Intelligent leveling robot with multi-posture self-adaption and two-degree-of-freedom dynamic adjustment functions

Abstract

The invention discloses an intelligent leveling robot with multi-posture self-adaption and two-degree-of-freedom dynamic adjustment. The intelligent leveling robot comprises a robot body; the leveling scraper is movably arranged in front of the robot body; the leveling mechanism is fixed in front of the robot body and is used for leveling the leveling scraper; the overturning mechanism is connected to the leveling mechanism and used for overturning the leveling scraping plate to enable the leveling scraping plate to be perpendicular to the concrete surface to be leveled, and the leveling scraping plate is movably connected to the overturning mechanism; and the detection mechanism is fixed on the leveling scraper blade and is used for monitoring the perpendicularity and the gradient of the leveling scraper blade in real time and automatically starting the leveling mechanism and the turnover mechanism according to a detection result. Through cooperation of the leveling mechanism, the turnover mechanism and the detection mechanism, when the robot body inclines due to obstacles in the advancing process, the leveling scraper can be kept perpendicular to the concrete surface all the time, and the leveling quality is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of concrete leveling, and in particular to an intelligent leveling robot with multi-posture self-adaptation and dual-degree-of-freedom dynamic adjustment. Background Art

[0002] Currently, concrete laser leveling machines mainly rely on four-wheel differential wheel chassis or Ackerman wheel chassis to achieve walking functions. However, in actual construction environments, due to the complexity of the steel mesh surface and the irregularity of the steel bar spacing at the construction site, the machine often produces significant left and right shaking and front and back bumps during movement. This instability directly has a negative impact on the concrete leveling accuracy of the terminal leveling mechanism.

[0003] Laser leveling robots available on the market with a width of less than 3m typically use electric actuators or hydraulic systems to adjust the vertical position of the scraper. However, in the complex scenarios of cast-in-place concrete, exposed rebar that is not fully encased by concrete often exists. These obstacles can seriously interfere with the normal operation of the scraper. Current technology lacks efficient monitoring systems and flexible adjustment mechanisms to address this challenge. As a result, when the machine encounters obstacles and tilts, the leveling scraper cannot adjust its position in time, resulting in substandard construction quality, damage to the finished concrete surface, and significantly shortening the robot's service life. Summary of the Invention

[0004] The present invention provides an intelligent leveling robot with multi-posture self-adaptation and dual-degree-of-freedom dynamic adjustment. Through the cooperation of a leveling mechanism, a flipping mechanism and a detection mechanism, when the robot body encounters an obstacle during movement and is skewed, the leveling scraper can always remain perpendicular to the concrete surface, thereby ensuring the leveling quality.

[0005] The present invention provides an intelligent leveling robot with multi-posture self-adaptation and dual-degree-of-freedom dynamic adjustment, comprising: a robot body; a leveling scraper movably arranged in front of the robot body; a leveling mechanism fixed in front of the robot body for leveling the leveling scraper; a flipping mechanism movably connected to the leveling mechanism and used to flip the leveling scraper so as to maintain it perpendicular to the concrete surface to be leveled, the leveling scraper being movably connected to the flipping mechanism; and a detection mechanism fixed to the leveling scraper for monitoring the verticality and inclination of the leveling scraper in real time and automatically activating the leveling mechanism and the flipping mechanism based on the monitoring results.

[0006] A further improvement of the present invention is that the leveling mechanism includes: a beam fixed in front of the robot body; a pair of lifting rods movably connected to the two ends of the beam, the lifting rod including a sleeve connected to the end of the beam and a core rod movably passed through the sleeve, one of the sleeves is rotatably connected to the beam, the bottom end of the core rod passes through the sleeve and is rotatably connected to the end of the leveling scraper around a first rotation axis; a pair of lifting motors are provided on the beam, each of the lifting motors can respectively drive the top end of the core rod of one of the lifting rods to move relative to the sleeve, thereby driving the corresponding end of the leveling scraper to move up and down to achieve leveling of the leveling scraper.

[0007] A further improvement of the present invention is that the leveling mechanism also includes: a pair of cantilever plates fixed to the two ends of the beam and extending along the length direction of the beam, the lifting motor is a linear motor, each of the lifting motors is fixed above one of the cantilever plates, and the driving end of the lifting motor is located at its top; the top of the driving end is hinged with a second hinge, and the other side of the second hinge is fixed to the top of the core rod.

[0008] A further improvement of the present invention is that the flipping mechanism includes: a third hinged member hinged to the bottom end of the leveling mechanism, the third hinged member and the leveling mechanism can rotate around a second rotation axis, the second rotation axis is perpendicular to the first rotation axis, the leveling scraper is fixed to the bottom end of the third hinged member; a flipping motor fixed on the third hinged member for controlling the rotation between the leveling mechanism and the third hinged member.

[0009] A further improvement of the present invention is that the detection mechanism includes: a posture sensor fixed on the leveling scraper for monitoring the verticality and left and right inclination of the leveling scraper and the concrete surface, and the posture sensor is electrically connected to the lifting motor and the flip motor.

[0010] A further improvement of the present invention is that it also includes a vibrating mechanism, which includes: a vibrating plate fixedly connected to the side of the leveling scraper away from the robot body, the vibrating plate and the bottom of the leveling scraper are located at the same horizontal height; a vibration motor fixed to the surface of the vibrating plate and used to drive the vibrating plate to vibrate.

[0011] A further improvement of the present invention is that it also includes: at least one connecting arm, at least one connecting arm is connected between the vibrating plate and the leveling scraper; at least one shock-absorbing damper for reducing the impact of the vibration of the vibrating plate on the leveling scraper, and the shock-absorbing damper is arranged at the connection between the vibrating plate and the leveling scraper.

[0012] A further improvement of the present invention is that the robot body is further provided with a start-stop switch for controlling the start and stop of the robot body.

[0013] A further improvement of the present invention is that at least one pressure sensor for monitoring the pressure exerted on the leveling scraper during the leveling process is further provided on one side of the leveling scraper, and the pressure sensor is electrically connected to the start-stop switch.

[0014] A further improvement of the present invention is that the robot body is further provided with a laser radar for detecting height information of the concrete surface to be leveled below the robot body, and the laser radar is electrically connected to the start-stop switch.

[0015] The present invention cooperates with the leveling mechanism, the flipping mechanism and the detection mechanism so that when the robot body is tilted due to an obstacle encountered during movement, the leveling scraper can always remain perpendicular to the concrete surface, thereby ensuring the leveling quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 Schematic diagram of the leveling scraper and vibrating mechanism of the present invention;

[0018] Figure 3 It is a side view of the turning mechanism of the present invention when it rotates upward;

[0019] Figure 4 It is a side view of the flip mechanism of the present invention when it rotates downward;

[0020] Figure 5 This is a front view of the leveling mechanism of the present invention when the left side is lower and the right side is higher;

[0021] Figure 6 This is a front view of the leveling mechanism of the present invention when the left side is higher and the right side is lower;

[0022] In the figure: 1. Robot body; 2. LiDAR; 3. Screed blade; 4. Vibration mechanism; 5. Laser receiver; 61. First hinge; 62. Second hinge; 63. Third hinge; 7. Lifting rod; 8. Lifting motor; 9. Pipe sleeve; 10. Rotating shaft; 12. Pin; 13. Pressure sensor; 14. Base; 15. Flipping motor; 16. Connecting arm; 17. Shock absorber; 18. Vibration plate; 19. Mounting plate; 20. Vibration motor; 21. First output shaft; 22. Second output shaft; 23. Crossbeam; 24. L-shaped connector; 25. Crossbeam connector; 26. Posture sensor DETAILED DESCRIPTION

[0023] like Figures 1 to 6As shown, an intelligent leveling robot with multi-posture self-adaptation and dual-degree-of-freedom dynamic adjustment includes: a robot body 1; a leveling scraper 3 movably arranged in front of the robot body 1; a leveling mechanism fixed in front of the robot body 1 for leveling the leveling scraper 3; a flipping mechanism movably connected to the leveling mechanism and used to flip the leveling scraper 3 so as to maintain it perpendicular to the concrete surface to be leveled, and the leveling scraper 3 is movably connected to the flipping mechanism; a detection mechanism fixed on the leveling scraper 3, used to monitor the verticality and inclination of the leveling scraper 3 in real time, and automatically activate the leveling mechanism and the flipping mechanism according to the detection results.

[0024] like Figure 2 、 Figure 5 、 Figure 6 As shown, the leveling mechanism includes: a crossbeam 23 fixed to the front of the robot body 1; a pair of lifting rods 7 movably connected to the two ends of the crossbeam 23, the lifting rod 7 includes a sleeve 9 connected to the end of the crossbeam 23 and a core rod movably inserted into the sleeve 9, one of the sleeves 9 is rotatably connected to the crossbeam 23, the bottom end of the core rod passes through the sleeve 9 and can be rotatably connected to the end of the leveling scraper 3 around a first rotation axis; a pair of lifting motors 8 are provided on the crossbeam 23, each lifting motor 8 can respectively drive the top end of the core rod of a lifting rod 7 to move relative to the sleeve 9, thereby driving the corresponding end of the leveling scraper 3 to move up and down to achieve leveling of the leveling scraper 3.

[0025] like Figure 2 、 Figure 5 、 Figure 6 As shown, it also includes: a pair of cantilever plates fixed at both ends of the beam 23 and extending along the length direction of the beam 23, a lifting motor 8 is fixed above each cantilever plate, the lifting motor 8 is a linear motor, and the driving end of the lifting motor 8, which is the first output shaft 21 in this embodiment, is located at its top; a second hinge 62 is fixed to the top of each core rod, one end of the second hinge 62 is hinged to the first output shaft 21, and the other end is fixed to the top of the core rod.

[0026] Preferably, in this embodiment, if Figure 5 As shown, the sleeve 9 on the left lifting rod 7 is rotatably connected to the crossbeam 23. When the robot body 1 encounters a situation where the left side is lower and the right side is higher, the first output shaft 21 of the left lifting motor 8 is extended to drive the core rod of the left lifting rod 7 to rise; the first output shaft 21 of the right lifting motor 8 is shortened to drive the core rod of the right lifting rod 7 to descend until the leveling scraper 3 is kept level with the concrete surface. During the rising process of the left lifting rod 7, the left lifting rod 7 will rotate counterclockwise due to the rotating shaft 10; as shown in FIG. Figure 6As shown, when the robot body 1 encounters a situation where the left side is higher than the right side, the first output shaft 21 of the lifting motor 8 on the left side is shortened, and the first output shaft 21 of the lifting motor 8 on the right side is extended until the leveling scraper 3 is kept level with the concrete surface. Due to the rotating shaft 10, the lifting rod 7 on the left side will rotate clockwise.

[0027] Preferably, in this embodiment, if Figure 2 As shown, the lifting rod 7 on the left side of the figure is rotatably connected to the beam 23 through the rotating shaft 10, and a linear bearing 9 is movably provided on the lifting rod 7 above the beam 23. By providing the linear bearing 9, it is ensured that the lifting rod 7 is rotatably connected to the beam and can move in a straight line direction.

[0028] like Figures 2 to 4 As shown, in this embodiment, a first hinge 61 is fixed to the bottom end of the lifting rod 7, and the first hinge 61 and the lifting rod 7 are rotatably connected around a first rotation axis, and the direction of the first rotation axis is the front and rear direction of the robot body 1. The flipping mechanism includes: a third hinge 63 hinged to the bottom end of the first hinge 61, and the first hinge 61 and the third hinge 63 can rotate around a second rotation axis, and the direction of the second rotation axis is the left and right direction of the robot body 1. The leveling scraper 3 is fixed to the bottom end of the third hinge 63; a flip motor 15 fixed on the third hinge 63 for controlling the rotation angle between the first hinge 61 and the third hinge 63.

[0029] In this embodiment, Figure 2 As shown, the screed blade 3 is connected to the third hinge 63 via the base 14 .

[0030] In this embodiment, Figures 2 to 4 As shown, the leveling scraper 3 is located at the rear side of the third hinge 63, and the flip motor 15 is located at the front side of the third hinge 63. The flip motor 15 is a linear motor. A downward-facing L-shaped connecting member 24 is fixed to the top of the front side of the third hinge 63. The vertical side of the L-shaped connecting member 24 is hinged to the top of the flip motor 15 through a pin 12. The driving end of the flip motor 15 is located at the bottom end of the flip motor 15 and is the second output shaft 22. A connecting member is fixed to the end of the second output shaft 22, and the other end of the connecting member is fixed to the bottom end of the front side of the third hinge 63. Figure 3 As shown, when the second output shaft 22 of the flip motor 15 is extended, the third hinge 63 will flip toward the side close to the robot body 1 to drive the leveling scraper 3 to flip in the same direction, as shown in FIG. Figure 4 As shown, when the second output shaft 22 of the flip motor 15 is shortened, the third hinge 63 will flip toward the side away from the robot body to drive the leveling scraper 3 to flip in the same direction.

[0031] like Figure 2As shown, the detection mechanism includes: a posture sensor 26 fixed on the leveling scraper 3, which is used to monitor the verticality and left and right inclination of the leveling scraper 3 and the concrete surface. The posture sensor 26 is electrically connected to the lifting motor 8 and the flip motor 15. In this embodiment, a laser receiver 5 is also installed on the top of the lifting rod 7. The laser receiver 5 is electrically connected to the lifting motor 8 and the flip motor 15. When the posture sensor 26 detects that the left and right sides of the leveling scraper 3 are uneven, it detects the specific inclination angle and sends a corresponding signal. At this time, the laser receiver 5 receives the signal and transmits the signal to the lifting motor 8 to level the leveling scraper 3; when the posture sensor 26 detects that the leveling scraper 3 is not perpendicular to the concrete surface in the front and rear directions, it detects the specific inclination angle and sends a corresponding signal. At this time, the laser receiver 5 receives the signal and transmits the signal to the flip motor 15 to flip the leveling scraper 3.

[0032] like Figures 1 and 2 As shown, it also includes a vibrating mechanism 4, which includes: a vibrating plate 18 fixedly connected to the side of the leveling scraper 3 away from the robot body 1, and the vibrating plate 18 and the bottom of the leveling scraper 3 are at the same horizontal height; a vibration motor 20 fixed to the surface of the vibrating plate 18 and used to drive the vibrating plate 18 to vibrate.

[0033] like Figure 2 As shown. It also includes: at least one connecting arm 16, which in this embodiment includes two connecting arms 16, and the connecting arm 16 is connected between the vibrating plate 18 and the leveling scraper 3; at least one shock-absorbing damper 17 for reducing the impact of the vibration of the vibrating plate 18 on the leveling scraper 3, and the shock-absorbing damper 17 is provided at the connection between the vibrating plate 18 and the leveling scraper 3.

[0034] In this embodiment, Figure 2 As shown, one end of the connecting arm 16 is fixed to the top of the leveling scraper 3, and the other end is fixed with a connecting seat. A connecting groove is provided on the top of the vibrating plate 18, and the connecting seat is fixed to the top of the vibrating plate 18 and is clamped in the connecting groove. Four shock-absorbing dampers 17 are fixed on each connecting seat. The shock-absorbing damper 17 is provided between the inner wall of the connecting groove and the outer wall of the connecting seat. When the vibrating plate 18 vibrates, the vibration is reduced by the shock-absorbing damper 17 to prevent the vibration from being transmitted along the connecting arm 16 to the leveling scraper 3, thereby affecting the leveling effect of the leveling scraper 3.

[0035] Preferably, the robot body 1 is further provided with a start / stop switch for controlling the start / stop of the robot body 1 .

[0036] like Figure 2As shown, in one embodiment, at least one pressure sensor 13 is further provided on one side of the leveling scraper 3, and the pressure sensor 13 is electrically connected to the start-stop switch. By setting the pressure sensor 13, when the leveling scraper 3 contacts an obstacle during the leveling process, the pressure detected by the pressure sensor 13 is greater than the preset value, and the pressure sensor 13 will transmit the signal to the start-stop switch and shut down the robot body 1 to prevent the robot body 1 from continuing to move forward and causing damage to the leveling scraper 3.

[0037] like Figure 1 As shown, in another embodiment, the robot body 1 is further provided with a laser radar 2 for detecting the height information of the concrete surface to be leveled below the robot body 1. The laser radar 2 is electrically connected to the start-stop switch. In this embodiment, the beam 23 and the robot body 1 are connected by a pair of cantilever beams. The beam 23 is provided with a beam connector 25 for detachable connection with the cantilever beam. The laser radar 2 is arranged in front of the robot body 1 to detect the height of the concrete surface on the side of the leveling scraper 3 close to the robot body 1. When it is monitored that the height of the concrete surface is higher than the preset value, in order to prevent the leveling scraper 3 from colliding with the higher position and being damaged.

[0038] When the present invention is in use, the equipment is placed on the concrete panel to be leveled, the robot body 1 is started, and the robot body 1 moves toward its rear. At this time, the leveling scraper 3 first levels the concrete panel, and the vibrating plate 18 follows to vibrate the leveled concrete panel. When the robot body 1 moves to the uneven part of the concrete panel, it will produce a certain degree of tilt. At this time, the leveling scraper 3 connected to it will also tilt accordingly. After the detection mechanism detects the tilt of the leveling scraper 3, it starts the leveling mechanism and the flipping mechanism, so that the leveling scraper 3 remains horizontal while being perpendicular to the concrete surface, thereby ensuring the quality of leveling.

[0039] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent leveling robot with multi-posture adaptation and dual-degree-of-freedom dynamic adjustment, characterized in that: include: A robot body; a leveling scraper movably disposed in front of the robot body; a leveling mechanism fixed in front of the robot body for leveling the leveling scraper; A flipping mechanism movably connected to the leveling mechanism and used for flipping the leveling scraper so as to maintain it perpendicular to the concrete surface to be leveled, and the leveling scraper is movably connected to the flipping mechanism; a detection mechanism fixed to the leveling scraper and used for real-time monitoring of the verticality and inclination of the leveling scraper and automatically activating the leveling mechanism and the flipping mechanism according to the monitoring results.

2. The intelligent leveling robot with multi-posture adaptation and dual-degree-of-freedom dynamic adjustment according to claim 1, characterized in that: The leveling mechanism includes: a beam fixed in front of the robot body; a pair of lifting rods movably connected to the two ends of the beam, the lifting rod including a sleeve connected to the end of the beam and a core rod movably passed through the sleeve, one of the sleeves is rotatably connected to the beam, the bottom end of the core rod passes through the sleeve and is rotatably connected to the leveling scraper around a first rotation axis; a pair of lifting motors are provided on the beam, each of the lifting motors can respectively drive the top end of the core rod of one of the lifting rods to move relative to the sleeve, thereby driving the corresponding end of the leveling scraper to move up and down to achieve leveling of the leveling scraper.

3. The intelligent leveling robot with multi-posture adaptation and dual-degree-of-freedom dynamic adjustment according to claim 2, characterized in that: The leveling mechanism also includes: a pair of cantilever plates fixed to the two ends of the beam and extending along the length direction of the beam; the lifting motor is a linear motor, each of the lifting motors is fixed above one of the cantilever plates, and the driving end of the lifting motor is located at the top thereof; the top of the driving end is hinged with a second hinge, and the other side of the second hinge is fixed to the top of the core rod.

4. The intelligent leveling robot with multi-posture adaptation and dual-degree-of-freedom dynamic adjustment according to claim 2, characterized in that: The flipping mechanism includes: a third hinged member hinged to the bottom end of the leveling mechanism, the third hinged member and the leveling mechanism can rotate around a second rotation axis, the second rotation axis is perpendicular to the first rotation axis, the leveling scraper is fixed to the bottom end of the third hinged member; a flipping motor fixed to the third hinged member for controlling the rotation between the leveling mechanism and the third hinged member.

5. The intelligent leveling robot with multi-posture adaptation and dual-degree-of-freedom dynamic adjustment according to claim 4, characterized in that: The detection mechanism includes: a posture sensor fixed on the leveling scraper for monitoring the verticality and left-right inclination of the leveling scraper and the concrete surface, and the posture sensor is electrically connected to the lifting motor and the flip motor.

6. The intelligent leveling robot with multi-posture adaptation and dual-degree-of-freedom dynamic adjustment according to claim 1, characterized in that: It also includes a vibrating mechanism, which includes: a vibrating plate fixedly connected to the side of the leveling scraper away from the robot body, the vibrating plate and the bottom of the leveling scraper are located at the same horizontal height; a vibration motor fixed to the surface of the vibrating plate and used to drive the vibrating plate to vibrate.

7. The intelligent leveling robot with multi-posture adaptation and dual-degree-of-freedom dynamic adjustment according to claim 6, characterized in that: Also includes: At least one connecting arm, at least one connecting arm is connected between the vibrating plate and the leveling scraper; at least one shock-absorbing damper for reducing the impact of the vibration of the vibrating plate on the leveling scraper, the shock-absorbing damper is arranged at the connection between the vibrating plate and the leveling scraper.

8. The intelligent leveling robot with multi-posture adaptation and dual-degree-of-freedom dynamic adjustment according to claim 1, characterized in that: The robot body is also provided with a start / stop switch for controlling the start / stop of the robot body.

9. The intelligent leveling robot with multi-posture adaptation and dual-degree-of-freedom dynamic adjustment according to claim 8, characterized in that: At least one pressure sensor for monitoring the pressure applied to the leveling scraper during the leveling process is further provided on one side of the leveling scraper, and the pressure sensor is electrically connected to the start-stop switch.

10. The intelligent leveling robot with multi-posture adaptation and dual-degree-of-freedom dynamic adjustment according to claim 8, characterized in that: The robot body is also provided with a laser radar for detecting height information of the concrete surface to be leveled below the robot body, and the laser radar is electrically connected to the start-stop switch.

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