Sloping concrete spraying, troweling and polishing robot and using method thereof

Abstract

The invention relates to the technical field of engineering, and particularly discloses a slope concrete spraying, troweling and polishing robot and a using method thereof.The robot comprises an up-down moving trolley part, a first moving trolley part, a second moving trolley part, a third moving trolley part, a fourth moving trolley part and a fourth moving trolley part, the concrete spraying part is connected with the up-down moving trolley part and used for spraying concrete to the slope; the concrete troweling parts are uniformly arranged on the two sides of the concrete spraying part and are used for troweling the concrete sprayed on the slope; and the concrete polishing parts are uniformly arranged on the two sides of the concrete spraying part and used for polishing the surface of the concrete after the concrete is dried. The concrete spraying device is used for improving the spraying efficiency and spraying quality of concrete on the slope surface and achieving integrated operation of spraying, troweling and polishing of the concrete.

Description

Technical Field

[0001] The present invention relates to the field of engineering technology, and in particular to a slope concrete spraying, troweling and polishing robot, and also to a method for using the slope concrete spraying, troweling and polishing robot. Background Art

[0002] In construction, it is often necessary to excavate foundation pits, and the side walls of the foundation pits will form a slope. Since the slope has a certain slope, the earth on the slope surface is easy to slide down. It is necessary to spray concrete on the excavated slope surface to solidify the slope surface to reduce the slide of earth, which can effectively reduce the harm to construction workers caused by the slide of earth. The traditional slope concrete spraying machine has low spraying efficiency, especially in the face of large slopes. The concrete spraying work often consumes a lot of time, and the concrete spraying machine often requires manual operation, which results in poor concrete spraying effect, and ultimately leads to uneven surface of the concrete slope after drying. In addition, in the traditional concrete slope construction process, the spraying, polishing and grinding of concrete are completed by different machines, and the integration of the three processes is not achieved. Summary of the invention

[0003] The object of the present invention is to provide a slope concrete spraying, troweling and polishing robot for improving the spraying efficiency and spraying quality of concrete on the slope surface and realizing the integrated operation of concrete spraying, troweling and polishing.

[0004] Another object of the present invention is to provide a method for using a slope concrete spraying, polishing and grinding robot, which can realize the integrated operation of spraying, polishing and grinding of slope concrete. Since the spraying, polishing and grinding parts of the present invention can be adjusted according to the length of the slope, the working range of the robot can cover the entire slope, thereby greatly improving work efficiency.

[0005] To further achieve the above object, the present invention adopts the following technical solutions:

[0006] A slope concrete spraying, troweling and polishing robot, comprising:

[0007] The up and down moving trolley parts are respectively arranged on the upper and lower planes of the slope, and are used to move the entire robot along the slope;

[0008] A concrete spraying part, connected to the up-and-down moving trolley part, is used for spraying concrete on the slope;

[0009] Concrete finishing parts are evenly arranged on both sides of the concrete spraying part and are used to finish the concrete sprayed on the slope;

[0010] A concrete grinding part is evenly arranged on both sides of the concrete spraying part, and is used to grind the concrete surface after the concrete is dried;

[0011] The concrete supply part is arranged on the lower plane of the slope, connected with the concrete spraying part, and is used for providing concrete to the concrete spraying part.

[0012] Optionally, the up and down moving trolley part includes an upper moving trolley unit and a lower moving trolley unit, the upper moving trolley unit is located on the upper plane of the slope, and the lower moving trolley unit is located on the lower plane of the slope, and the upper moving trolley unit cooperates with the lower moving trolley unit to drive the entire robot to move.

[0013] Furthermore, the upper moving vehicle comprises an upper moving vehicle body, an upper moving motor unit and an upper rotating motor unit, the upper moving vehicle body comprises a four-wheel chassis at the bottom, a wheel is arranged at each of the four corners of the four-wheel chassis, a groove is dug on the four-wheel chassis between two wheels on the same side, and is used to install the upper moving motor unit driving the wheel, a column extends upward from the middle of the four-wheel chassis, and the top end of the column is used to be connected to the upper frame in the form of an articulated seat;

[0014] The upper moving motor unit includes an upper moving motor a, an upper moving motor b, an upper moving motor c and an upper moving motor d, and the upper moving motor a, the upper moving motor b, the upper moving motor c and the upper moving motor d are all installed on the inner side walls of the grooves on both sides of the upper moving vehicle body;

[0015] The rotating shafts of the upper moving motor a, the upper moving motor b, the upper moving motor c and the upper moving motor d are respectively connected to a wheel of the upper moving vehicle body, and are used to control the rotation of the four wheels through the upper moving motor a, the upper moving motor b, the upper moving motor c and the upper moving motor d, so as to move the upper moving vehicle;

[0016] The upper rotary motor unit includes an upper rotary motor a, an upper rotary motor b, an upper rotary motor c and an upper rotary motor d, wherein the upper rotary motor a and the upper rotary motor b are installed on both sides of the column of the upper mobile trolley, and the rotating shafts of the upper rotary motor a and the upper rotary motor b penetrate the column and the upper frame in the middle of the upper mobile trolley, and are used to control the upper frame to rotate around the connection point through the upper rotary motor a and the upper rotary motor b, so as to adjust the angle between the lower frame and the slope;

[0017] The upper rotating motor c and the upper rotating motor d are installed at the connection where the upper frame and the lower frame are connected through the hinge seat, and are used to control the rotation of the connection through the upper rotating motor c and the upper rotating motor d to adjust the angle between the lower frame and the slope.

[0018] Furthermore, the differences between the lower moving trolley unit and the upper moving trolley unit include: a lower rotating motor unit portion corresponding to the upper rotating motor unit, the lower rotating motor unit including two rotating motors, and the two rotating motors are installed on a column in the middle of the lower moving vehicle body corresponding to the upper moving vehicle body.

[0019] Optionally, the concrete spraying part includes an intermediate frame, a concrete pipe transmission unit and a concrete spray gun unit, the intermediate frame includes an upper frame and a lower frame, one end of the upper frame is connected to a column in the middle of the upper moving vehicle body in the form of an articulated seat through the rotating shafts of the upper rotating motor a and the upper rotating motor b, and the other end is connected to one end of the lower frame in the form of an articulated seat through the rotating shafts of the upper rotating motor c and the upper rotating motor d; one end of the lower frame is connected to one end of the upper frame in the form of an articulated seat through the rotating shafts of the upper rotating motor c and the upper rotating motor d, and the other end is connected to a column in the middle of the lower moving vehicle body in the form of an articulated seat through the rotating shaft of the lower rotating motor unit;

[0020] The concrete pipe transmission unit comprises a concrete transmission main pipe, a concrete transmission sub-pipe unit and a locking ring unit, wherein the concrete transmission main pipe is locked by the locking ring unit and thus installed on the upper surface of the lower frame; the concrete transmission sub-pipe unit comprises a plurality of identical sub-pipes that are bent toward the slope, one end of each of the sub-pipes is connected to the concrete transmission main pipe, and the other end is connected to the concrete spray gun;

[0021] The locking ring unit includes a plurality of locking rings with the same structure, which are all installed on the upper surface of the lower frame, and are used to lock the main pipeline for concrete transmission; the concrete spray gun unit includes the same number of concrete spray guns as the secondary pipelines, and each of the concrete spray guns is installed on the bottom surface of the lower frame.

[0022] Optionally, the concrete trowel part comprises a trowel lifting arm unit and a trowel unit;

[0023] The polishing lifting arm unit comprises a left polishing lifting arm unit and a right polishing lifting arm unit which are symmetrically arranged and have the same structure. The left polishing lifting arm unit / right polishing lifting arm unit comprises a plurality of lifting arms, and the plurality of lifting arms are connected to the side of the lower frame through an articulated seat. The two lifting arms located on the outer sides are respectively equipped with a polishing lifting arm rotating motor unit at the connection between the two lifting arms and the articulated seat, and the polishing lifting arm is driven to move up and down by rotating.

[0024] The trowel unit comprises a left trowel unit and a right trowel unit which are symmetrically arranged and have the same structure, wherein: the left trowel unit comprises a left trowel central axis, a left trowel gear unit, a left trowel rotating carrier belt, a left trowel rotating motor unit and a left trowel trowel knife unit, and the middle part of the left trowel central axis is equipped with articulated seats with the same number as the lifting arms, and each of the articulated seats is respectively connected to each lifting arm in the left trowel lifting arm unit, and is used to control the lifting of the left trowel central axis through the left trowel lifting arm unit.

[0025] Further, the left polishing device gear unit includes a left polishing device gear a, a left polishing device gear b, a left polishing device gear c and a left polishing device gear d which are arranged in sequence from top to bottom, and the left polishing device gear a, the left polishing device gear b, the left polishing device gear c and the left polishing device gear d can all rotate around their connection points; the tops of the left polishing device gear b and the left polishing device gear c located in the middle are respectively connected to the left polishing device rotating motor a and the left polishing device rotating motor b, and the left polishing device rotating motor a controls the rotation of the left polishing device gear b, and the left polishing device rotating motor b controls the rotation of the left polishing device gear c;

[0026] A groove is provided on the inner side of the left polishing device rotating carrier belt, which is used to make the teeth on the outer rings of the left polishing device gear a, the left polishing device gear b, the left polishing device gear c and the left polishing device gear d be stuck in the groove on the inner side of the left polishing device rotating carrier belt during the rotation of the left polishing device gear unit, so that the rotation of the gear drives the left polishing device rotating carrier belt to rotate;

[0027] The left polishing device rotating motor unit comprises a left polishing device rotating motor a and a left polishing device rotating motor b, and the left polishing device rotating motor a and the left polishing device rotating motor b are respectively installed on the upper surface of the left polishing device central axis;

[0028] The left trowel trowel unit includes multiple trowels, and the trowel includes a trowel surface at the bottom and a columnar connecting member arranged in the middle of the upper surface. The columnar connecting member is connected to the bottom surface of the left trowel rotating carrier belt, and is used to drive the left trowel trowel unit to rotate along with the left trowel rotating carrier belt through the rotation of the left trowel rotating carrier belt to smooth the concrete on the slope surface.

[0029] Optionally, the concrete grinding part includes a left grinding lifting arm unit and a right grinding lifting arm unit which are symmetrically arranged and have the same structure, and a left grinding device unit and a right grinding device unit which are symmetrically arranged and have the same structure;

[0030] The left grinding lifting arm unit comprises a left grinding lifting arm a, a left grinding lifting arm b, a left grinding lifting motor a and a left grinding lifting motor b. The left grinding lifting arm a and the left grinding lifting arm b are both mounted on the left side of the lower frame through an articulated seat. The inner sides of the two articulated seats are respectively connected with the left grinding lifting motor a and the left grinding lifting motor b for controlling the lifting of the left grinding lifting arm a and the left grinding lifting arm b.

[0031] The left sander unit comprises a left sanding middle shaft and a left sanding disc unit, and the left and right ends of the left sanding middle shaft have cylindrical grooves, which are respectively used to clamp on the cylinders extending from the inner surfaces of the left sanding lifting arm a and the left sanding lifting arm b, and are used to control the up and down lifting of the left sander unit through the left sanding lifting arm unit;

[0032] The left grinding disc unit includes a left grinding disc motor unit and a left grinding disc chassis unit. The left grinding disc motor unit includes multiple left grinding disc motors, and the upper surfaces of these left grinding disc motors are installed on the lower surface of the left grinding central axis; the left grinding disc chassis unit is installed on the lower surface of the left grinding disc motor unit, and includes multiple grinding chassis that are the same in number as the left grinding disc motors.

[0033] Optionally, the concrete supply part includes a concrete storage cart, a concrete pump and a concrete delivery pipe, the concrete pump is installed on the upper surface of the concrete storage cart, one end of the concrete pump is connected to the concrete storage cart, and the other end is connected to the concrete delivery pipe; one end of the concrete delivery pipe is connected to the concrete pump, and the other end is connected to the concrete transmission main pipeline.

[0034] The present invention also claims a method for using the aforementioned slope concrete spraying, troweling and polishing robot, comprising the following steps:

[0035] Step 1: Place the entire robot on one side of the slope, and control the upper rotary motor unit and the two lower rotary motors to make the bottom surface of the lower frame roughly parallel to the surface of the entire slope, so that the spray gun of the concrete spray gun unit is roughly perpendicular to the surface of the slope;

[0036] Step 2: Control the left trowel lifting arm unit, the right trowel lifting arm unit, the left grinding lifting arm unit and the right grinding lifting arm unit to lift upwards so that the left trowel unit, the right trowel unit, the left grinding unit and the right grinding unit are at a distance from the slope surface, so that when concrete is sprayed on the slope, the trowel and the grinding unit will not contact the slope surface;

[0037] Step 3: Turn on the concrete pump, and use the concrete pump to transfer the concrete in the concrete storage trolley into the concrete spray gun unit through the concrete delivery pipe;

[0038] Step 4: Turn on the concrete spray gun unit to spray concrete on the slope, and the upper moving trolley and the lower moving trolley move to the other side of the slope at the same time to achieve concrete spraying;

[0039] Step 5: After spraying, turn off the concrete pump and the concrete spray gun unit. When the concrete on the slope surface reaches the preset dryness, it is smoothed. At this time, the entire robot starts from one side of the slope, controls the smoothing lifting arm unit to descend until the smoothing unit contacts the slope surface, stops the smoothing lifting arm unit from descending, smoothes through the left smoothing unit and the right smoothing unit, and moves the entire robot to the other side of the slope through the upper moving trolley and the lower moving trolley, so that the entire robot moves to the other side of the slope while smoothing the concrete on the slope surface;

[0040] Step 6. After the finishing work is completed, the finishing lifting arm unit is raised to separate the finishing unit from the slope surface. After waiting for a while, when the concrete on the slope surface is completely dry, the concrete on the slope surface is polished. The concrete on the slope surface is polished by the left polisher unit and the right polisher unit. The entire robot is moved from one side of the slope to the other side by the upper moving trolley and the lower moving trolley, and the concrete on the slope surface is polished at the same time.

[0041] Step 7: After the grinding work is completed, the left grinding lifting arm unit and the right grinding lifting arm unit are raised to separate the left grinder unit and the right grinder unit from the slope surface. At this point, the spraying, polishing and grinding of the concrete on the entire slope surface are completed.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] 1. The present invention is equipped with concrete spraying, concrete polishing and concrete grinding parts, realizing the integration of concrete spraying, concrete polishing and concrete grinding.

[0044] 2. The working range of concrete spraying, concrete polishing and concrete grinding of the present invention covers the entire slope, so the entire slope can be operated at one time, which greatly improves the work efficiency.

[0045] 3. The concrete spray guns of the present invention are arranged along the entire middle frame, so the spraying range of the concrete spray guns covers the entire slope, so that the spraying time of each part of the slope is consistent, so the concrete spraying thickness at different places of the slope is basically the same, which effectively improves the spraying quality of the concrete.

[0046] 4. The concrete finishing part and the concrete grinding part of the present invention are roughly symmetrical structures with the central axis of the robot as a whole. The robot can achieve secondary finishing and secondary grinding of the concrete by walking on the slope once, which not only improves the construction efficiency but also improves the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0048] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0049] Figure 2 This is a schematic diagram of the structure of the up and down moving trolley of the present invention;

[0050] Figure 3 This is a schematic diagram of the structure of the upper moving trolley unit of the present invention;

[0051] Figure 4 This is a schematic diagram of the structure of the upper mobile trolley of the present invention;

[0052] Figure 5 This is a schematic diagram of the structure of the upper movable vehicle body of the present invention;

[0053] Figure 6 This is a schematic diagram of the structure of the upper moving motor unit of the present invention;

[0054] Figure 7 This is a schematic diagram of the structure of the upper rotating motor unit of the present invention;

[0055] Figure 8 This is a schematic diagram of the structure of the concrete spraying part of the present invention;

[0056] Fig. 9 This is a schematic diagram of the intermediate skeleton structure of the present invention;

[0057] Fig.10 This is a schematic diagram of the structure of the concrete pipeline transmission unit of the present invention;

[0058] Fig.11 This is a schematic diagram of the structure of the concrete finishing part of the present invention;

[0059] Fig.12 This is a schematic diagram of the structure of the trowel lifting arm unit of the present invention;

[0060] Fig.13 This is a schematic diagram of the structure of the left polishing lifting arm unit of the present invention;

[0061] Fig.14 It is a schematic structural diagram of the left polishing lifting arm rotating motor unit a and the left polishing lifting arm rotating motor unit b of the present invention;

[0062] Fig.15 It is a schematic diagram of the structure of the polishing device unit of the present invention;

[0063] Fig.16 It is a schematic diagram of the structure of the left smear unit of the present invention;

[0064] Fig.17 This is a schematic diagram of the structure of the left polishing device gear unit of the present invention;

[0065] Fig.18 This is a schematic diagram of the structure of the left polishing device rotating motor unit of the present invention;

[0066] Fig.19 It is a schematic diagram of the structure of the trowel blade unit of the left trowel of the present invention;

[0067] Fig. 20 It is a schematic diagram of the structure of the trowel of the present invention;

[0068] Fig.21 This is a schematic diagram of the concrete grinding part structure of the present invention;

[0069] Fig. 22 This is a schematic diagram of the structure of the left grinding lifting arm unit of the present invention;

[0070] Fig.23 It is a structural schematic diagram of the left grinder unit of the present invention;

[0071] Fig.24 This is a schematic diagram of the structure of the left grinding disc unit of the present invention;

[0072] Fig.25 This is a schematic diagram of the structure of the left grinding chassis unit of the present invention;

[0073] Fig.26 It is a schematic diagram of the structure of the concrete supply part of the present invention.

[0074] In the figure:

[0075] 10000 - grading;

[0076] 20000-Moving trolley part:

[0077] 21000-upper moving trolley unit; 21100-upper moving trolley; 21110-upper moving vehicle body;

[0078] 21120-upper moving motor unit;

[0079] 21121-upper moving motor a, 21122-upper moving motor b, 21123-upper moving motor c, 21124-upper moving motor d;

[0080] 21130-Upper rotating motor unit:

[0081] 21131-upper rotating motor a, 21132-upper rotating motor b, 21133-upper rotating motor c, 21134-upper rotating motor d;

[0082] 21200-top counterweight trolley;

[0083] 22000-mobile trolley unit below;

[0084] 30000-Concrete spraying part:

[0085] 31000-intermediate frame;

[0086] 31100-upper frame;

[0087] 31200-lower frame;

[0088] 32000-Concrete pipe transmission unit;

[0089] 32100-Concrete transmission main pipeline;

[0090] 32200-Concrete transmission auxiliary pipeline unit;

[0091] 32300-locking ring unit;

[0092] 33000-Concrete spray gun unit;

[0093] 40000-Concrete finishing part:

[0094] 41000-trowel lift arm unit;

[0095] 41100-left trowel lifting arm unit;

[0096] 41110-left polishing lifting arm a, 41120-left polishing lifting arm b, 41130-left polishing lifting arm c, 41140-left polishing lifting arm d, 41150-left polishing lifting arm e;

[0097] 41160-left polishing lifting arm rotation motor unit a;

[0098] 41161-left polishing lifting arm rotating motor a, 41162-left polishing lifting arm rotating motor b;

[0099] 41170-left polishing lifting arm rotation motor unit b;

[0100] 41171-left polishing lifting arm rotating motor c, 41172-left polishing lifting arm rotating motor d;

[0101] 41200-right trowel lifting arm unit;

[0102] 42000 - trowel unit;

[0103] 42100-left polisher unit;

[0104] 42110-left polishing device center axis;

[0105] 42120-Left Smear Gear Unit:

[0106] 42121-left polishing device gear a, 42122-left polishing device gear b, 42123-left polishing device gear c, 42124-left polishing device gear d;

[0107] 42130-left polisher rotating carrier belt;

[0108] 42140-Left polisher rotation motor unit:

[0109] 42141-left polishing device rotating motor a, 42142-left polishing device rotating motor b;

[0110] 42150-left trowel trowel unit;

[0111] 42200-right trowel unit;

[0112] 50000-Concrete grinding part:

[0113] 51000-left grinding lifting arm unit;

[0114] 51100-left grinding lifting arm a, 51200-left grinding lifting arm b, 51300-left grinding lifting motor a, 51400-left grinding lifting motor b;

[0115] 52000-Right grinding lift arm unit;

[0116] 53000 - left sander unit;

[0117] 53100-left grinding center axis;

[0118] 53200-Left grinding disc unit:

[0119] 53210-left grinding disc motor unit, 53220-left grinding chassis unit;

[0120] 54000-Right sander unit;

[0121] 60000-Concrete supply part:

[0122] 61000-Concrete storage trolley;

[0123] 62000-concrete pump;

[0124] 63000-Concrete delivery pipe. DETAILED DESCRIPTION

[0125] In order to facilitate ordinary technicians in the field to understand and implement the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0126] Example 1

[0127] A slope concrete spraying and polishing robot, such as Figure 1 As shown, it includes a slope reduction 10000, an up-and-down moving trolley part 20000, a concrete spraying part 30000, a concrete smoothing part 40000, a concrete grinding part 50000 and a concrete supply part 60000. Specifically, the slope reduction 10000 provides a simple working scene for the robot. The up-and-down moving trolley part 20000 includes an upper moving trolley 21100, an upper counterweight trolley 21200, and a lower moving trolley corresponding to the upper moving trolley 21100 and a lower counterweight trolley corresponding to the upper counterweight trolley 21200, which are mainly used to help the entire robot move. The concrete spraying part 30000 includes an intermediate skeleton 31000, a concrete spray gun unit 33000 and a concrete pipe transmission unit 32000, which are mainly used to spray concrete on the slope reduction 10000. The concrete finishing part 40000 includes a finishing lifting arm unit 41000 and a finishing unit 42000, which are mainly used to finish the concrete sprayed on the slope 10000. The concrete grinding part 50000 includes a left grinding lifting arm unit 51000, a right grinding lifting arm unit 52000, a left grinding unit 53000 and a right grinding unit 54000, which are mainly used to grind the concrete surface after the concrete is dried to make the concrete surface smoother. The concrete supply part 60000 includes a concrete storage trolley 61000, a concrete pump 62000 and a concrete delivery pipe 63000, which are used to provide concrete to the concrete spray gun unit 33000.

[0128] like Figure 1 As shown, slope reduction 10000 is used to provide a specific working scenario for the entire robot.

[0129] like Figure 2 As shown, the up-and-down moving trolley part 20000 includes an upper moving trolley unit 21000 and a lower moving trolley unit 22000. The logical relationship of the above components is described in detail below:

[0130] like Figure 3 As shown, the upper moving trolley unit 21000 includes an upper moving trolley 21100 and an upper counterweight trolley 21200. Figure 4 As shown, the upper moving vehicle 21100 includes an upper moving vehicle body 21110, an upper moving motor unit 21120 and an upper rotating motor unit 21130. Figure 5 As shown, the upper mobile vehicle body 21110 includes a four-wheel chassis at the bottom, with a wheel arranged at each corner of the four-wheel chassis, and a groove is dug on the four-wheel chassis between two wheels on the same side for accommodating the upper mobile motor unit 21120 for driving the wheel. A column extends upward from the middle of the four-wheel chassis, and the top of the column is connected to the upper frame 31100 in the form of an articulated seat, and the rotating shafts of the upper rotating motor a21131 and the upper rotating motor b21132 are the rotating shafts of the articulated seat.

[0131] like Figure 6 As shown, the upper moving motor unit 21120 includes an upper moving motor a21121, an upper moving motor b21122, an upper moving motor c21123 and an upper moving motor d21124. The upper moving motor a21121 is fixed to the inner side wall of the groove of the upper moving vehicle body 21110 by bolts, and the rotating shaft of the upper moving motor a21121 is connected to a wheel of the upper moving vehicle body 21110, so that the upper moving motor a21121 can control the rotation of the wheel. The upper moving motor b21122, the upper moving motor c21123 and the upper moving motor d21124 have the same structure, the same function and the same connection method as the upper moving motor a21121, so only the upper moving motor a21121 is described, and the other three upper moving motors are not repeated. The upper moving motor unit 21120 can drive the four wheels of the upper moving vehicle body 21110 to rotate, so that the upper moving vehicle 21100 moves.

[0132] like Figure 3 As shown, the upper counterweight trolley 21200 is connected to the upper moving trolley 21100 by bolts, which serves to provide a counterweight for the upper moving trolley 21100, making the entire robot more stable.

[0133] like Figure 7As shown, the upper rotary motor unit 21130 includes an upper rotary motor a21131, an upper rotary motor b21132, an upper rotary motor c21133 and an upper rotary motor d21134. The upper rotary motor a21131 and the upper rotary motor b21132 are fixed to both sides of the column in the middle of the upper moving trolley 21100 by bolts, and the rotating shafts of the upper rotary motor a21131 and the upper rotary motor b21132 penetrate the column in the middle of the upper moving trolley 21100 and the upper frame 31100, so that the upper rotary motor a21131 and the upper rotary motor b21132 can control the upper frame 31100 to rotate around the connection, thereby adjusting the angle between the lower frame 31200 and the slope 10000. The upper rotating motor c21133 and the upper rotating motor d21134 are fixed by bolts to the joint where the upper frame 31100 and the lower frame 31200 are connected in the form of an articulated seat, so that the upper rotating motor c21133 and the upper rotating motor d21134 can control the rotation of the joint, thereby adjusting the angle between the lower frame 31200 and the slope 10000, which is convenient for the subsequent work of the robot. The upper moving body 21110 is located on the upper plane of the slope 10000, and the upper moving body 21110 can cooperate with the lower moving body to drive the entire robot to move. Figure 4 As shown, the lower moving trolley unit 22000 is different only in the lower rotating motor unit portion corresponding to the upper rotating motor unit 21130. The upper rotating motor unit 21130 includes a total of four rotating motors, while the lower rotating motor unit includes only two rotating motors. The two rotating motors are fixed to the column in the middle of the lower moving vehicle body corresponding to the upper moving vehicle body 21110 by bolts. The position and connection method are similar to the upper rotating motor a21131 and the upper rotating motor b21132. The lower rotating motor unit can adjust the lower frame 31200 and the slope 10000 together with the upper rotating motor unit 21130 to be roughly parallel. In addition, the lower moving trolley unit 22000 is the same as the upper moving trolley unit 21000, so only the upper moving trolley unit 21000 is described in detail, and the lower moving trolley unit 22000 is not repeated.

[0134] like Figure 8 As shown, the concrete spraying part 30000 includes a middle frame 31000, a concrete pipe transmission unit 32000 and a concrete spray gun unit 33000. The logical relationship of the above components is described in detail below:

[0135] like Fig. 9As shown, the middle frame 31000 includes an upper frame 31100 and a lower frame 31200. The upper frame 31100 is shorter in length, and one end of the upper frame 31100 is connected to the column in the middle of the upper moving body 21110 in the form of an articulated seat through the rotating shafts of the upper rotating motor a21131 and the upper rotating motor b21132, and the other end is connected to one end of the lower frame 31200 in the form of an articulated seat through the rotating shafts of the upper rotating motor c21133 and the upper rotating motor d21134. The lower frame 31200 is longer in length, and one end of the lower frame 31200 is connected to one end of the upper frame 31100 in the form of an articulated seat through the rotating shafts of the upper rotating motor c21133 and the upper rotating motor d21134, and the other end is connected to the column in the middle of the lower moving body in the form of an articulated seat through the rotating shaft of the lower rotating motor unit.

[0136] like Fig.10 As shown, the concrete pipe transmission unit 32000 includes a concrete transmission main pipe 32100, a concrete transmission sub-pipe unit 32200 and a locking ring unit 32300. The concrete transmission main pipe 32100 is locked by the locking ring unit 32300 and thus installed on the upper surface of the lower frame 31200. The concrete transmission sub-pipe unit 32200 includes a plurality of identical sub-pipes that are bent toward the slope, one end of each sub-pipe is connected to the concrete transmission main pipe 32100, and the other end is connected to the concrete spray gun through a bolt, so that concrete can be supplied from the concrete transmission main pipe 32100 to the concrete spray gun. The locking ring unit 32300 includes a plurality of locking rings with the same structure, which are all fixed to the upper surface of the lower frame 31200 by bolts, and each locking ring can lock the concrete transmission main pipe 32100, thereby fixing the concrete transmission main pipe 32100. The concrete spray gun unit 33000 includes a plurality of, such as Fig. 9 As shown, ten identical concrete spray guns are used as an example for explanation, and each concrete spray gun is fixed to the bottom surface of the lower frame 31200 by bolts.

[0137] like Fig.11 As shown, the concrete finishing part 40000 includes a finishing lifting arm unit 41000 and a finishing unit 42000. The logical relationship between the above components is described in detail below:

[0138] like Fig.12 As shown, the finishing lifting arm unit 41000 includes a left finishing lifting arm unit 41100 and a right finishing lifting arm unit 41200. Since the left finishing lifting arm unit 41100 and the right finishing lifting arm unit 41200 have the same structure, the same function, and the same connection method, only the left finishing lifting arm unit 41100 is described, and the right finishing lifting arm unit 41200 is not described in detail.

[0139] like Fig.13 , Fig.14 As shown, the left polishing lifting arm unit 41100 includes five lifting arms, namely left polishing lifting arm a41110, left polishing lifting arm b41120, left polishing lifting arm c41130, left polishing lifting arm d41140 and left polishing lifting arm e41150. The five lifting arms are connected to the left side of the lower frame 31200 through an articulated seat, and the five lifting arms can rotate around the articulated seat. Among the five lifting arms, the left polishing lifting arm a41110 and the left polishing lifting arm e41150 are respectively installed with the left polishing lifting arm rotation motor unit a41160 and the left polishing lifting arm rotation motor unit a41160 through bolts at the connection between them and the articulated seat. The motor unit b41170, the left polishing lifting arm rotating motor unit a41160 includes the left polishing lifting arm rotating motor a41161 and the left polishing lifting arm rotating motor b41162, which are respectively installed on both sides of the left polishing lifting arm a41110, and can drive the left polishing lifting arm a41110 to move up and down by rotating; the left polishing lifting arm rotating motor unit b41170 includes the left polishing lifting arm rotating motor c41171 and the left polishing lifting arm rotating motor d41172, which are respectively installed on both sides of the left polishing lifting arm e41150, and can drive the left polishing lifting arm e41150 to move up and down by rotating. The left polishing lifting arm b41120, the left polishing lifting arm c41130 and the left polishing lifting arm d41140 play the role of sharing the weight of the left polishing device unit 42100.

[0140] like Fig.15 As shown, the polishing unit 42000 includes a left polishing unit 42100 and a right polishing unit 42200. Since the left polishing unit 42100 and the right polishing unit 42200 have the same structure, function and connection method, only the left polishing unit 42100 is described, and the right polishing unit 42200 is not described in detail.

[0141] like Fig.16 As shown, the left polishing unit 42100 includes a left polishing center axis 42110, a left polishing gear unit 42120, a left polishing rotating carrier 42130, a left polishing rotating motor unit 42140 and a left polishing trowel unit 42150. The middle of the left polishing center axis 42110 is connected with five articulated seats by bolts, and each articulated seat is respectively connected to each lifting arm of the left polishing lifting arm unit 41100, so that the left polishing lifting arm unit 41100 can control the lifting of the left polishing center axis 42110.

[0142] like Fig.17As shown, the left polisher gear unit 42120 includes a left polisher gear a42121, a left polisher gear b42122, a left polisher gear c42123 and a left polisher gear d42124 which are arranged in sequence from top to bottom. These four gears can rotate around their connections. The tops of the left polisher gear b42122 and the left polisher gear c42123 located in the middle are respectively connected to the left polisher rotating motor a42141 and the left polisher rotating motor b42142. The left polisher rotating motor a42141 controls the rotation of the left polisher gear b42122, and the left polisher rotating motor b42142 controls the rotation of the left polisher gear c42123. A groove is provided on the inner side of the left polisher rotating carrier belt 42130, so that during the rotation of the left polisher gear unit 42120, the teeth on the outer rings of the left polisher gear a42121, the left polisher gear b42122, the left polisher gear c42123 and the left polisher gear d42124 can be stuck in the groove on the inner side of the left polisher rotating carrier belt 42130, so that the rotation of the gears can drive the left polisher rotating carrier belt 42130 to rotate.

[0143] like Fig.18 As shown, the left polishing device rotation motor unit 42140 includes a left polishing device rotation motor a42141 and a left polishing device rotation motor b42142, and the left polishing device rotation motor a42141 and the left polishing device rotation motor b42142 are respectively fixed to the upper surface of the left polishing device central axis 42110 by bolts.

[0144] like Fig.19 As shown, the left trowel unit 42150 includes a plurality of trowels, and the specific structure of the trowel is as follows: Fig. 20 As shown, it includes a trowel surface at the bottom and a cylindrical connecting member arranged in the middle of the upper surface, the cylindrical connecting member can be connected to the bottom surface of the left trowel rotating carrier belt 42130, and each trowel of the left trowel trowel unit 42150 is fixed to the bottom surface of the left trowel rotating carrier belt 42130 by bolts, so that under the rotation of the left trowel rotating carrier belt 42130, the left trowel trowel unit 42150 rotates with the left trowel rotating carrier belt 42130, thereby smoothing the concrete on the surface of the slope 10000.

[0145] like Fig.21 As shown, the concrete grinding part 50000 includes a left grinding lifting arm unit 51000, a right grinding lifting arm unit 52000, a left grinder unit 53000 and a right grinder unit 54000. The logical relationship of the above components is described in detail below:

[0146] like Fig. 22As shown, the left grinding lifting arm unit 51000 includes a left grinding lifting arm a51100, a left grinding lifting arm b51200, a left grinding lifting motor a51300 and a left grinding lifting motor b51400. The left grinding lifting arm a51100 and the left grinding lifting arm b51200 are both installed on the left side surface of the lower frame 31200 through an articulated seat, and the left grinding lifting motor a51300 and the left grinding lifting motor b51400 are respectively connected to the inner side of the two articulated seats by bolts to control the lifting of the left grinding lifting arm a51100 and the left grinding lifting arm b51200. Since the left grinding lifting arm unit 51000 and the right grinding lifting arm unit 52000 have the same structure, the same function, and the same connection method, only the left grinding lifting arm unit 51000 is described, and the right grinding lifting arm unit 52000 is not repeated.

[0147] like Fig.23 As shown, the left sander unit 53000 includes a left sanding middle shaft 53100 and a left sanding disc unit 53200. The left and right ends of the left sanding middle shaft 53100 have cylindrical grooves, which can be respectively clamped on the cylinders extending from the inner surfaces of the left sanding lifting arm a51100 and the left sanding lifting arm b51200, so that the left sanding lifting arm unit 51000 can control the up and down movement of the left sander unit 53000.

[0148] like Fig.24 As shown, the left grinding disc unit 53200 includes a left grinding disc motor unit 53210 and a left grinding chassis unit 53220. The left grinding disc motor unit 53210 includes a plurality of left grinding disc motors, the upper surfaces of which are fixed to the lower surface of the left grinding center shaft 53100 by bolts. The left grinding chassis unit 53220 includes a plurality of grinding chassis that are the same in number as the left grinding disc motors, such as Fig.25 As shown, each grinding chassis has the same structure, with an outer cover on the top and a rotating disc inside. The center of the rotating disc is connected to the motor rotating shaft of the left grinding disc motor unit 53210, and the motor can control the rotating disc to rotate. There is a protrusion on the lower surface of the rotating disc, which can be used to grind the hardened cement floor. The left grinding chassis unit 53220 is fixed to the lower surface of the left grinding disc motor unit 53210 by bolts, and the concrete on the surface of the slope 10000 can be polished after the concrete on the slope 10000 is dried to make the concrete on the surface of the slope 10000 smoother. Since the left grinder unit 53000 and the right grinder unit 54000 have the same structure, the same function, and the same connection method, only the left grinder unit 53000 is described, and the right grinder unit 54000 is not repeated.

[0149] like Fig.26As shown, the concrete supply part 60000 includes a concrete storage trolley 61000, a concrete pump 62000 and a concrete delivery pipe 63000. The logical relationship of the above components is described in detail below:

[0150] The concrete storage cart 61000 is used to store concrete. The concrete pump 62000 is fixed to the upper surface of the concrete storage cart 61000 by bolts. One end of the concrete pump 62000 is connected to the concrete storage cart 61000, and the other end is connected to the concrete delivery pipe 63000, so that the concrete pump 62000 can deliver the concrete in the concrete storage cart 61000 to the delivery pipe. One end of the concrete delivery pipe 63000 is connected to the concrete pump 62000, and the other end is connected to the concrete delivery main pipe 32100, so that the concrete pump 62000 can deliver the concrete in the concrete storage cart 61000 to the main pipe, and then from the concrete delivery main pipe 32100 to the concrete spray gun unit 33000 through the concrete delivery sub-pipe unit 32200 for concrete spraying.

[0151] Example 2

[0152] A method for using the slope concrete spraying, troweling and polishing robot according to Embodiment 1 comprises the following steps:

[0153] (1) First, place the entire robot on one side of the slope 10000, and control the upper rotary motor a21131, the upper rotary motor b21132, the upper rotary motor c21133, the upper rotary motor d21134 and the two lower rotary motors to make the bottom surface of the lower frame 31200 roughly parallel to the surface of the entire slope 10000, so that the spray gun of the concrete spray gun unit 33000 is roughly perpendicular to the surface of the slope 10000.

[0154] (2) By controlling the left trowel lifting arm unit 41100, the right trowel lifting arm unit 41200, the left grinding lifting arm unit 51000 and the right grinding lifting arm unit 52000 to rise upward, the left trowel unit 42100, the right trowel unit 42200, the left grinder unit 53000 and the right grinder unit 54000 are kept at a certain distance from the surface of the slope 10000, so that when concrete is sprayed on the slope 10000, the trowel and the grinder will not contact the surface of the slope 10000.

[0155] (3) The concrete pump 62000 is turned on, and the concrete pump 62000 transfers the concrete in the concrete storage cart 61000 into the concrete spray gun unit 33000 via the concrete delivery pipe 63000.

[0156] (4) Turn on the concrete spray gun unit 33000 to spray concrete on the slope 10000. At the same time, turn on the moving motors of the upper moving motor unit 21120 and the lower moving trolley unit 22000, so that the upper moving trolley 21100 and the lower moving trolley 21200 move to the other side of the slope 10000 at the same time. During the movement, control the movement speed so as to achieve a better concrete spraying effect.

[0157] (5) After spraying, turn off the concrete pump 62000 and the concrete spray gun unit 33000, and then wait for a while until the concrete on the surface of the slope 10000 reaches the ideal dryness before starting to smooth it. At this time, the entire robot still starts from one side of the slope 10000, controls the smoothing lifting arm unit 41000 to descend until the smoothing unit 42000 contacts the surface of the slope 10000, stops the smoothing lifting arm unit 41000 from descending, smoothes through the left smoothing unit 42100 and the right smoothing unit 42200, and at the same time turns on the upper moving motor unit 21120 and the lower moving trolley unit 22000, so that the entire robot moves to the other side of the slope 10000, and smoothes the concrete on the surface of the slope 10000;

[0158] (6) After the finishing work is completed, the finishing lifting arm unit 41000 is lifted up so that the trowel unit 42000 is separated from the surface of the slope 10000. After waiting for a period of time, when the concrete on the surface of the slope 10000 is completely dry, the concrete on the surface of the slope 10000 is polished. Taking the left polishing unit 53000 as an example, the left polishing lifting arm unit 51000 is controlled to descend until the bottom surface of the left polishing unit 53000 contacts the surface of the slope 10000, and then the left polishing disc motor unit 53210 is turned on so that the left polishing chassis unit 53220 polishes the concrete on the surface of the slope 10000. At the same time, the upper moving motor unit 21120 of the upper moving trolley unit 21000 and the moving motor of the lower moving trolley unit 22000 are turned on so that the entire robot moves from one side of the slope 10000 to the other side. At the same time, the concrete on the surface of the slope 10000 is polished.

[0159] (7) After the grinding work is completed, the left grinding lifting arm unit 51000 is raised to separate the left grinder unit 53000 from the surface of the slope 10000. At this point, the spraying, polishing and grinding of the concrete on the surface of the entire slope 10000 are completed.

[0160] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A slope concrete spraying and polishing robot, characterized in that: include: The up and down moving trolley parts are respectively arranged on the upper and lower planes of the slope, and are used to move the entire robot along the slope; A concrete spraying part, connected to the up-and-down moving trolley part, is used for spraying concrete on the slope; Concrete finishing parts are evenly arranged on both sides of the concrete spraying part and are used to finish the concrete sprayed on the slope; A concrete grinding part is evenly arranged on both sides of the concrete spraying part, and is used to grind the concrete surface after the concrete is dried; The concrete supply part is arranged on the lower plane of the slope, connected with the concrete spraying part, and is used for providing concrete to the concrete spraying part.

2. The slope concrete spraying, troweling and polishing robot according to claim 1 is characterized in that: The up and down moving trolley part includes an upper moving trolley unit and a lower moving trolley unit. The upper moving trolley unit is located on the upper plane of the slope, and the lower moving trolley unit is located on the lower plane of the slope. The upper moving trolley unit cooperates with the lower moving trolley unit to drive the entire robot to move.

3. The slope concrete spraying, troweling and polishing robot according to claim 2 is characterized in that: The upper moving vehicle comprises an upper moving vehicle body, an upper moving motor unit and an upper rotating motor unit, the upper moving vehicle body comprises a four-wheel chassis at the bottom, a wheel is arranged at each of the four corners of the four-wheel chassis, a groove is dug on the four-wheel chassis between two wheels on the same side, and is used to install the upper moving motor unit driving the wheel, a column extends upward from the middle of the four-wheel chassis, and the top end of the column is used to be connected to the upper frame in the form of an articulated seat; The upper moving motor unit includes an upper moving motor a, an upper moving motor b, an upper moving motor c and an upper moving motor d, and the upper moving motor a, the upper moving motor b, the upper moving motor c and the upper moving motor d are all installed on the inner side walls of the grooves on both sides of the upper moving vehicle body; The rotating shafts of the upper moving motor a, the upper moving motor b, the upper moving motor c and the upper moving motor d are respectively connected to a wheel of the upper moving vehicle body, and are used to control the rotation of the four wheels through the upper moving motor a, the upper moving motor b, the upper moving motor c and the upper moving motor d, so as to move the upper moving vehicle; The upper rotary motor unit includes an upper rotary motor a, an upper rotary motor b, an upper rotary motor c and an upper rotary motor d, wherein the upper rotary motor a and the upper rotary motor b are installed on both sides of the column of the upper mobile trolley, and the rotating shafts of the upper rotary motor a and the upper rotary motor b penetrate the column and the upper frame in the middle of the upper mobile trolley, and are used to control the upper frame to rotate around the connection point through the upper rotary motor a and the upper rotary motor b, so as to adjust the angle between the lower frame and the slope; The upper rotating motor c and the upper rotating motor d are installed at the connection where the upper frame and the lower frame are connected through the hinge seat, and are used to control the rotation of the connection through the upper rotating motor c and the upper rotating motor d to adjust the angle between the lower frame and the slope.

4. The slope concrete spraying, troweling and polishing robot according to claim 3 is characterized in that: The difference between the lower moving trolley unit and the upper moving trolley unit includes: a lower rotating motor unit part corresponding to the upper rotating motor unit, the lower rotating motor unit includes two rotating motors, and the two rotating motors are installed on a column in the middle of the lower moving vehicle body corresponding to the upper moving vehicle body.

5. The slope concrete spraying, troweling and polishing robot according to claim 1 is characterized in that: The concrete spraying part includes an intermediate frame, a concrete pipe transmission unit and a concrete spray gun unit, the intermediate frame includes an upper frame and a lower frame, one end of the upper frame is connected to a column in the middle of the upper moving vehicle body in the form of an articulated seat through the rotating shafts of the upper rotating motor a and the upper rotating motor b, and the other end is connected to one end of the lower frame in the form of an articulated seat through the rotating shafts of the upper rotating motor c and the upper rotating motor d; one end of the lower frame is connected to one end of the upper frame in the form of an articulated seat through the rotating shafts of the upper rotating motor c and the upper rotating motor d, and the other end is connected to a column in the middle of the lower moving vehicle body in the form of an articulated seat through the rotating shaft of the lower rotating motor unit; The concrete pipe transmission unit comprises a concrete transmission main pipe, a concrete transmission sub-pipe unit and a locking ring unit, wherein the concrete transmission main pipe is locked by the locking ring unit and thus installed on the upper surface of the lower frame; the concrete transmission sub-pipe unit comprises a plurality of identical sub-pipes that are bent toward the slope, one end of each of the sub-pipes is connected to the concrete transmission main pipe, and the other end is connected to the concrete spray gun; The locking ring unit includes a plurality of locking rings with the same structure, which are all installed on the upper surface of the lower frame, and are used to lock the main pipeline for concrete transmission; the concrete spray gun unit includes the same number of concrete spray guns as the secondary pipelines, and each of the concrete spray guns is installed on the bottom surface of the lower frame.

6. The slope concrete spraying, troweling and polishing robot according to claim 1 is characterized in that: The concrete trowel part comprises a trowel lifting arm unit and a trowel unit; The polishing lifting arm unit comprises a left polishing lifting arm unit and a right polishing lifting arm unit which are symmetrically arranged and have the same structure. The left polishing lifting arm unit / right polishing lifting arm unit comprises a plurality of lifting arms, and the plurality of lifting arms are connected to the side of the lower frame through an articulated seat. The two lifting arms located on the outer sides are respectively equipped with a polishing lifting arm rotating motor unit at the connection between the two lifting arms and the articulated seat, and the polishing lifting arm is driven to move up and down by rotating. The trowel unit comprises a left trowel unit and a right trowel unit which are symmetrically arranged and have the same structure, wherein: the left trowel unit comprises a left trowel central axis, a left trowel gear unit, a left trowel rotating carrier belt, a left trowel rotating motor unit and a left trowel trowel knife unit, and the middle part of the left trowel central axis is equipped with articulated seats with the same number as the lifting arms, and each of the articulated seats is respectively connected to each lifting arm in the left trowel lifting arm unit, and is used to control the lifting of the left trowel central axis through the left trowel lifting arm unit.

7. The slope concrete spraying, troweling and polishing robot according to claim 6 is characterized in that: The left polishing device gear unit comprises a left polishing device gear a, a left polishing device gear b, a left polishing device gear c and a left polishing device gear d which are arranged in sequence from top to bottom, and the left polishing device gear a, the left polishing device gear b, the left polishing device gear c and the left polishing device gear d can all rotate around their connection points; The tops of the left polishing device gear b and the left polishing device gear c located in the middle are respectively connected to the left polishing device rotating motor a and the left polishing device rotating motor b, the left polishing device rotating motor a controls the rotation of the left polishing device gear b, and the left polishing device rotating motor b controls the rotation of the left polishing device gear c; A groove is provided on the inner side of the left polishing device rotating carrier belt, which is used to make the teeth on the outer rings of the left polishing device gear a, the left polishing device gear b, the left polishing device gear c and the left polishing device gear d be stuck in the groove on the inner side of the left polishing device rotating carrier belt during the rotation of the left polishing device gear unit, so that the rotation of the gear drives the left polishing device rotating carrier belt to rotate; The left polishing device rotating motor unit comprises a left polishing device rotating motor a and a left polishing device rotating motor b, and the left polishing device rotating motor a and the left polishing device rotating motor b are respectively installed on the upper surface of the left polishing device central axis; The left trowel trowel unit includes multiple trowels, and the trowel includes a trowel surface at the bottom and a columnar connecting member arranged in the middle of the upper surface. The columnar connecting member is connected to the bottom surface of the left trowel rotating carrier belt, and is used to drive the left trowel trowel unit to rotate along with the left trowel rotating carrier belt through the rotation of the left trowel rotating carrier belt to smooth the concrete on the slope surface.

8. The slope concrete spraying, troweling and polishing robot according to claim 1, characterized in that: The concrete grinding part comprises a left grinding lifting arm unit and a right grinding lifting arm unit which are symmetrically arranged and have the same structure, and a left grinding device unit and a right grinding device unit which are symmetrically arranged and have the same structure; The left grinding lifting arm unit comprises a left grinding lifting arm a, a left grinding lifting arm b, a left grinding lifting motor a and a left grinding lifting motor b. The left grinding lifting arm a and the left grinding lifting arm b are both mounted on the left side of the lower frame through an articulated seat. The inner sides of the two articulated seats are respectively connected with the left grinding lifting motor a and the left grinding lifting motor b for controlling the lifting of the left grinding lifting arm a and the left grinding lifting arm b. The left sander unit comprises a left sanding middle shaft and a left sanding disc unit, and the left and right ends of the left sanding middle shaft have cylindrical grooves, which are respectively used to clamp on the cylinders extending from the inner surfaces of the left sanding lifting arm a and the left sanding lifting arm b, and are used to control the up and down lifting of the left sander unit through the left sanding lifting arm unit; The left grinding disc unit includes a left grinding disc motor unit and a left grinding disc chassis unit. The left grinding disc motor unit includes multiple left grinding disc motors, and the upper surfaces of these left grinding disc motors are installed on the lower surface of the left grinding central axis; the left grinding disc chassis unit is installed on the lower surface of the left grinding disc motor unit, and includes multiple grinding chassis that are the same in number as the left grinding disc motors.

9. The slope concrete spraying, troweling and polishing robot according to claim 1, characterized in that: The concrete supply part includes a concrete storage cart, a concrete pump and a concrete delivery pipe. The concrete pump is installed on the upper surface of the concrete storage cart. One end of the concrete pump is connected to the concrete storage cart, and the other end is connected to the concrete delivery pipe; one end of the concrete delivery pipe is connected to the concrete pump, and the other end is connected to the concrete transmission main pipeline.

10. A method for using the slope concrete spraying and polishing robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Place the entire robot on one side of the slope, and control the upper rotary motor unit and the two lower rotary motors to make the bottom surface of the lower frame roughly parallel to the surface of the entire slope, so that the spray gun of the concrete spray gun unit is roughly perpendicular to the surface of the slope; Step 2: Control the left trowel lifting arm unit, the right trowel lifting arm unit, the left grinding lifting arm unit and the right grinding lifting arm unit to lift upwards so that the left trowel unit, the right trowel unit, the left grinding unit and the right grinding unit are at a distance from the slope surface, so that when concrete is sprayed on the slope, the trowel and the grinding unit will not contact the slope surface; Step 3: Turn on the concrete pump, and use the concrete pump to transfer the concrete in the concrete storage trolley into the concrete spray gun unit through the concrete delivery pipe; Step 4: Turn on the concrete spray gun unit to spray concrete on the slope, and the upper moving trolley and the lower moving trolley move to the other side of the slope at the same time to achieve concrete spraying; Step 5: After spraying, turn off the concrete pump and the concrete spray gun unit. When the concrete on the slope surface reaches the preset dryness, it is smoothed. At this time, the entire robot starts from one side of the slope, controls the smoothing lifting arm unit to descend until the smoothing unit contacts the slope surface, stops the smoothing lifting arm unit from descending, smoothes through the left smoothing unit and the right smoothing unit, and moves the entire robot to the other side of the slope through the upper moving trolley and the lower moving trolley, so that the entire robot moves to the other side of the slope while smoothing the concrete on the slope surface; Step 6. After the finishing work is completed, the finishing lifting arm unit is raised to separate the finishing unit from the slope surface. After waiting for a while, when the concrete on the slope surface is completely dry, the concrete on the slope surface is polished. The concrete on the slope surface is polished by the left polisher unit and the right polisher unit. The entire robot is moved from one side of the slope to the other side by the upper moving trolley and the lower moving trolley, and the concrete on the slope surface is polished at the same time. Step 7: After the grinding work is completed, the left grinding lifting arm unit and the right grinding lifting arm unit are raised to separate the left grinder unit and the right grinder unit from the slope surface. At this point, the spraying, polishing and grinding of the concrete on the entire slope surface are completed.

Images