A robot for spraying, polishing, and grinding concrete on slopes and its application method

Abstract

This invention relates to the field of engineering technology, specifically disclosing a slope-mounted concrete spraying, troweling, and grinding robot and its usage method. The robot includes: a vertically moving trolley section, respectively disposed on the upper and lower planes of the slope, for moving the entire robot along the slope; a concrete spraying section, connected to the vertically moving trolley section, for spraying concrete onto the slope; a concrete troweling section, evenly disposed on both sides of the concrete spraying section, for troweling the sprayed concrete onto the slope; and a concrete grinding section, evenly disposed on both sides of the concrete spraying section, for grinding the concrete surface after it has dried. This invention improves the efficiency and quality of concrete spraying on slope surfaces and achieves integrated operation of concrete spraying, troweling, and grinding.

Description

Technical Field

[0001] This invention relates to the field of engineering technology, specifically to a robot for spraying, polishing, and grinding concrete on slopes, and also to a method for using the robot. Background Technology

[0002] In construction, excavation of foundation pits is often necessary, resulting in slopes on the pit walls. Due to the inclination of these slopes, the soil on the surface is prone to slippage. Concrete needs to be sprayed onto the excavated slope surface to solidify it and reduce soil slippage, effectively minimizing hazards to construction workers. However, traditional concrete spraying machines for slopes have low efficiency, especially for large slopes. The spraying process often consumes a significant amount of time, and manual operation is frequently required, leading to poor spraying results and an uneven, dried concrete slope surface. Furthermore, in traditional concrete slope construction, spraying, troweling, and grinding are performed by different machines, failing to integrate these three processes. Summary of the Invention

[0003] The purpose of this invention is to provide a concrete spraying, troweling and grinding robot for sloping surfaces, which can improve the spraying efficiency and quality of concrete on sloping surfaces and realize the integrated operation of concrete spraying, troweling and grinding.

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

[0005] To further achieve the above objectives, the present invention adopts the following technical solution:

[0006] A robot for spraying, troweling, and grinding sloping concrete includes:

[0007] The vertically moving trolley is respectively set on the upper and lower planes of the slope, and is used to move the entire robot along the slope;

[0008] The concrete spraying section is connected to the up-and-down moving trolley section and is used to spray concrete onto the slope.

[0009] The concrete finishing section is evenly distributed on both sides of the concrete spraying section and is used to finish the concrete sprayed on the slope.

[0010] The concrete grinding section is evenly distributed on both sides of the concrete spraying section and is used to grind the concrete surface after the concrete has dried.

[0011] The concrete supply section is located on the lower plane of the slope and connected to the concrete spraying section, and is used to supply concrete to the concrete spraying section.

[0012] Optionally, the vertically moving trolley section 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 and the lower moving trolley unit cooperate to drive the entire robot to move.

[0013] Furthermore, the upper moving trolley includes an upper moving vehicle body, an upper moving motor unit, and an upper rotating motor unit. The upper moving vehicle body includes a four-wheel chassis at the bottom, with a wheel at each of the four corners of the four-wheel chassis. A groove is carved in the four-wheel chassis between two wheels on the same side for mounting the upper moving motor unit that drives the wheels. A column extends upward from the middle of the four-wheel chassis, and the top of the column is used to connect to the upper frame in the form of a hinged seat.

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

[0015] The rotating shafts of the upper moving motors a, b, c, and d are respectively connected to one wheel of the upper moving vehicle body, and are used to control the rotation of the four wheels through the upper moving motors a, b, c, and d, thereby moving the upper moving vehicle.

[0016] The upper rotating motor unit includes upper rotating motor a, upper rotating motor b, upper rotating motor c, and upper rotating motor d. Upper rotating motor a and upper rotating motor b are installed on both sides of the column of the upper moving trolley. The rotating shafts of upper rotating motor a and upper rotating motor b pass through the column and upper frame in the middle of the upper moving trolley, and are used to control the upper frame to rotate around the connection point and adjust the angle between the lower frame and the slope.

[0017] The upper rotary motor c and upper rotary motor d are installed at the connection point where the upper frame and the lower frame are connected by a hinge seat. They are used to control the rotation of the connection point and adjust the angle between the lower frame and the slope.

[0018] Furthermore, 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 including two rotating motors, which are mounted on a column in the middle of the lower moving trolley body corresponding to the upper moving trolley body.

[0019] Optionally, the concrete spraying section includes an intermediate frame, a concrete pipeline conveying unit, and a concrete spraying 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 via the rotating shafts of the upper rotary motors a and b in the form of a hinged joint. The other end of the upper frame is connected to one end of the lower frame via the rotating shafts of the upper rotary motors c and d in the form of a hinged joint. One end of the lower frame is connected to one end of the upper frame via the rotating shafts of the upper rotary motors c and d in the form of a hinged joint. The other end of the lower frame is connected to a column in the middle of the lower moving vehicle body via the rotating shaft of the lower rotary motor unit in the form of a hinged joint.

[0020] The concrete pipeline transmission unit includes a main concrete transmission pipeline, a secondary concrete transmission pipeline unit, and a locking ring unit. The main concrete transmission pipeline is locked by the locking ring unit and thus installed on the upper surface of the lower frame. The secondary concrete transmission pipeline unit includes multiple identical secondary pipelines that curve towards the slope. One end of each secondary pipeline is connected to the main concrete transmission pipeline, and the other end is connected to a concrete spray gun.

[0021] The locking ring unit includes multiple locking rings with identical structures, all of which are installed on the upper surface of the lower frame. The locking rings are used to lock the main concrete conveying pipe. The concrete spraying gun unit includes the same number of concrete spraying guns as the secondary pipes, and each concrete spraying gun is installed on the bottom surface of the lower frame.

[0022] Optionally, the concrete troweling section includes a troweling lifting arm unit and a troweling unit;

[0023] The trowel lifting arm unit includes a left trowel lifting arm unit and a right trowel lifting arm unit that are symmetrically arranged and have the same structure. The left trowel lifting arm unit / right trowel lifting arm unit includes multiple lifting arms. All of the multiple lifting arms are connected to the side of the lower frame through hinge seats. The two lifting arms located on the outer side are respectively equipped with trowel lifting arm rotary motor units at their connection with the hinge seats, which drive the trowel lifting arms to move up and down by rotation.

[0024] The polishing unit includes a symmetrically arranged left polishing unit and a right polishing unit with the same structure. The left polishing unit includes a left polishing central shaft, a left polishing gear unit, a left polishing rotating carrier belt, a left polishing rotating motor unit, and a left polishing polishing blade unit. The central shaft of the left polishing unit has a number of hinge seats that are the same as the number of lifting arms. Each hinge seat is connected to each lifting arm in the left polishing lifting arm unit, and is used to control the lifting of the left polishing central shaft through the left polishing lifting arm unit.

[0025] Furthermore, the left polishing gear unit includes left polishing gear a, left polishing gear b, left polishing gear c, and left polishing gear d arranged sequentially from top to bottom. Each of the left polishing gears a, b, c, and d can rotate around its connection point. The tops of the left polishing gears b and c, located in the middle, are respectively connected to left polishing rotary motor a and motor b. Left polishing rotary motor a controls the rotation of left polishing gear b, and left polishing rotary motor b controls the rotation of left polishing gear c.

[0026] The inner side of the rotating carrier belt of the left polisher is provided with a groove, which is used to make the teeth of the outer ring of the left polisher gear a, left polisher gear b, left polisher gear c and left polisher gear d engage in the groove on the inner side of the rotating carrier belt of the left polisher during the rotation of the left polisher gear unit, so that the rotation of the gear drives the rotating carrier belt of the left polisher to rotate.

[0027] The left trowel rotary motor unit includes a left trowel rotary motor a and a left trowel rotary motor b, which are respectively mounted on the upper surface of the central shaft of the left trowel.

[0028] The left trowel unit includes multiple trowels, each trowel having a bottom trowel surface and a cylindrical connector in the middle of its upper surface. The cylindrical connector is connected to the bottom surface of the left trowel's rotating carrier belt, and is used to smooth the concrete on the sloping surface by rotating the left trowel's rotating carrier belt along with the left trowel's rotating carrier belt.

[0029] Optionally, the concrete grinding section includes a left grinding lifting arm unit and a right grinding lifting arm unit that are symmetrically arranged and have the same structure, as well as a left grinding unit and a right grinding unit that are symmetrically arranged and have the same structure.

[0030] The left grinding lifting arm unit includes 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 hinge seats. The left grinding lifting motor a and the left grinding lifting motor b are respectively connected to the inner side of the two hinge seats to control the lifting of the left grinding lifting arm a and the left grinding lifting arm b.

[0031] The left grinding unit includes a left grinding central shaft and a left grinding disc unit. The left and right ends of the left grinding central shaft have cylindrical grooves, which are respectively used to be engaged on the cylinders extending from the inner surfaces of the left grinding lifting arm a and the left grinding lifting arm b, and are used to control the up and down movement of the left grinding unit through the left grinding lifting arm unit.

[0032] The left grinding disc unit includes a left grinding disc motor unit and a left grinding base unit. The left grinding disc motor unit includes multiple left grinding disc motors, the upper surfaces of which are mounted on the lower surface of the left grinding central shaft. The left grinding base unit is mounted on the lower surface of the left grinding disc motor unit and includes multiple grinding bases, the same number as the number of left grinding disc motors.

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

[0034] This invention also claims a method of using the aforementioned slope concrete spraying, troweling, and grinding robot, comprising the following steps:

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

[0036] Step 2: By controlling 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 rise upwards, the left trowel unit, the right trowel unit, the left grinding unit, and the right grinding unit are a certain distance away from the slope surface, so that when the slope is sprayed with concrete, the trowel and the grinding machine will not come into contact with the slope surface.

[0037] Step 3: Turn on the concrete pump, which will transfer the concrete from the concrete storage trolley into the concrete spraying gun unit via the concrete delivery pipe.

[0038] Step 4: Activate the concrete spraying gun unit to spray concrete onto the slope. The upper and lower moving trolleys move simultaneously to the other side of the slope to spray concrete.

[0039] Step 5: After spraying, turn off the concrete pump and concrete spray gun unit. After the concrete on the slope surface reaches the preset dryness, perform a smoothing process. At this time, the entire robot starts from one side of the slope and controls the smoothing lifting arm unit to descend until the smoothing unit contacts the slope surface. Stop the descent of the smoothing lifting arm unit and smooth the surface using the left and right smoothing units. Move the entire robot to the other side of the slope using the upper and lower moving trolleys. This allows the entire robot to move to the other side of the slope while smoothing the concrete on the slope surface.

[0040] Step 6: After the troweling work is completed, raise the troweling lifting arm unit to separate the trowel unit from the slope surface. Wait for a period of time until the concrete on the slope surface is completely dry, and then start grinding the concrete on the slope surface. Grind the concrete on the slope surface using the left and right grinding units. Move the entire robot from one side of the slope to the other using the upper and lower moving trolleys, while grinding the concrete on the slope surface at the same time.

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

[0042] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0043] 1. This invention includes concrete spraying, concrete troweling, and concrete grinding components, achieving the integration of concrete spraying, concrete troweling, and concrete grinding.

[0044] 2. The concrete spraying, concrete troweling, and concrete grinding of this invention cover the entire slope, thus enabling the entire slope to be operated at once, greatly improving work efficiency.

[0045] 3. The concrete spray guns of the present invention are arranged along the entire intermediate frame, so the spraying range of the concrete spray guns covers the entire slope, making the spraying time consistent at each part of the slope, so the concrete spraying thickness in different parts of the slope is basically the same, effectively improving the spraying quality of concrete.

[0046] 4. The concrete smoothing and concrete grinding parts of the present invention are roughly symmetrical about the central axis of the robot. The robot can perform secondary smoothing and secondary grinding of the concrete by walking on the slope once, which improves both construction efficiency and construction quality. Attached Figure Description

[0047] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

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

[0049] Figure 2 This is a schematic diagram of the vertically moving trolley portion of the present invention;

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

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

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

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

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

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

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

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

[0058] Figure 11 This is a schematic diagram of the concrete finishing section of the present invention;

[0059] Figure 12 This is a schematic diagram of the polishing lifting arm unit structure of the present invention;

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

[0061] Figure 14 This is a schematic diagram of the structure of the left polishing lifting arm rotary motor unit a and the left polishing lifting arm rotary motor unit b of the present invention.

[0062] Figure 15 This is a schematic diagram of the unit structure of the polishing tool of the present invention;

[0063] Figure 16 This is a schematic diagram of the left polishing unit structure of the present invention;

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

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

[0066] Figure 19 This is a schematic diagram of the left-side polishing blade unit structure of the present invention;

[0067] Figure 20 This is a schematic diagram of the trowel structure of the present invention;

[0068] Figure 21 This is a schematic diagram of the concrete grinding section of the present invention;

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

[0070] Figure 23 This is a schematic diagram of the left grinder unit structure of the present invention;

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

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

[0073] Figure 26 This is a schematic diagram of the concrete supply section of the present invention.

[0074] In the picture:

[0075] 10000 - grading;

[0076] 20000 - Vertical Moving Cart Section:

[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 Rotary Motor Unit:

[0081] 21131-Upper rotary motor a, 21132-Upper rotary motor b, 21133-Upper rotary motor c, 21134-Upper rotary motor d;

[0082] 21200 - Upper counterweight trolley;

[0083] 22000 - Lower moving trolley unit;

[0084] 30000 - Shotcrete section:

[0085] 31000 - Intermediate skeleton;

[0086] 31100 - Upper skeleton;

[0087] 31200 - Lower skeleton;

[0088] 32000 - Concrete Pipeline Transfer Unit;

[0089] 32100 - Main concrete transport pipeline;

[0090] 32200 - Concrete transfer auxiliary piping unit;

[0091] 32300 - Locking Ring Unit;

[0092] 33000 - Concrete Spray Gun Unit;

[0093] 40000 - Concrete finishing section:

[0094] 41000-Grinding lifting arm unit;

[0095] 41100 - Left finishing lifting arm unit;

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

[0097] 41160-Left grouting lifting arm rotary motor unit a;

[0098] 41161-Left trowel lifting arm rotary motor a, 41162-Left trowel lifting arm rotary motor b;

[0099] 41170-Left finishing lifting arm rotary motor unit b;

[0100] 41171-Left trowel lifting arm rotary motor c, 41172-Left trowel lifting arm rotary motor d;

[0101] 41200 - Right finishing lifting arm unit;

[0102] 42000-Polishing Unit;

[0103] 42100 - Left polishing unit;

[0104] 42110 - Left polishing tool center axis;

[0105] 42120-Left Polishing Gear Unit:

[0106] 42121-Left polisher gear a, 42122-Left polisher gear b, 42123-Left polisher gear c, 42124-Left polisher gear d;

[0107] 42130 - Left polisher rotating carrier belt;

[0108] 42140 - Left power trowel rotary motor unit:

[0109] 42141-Left trowel rotary motor a, 42142-Left trowel rotary motor b;

[0110] 42150 - Left power trowel unit;

[0111] 42200 - Right-hand polishing unit;

[0112] 50000 - Concrete Grinding Section:

[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 Lifting Arm Unit;

[0116] 53000 - Left Grinding Unit;

[0117] 53100 - Left side grinding of the center shaft;

[0118] 53200 - Left Grinding Disc Unit:

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

[0120] 54000 - Right Grinding Unit;

[0121] 60000 - Concrete Supply Section:

[0122] 61000 - Concrete storage trolley;

[0123] 62000 - Concrete Pump;

[0124] 63000 - Concrete delivery pipe. Detailed Implementation

[0125] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0126] Example 1

[0127] A robot for spraying, polishing, and grinding sloping concrete, such as Figure 1 As shown, the system includes a ramp 10000, a vertical moving trolley section 20000, a concrete spraying section 30000, a concrete troweling section 40000, a concrete grinding section 50000, and a concrete supply section 60000. Specifically, the ramp 10000 provides a simple working environment for the robot. The vertical moving trolley section 20000 includes an upper moving trolley 21100, an upper counterweight trolley 21200, a lower moving trolley corresponding to the upper moving trolley 21100, and a lower counterweight trolley corresponding to the upper counterweight trolley 21200, mainly used to assist the entire robot in movement. The concrete spraying section 30000 includes a central frame 31000, a concrete spray gun unit 33000, and a concrete pipeline transmission unit 32000, mainly used to spray concrete onto the ramp 10000. The concrete finishing section 40000 includes a finishing lifting arm unit 41000 and a finishing tool unit 42000, mainly used to finish the concrete sprayed onto the slope 10000. The concrete grinding section 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, mainly used to grind the concrete surface after it dries, making the concrete surface smoother. The concrete supply section 60000 includes a concrete storage trolley 61000, a concrete pump 62000, and a concrete delivery pipe 63000, used to supply concrete to the concrete spray gun unit 33000.

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

[0129] like Figure 2 As shown, the vertical moving trolley section 20000 includes an upper moving trolley unit 21000 and a lower moving trolley unit 22000. The logical relationship between these 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. For example... Figure 4 As shown, the upper moving trolley 21100 includes an upper moving body 21110, an upper moving motor unit 21120, and an upper rotating motor unit 21130. For example... Figure 5 As shown, the upper movable vehicle body 21110 includes a four-wheel chassis at the bottom, with a wheel at each of the four corners of the chassis. A groove is cut in the four-wheel chassis between two wheels on the same side to house the upper movable motor unit 21120 that drives the wheels. 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 a hinge. The rotation shafts of the upper rotary motor a21131 and the upper rotary motor b21132 are the rotation shafts of the hinge.

[0131] like Figure 6 As shown, the upper moving motor unit 21120 includes upper moving motors a21121, b21122, c21123, and d21124. Upper moving motor a21121 is bolted to the inner wall of a groove on the upper moving vehicle body 21110. The shaft of upper moving motor a21121 is connected to one wheel of the upper moving vehicle body 21110, allowing upper moving motor a21121 to control the rotation of that wheel. Upper moving motors b21122, c21123, and d21124 have the same structure, function, and connection method as upper moving motor a21121; therefore, only upper moving motor a21121 will be described, and the other three upper moving motors will not be described further. The upper moving motor unit 21120 can drive the four wheels of the upper moving vehicle body 21110 to rotate, thereby moving the upper moving trolley 21100.

[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 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 upper rotary motor a21131, upper rotary motor b21132, upper rotary motor c21133, and upper rotary motor d21134. Upper rotary motors a21131 and b21132 are bolted to both sides of a column in the middle of the upper moving trolley 21100. The rotation axes of upper rotary motors a21131 and b21132 pass through the column in the middle of the upper moving trolley 21100 and the upper frame 31100, allowing upper rotary motors a21131 and b21132 to control the upper frame 31100 to rotate around the connection point, thereby adjusting the angle between the lower frame 31200 and the slope 10000. The upper rotary motors c21133 and d21134 are bolted to the hinge joint connecting the upper frame 31100 and the lower frame 31200, allowing the upper rotary motors c21133 and d21134 to control the rotation of this joint, thereby adjusting the angle between the lower frame 31200 and the ramp 10000, facilitating subsequent robot operations. The upper moving vehicle 21110 is located on the upper plane of the ramp 10000, and can cooperate with the lower moving vehicle to move the entire robot. Figure 4 As shown, the lower moving trolley unit 22000 differs only in the lower rotary motor unit corresponding to the upper rotary motor unit 21130. The upper rotary motor unit 21130 includes four rotary motors, while the lower rotary motor unit includes only two. These two rotary motors are bolted to a column in the middle of the lower moving trolley body corresponding to the upper moving trolley body 21110. This position and connection method are similar to those of the upper rotary motors a21131 and b21132. The lower rotary motor unit can work with the upper rotary motor unit 21130 to adjust the lower frame 31200 to maintain approximate parallelism with the ramp 10000. Apart from this, the lower moving trolley unit 22000 is identical to the upper moving trolley unit 21000. Therefore, only the upper moving trolley unit 21000 will be described in detail, and the lower moving trolley unit 22000 will not be described further.

[0134] like Figure 8 As shown, the concrete spraying section 30000 includes an intermediate frame 31000, a concrete pipeline transmission unit 32000, and a concrete spraying gun unit 33000. The logical relationships between these components are described in detail below:

[0135] like Figure 9As shown, the intermediate frame 31000 includes an upper frame 31100 and a lower frame 31200. The upper frame 31100 is shorter in length. One end of the upper frame 31100 is connected to a column in the middle of the upper moving vehicle body 21110 via the rotating shafts of the upper rotary motors a21131 and b21132 in the form of a hinged joint. The other end of the upper frame 31100 is connected to one end of the lower frame 31200 via the rotating shafts of the upper rotary motors c21133 and d21134 in the form of a hinged joint. The lower frame 31200 is longer in length. One end of the lower frame 31200 is connected to one end of the upper frame 31100 via the rotating shafts of the upper rotary motors c21133 and d21134 in the form of a hinged joint. The other end of the lower frame 31200 is connected to a column in the middle of the lower moving vehicle body via the rotating shaft of the lower rotary motor unit in the form of a hinged joint.

[0136] like Figure 10 As shown, the concrete pipeline transmission unit 32000 includes a main concrete transmission pipeline 32100, a secondary concrete transmission pipeline unit 32200, and a locking ring unit 32300. The main concrete transmission pipeline 32100 is locked by the locking ring unit 32300 and thus installed on the upper surface of the lower frame 31200. The secondary concrete transmission pipeline unit 32200 includes multiple identical secondary pipelines that curve towards the slope. One end of each secondary pipeline is connected to the main concrete transmission pipeline 32100, and the other end is connected to a concrete spray gun via bolts, thereby allowing concrete to be supplied from the main concrete transmission pipeline 32100 to the concrete spray gun. The locking ring unit 32300 includes multiple locking rings with identical structures. These locking rings are all fixed to the upper surface of the lower frame 31200 by bolts, and each locking ring can lock the main concrete transmission pipeline 32100, thereby fixing the main concrete transmission pipeline 32100. The concrete spray gun unit 33000 includes multiple units, such as... Figure 9 As shown, ten identical concrete spray guns are used as an example for illustration. Each concrete spray gun is fixed to the bottom surface of the lower frame 31200 by bolts.

[0137] like Figure 11 As shown, the concrete troweling section 40000 includes a troweling lifting arm unit 41000 and a troweling unit 42000. The logical relationship between these components is described in detail below:

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

[0139] like Figure 13 , Figure 14 As shown, the left trowel lifting arm unit 41100 includes five lifting arms: left trowel lifting arm a41110, left trowel lifting arm b41120, left trowel lifting arm c41130, left trowel lifting arm d41140, and left trowel lifting arm e41150. All five lifting arms are connected to the left side of the lower frame 31200 via hinge seats. All five lifting arms can rotate around the hinge seats. Among these five lifting arms, left trowel lifting arms a41110 and e41150 are respectively bolted to their connection points with the hinge seats, with a left trowel lifting arm rotary motor unit a41160 and a left trowel lifting arm rotary motor unit a41160 respectively. The rotary motor unit b41170 and the left trowel lifting arm rotary motor unit a41160 include left trowel lifting arm rotary motors a41161 and b41162, which are respectively installed on both sides of the left trowel lifting arm a41110. Rotation of these motors drives the left trowel lifting arm a41110 to move up and down. The left trowel lifting arm rotary motor unit b41170 includes left trowel lifting arm rotary motors c41171 and d41172, which are respectively installed on both sides of the left trowel lifting arm e41150. Rotation of these motors drives the left trowel lifting arm e41150 to move up and down. The left trowel lifting arms b41120, c41130, and d41140 serve to share the weight of the left trowel unit 42100.

[0140] like Figure 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, the same function, and the same connection method, only the left polishing unit 42100 will be described, and the right polishing unit 42200 will not be described in detail.

[0141] like Figure 16 As shown, the left polishing unit 42100 includes a left polishing central shaft 42110, a left polishing gear unit 42120, a left polishing rotating carrier belt 42130, a left polishing rotating motor unit 42140, and a left polishing blade unit 42150. Five hinge seats are bolted to the center of the left polishing central shaft 42110. Each hinge seat is connected to each lifting arm in the left polishing lifting arm unit 41100, allowing the left polishing lifting arm unit 41100 to control the raising and lowering of the left polishing central shaft 42110.

[0142] like Figure 17As shown, the left polishing gear unit 42120 includes left polishing gear a42121, left polishing gear b42122, left polishing gear c42123 and left polishing gear d42124 arranged sequentially from top to bottom. All four gears can rotate around their connection points. The tops of the left polishing gears b42122 and c42123, which are located in the middle, are connected to the left polishing rotary motors a42141 and b42142, respectively. The left polishing rotary motor a42141 controls the rotation of the left polishing gear b42122, and the left polishing rotary motor b42142 controls the rotation of the left polishing gear c42123. The inner side of the rotating carrier belt 42130 of the left polisher is provided with a groove. During the rotation of the gear unit 42120 of the left polisher, the teeth of the outer ring of the left polisher gear a42121, left polisher gear b42122, left polisher gear c42123 and left polisher gear d42124 are engaged in the groove on the inner side of the rotating carrier belt 42130 of the left polisher, so that the rotation of the gear can drive the rotating carrier belt 42130 of the left polisher to rotate.

[0143] like Figure 18 As shown, the left trowel rotary motor unit 42140 includes a left trowel rotary motor a42141 and a left trowel rotary motor b42142, which are respectively fixed to the upper surface of the left trowel central shaft 42110 by bolts.

[0144] like Figure 19 As shown, the left trowel unit 42150 includes multiple trowels, the specific structure of which is as follows: Figure 20 As shown, it includes a bottom trowel blade and a columnar connector in the middle of the upper surface. The columnar connector can be connected to the bottom surface of the left trowel rotating carrier belt 42130. Each trowel blade of the left trowel blade unit 42150 is fixed to the bottom surface of the left trowel rotating carrier belt 42130 by bolts. Under the rotation of the left trowel rotating carrier belt 42130, the left trowel blade unit 42150 rotates with the left trowel rotating carrier belt 42130, thereby smoothing the concrete on the 10000 slope surface.

[0145] like Figure 21 As shown, the concrete grinding section 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 relationships between these components are described in detail below:

[0146] like Figure 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. Both the left grinding lifting arms a51100 and b51200 are mounted on the left side of the lower frame 31200 via hinged seats. The left grinding lifting motors a51300 and b51400 are bolted to the inner sides of the two hinged seats to control the lifting of the left grinding lifting arms a51100 and b51200. Since the left grinding lifting arm unit 51000 and the right grinding lifting arm unit 52000 have the same structure, function, and connection method, only the left grinding lifting arm unit 51000 will be described; the right grinding lifting arm unit 52000 will not be described further.

[0147] like Figure 23 As shown, the left grinder unit 53000 includes a left grinding central shaft 53100 and a left grinding disc unit 53200. The left grinding central shaft 53100 has cylindrical grooves at both ends, which can be respectively engaged with the cylinders extending from the inner surfaces of the left grinding lifting arm a 51100 and the left grinding lifting arm b 51200, thereby enabling the left grinding lifting arm unit 51000 to control the up and down movement of the left grinder unit 53000.

[0148] like Figure 24 As shown, the left grinding disc unit 53200 includes a left grinding disc motor unit 53210 and a left grinding base unit 53220. The left grinding disc motor unit 53210 includes multiple left grinding disc motors, the upper surfaces of which are bolted to the lower surface of the left grinding central shaft 53100. The left grinding base unit 53220 includes multiple grinding bases, the number of which corresponds to the number of left grinding disc motors, such as... Figure 25 As shown, each grinding base has an identical structure, consisting of an outer cover and an inner rotating disk. The center of the rotating disk is connected to the motor shaft of the left grinding disk motor unit 53210, allowing the motor to control the rotation of the disk. The lower surface of the rotating disk has protrusions for grinding the hardened cement floor. The left grinding base unit 53220 is bolted to the lower surface of the left grinding disk motor unit 53210, enabling the grinding of the concrete surface on the slope 10000 after it has dried, resulting in a smoother surface. Since the left grinding unit 53000 and the right grinding unit 54000 have the same structure, function, and connection method, only the left grinding unit 53000 will be described; the right grinding unit 54000 will not be further described.

[0149] like Figure 26As shown, the concrete supply section 60000 includes a concrete storage trolley 61000, a concrete pump 62000, and a concrete delivery pipe 63000. The logical relationships between these components are described in detail below:

[0150] A concrete storage trolley 61000 is used to store concrete. A concrete pump 62000 is bolted to the upper surface of the concrete storage trolley 61000. One end of the concrete pump 62000 is connected to the concrete storage trolley 61000, and the other end is connected to the concrete delivery pipe 63000, allowing the concrete pump 62000 to deliver the concrete from the concrete storage trolley 61000 into 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 main concrete delivery pipe 32100, allowing the concrete pump 62000 to deliver the concrete from the concrete storage trolley 61000 to the main pipe, and then from the main concrete delivery pipe 32100 through the secondary concrete delivery pipe unit 32200 to the concrete spraying gun unit 33000 for concrete spraying operations.

[0151] Example 2

[0152] A method for using the slope concrete spraying, troweling and grinding robot described in Embodiment 1 includes the following steps:

[0153] (1) First, place the entire robot on one side of the slope 10000. By controlling the upper rotary motors a21131, b21132, c21133, d21134 and the two lower rotary motors, make the bottom surface of the lower frame 31200 approximately parallel to the surface of the entire slope 10000, so that the spray gun of the concrete spray gun unit 33000 is approximately 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 up, the left trowel unit 42100, the right trowel unit 42200, the left grinder unit 53000 and the right grinder unit 54000 are a certain distance away from the surface of the slope 10000, so that when concrete is sprayed on the slope 10000, the trowel and grinder will not come into contact with the surface of the slope 10000.

[0155] (3) Start the concrete pump 62000, and the concrete in the concrete storage trolley 61000 is transferred into the concrete spray gun unit 33000 through the concrete delivery pipe 63000.

[0156] (4) Turn on the concrete spray gun unit 33000 to spray concrete onto 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. Control the moving speed during the movement 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. Then wait for a period of time until the concrete on the surface of the slope 10000 reaches the ideal dryness level before starting the troweling process. At this time, the entire robot still starts from one side of the slope 10000. Control the troweling lifting arm unit 41000 to descend until the trowel unit 42000 contacts the surface of the slope 10000. Stop the descent of the troweling lifting arm unit 41000. Perform troweling through the left trowel unit 42100 and the right trowel unit 42200. 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 entire robot moves to the other side of the slope 10000. This allows the robot to move to the other side of the slope 10000 while troweling the concrete on the surface of the slope 10000.

[0158] (6) After the troweling work is completed, the troweling lifting arm unit 41000 is raised, so that the trowel unit 42000 is separated from the surface of the slope 10000. After waiting for a period of time until the concrete on the surface of the slope 10000 is completely dry, the concrete on the surface of the slope 10000 is ground. Taking the left grinding unit 53000 as an example, the left grinding lifting arm unit 51000 is controlled to descend until the bottom surface of the left grinding unit 53000 contacts the surface of the slope 10000. Then, the left grinding disc motor unit 53210 is turned on so that the left grinding chassis unit 53220 grinds 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 ground.

[0159] (7) After the grinding work is completed, the left grinding lifting arm unit 51000 is raised so that the left grinding unit 53000 is separated from the surface of the slope 10000. At this point, the spraying, polishing and grinding of the concrete on the entire surface of the slope 10000 is 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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot for spraying, polishing, and grinding concrete on slopes, characterized in that, include: The vertically moving trolley is respectively set on the upper and lower planes of the slope, and is used to move the entire robot along the slope; The concrete spraying section is connected to the up-and-down moving trolley section and is used to spray concrete onto the slope. The concrete finishing section is evenly distributed on both sides of the concrete spraying section and is used to finish the concrete sprayed on the slope. The concrete grinding section is evenly distributed on both sides of the concrete spraying section and is used to grind the concrete surface after the concrete has dried. The concrete supply section is located on the lower plane of the slope and connected to the concrete spraying section, and is used to supply concrete to the concrete spraying section; The concrete spraying section includes an intermediate frame, a concrete pipeline conveying unit, and a concrete spraying gun unit. The intermediate frame includes an upper frame and a lower frame. The concrete troweling section includes a troweling lifting arm unit and a troweling unit; The trowel lifting arm unit includes a left trowel lifting arm unit and a right trowel lifting arm unit that are symmetrically arranged and have the same structure. The left trowel lifting arm unit / right trowel lifting arm unit includes multiple lifting arms. All of the multiple lifting arms are connected to the side of the lower frame through hinge seats. The two lifting arms located on the outer side are respectively equipped with trowel lifting arm rotary motor units at their connection with the hinge seats, which drive the trowel lifting arms to move up and down by rotation. The polishing unit includes a symmetrically arranged left polishing unit and a right polishing unit with the same structure. The left polishing unit includes a left polishing central shaft, a left polishing gear unit, a left polishing rotating carrier belt, a left polishing rotating motor unit, and a left polishing polishing blade unit. The central shaft of the left polishing unit is equipped with a hinge seat in the same number as the lifting arms. Each hinge seat is connected to each lifting arm in the left polishing lifting arm unit, and is used to control the lifting of the left polishing central shaft through the left polishing lifting arm unit. The left polishing gear unit includes left polishing gear a, left polishing gear b, left polishing gear c and left polishing gear d arranged sequentially from top to bottom. The left polishing gear a, left polishing gear b, left polishing gear c and left polishing gear d can all rotate around their connection point. The tops of the left polishing gear b and the left polishing gear c located in the middle are respectively connected to the left polishing rotary motor a and the left polishing rotary motor b. The left polishing rotary motor a controls the rotation of the left polishing gear b, and the left polishing rotary motor b controls the rotation of the left polishing gear c. The inner side of the rotating carrier belt of the left polisher is provided with a groove, which is used to make the teeth of the outer ring of the left polisher gear a, left polisher gear b, left polisher gear c and left polisher gear d engage in the groove on the inner side of the rotating carrier belt of the left polisher during the rotation of the left polisher gear unit, so that the rotation of the gear drives the rotating carrier belt of the left polisher to rotate. The left trowel rotary motor unit includes a left trowel rotary motor a and a left trowel rotary motor b, which are respectively mounted on the upper surface of the central shaft of the left trowel. The left trowel unit includes multiple trowels, each trowel having a bottom trowel surface and a cylindrical connector in the middle of its upper surface. The cylindrical connector is connected to the bottom surface of the left trowel's rotating carrier belt, and is used to smooth the concrete on the sloping surface by rotating the left trowel's rotating carrier belt along with the left trowel's rotating carrier belt.

2. The slope concrete spraying, troweling, and grinding robot according to claim 1, characterized in that, The vertically moving trolley section 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 and the lower moving trolley unit cooperate to drive the entire robot to move.

3. The slope concrete spraying, troweling, and grinding robot according to claim 2, characterized in that, The upper moving trolley includes an upper moving body, an upper moving motor unit, and an upper rotating motor unit. The upper moving body includes a four-wheel chassis at the bottom. Each of the four corners of the four-wheel chassis is provided with a wheel. A groove is carved in the four-wheel chassis between two wheels on the same side for mounting the upper moving motor unit that drives the wheels. A column extends upward from the middle of the four-wheel chassis. The top of the column is used to connect with the upper frame in the form of a hinged seat. The upper moving motor unit includes upper moving motor a, upper moving motor b, upper moving motor c and upper moving motor d, and the upper moving motor a, upper moving motor b, upper moving motor c and upper moving motor d are all installed on the inner sidewalls of the grooves on both sides of the upper moving vehicle body; The rotating shafts of the upper moving motors a, b, c, and d are respectively connected to one wheel of the upper moving vehicle body, and are used to control the rotation of the four wheels through the upper moving motors a, b, c, and d, thereby moving the upper moving vehicle. The upper rotating motor unit includes upper rotating motor a, upper rotating motor b, upper rotating motor c, and upper rotating motor d. Upper rotating motor a and upper rotating motor b are installed on both sides of the column of the upper moving trolley. The rotating shafts of upper rotating motor a and upper rotating motor b pass through the column and upper frame in the middle of the upper moving trolley, and are used to control the upper frame to rotate around the connection point and adjust the angle between the lower frame and the slope. The upper rotary motor c and upper rotary motor d are installed at the connection point where the upper frame and the lower frame are connected by a hinge seat. They are used to control the rotation of the connection point and adjust the angle between the lower frame and the slope.

4. The slope concrete spraying, troweling, and grinding robot according to claim 3, characterized in that, The lower moving trolley unit differs from the upper moving trolley unit only in its lower rotary motor unit. The upper rotary motor unit comprises four rotary motors, while the lower rotary motor unit comprises only two rotary motors. These two rotary motors are mounted on a column in the middle of the lower moving trolley body corresponding to the upper moving trolley body.

5. The slope concrete spraying, troweling, and grinding robot according to claim 4, characterized in that, One end of the upper frame is connected to a column in the middle of the upper moving vehicle body via the rotating shafts of the upper rotary motors a and b in the form of a hinged joint, and the other end is connected to one end of the lower frame via the rotating shafts of the upper rotary motors c and d in the form of a hinged joint; one end of the lower frame is connected to one end of the upper frame via the rotating shafts of the upper rotary motors c and d in the form of a hinged joint, and the other end is connected to a column in the middle of the lower moving vehicle body via the rotating shaft of the lower rotary motor unit in the form of a hinged joint. The concrete pipeline transmission unit includes a main concrete transmission pipeline, a secondary concrete transmission pipeline unit, and a locking ring unit. The main concrete transmission pipeline is locked by the locking ring unit and thus installed on the upper surface of the lower frame. The secondary concrete transmission pipeline unit includes multiple identical secondary pipelines that curve towards the slope. One end of each secondary pipeline is connected to the main concrete transmission pipeline, and the other end is connected to a concrete spray gun. The locking ring unit includes multiple locking rings with identical structures, all of which are installed on the upper surface of the lower frame. The locking rings are used to lock the main concrete conveying pipe. The concrete spraying gun unit includes the same number of concrete spraying guns as the secondary pipes, and each concrete spraying gun is installed on the bottom surface of the lower frame.

6. The slope concrete spraying, troweling, and grinding robot according to claim 5, characterized in that, The concrete grinding section includes a left grinding lifting arm unit and a right grinding lifting arm unit that are symmetrically arranged and have the same structure, as well as a left grinding unit and a right grinding unit that are symmetrically arranged and have the same structure. The left grinding lifting arm unit includes 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 hinge seats. The left grinding lifting motor a and the left grinding lifting motor b are respectively connected to the inner side of the two hinge seats to control the lifting of the left grinding lifting arm a and the left grinding lifting arm b. The left grinding unit includes a left grinding central shaft and a left grinding disc unit. The left and right ends of the left grinding central shaft have cylindrical grooves, which are respectively used to be engaged on the cylinders extending from the inner surfaces of the left grinding lifting arm a and the left grinding lifting arm b, and are used to control the up and down movement of the left grinding unit through the left grinding lifting arm unit. The left grinding disc unit includes a left grinding disc motor unit and a left grinding base unit. The left grinding disc motor unit includes multiple left grinding disc motors, the upper surfaces of which are mounted on the lower surface of the left grinding central shaft. The left grinding base unit is mounted on the lower surface of the left grinding disc motor unit and includes multiple grinding bases, the same number as the number of left grinding disc motors.

7. The slope concrete spraying, troweling, and grinding robot according to claim 6, characterized in that, The concrete supply section includes a concrete storage trolley, a concrete pump, and a concrete delivery pipe. The concrete pump is installed on the upper surface of the concrete storage trolley. One end of the concrete pump is connected to the concrete storage trolley, 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 main concrete transmission pipeline.

8. A method of using the slope concrete spraying, troweling, and grinding robot according to claim 7, characterized in that, Includes the following steps: Step 1: Place the entire robot on one side of the slope. By controlling the upper rotary motor unit and the two lower rotary motors, make the bottom surface of the lower frame parallel to the entire surface of the slope, so that the spray gun of the concrete spray gun unit is perpendicular to the surface of the slope. Step 2: By controlling 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 rise upwards, the left trowel unit, the right trowel unit, the left grinding unit, and the right grinding unit are a certain distance away from the slope surface, so that when the slope is sprayed with concrete, the trowel and the grinding machine will not come into contact with the slope surface. Step 3: Turn on the concrete pump, which will transfer the concrete from the concrete storage trolley into the concrete spraying gun unit via the concrete delivery pipe. Step 4: Activate the concrete spraying gun unit to spray concrete onto the slope. The upper and lower moving trolleys move simultaneously to the other side of the slope to spray concrete. Step 5: After spraying, turn off the concrete pump and concrete spray gun unit. After the concrete on the slope surface reaches the preset dryness, perform a smoothing process. At this time, the entire robot starts from one side of the slope and controls the smoothing lifting arm unit to descend until the smoothing unit contacts the slope surface. Stop the descent of the smoothing lifting arm unit and smooth the surface using the left and right smoothing units. Move the entire robot to the other side of the slope using the upper and lower moving trolleys. This allows the entire robot to move to the other side of the slope while smoothing the concrete on the slope surface. Step 6: After the troweling work is completed, raise the troweling lifting arm unit to separate the trowel unit from the slope surface. Wait for a period of time until the concrete on the slope surface is completely dry, and then start grinding the concrete on the slope surface. Grind the concrete on the slope surface using the left and right grinding units. Move the entire robot from one side of the slope to the other using the upper and lower moving trolleys, while grinding the concrete on the slope surface at the same time. Step 7: After the grinding work is completed, raise the left and right grinding lifting arm units to separate the left and right grinding units from the slope surface. At this point, the spraying, smoothing and grinding of the concrete on the entire slope surface is completed.

Images