the outer wall of the stirring rod 4. At the same time, a plurality of second fan-shaped plates 11 are also fixed on the outer wall of the stirring rod 4, and the tops of these second fan-shaped plates 11 are in the same horizontal plane as the bottoms of the first fan-shaped plates 10. When the stirring rod 4 rotates, it drives the second fan-shaped plates 11 to rotate together. When the second fan-shaped plates 11 overlap with the first fan-shaped plates 10, they form a complete circle, thereby releasing the closure of the discharge pipe 9 and allowing the raw materials to be discharged smoothly. When the second fan-shaped plates 11 are staggered with the first fan-shaped plates 10, they will further break up the raw materials to prevent the raw materials from blocking the discharge pipe 9.

[0050] Reference Figure 2 , Figure 3 , Figure 5 and Figure 6 At the bottom of the mobile platform 1, a lifting structure is also provided. This lifting structure includes an annular track groove 13, in which two sliding cylinders 14 are slidably connected. A bending rod 15 is slidably connected in each of the two sliding cylinders 14, and the top of the bending rod 15 generates a magnetic attraction through the iron layer and the strong electromagnet 16 on the top of the sliding cylinder 14, so as to control the lifting and lowering of the bending rod 15. The bottom ends of the two bending rods 15 are fixedly connected to the two sides of the spreading plate 5 respectively. The spreading plate 5 is used to spread the raw materials flat in the pits.

[0051] Reference Figure 5 A rectangular chute 18 is also provided in the material spreading plate 5, and a plurality of tension springs 19 are fixed to the top inner wall of the rectangular chute 18. The bottom ends of these tension springs 19 are connected to a fixed block 20, and the fixed block 20 is connected to the material spreading plate 5 through two vertical plates 17. The two vertical plates 17 are fixed to the bottom end of the stirring rod 4, and their cooperation with the material spreading plate 5 can drive the material spreading plate 5 to rotate within a certain range. When it is necessary to spread the material, the strong electromagnet 16 will release the magnetic attraction of the bending rod 15, and the material spreading plate 5 and the bending rod 15 will move down to the pit under the action of their own gravity and the tension of the tension spring 19. At the same time, the rotation of the stirring rod 4 will also drive the material spreading plate 5 to perform the flattening operation.

[0052] Reference Figure 5 In the material spreading plate 5, a scraper 24 and a roller 30 are also provided. The scraper 24 is used to initially flatten the raw material, while the roller 30 is used to further compact the raw material. In order to be able to switch between different working modes, an adjustment structure is also provided. This adjustment structure can reverse the direction of the roller 30 and the scraper 24, thereby realizing the switching between the flattening mode and the compacting mode.

[0053] Reference Figure 5 and Figure 7 The adjustment structure includes a groove 21 provided at the bottom of the spreading plate 5. A rotating shaft 22 is rotatably connected inside the groove 21. The bottom of the rotating shaft 22 is fixedly connected to the top of the scraper 24, so that when the rotating shaft 22 rotates, the scraper 24 will also rotate accordingly. On both sides of the top of the rotating shaft 22, we have fixed two connecting ears 25 respectively. A transmission rod 26 is designed on the side where the two connecting ears 25 are close to each other. The roller 30 is fixedly mounted on the outer wall of the transmission rod 26, so when the transmission rod 26 rotates or moves, the roller 30 will also perform corresponding actions.

[0054] Reference Figure 5 In order to drive the rotation of the rotating shaft 22, we fixed a second motor 23 on one side of the spreading plate 5 through the frame. The output shaft of the second motor 23 is fixedly connected to one end of the rotating shaft 22 through a coupling. In this way, when the second motor 23 is started, the rotating shaft 22 can be driven to rotate. Since the scraper 24 and the roller 30 are connected to the rotating shaft 22 or the transmission rod 26, when the rotating shaft 22 rotates, the direction of the scraper 24 and the roller 30 can be reversed, thereby switching to the spreading or compacting mode.

[0055] Reference Figure 5 , Figure 7 and Figure 8 Furthermore, in order to increase the force of the roller 30 when compacting the raw materials, we designed a moving groove 27 on the side where the two connecting ears 25 are close to each other. In the two moving grooves 27, we slidably connected two sliding blocks 28. A plurality of first springs 29 are fixed to the bottom of the two sliding blocks 28. The bottom ends of these first springs 29 are respectively fixed on the bottom inner wall of the corresponding moving groove 27. The two ends of the transmission rod 26 are respectively rotated and extended into the two sliding blocks 28. When the roller 30 compacts the raw materials downward, the sliding block 28 will move upward in the moving groove 27 due to the reaction force of the raw materials. At this time, the first spring 29 will be compressed and generate a driving force on the sliding block 28. This driving force will be transmitted to the roller 30 through the transmission rod 26, thereby increasing the force of the roller 30 to compact the raw materials.

[0056] Reference Figure 1 and Figure 3 In addition, we also welded a U-shaped placement plate 43 on the top of the mobile platform 1 of the construction intelligent robot. On the top of the U-shaped placement plate 43, we fixed a camera 44. The main function of this camera 44 is to capture the pothole information on the road surface. Through the pictures captured by the camera 44, we can clearly understand the potholes on the road surface. In this way, when the mobile platform 1 moves in the later stage, it can accurately move to the potholes according to this information to perform filling operations.

[0057] Reference Figure 1 and Figure 3 , the mobile platform 1 as a core component carries various functional modules. In order to meet the tool needs during the construction process, a plurality of tool boxes 45 are fixedly installed on the top of the mobile platform 1. These tool boxes 45 can store construction tools such as screwdrivers, wrenches, measuring tools, etc., which are convenient for the robot to use at any time during the construction process. In addition, a mounting plate 46 is fixed on the top of the mobile platform 1, and the mounting plate 46 is located on the side away from the material storage box 3. On the mounting plate 46, a warning light is installed, which is connected to the power system or control system of the robot through wires, and is used to light up during the construction process to warn passing vehicles to pay attention to avoid and improve the safety of the construction area.

[0058] Reference Figure 3 , Figure 4 and Figure 6 The discharge pipe 9 is a component for discharging concrete or other building materials to the construction area, and its bottom is designed with two slots 12. When the bending rod 15 and the spreading plate 5 move upward under the action of the driving mechanism, the spreading plate 5 can accurately fit into the two slots 12, thereby limiting its position and preventing it from moving when the raw materials are flattened. At this time, the multiple second fan-shaped plates 11 will also cooperate with the multiple first fan-shaped plates 10 under the action of the driving mechanism to jointly close the bottom of the discharge pipe 9 to ensure that there will be no material leakage when the raw materials do not need to be discharged.

[0059] Reference Fig.11 In addition, trapezoidal plates 47 are fixed on both sides of the scraper 24. When the scraper 24 moves forward under the action of the driving mechanism and flattens the raw material, the bottom inclined surface of the trapezoidal plate 47 will contact the raw material and push the spreading plate 5 upward, so that it can be smoothly inserted into the slot 12.

[0060] Through the above implementation, we have realized a construction intelligent robot with the functions of adjusting structure and photographing road pothole information. This robot can not only switch between spreading and compacting modes as needed, but also perform precise filling operations through the road pothole information photographed by the camera 44.

[0061] Example 2: Reference Fig. 9 and Fig.10 , improved on the basis of Example 1: an L-shaped rod 31 is fixed on one side of the material spreading plate 5, and a circular groove 32 is provided at the bottom of the L-shaped rod 31. A pressure sensor 33 is fixedly embedded on the top of the circular groove 32, which is used to detect the pressure applied to the material spreading plate 5 during rotation. A sliding plate 34 located below the pressure sensor 33 is slidably connected in the circular groove 32, and a second spring 35 is fixed between the top of the sliding plate 34 and the bottom of the pressure sensor 33, which is used to buffer and reset the sliding plate 34. A fixed rod 36 is fixed at the bottom of the sliding plate 34, and a ball 37 is provided at the bottom end of the fixed rod 36. When the material spreading plate 5 drives the L-shaped rod 31 to rotate, the ball 37 can roll and contact the ground, thereby reducing the friction between the L-shaped rod 31 and the road surface, making the rotation of the material spreading plate 5 smoother. In addition, a limiting ring 38 is fixed in the circular groove 32 to limit the sliding plate 34, so as to prevent the sliding plate 34 from escaping from the circular groove 32 when the force is too large.

[0062] A closing plate 39 for controlling the cross-sectional area of ​​the discharge port 8 is slidably provided on the bottom inner wall of the storage box 3. The bottom end of the stirring rod 4 penetrates the closing plate 39 to stir the raw materials in the storage box 3. A clearance groove 40 for the stirring rod 4 is provided in the closing plate 39 to prevent the stirring rod 4 from interfering with the closing plate 39 when rotating. A pull rod 41 is fixed to the side of the closing plate 39 away from the clearance groove 40. An electric push rod 42 is fixed to the bottom of the mobile platform 1 through the frame. The output shaft of the electric push rod 42 slides and extends into the storage box 3 and is fixedly connected to one end of the pull rod 41. When it is necessary to control the speed of discharging raw materials from the discharge port 8, the electric push rod 42 pulls the closing plate 39 to slide on the bottom inner wall of the storage box 3 through the pull rod 41, thereby changing the cross-sectional area of ​​the discharge port 8. In this way, when the pothole is about to be filled, the discharge amount of raw materials can be reduced by reducing the cross-sectional area of ​​the discharge port 8, ensuring that the raw materials in the pothole are at the same level as the road surface after compaction.

[0063] A method for using a construction intelligent robot comprises the following steps:

[0064] S1. First, a sufficient amount of filling material is placed in the storage box 3, and the road surface is photographed by the camera 44. When the camera 44 photographs a small pothole, the electric wheel 2 drives the mobile platform 1 to move to the top of the pothole, and the strong electromagnet 16 is powered off to release the magnetic adsorption of the bending rod 15. The spreading plate 5 and the bending rod 15 move down to the pothole under the action of their own gravity and the tension of the tension spring 19. At this time, the ball 37 contacts the flat ground and squeezes the second spring 35. The pressure sensor 33 detects the pressure data in real time. Then the output shaft of the electric push rod 42 moves the closing plate 39 to one side through the pull rod 41 to release the closure of the discharge port 8. At this time, the raw materials in the storage box 3 can enter the discharge pipe 9 to the maximum extent;

[0065] S2. When filling, the first motor 7 drives the stirring rod 4 to rotate, and the stirring rod 4 stirs the raw materials in the storage box 3 to prevent the raw materials from agglomerating in the storage box 3. In addition, when the stirring rod 4 rotates, it drives multiple second fan-shaped plates 11 to rotate. When the second fan-shaped plates 11 overlap with the first fan-shaped plates 10, the raw materials in the storage box 3 can be smoothly dumped into the pit, and when the second fan-shaped plates 11 and the first fan-shaped plates 10 are reciprocated and staggered, the raw materials can be further dispersed to prevent the raw materials from clogging the discharge pipe 9. In addition, the stirring rod 4 drives the spreading plate 5 to rotate through the vertical plate 17, and the spreading plate 5 and the scraper 24 can flatten the raw materials that fall into the pit. As the raw materials are poured and flattened, the pit is gradually filled, and the flattened raw materials in the pit will gradually push the spreading plate 5 to move upward through the inclined surface of the trapezoidal plate 47;

[0066] S3, when the material spreading plate 5 gradually moves upward, the L-shaped rod 31 is synchronously driven to move upward, and the sliding plate 34 gradually reduces the extrusion force on the pressure sensor 33. When the raw materials in the pothole are flattened to the same level as the road surface, the output shaft of the electric push rod 42 pushes the closing plate 39 to close the discharge port 8. At this time, the raw materials can only enter the discharge pipe 9 through the clearance groove 40 and be discharged, which is used to reduce the discharge speed, so as to facilitate the gradual flattening and compacting of the raw materials in the pothole in the later stage, and ensure that the raw materials can be at the same height as the road surface after filling;

[0067] S4. When the raw material needs to be compacted, the second motor 23 drives the rotating shaft 22 to rotate, and the rotating shaft 22 drives the scraper 24 and the roller 30 to turn over. At this time, the roller 30 can contact the raw material in the pothole, and then the stirring rod 4 drives the roller 30 to rotate. The roller 30 rolls on the raw material to compact the raw material, and the elastic force of the first spring 29 on the sliding block 28 can increase the compaction strength applied by the roller 30 to the raw material, so as to ensure the compaction of the raw material after compaction;

[0068] S5. When the filling is completed, the strong electromagnet 16 generates a magnetic attraction force on the bending rod 15 to drive the bending rod 15 and the spreading plate 5 to move upward until the spreading plate 5 touches the bottom of the discharge pipe 9. Then the stirring rod 4 continues to drive the spreading plate 5 to rotate until the spreading plate 5 is aligned with the slot 12. The spreading plate 5 is inserted into the slot 12 under the action of the magnetic attraction force of the strong electromagnet 16 to complete the positioning of the spreading plate 5. At this time, the second fan-shaped plate 11 and the first fan-shaped plate 10 cooperate to close the discharge pipe 9.

[0069] However, as is well known to those skilled in the art, the working principles and wiring methods of the electric push rod 42, pressure sensor 33, strong electromagnet 16, second motor 23, first motor 7 and camera 44 are commonplace, and are conventional means or common knowledge, and will not be elaborated here. Those skilled in the art can make any optional selections according to their needs or convenience.

[0070] 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 construction intelligent robot, characterized in that: The mobile platform (1) comprises a material storage box (3) fixedly penetrated on the top of the mobile platform (1) for storing raw materials for filling, a discharge port (8) provided at the bottom of the material storage box (3), a discharge pipe (9) fixed at the bottom of the material storage box (3), and the discharge pipe (9) cooperates with the discharge port (8), a spreading plate (5) is provided below the discharge pipe (9) for spreading the raw materials in the pits, and a stirring rod (4) is rotated inside the material storage box (3) for stirring and breaking up the raw materials in the material storage box (3); It also includes a plurality of electric wheels (2), each of which is arranged at the bottom of the mobile platform (1) and is used to drive the mobile platform (1) to move above the pothole; The material spreading plate (5) is provided with a scraper (24) and a roller (30) for flattening the raw material and compacting the raw material respectively; A material discharge structure is arranged on the top of the material storage box (3) and is used to control the raw materials in the material storage box (3) to be discharged smoothly into the pit through the discharge pipe (9); A lifting structure is arranged at the bottom of the moving platform (1) and is used to control the lifting of the spreading plate (5). The lifting structure cooperates with the material discharge structure to drive the spreading plate (5) and the scraper (24) to complete the leveling of the raw materials. The adjustment structure is arranged in the material spreading plate (5) and is used to turn the directions of the road roller (30) and the scraper (24) to adjust the leveling and compacting modes.

2. The intelligent construction robot according to claim 1, characterized in that: The unloading structure comprises a U-shaped plate (6) fixed on the top of the material storage box (3), a first motor (7) is fixed to the top of the U-shaped plate (6) through a frame, the top of the stirring rod (4) is rotatably connected to the top inner wall of the U-shaped plate (6), the output shaft of the first motor (7) is fixedly connected to the top of the stirring rod (4) through a coupling, the bottom end of the stirring rod (4) passes through a discharge port (8) and extends into a discharge pipe (9), a plurality of first fan-shaped plates (10) are fixed in the discharge pipe (9), the sides of the plurality of first fan-shaped plates (10) close to each other are rotatably connected to the outer wall of the stirring rod (4), a plurality of second fan-shaped plates (11) are fixed to the outer wall of the stirring rod (4), and the top of the second fan-shaped plate (11) is in the same horizontal plane as the bottom of the first fan-shaped plate (10), and the plurality of first fan-shaped plates (10) and the plurality of second fan-shaped plates (11) cooperate to close the discharge pipe (9).

3. The intelligent construction robot according to claim 1, characterized in that: The lifting structure comprises an annular track groove (13) arranged at the bottom of the moving platform (1), two sliding cylinders (14) are slidably connected in the annular track groove (13), and bending rods (15) are slidably connected in the two sliding cylinders (14), and strong electromagnets (16) are fixedly embedded in the top inner walls of the two sliding cylinders (14), and iron sheets are fixedly embedded in the top ends of the two bending rods (15), and the strong electromagnets (16) generate magnetic attraction with the bending rods (15) through the iron sheets, which is used to drive the bending rods (15) to lift and lower, and the ends of the two bending rods (15) close to each other are fixedly connected to the two sides of the spreading plate (5), respectively. Two vertical plates (17) are fixed to the bottom end of the stirring rod (4), and the material spreading plate (5) is slidably arranged between the two vertical plates (17). A rectangular slide groove (18) is arranged inside the material spreading plate (5), and a plurality of tension springs (19) are fixed to the top inner wall of the rectangular slide groove (18). The bottom ends of the plurality of tension springs (19) are fixed with a same fixed block (20), and the fixed block (20) slides in the rectangular slide groove (18). The two ends of the fixed block (20) are respectively fixedly connected to the two vertical plates (17). The material spreading plate (5) can be smoothly raised and lowered by the fixed block (20), and the cooperation between the two vertical plates (17) and the material spreading plate (5) can drive the material spreading plate (5) to rotate.

4. The intelligent construction robot according to claim 1, characterized in that: The adjustment structure comprises a groove (21) arranged at the bottom of the material spreading plate (5), a rotating shaft (22) is rotatably connected in the groove (21), the bottom of the rotating shaft (22) is fixedly connected to the top of the scraper (24), connecting ears (25) are fixed on both sides of the top of the rotating shaft (22), a transmission rod (26) is provided on the side where the two connecting ears (25) are close to each other, the roller (30) is fixedly sleeved on the outer wall of the transmission rod (26), a second motor (23) is fixed to one side of the material spreading plate (5) through a frame, and the output shaft of the second motor (23) is fixedly connected to one end of the rotating shaft (22) through a coupling.

5. The intelligent construction robot according to claim 4, characterized in that: A movable groove (27) is provided on the side where the two connecting ears (25) are close to each other, and a sliding block (28) is slidably connected in the two movable grooves (27). A plurality of first springs (29) are fixed at the bottom of the two sliding blocks (28), and the bottom ends of the plurality of first springs (29) are respectively fixed to the bottom inner wall of the corresponding movable groove (27), and the two ends of the transmission rod (26) are respectively rotated to extend into the two sliding blocks (28).

6. The intelligent construction robot according to claim 1, characterized in that: A U-shaped placement plate (43) is welded to the top of the mobile platform (1), and a camera (44) is fixed to the top of the U-shaped placement plate (43) for photographing road pothole information to facilitate the mobile platform (1) to move to the pothole for filling in the pothole later.

7. The intelligent construction robot according to claim 1, characterized in that: A plurality of tool boxes (45) are fixed on the top of the mobile platform (1) for placing construction tools. A mounting plate (46) is fixed on the top of the mobile platform (1). A warning light is installed on the side of the mounting plate (46) away from the material storage box (3) for warning passing vehicles during the construction process.

8. The intelligent construction robot according to claim 1, characterized in that: The bottom of the discharge pipe (9) is provided with two slots (12) for positioning the material spreading plate (5), and trapezoidal plates (47) are fixed on both sides of the scraper (24).

9. The intelligent construction robot according to claim 1, characterized in that: An L-shaped rod (31) is fixed to one side of the material spreading plate (5), a circular groove (32) is provided at the bottom of the L-shaped rod (31), a pressure sensor (33) is fixedly embedded at the top of the circular groove (32), a sliding plate (34) located below the pressure sensor (33) is slidably connected in the circular groove (32), a second spring (35) is fixed between the top of the sliding plate (34) and the bottom of the pressure sensor (33), a fixing rod (36) is fixed to the bottom of the sliding plate (34), a ball bearing (37) is provided at the bottom end of the fixing rod (36) for reducing the friction between the L-shaped rod (31) and the road surface when the material spreading plate (5) drives the L-shaped rod (31) to rotate. Friction, a limiting ring (38) for limiting the sliding plate (34) is fixed in the circular groove (32), a closing plate (39) for controlling the cross-sectional area of ​​the discharge port (8) is slidably provided on the bottom inner wall of the material storage box (3), and the bottom end of the stirring rod (4) passes through the closing plate (39), and a clearance groove (40) for making way for the stirring rod (4) is provided in the closing plate (39), and a pull rod (41) is fixed on the side of the closing plate (39) away from the clearance groove (40), and an electric push rod (42) is fixed to the bottom of the movable platform (1) through the frame, and the output shaft of the electric push rod (42) slides and extends into the material storage box (3) and is fixedly connected to one end of the pull rod (41).

10. A method for using the intelligent robot for construction as claimed in claim 9, characterized in that: The following steps are involved: S1, placing raw materials in a material storage box (3), a camera (44) photographs the road surface, and after a small pothole is found, the mobile platform (1) moves to the top of the pothole; the strong electromagnet (16) is powered off, the material spreading plate (5) and the bending rod (15) fall into the pothole under the action of gravity and the tension spring (19), the ball (37) contacts the ground and squeezes the second spring (35), and the pressure sensor (33) detects the pressure; then, the electric push rod (42) moves the closing plate (39) through the pull rod (41), releases the sealing of the discharge port (8), and the raw materials enter the discharge pipe (9); S2, during filling, the first motor (7) drives the stirring rod (4) to rotate, stirs the raw materials and drives the second fan-shaped plate (11) to rotate; when the second fan-shaped plate (11) overlaps with the first fan-shaped plate (10), the raw materials are poured into the pit; the stirring rod (4) also drives the spreading plate (5) to rotate through the vertical plate (17), and the spreading plate (5) and the scraper (24) spread the raw materials; as the raw materials are poured and spread, the pit is gradually filled; S3, when the material spreading plate (5) moves upward, the L-shaped rod (31) moves upward synchronously, and the sliding plate (34) gradually reduces the squeezing force on the pressure sensor (33); when the raw material is flattened to be flush with the road surface, the electric push rod (42) pushes the closing plate (39) to close the discharge port (8), and the raw material can only enter the discharge pipe (9) through the clearance groove (40), thereby reducing the discharge speed and facilitating the later flattening and compaction; S4. When the raw material needs to be compacted, the second motor (23) drives the rotating shaft (22) to rotate, driving the scraper (24) and the roller (30) to turn over and contact the raw material; the stirring rod (4) drives the roller (30) to rotate, and the roller (30) rolls on the raw material to compact it; S5. After the filling is completed, the strong electromagnet (16) generates a magnetic attraction force on the bending rod (15), driving the spreading plate (5) to move up and snap into the slot (12), thereby completing the positioning of the spreading plate (5); at this time, the second sector plate (11) cooperates with the first sector plate (10) to close the discharge pipe (9).

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