Ground mortar leveling robot

Abstract

The invention relates to a ground mortar leveling robot, and relates to the field of building robots. Comprising a moving chassis plate, walking assemblies erected on the two sides of the moving chassis plate and walking in a stepping mode, a walking driving assembly erected in the middle of the moving chassis plate and driving the walking assemblies to work, a transverse moving belt assembly erected at the bottom of the moving chassis plate and enabling the moving robot to transversely move, and a transverse moving assembly erected at the front end of the moving chassis plate. The lifting assembly is erected on the transverse moving assembly, the spinning assembly is erected on the lifting assembly and used for polishing the flattened mortar, and the flattening assembly is erected on the lifting assembly and used for flattening the mortar. The mortar leveling device has the advantage of being capable of replacing manpower to conduct mortar leveling work.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and particularly to a ground mortar leveling robot. Background Art

[0002] Ground mortar leveling means that before decorative processes such as laying floor tiles on the ground, a layer of mortar needs to be laid on the cast foundation, and then the mortar is leveled so that the ground flatness reaches a certain standard, meeting the national regulations on ground floor leveling. Finally, floor tiles or ceramic tiles are pasted on the flat mortar. In the traditional concrete ground in our country, the flatness depends on manual processes such as leveling, smoothing, polishing, and curing after concrete pouring. The actual effect cannot meet the above requirements, and usually, manual secondary leveling is required before ground decoration. Manual ground mortar leveling, as a common pre - installation process for ground decoration, that is, secondary ground mortar leveling, provides a qualified flat ground for subsequent decorative construction.

[0003] During the construction process, generally, bricklayers use manual tools for construction. The construction workers pour the mixed mortar on the ground and then use tools such as a trowel, a shovel, and a screed to level the mortar. This way of leveling the mortar is cumbersome to operate, the laid mortar layer is not flat enough, and the construction site is dirty and messy due to the mortar, with low work efficiency and high labor intensity for workers. Moreover, currently, the participation rate of construction workers is high, the labor intensity is high, there are safety hazards, and the aging of the workforce is serious. Therefore, the transformation of construction mechanization is extremely urgent. In the traditional ground leveling process, it generally relies on the skilled experience of construction workers and repeated manual labor to complete the construction, which is extremely time - consuming and laborious. Moreover, the mortar has low density and poor flatness, causing great quality hazards to subsequent decorative construction. At the same time, this process requires extremely high technical levels of construction workers, with low work efficiency for the overall process, and the quality consistency and stability cannot be guaranteed.

[0004] Therefore, in view of the above - mentioned deficiencies, a ground mortar leveling robot is needed. Summary of the Invention

[0005] (1) Technical Problems to be Solved

[0006] The technical problem to be solved by the present invention is to solve the problem that it is difficult to reduce costs and carry out the leveling work efficiently due to the aging of construction workers and the scarcity of highly skilled craftsmen.

[0007] (2) Technical Solutions

[0008] To solve the above technical problems, the present invention provides a floor mortar leveling robot, which includes a moving chassis plate, a walking assembly erected on both sides of the moving chassis plate and walking step by step, a walking driving assembly erected in the middle of the moving chassis plate and driving the walking assembly to work, a transverse movement belt assembly erected at the bottom of the moving chassis plate and enabling the mobile robot to move transversely, a transverse movement assembly erected at the front end of the moving chassis plate, a lifting assembly erected on the transverse movement assembly, a spinning press assembly erected on the lifting assembly and polishing the leveled mortar, and a leveling assembly erected on the lifting assembly and leveling the mortar.

[0009] As a further description of the present invention, preferably, the leveling assembly includes a leveling motor and a double - screw auger. Two leveling motors are fixedly connected to the bottom of the lifting assembly at a horizontal interval. Two double - screw augers with opposite spiral directions are respectively rotatably connected to the output ends of the two leveling motors, and the rotation axes of the double - screw augers are in the same horizontal plane.

[0010] As a further description of the present invention, preferably, an arc - shaped top cover plate is fixedly connected above the double - screw auger, and the top cover plate semi - wraps the two double - screw augers.

[0011] As a further description of the present invention, preferably, the spinning press assembly includes a spinning press motor and a spinning press polishing disc. The spinning press motor is fixedly connected to the upper part of the lifting assembly, the rotation axis of the spinning press motor is in the vertical direction, the spinning press polishing disc is rotatably connected to the output end of the spinning press motor and is located below the lifting assembly, and the spinning press polishing disc is disc - shaped and located below the two leveling motors.

[0012] As a further description of the present invention, preferably, the walking assembly includes a power connecting rod, a bearing and a stepping webbed plate. The power connecting rod is a strip - shaped rod. One end of the power connecting rod is rotatably connected to the moving chassis plate and is connected to the walking driving assembly. The other end of the power connecting rod is rotatably connected to the bearing, and the bearing is inserted into the stepping webbed plate. The stepping webbed plate is a long strip - shaped flat structure and abuts against the mortar surface. One set of power connecting rods and bearings is provided at each end in the length direction of one stepping webbed plate so that the stepping webbed plate rotates and moves around the moving chassis plate.

[0013] As a further description of the present invention, preferably, the walking driving assembly includes a stepping motor, a speed reducer, a driving rotating shaft, a coupling, a driving belt and a driven rotating shaft. The stepping motor is fixedly connected to the top of the moving chassis plate. The speed reducer is fixedly connected to one side of the moving chassis plate and is rotatably connected to the stepping motor. The driving rotating shaft penetrates through the output end of the speed reducer and is rotatably connected to the speed reducer. One end of the coupling is fixedly connected to one end of the driving rotating shaft, and the other end of the coupling is fixedly connected to the power connecting rod. The two ends of the annular driving belt are respectively sleeved on the driving rotating shaft and the driven rotating shaft. The driven rotating shaft is rotatably connected to the other side of the moving chassis plate, and couplings are also fixedly connected to both ends of the driven rotating shaft and are connected to the power connecting rod.

[0014] As a further description of the present invention, preferably, a synchronous idler pulley is abutted against the upper part of the driving belt. The synchronous idler pulley is rotatably connected to the moving chassis plate, and the synchronous idler pulley presses downward to tension the driving belt.

[0015] As a further description of the present invention, preferably, the transverse movement belt assembly includes a roller bracket, a flat belt, and a belt pressing plate. The roller bracket is fixedly connected to both ends in the length direction of the moving chassis plate. An electric roller and a driven roller are respectively rotatably connected to the roller brackets at both ends of the moving chassis plate. The flat belt is sleeved outside the electric roller and the driven roller. The width of the flat belt is smaller than the width of the moving chassis plate. The belt pressing plate is located at the inner bottom of the flat belt to press the flat belt against the mortar surface.

[0016] As a further description of the present invention, preferably, spacer blocks are fixedly connected at intervals on both sides of the top of the belt pressing plate. A tightening screw is threadedly connected to the top of the spacer block, and the tightening screw is rotatably connected to the bottom end surface of the moving chassis plate.

[0017] As a further description of the present invention, preferably, an arc-shaped handle is fixedly connected to the top of the moving chassis plate so that the robot can be manually lifted off the ground.

[0018] (III) Beneficial effects

[0019] The above technical solutions of the present invention have the following advantages:

[0020] The present invention has guaranteed leveling quality and high flatness. The maximum error within two meters is within three millimeters. And it is simple for staff to operate the machine, does not require skilled workers, and reduces labor intensity. Moreover, using the robot can continuously complete the working surface of a room (a region) without interruption, truly achieving seamless connection and continuous construction. The machine has a small and compact appearance, is convenient for moving and handling, and can be used in narrow small scenarios such as corridors, bathrooms, etc., and is also applicable to large public building scenarios. Description of the drawings

[0021] Figure 1 is the overall assembly effect diagram of the present invention;

[0022] Figure 2 is the structural diagram of the walking component of the present invention;

[0023] Figure 3 is the structural diagram of the leveling component of the present invention;

[0024] Figure 4 is the structural diagram of the electric control box of the present invention.

[0025] In the figure: 1. Mobile chassis plate; 11. Power source bracket; 12. Linear guide rail; 13. Limit block; 14. Handle; 2. Walking assembly; 21. Power connecting rod; 22. Bearing; 23. Striding webbed plate; 3. Walking drive assembly; 31. Striding motor; 32. Reducer; 33. Active rotating shaft; 34. Coupling; 35. Drive belt; 36. Driven rotating shaft; 37. Synchronous idler pulley; 4. Cross - transfer belt assembly; 41. Roller bracket; 42. Flat belt; 43. Belt pressing plate; 44. Lifting top block; 45. Tightening screw; 46. Bottom cover plate; 5. Cross - transfer assembly; 51. Cross - transfer motor; 52. Cross - transfer belt; 53. Lifting support seat; 6. Lifting assembly; 61. Lifting motor; 62. Lead screw assembly; 63. Lifting plate; 7. Spinning component; 71. Spinning motor; 72. Spinning grinding disc; 73. Housing; 8. Levelling component; 81. Levelling motor; 82. Double - screw auger; 83. Top cover plate; 9. Electric control box; 91. Drag chain; 92. Boundary travel switch; 93. Vision detection component; 94. Walking travel switch. Detailed implementation manners

[0026] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] A ground mortar levelling robot, in combination with Figure 1 , Figure 2 , includes a mobile chassis plate 1, a walking assembly 2 erected on both sides of the mobile chassis plate 1 and striding forward, a walking drive assembly 3 erected in the middle of the mobile chassis plate 1 and driving the walking assembly 2 to work, a cross - transfer belt assembly 4 erected at the bottom of the mobile chassis plate 1 and enabling the mobile robot to move horizontally, a cross - transfer assembly 5 erected at the front end of the mobile chassis plate 1, a lifting assembly 6 erected on the cross - transfer assembly 5, a spinning component 7 erected on the lifting assembly 6 and polishing the levelled mortar, and a levelling component 8 erected on the lifting assembly 6 and levelling the mortar.

[0028] In combination with Figure 1 , Figure 2, the moving chassis plate 1 is a square flat plate structure. The walking drive assembly 3 includes a stepping motor 31, a reducer 32, a driving rotating shaft 33, a coupling 34, a driving belt 35 and a driven rotating shaft 36. The stepping motor 31 is a servo motor, and the stepping motor 31 is fixedly connected to the middle of the top of the moving chassis plate 1. The reducer 32 is fixedly connected to one side of the moving chassis plate 1 and is rotationally connected to the stepping motor 31. Both the driving rotating shaft 33 and the driven rotating shaft 36 are round bar structures and are respectively arranged on the front and rear sides of the moving chassis plate 1. Among them, the driving rotating shaft 33 passes through the output end of the reducer 32 and is rotationally connected to the reducer 32. One ends of the two couplings 34 are respectively fixedly connected to the two ends of the driving rotating shaft 33 and are rotationally connected to the moving chassis plate 1. The other ends of the couplings 34 are connected to the walking assembly 2 to drive the walking assembly 2 to move. The two ends of the annular driving belt 35 are respectively sleeved on the driving rotating shaft 33 and the driven rotating shaft 36. The two ends of the driven rotating shaft 36 are also fixedly connected with couplings 34 and are connected to the walking assembly 2. Through the above settings, two rotating shafts can be driven to rotate by one stepping motor 31, saving the cost of power components. In addition, a synchronous idler pulley 37 is abutted against the upper part of the driving belt 35. The synchronous idler pulley 37 is rotationally connected to the moving chassis plate 1. The synchronous idler pulley 37 presses downward to tension the driving belt 35, so that the driving belt 35 can output a stable transmission ratio, thereby ensuring the synchronous rotation of the driven rotating shaft 36 and the driving rotating shaft 33.

[0029] Combined with Figure 1 , Figure 2 , the walking assembly 2 includes a power connecting rod 21, a bearing 22 and a stepping webbed plate 23. The power connecting rod 21 is a short bar-shaped member. One end of the power connecting rod 21 is rotationally connected to the moving chassis plate 1 and is fixedly connected to the coupling 34. The other end of the power connecting rod 21 is rotationally connected to the bearing 22. The stepping webbed plate 23 is a long flat plate structure. L-shaped brackets are fixedly connected to the tops of both ends in the length direction of the stepping webbed plate 23. The bearing 22 is inserted into the brackets. One set of power connecting rod 21 and bearing 22 are respectively arranged at both ends in the length direction of one stepping webbed plate 23 so that the stepping webbed plate 23 rotates and moves around the moving chassis plate 1. By setting the long strip-shaped stepping webbed plate 23, not only can the robot be driven to take steps and move, but also the pressure of the robot on the mortar surface can be reduced, so as to avoid pressing out pits on the leveled mortar surface and affecting the leveling effect.

[0030] Combined with Figure 1 , Figure 2, the lateral translation belt assembly 4 includes a roller support 41, a flat belt 42, and a belt pressing plate 43. The roller support 41 is fixedly connected to the bottoms at both ends of the moving chassis plate 1 in the length direction. Electric rollers and driven rollers are respectively rotatably connected to the roller supports 41 at both ends of the moving chassis plate 1. The annular flat belt 42 is sleeved outside the electric roller and the driven roller. The width of the flat belt 42 is slightly smaller than the width of the moving chassis plate 1. The belt pressing plate 43 is a thin plate-like structure and is located at the inner bottom of the flat belt 42. Spacer blocks 44 are fixedly connected at intervals on both sides of the top of the belt pressing plate 43. A tightening screw 45 is threadedly connected to the top of the spacer block 44. The tightening screw 45 is rotatably connected to the bottom end face of the moving chassis plate 1 to press the flat belt 42 against the mortar surface. Through the above settings, when the robot needs to move laterally left and right, the driving stepping webbed plate 23 is driven to move upward so that the flat belt 42 is lowered to contact the mortar surface. At the same time, the flat belt 42 is kept horizontal under the support of the belt pressing plate 43. Then, the electric roller is powered on to rotate. Driven by the electric roller, the flat belt 42 drives the robot to move laterally. By changing the steering, the lateral translation direction of the robot can be changed. Compared with the traditional wheeled movement, the pressure on the mortar surface in this solution is the smallest, and it can also play a role in compacting the mortar surface, further improving the leveling effect. In addition, a bottom cover plate 46 is fixedly connected to the bottom of the moving chassis plate 1 to block the mortar from entering the roller and the belt pressing plate 43.

[0031] Combined with Figure 1 、 Figure 3 , a power source support 11 is fixedly connected to the front end of the moving chassis plate 1. The lateral translation assembly 5 includes a lateral translation motor 51, a lateral translation belt 52, and a lifting support seat 53. The lateral translation motor 51 is fixedly connected to one side of the power source support 11. The annular lateral translation belt 52 is sleeved on the power source support 11 and is rotatably connected to the output end of the lateral translation motor 51. A linear guide rail 12 is fixedly connected to the power source support 11. The length direction of the linear guide rail 12 is the same as the length direction of the lateral translation belt 52, both being horizontal. The lifting support seat 53 is slidably connected to the linear guide rail 12 and is fixedly connected to the lateral translation belt 52, so that the lateral translation motor 51 can pull the lifting support seat 53 to move left and right in the horizontal direction through the lateral translation belt 52. Limit blocks 13 are fixedly connected to both ends of the power source support 11 in the length direction to prevent the lifting support seat 53 from sliding out of the linear guide rail 12. The lifting assembly 6 includes a lifting motor 61, a lead screw assembly 62, and a lifting plate 63. The lifting motor 61 is fixedly connected to the lifting support seat 53. The rotation axis of the lifting motor 61 is vertical. The lead screw assembly 62 is rotatably connected to the lifting support seat 53 and is rotatably connected to the lifting motor 61. The lifting plate 63 is threadedly connected to the lead screw assembly 62 and is slidably connected to the lifting support seat 53. The sliding direction of the lifting plate 63 is vertical.

[0032] Combined with Figure 1 、 Figure 3, the spinning component 7 includes a spinning motor 71 and a spinning abrasive disc 72. The spinning motor 71 is fixedly connected to the upper part of the lifting plate 63. The rotating shaft of the spinning motor 71 is in the vertical direction. The spinning abrasive disc 72 is an eccentric disc, and its rotating direction is to spin and throw a small amount of mortar outward on the sweeping plane. The spinning abrasive disc 72 is rotatably connected to the output end of the spinning motor 71 and is located below the lifting plate 63. The sweeping component 8 includes a sweeping motor 81 and a double - screw auger 82. Two sweeping motors 81 are horizontally and spaced fixedly connected to the bottom of the lifting plate 63 so that the spinning abrasive disc 72 is located between the two sweeping motors 81. Two double - screw augers 82 with opposite spiral directions are respectively rotatably connected to the output ends of the two sweeping motors 81 and extend outside the front end of the lifting plate 63. The rotation axes of the double - screw augers 82 are in the same horizontal plane. An arc - shaped top cover plate 83 is fixedly connected above the double - screw augers 82. The top cover plate 83 semi - wraps the two double - screw augers 82 to prevent the mortar from being thrown onto the robot.

[0033] Combined with Figure 1 、 Figure 4 , at the top of the rear end of the mobile chassis plate 1, an electric control box 9 is fixedly connected. The electric control box 9 is internally provided with a central processor, a power supply, and a wireless signal transceiver. Outside the electric control box 9, a drag chain 91 is provided. The drag chain 91 is placed on the drag chain groove. One end of the drag chain 91 is fixed at one end of the drag chain groove, and the other end of the drag chain 91 is fixed on the lifting support seat 53. The drag chain 91 is internally provided with cables for connecting the lifting motor 61, the spinning motor 71, and the sweeping motor 81 to the controller and power supply inside the electric control box 9. The left - right movement of the lifting support seat 53 drives the drag chain (with internal wiring) to fold back and forth. Boundary travel switches 92 are fixedly connected to both sides of the electric control box. A travel switch 94 for walking is fixedly connected to the top cover plate 83. The detection directions of the boundary travel switch 92 and the travel switch 94 for walking are both in the horizontal plane but perpendicular to each other. An outer box is sleeved outside the transverse movement component 5 and the lifting component 6. A housing 73 is sleeved outside the lifting component 6. A visual detection component 93 is fixedly connected to the top of the housing 73. The boundary travel switch 92, the visual detection component 93, and the travel switch 94 for walking are all electrically connected to the electric control box 9.

[0034] Combined with Figure 1 、 Figure 4 , the stepping motor 31, the electric drum, and the transverse movement motor 51 are all electrically connected to the electric control box 9. An arc - shaped handle 14 is fixedly connected to the top of the mobile chassis plate 1 to enable people to manually lift the robot off the ground.

[0035] The present invention also provides a method for using the mortar leveling robot, including the following steps:

[0036] 1. Preparation before the ground mortar leveling operation: Place the laser level on one side of the walking direction of the ground mortar leveling robot. Control the distance between the laser emission point of the laser level and the projection board of the vision detection component 93 within 10 meters, and manually define the elevation. Manually define the operation area of a single area (according to the requirements of the laser emission point and the projection board position, the length and width of the approximate rectangle can be controlled ≤9 meters), and set the height of the three-sided boundaries (the transverse movement direction and the forward direction of the ground mortar leveling robot) to be ≥400 mm. Pour the mixed semi-dry mortar onto the operation ground of the area to be leveled, and manually spread it roughly 10 - 30 mm above the elevation. Manually level a mortar surface that can accommodate the ground mortar leveling robot as the initial operation point, and place the leveling robot (the walking webbed plate 23 is in the raised state) here through the hand-held handle 14 for standby preparation.

[0037] 2. After manually remote-controlling or carrying the ground mortar leveling robot to the initial operation point, start the automatic control mode, and the central processor in the electric control box 9 allocates the control signals of the whole machine. In the automatic mode, first start the sweeping motor 81 and the spinning motor 71, which drive the two double screws 82 to rotate at high speed respectively for the sweeping action. The two sweeping motors 81 respectively cooperate with the rotation directions of the double screws 82 to continuously push the excess mortar on the ground forward and continuously roll it. The spinning grinding disc 72 is driven by the spinning motor 71 to rotate at high speed, and the mortar under the spinning grinding disc 72 is subjected to spinning and leveling operations to improve the mortar density. At this time, the vision detection component 93 receives the elevation laser line of the laser level, and drives the lifting plate 63 through the screw component 62 by starting the lifting motor 61, and automatically adjusts it in a closed loop to the pre-set vision calibration height. At this time, the two high-speed rotating double screws 82 are adjusted to the elevation in cooperation with the vision, and the obstacle mortar higher than the reference surface is swept downwards. The vision detection component 93 adjusts the height while the double screws 82 are sweeping, until the vision preset height is adjusted, and the standard heights of the spinning grinding disc 72 and the double screws 82 are formed.

[0038] 3. After the spinning grinding disc 72 and the double - screw auger 82 are adjusted to the standard height, the electric roller is automatically powered on and starts. It drives the whole machine to move horizontally through the flat belt 42. First, the direction of horizontal movement is tentatively set as from left to right. The double - screw auger 82 and the spinning grinding disc 72 rotate at high speed continuously. Through the horizontal movement of the chassis, the spinning assembly 7 and the leveling assembly 8 perform synchronous sweeping and pressing (the double - screw auger 82 performs the leveling action. The leveling motor 81 respectively cooperates with the screw rotation direction to continuously push forward and continuously roll the excess mortar on the ground forward, and the spinning grinding disc 72 performs the spinning action synchronously). While moving horizontally, it performs sweeping and pressing, and the laser elevation simultaneously and continuously tracks and adjusts the leveling height position of the double - helix blade to ensure that the ground flatness meets the requirements. When the ground mortar leveling robot is performing the sweeping and pressing operation from left to right, a worker is arranged in front of the robot. The main operation is to occasionally perform a backward raking of the excessive material during leveling and timely supplement the insufficient material to ensure the sufficiency of the material during the sweeping and pressing operation and avoid excessive accumulation affecting the leveling quality. When the whole machine moves to the right boundary, the boundary travel switch 92 at the right end touches the boundary, and the central processor gives an instruction to automatically cut off the power of the electric roller, and the chassis horizontal movement stops. At the same time, the central processor gives an instruction to start the horizontal movement motor 51, which drives the lifting support seat 53 to move from left to right through the horizontal movement belt 52 until it reaches the limit block 13 at the right end of the linear guide 12. The sweeping and pressing operation continues. This horizontal movement is the secondary horizontal movement stroke, which improves the sweeping and pressing leveling coverage rate.

[0039] 4. When the spinning assembly 7 and the leveling assembly 8 move to the limit block 13 at the right end of the linear guide 12, the horizontal movement motor 51 receives the order and stops, and the horizontal movement of the spinning assembly 7 and the leveling assembly 8 also stops. At the same time, the double - screw auger 82 and the spinning grinding disc 72 stop rotating. At this time, the central processor issues an instruction to power on the stepping motor 31. After the torque is amplified by the speed reducer 32, it drives the driving rotating shaft 33 and the driving belt 35 to rotate, and then transmits the torque to the driven rotating shaft 36. At this time, the driving rotating shaft 33 and the driven rotating shaft 36 drive the power connecting rod 21 to rotate through the coupling 34. Using the eccentricity of the power connecting rod 21 to form a crank - connecting rod mechanism, the stepping webbed plate 23 descends and lands on the leveled mortar surface. As the stepping motor 31 further operates, the power connecting rod 21 continues to rotate to lift the stepping webbed plate 23 to lift the whole machine forward until the stepping webbed plate 23 rises to the specified height, completing a stepping action. The stroke of one step is 50 mm. This equipment is set to move forward 100 mm, that is, two steps, as a leveling segment.

[0040] 5. After completing the stepping, the stepping webbed plate 23 stops at the pre - set height position, and the stepping motor 31 stops running. The central processor issues an instruction, the double - screw auger 82 starts to operate, and the rotation direction remains unchanged. The spinning grinding disc 72 starts to operate, and the rotation direction is reversed. Continue the automatic process of setting the height at the starting point once to complete the sweeping and pressing elevation.

[0041] 6. After the secondary starting point height is determined, the spinning component 7 and the leveling component 8 are fixed at the right end limit of the linear guide 12 without moving. The electric roller is automatically powered on and starts. It drives the whole machine to move horizontally from right to left through the flat belt 42. The double screw auger 82 and the spinning grinding disc 72 rotate at high speed continuously. Through the chassis transverse movement, the spinning component 7 and the leveling component 8 perform synchronous sweeping and pressing. While moving transversely and sweeping and pressing, the laser elevation simultaneously and continuously tracks and adjusts the leveling height position of the double spiral blades to ensure that the ground flatness meets the requirements. When the ground mortar leveling robot is performing the sweeping and pressing operation from right to left, a worker is still arranged in front to cooperate with the robot. When the whole machine moves to the left boundary, the left boundary travel switch 92 at the left side touches the boundary. The central processor gives an instruction to automatically cut off the power of the electric roller, and the chassis transverse movement stops. At the same time, the central processor gives an instruction to start the transverse movement motor 51 to drive the spinning component 7 and the leveling component 8 to move from right to left on the linear guide 12 until reaching the limit block 13 at the left end of the transverse linear guide 12. The sweeping and pressing operation continues. This transverse movement is the secondary transverse movement stroke, which improves the coverage rate of sweeping and pressing and leveling.

[0042] This operation flows in a reciprocating cycle, and finally completes the entire ground mortar leveling operation. For the ground mortar leveling operation in a block (according to the requirements of the laser emission point and the projection board position, the length and width of the approximate rectangle are controlled to be no more than 9 meters), after one block is completed, the leveling operation of another block is carried out. Generally, just move the position of the laser level. This robot can continuously complete the working surface of one area without interruption, truly achieving seamless connection and continuous construction. After the leveled mortar surface waits for 48 hours to harden, the powder ash material can be cleaned and then the subsequent decoration process can be carried out.

[0043] By applying the leveling robot of the present invention, it has advantages in various indicators compared with traditional manual leveling, as shown in the following table:

[0044]

[0045]

[0046] In summary, through the cooperation of manual and mechanical work, compared with traditional pure manual leveling, the work efficiency of the present invention can be increased by more than 5 times. At the same time, it reduces the dependence on labor, reduces the labor price, saves the construction cost, the comprehensive cost is controllable, and it avoids generating more costs due to the time delay of subsequent brick laying and other work caused by manual craftsmanship factors. It has more obvious economic and efficiency advantages. At the same time, the volume of the robot of the present invention is only 870×870×750mm, which is applicable to both large public building scenarios and small residential scenarios, and realizes the ground mortar leveling operation in different area scenarios. For large-area construction scenarios, the area to be leveled with ground mortar can be divided into several appropriate blocks to carry out individual or multi-machine linkage leveling operations until all leveling is completed, and the applicability is strong.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A floor mortar leveling robot, characterized in that: It includes a mobile chassis plate (1), walking components (2) erected on both sides of the mobile chassis plate (1) and walking step by step, a walking drive component (3) erected in the middle of the mobile chassis plate (1) and driving the walking components (2) to work, a transverse movement belt component (4) erected at the bottom of the mobile chassis plate (1) and enabling the mobile robot to move transversely, a transverse movement component (5) erected at the front end of the mobile chassis plate (1), a lifting component (6) erected on the transverse movement component (5), a spinning component (7) erected on the lifting component (6) and polishing the leveled mortar, and a leveling component (8) erected on the lifting component (6) for leveling the mortar.

2. The floor mortar leveling robot according to claim 1, characterized in that: The leveling component (8) includes a leveling motor (81) and a double - screw auger (82). Two leveling motors (81) are fixedly connected horizontally at intervals at the bottom of the lifting component (6). Two double - screw augers (82) with opposite spiral directions are respectively rotatably connected to the output ends of the two leveling motors (81). The rotation axes of the double - screw augers (82) are in the same horizontal plane.

3. The floor mortar leveling robot according to claim 2, characterized in that: An arc - shaped top cover plate (83) is fixedly connected above the double - screw auger (82), and the top cover plate (83) semi - wraps the two double - screw augers (82).

4. The floor mortar leveling robot according to claim 2, wherein: The spinning component (7) includes a spinning motor (71) and a spinning polishing disc (72). The spinning motor (71) is fixedly connected to the upper part of the lifting component (6). The rotation axis of the spinning motor (71) is in the vertical direction. The spinning polishing disc (72) is rotatably connected to the output end of the spinning motor (71) and is located below the lifting component (6). The spinning polishing disc (72) is disc - shaped and is located below the two leveling motors (81).

5. The floor mortar leveling robot according to claim 1, characterized in that: The walking component (2) includes a power connecting rod (21), a bearing (22), and a stepping webbed plate (23). The power connecting rod (21) is a strip - shaped rod. One end of the power connecting rod (21) is rotatably connected to the mobile chassis plate (1) and is connected to the walking drive component (3). The other end of the power connecting rod (21) is rotatably connected to the bearing (22). The bearing (22) is inserted into the stepping webbed plate (23). The stepping webbed plate (23) is a long strip - shaped flat plate structure and abuts against the mortar surface. One set of power connecting rod (21) and bearing (22) is provided at each of the two ends in the length direction of one stepping webbed plate (23) so that the stepping webbed plate (23) rotates and moves around the mobile chassis plate (1).

6. The floor mortar leveling robot according to claim 5, wherein: The walking drive component (3) includes a stepping motor (31), a reducer (32), a driving rotating shaft (33), a coupling (34), a driving belt (35), and a driven rotating shaft (36). The stepping motor (31) is fixedly connected to the top of the mobile chassis plate (1). The reducer (32) is fixedly connected to one side of the mobile chassis plate (1) and is rotatably connected to the stepping motor (31). The driving rotating shaft (33) passes through the output end of the reducer (32) and is rotatably connected to the reducer (32). One end of the coupling (34) is fixedly connected to one end of the driving rotating shaft (33), and the other end of the coupling (34) is fixedly connected to the power connecting rod (21). The two ends of the annular driving belt (35) are respectively sleeved on the driving rotating shaft (33) and the driven rotating shaft (36). The driven rotating shaft (36) is rotatably connected to the other side of the mobile chassis plate (1), and couplings (34) are also fixedly connected to both ends of the driven rotating shaft (36) and are connected to the power connecting rod (21).

7. The floor mortar leveling robot according to claim 6, wherein: The upper part of the driving belt (35) abuts against a synchronous idler pulley (37). The synchronous idler pulley (37) is rotatably connected to the moving chassis plate (1), and the synchronous idler pulley (37) presses downward to tension the driving belt (35).

8. The floor mortar leveling robot according to claim 1, characterized in that: The transverse movement belt assembly (4) includes a roller bracket (41), a flat belt (42) and a belt pressing plate (43). The roller bracket (41) is fixedly connected to both ends of the moving chassis plate (1) in the length direction. An electric roller and a driven roller are respectively rotatably connected to the roller brackets (41) at both ends of the moving chassis plate (1). The flat belt (42) is sleeved outside the electric roller and the driven roller. The width of the flat belt (42) is smaller than the width of the moving chassis plate (1). The belt pressing plate (43) is located at the inner bottom of the flat belt (42) to press the flat belt (42) against the mortar surface.

9. The floor mortar leveling robot according to claim 1, characterized in that: Spacer top blocks (44) are fixedly connected at intervals on both sides of the top of the belt pressing plate (43). A tightening screw (45) is threadedly connected to the top of the spacer top block (44), and the tightening screw (45) is rotatably connected to the bottom end surface of the moving chassis plate (1).

10. The floor mortar leveling robot according to claim 1, characterized in that: An arc-shaped handle (14) is fixedly connected to the top of the moving chassis plate (1) so that the robot can be manually lifted off the ground.

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