Integrated curb mounting robot

Abstract

The invention relates to the technical field of road construction, in particular to an integrated curb mounting robot which comprises a vehicle body, a curb transfer mechanism and a mortar paving mechanism. The kerb transferring mechanism comprises a lifting stand column, a telescopic cross beam, a mechanical gripper and a rotating assembly. The lifting stand column is installed on the vehicle body, the rotating assembly is installed on a bin plate of the vehicle body, the telescopic beam is installed at the end, away from the vehicle body, of the lifting stand column, the mechanical gripper is installed at the end, away from the lifting stand column, of the telescopic beam, and an indwelling area used for temporarily storing curbs is reserved on the bin plate of the vehicle body and located between the lifting stand column and the mortar paving mechanism. The mortar paving mechanism is mounted on a bin plate of the vehicle body; according to the integrated curb installation robot, the curb transfer mechanism and the mortar paving mechanism are combined, so that paving of cement mortar in a curb installation area and installation of curbs are achieved in the vehicle body running process, and the installation efficiency of the curbs is improved.

Description

Technical Field

[0001] The present application relates to the technical field of road construction, and in particular to an integrated curb installation robot. Background Art

[0002] A curb is a marker stone placed between the road surface and other structures. Curbstones are often required at the edge of the central dividing strip of the highway, the right edge of the driving lane, or the outer edge of the shoulder. Currently, common curbstones include those made of ordinary concrete prefabrication and stone processing. Currently, curbstone construction mainly includes base treatment, line positioning, formwork erection, concrete pouring, curbstone installation and maintenance.

[0003] The prior art discloses a curb installation device, which includes a vehicle body, wheels installed at the four ends of the vehicle body, a motor and a carriage installed in the middle of the vehicle body, a control box and a battery arranged in the carriage, a solar panel, a wireless remote control and a display screen arranged on the top of the carriage, a pole frame arranged at the front end of the vehicle body, a hydraulic lifter arranged at the rear end of the vehicle body, a cross bar arranged on the top of the vehicle body, one end of the cross bar being connected to the hydraulic lifter, and the other end of the cross bar being movably connected to the pole frame and extending out of the vehicle body, and a GNSS head arranged next to the hydraulic lifter; a wireless remote control is used to control the regulator to adjust the clamped curb to a position parallel to the road and perpendicular to the normal, and the curb is slowly placed on the mortar cushion layer paved to the elevation through a hydraulic lifter, and the next piece is installed after one piece is installed.

[0004] During the construction of the above-mentioned curb installation device, workers are required to first lay a mortar cushion layer in the installation area of the curb and then install the curb on top of the mortar cushion layer, which affects the installation efficiency of the curb. Summary of the Invention

[0005] In order to improve the installation efficiency of curbstones, the present application provides an integrated curbstone installation robot.

[0006] This application provides an integrated curb installation robot, which adopts the following technical solutions: An integrated curb installation robot comprises a vehicle body, a curb transfer mechanism, and a mortar paving mechanism; The curbstone transfer mechanism includes a lifting column, a telescopic beam, a mechanical gripper, and a rotating assembly; The lifting column is installed on the vehicle body, and the axial direction of the lifting column is perpendicular to the cargo plate of the vehicle body; The rotating assembly is mounted on the cargo floor of the vehicle body, and is used to drive the lifting column to rotate; The telescopic beam is installed at one end of the lifting column away from the vehicle body, and the telescopic beam is arranged along the radial direction of the lifting column; The mechanical gripper is installed at one end of the telescopic beam away from the lifting column, and the mechanical gripper is used to clamp the curbstone; A retention area for temporarily storing curbstones is reserved on the cargo deck of the vehicle body, and the retention area is located between the lifting column and the mortar paving mechanism; The mortar spreading mechanism is installed on the cargo floor of the vehicle body, and is used for spreading cement mortar on the curb installation area.

[0007] By adopting the above technical solution, during the curb installation process, first, the staff levels the ground foundation for the curb installation, then stores the cement mortar in the mortar spreading mechanism, and temporarily stores the curb in the retention area, adjusts the vehicle body, and the vehicle body drives the curb transfer mechanism and the mortar spreading mechanism to move synchronously. During the driving process of the vehicle body, the mortar spreading mechanism spreads cement mortar on the curb installation area, and adjusts the lifting column and the mechanical gripper. The lifting column drives the telescopic beam to rise and fall, and the telescopic beam drives the mechanical gripper. The mechanical gripper grabs the curb in the retention area and installs the curb in the curb installation area, thereby realizing the integrated installation of the curb. The designed integrated curb installation robot, through the combination of the curb transfer mechanism and the mortar spreading mechanism, can realize the spreading of cement mortar in the curb installation area and the installation of the curb during the driving process of the vehicle body, thereby improving the installation efficiency of the curb.

[0008] Optionally, the mortar paving mechanism includes a mortar temporary storage box, a discharge pipe, a control valve, a mortar pump and a paving assembly; The mortar temporary storage box is installed on the warehouse plate of the vehicle body; The input end of the discharge pipe is installed at the discharge end of the mortar temporary storage box, and the discharge pipe is installed on the vehicle body. The discharge pipe passes through one end of the warehouse plate of the vehicle body and extends to the projection of the warehouse plate of the vehicle body in the vertical direction, and the discharge end of the discharge pipe is facing the curb installation area; The control valve and the mortar pump are both installed on the discharge pipe; The paving assembly is installed at the output end of the discharge pipe.

[0009] By adopting the above technical solution, the cement mortar is temporarily stored in the mortar temporary storage box, and then the control valve, mortar pump and paving assembly are adjusted, and the cement mortar flows along the mortar temporary storage box to the discharge pipe, and then is transported along the discharge pipe to the curb installation area, and the cement mortar discharged along the output end of the discharge pipe is spread by the paving assembly; the designed mortar paving mechanism grouts and spreads cement mortar in the curb installation area during the driving process of the vehicle body, thereby improving the efficiency of cement mortar grouting and paving during the curb installation process.

[0010] Optionally, the paving assembly includes a bidirectional screw, a drive motor, a guide member, and two mortar templates; The bidirectional screw is mounted on the discharge pipe, and the bidirectional screw is rotatably connected to the discharge pipe; The drive motor is mounted on the cargo board of the vehicle body, and the output shaft of the drive motor is coaxially connected to the bidirectional screw; The two mortar templates are arranged in parallel, wherein one mortar template is installed on the positive thread section of the bidirectional screw, and the other mortar template is installed on the negative thread section of the bidirectional screw, and the two mortar templates are symmetrically distributed about the central vertical section of the bidirectional screw; The guide member is installed on the discharge pipe, and the guide member is used for the mortar template to move along the axial direction of the bidirectional screw.

[0011] By adopting the above technical solution, the drive motor is adjusted, and the output shaft of the drive motor drives the bidirectional screw to rotate. Due to the action of the guide part and the threaded connection between the mortar template and the bidirectional screw, the bidirectional screw drives the mortar templates to move closer or farther away from each other, thereby adjusting the distance between the two mortar templates. Then, the control valve and the mortar pump are adjusted, and the cement mortar flows along the mortar temporary storage box to the discharge pipe, and then is transported along the discharge pipe to the curb installation area. The installation area formed between the two mortar templates is grouting, and the cement mortar is grouted and spread on the curb installation area as the vehicle body travels. The designed paving component facilitates the adjustment of the distance between the two mortar templates, and thus facilitates the adjustment of the cement mortar paving width, thereby ensuring the stable installation of curbs of different widths.

[0012] Optionally, the paving assembly further includes a retractable mortar scraper, two sets of guide sliders, and a locking bolt mounted on each of the guide sliders; The two groups of guide sliders are symmetrically arranged on opposite sides of the mortar scraper, and the guide sliders are fixedly connected to the mortar scraper; A guide slot for the guide slider to slide is provided on one side of the two mortar templates close to each other, and the guide slot is inclined. The locking bolt is threadedly connected to the guide slider, and one end of the locking bolt passes through the guide slider and is tightly pressed against the mortar template.

[0013] By adopting the above technical solution, the locking bolt is adjusted so that the locking bolt is separated from the mortar template, and then force is applied to the mortar scraper. The mortar scraper drives the guide slider to slide along the guide slide groove until the distance between the mortar scraper and the ground meets the paving height requirement of the cement mortar. When the locking bolt is rotated, since the locking bolt is threadedly connected to the guide slider, it is rotated until one end of the locking bolt is tightly pressed against the mortar template, thereby fixing the position of the mortar scraper. The designed paving assembly facilitates the adjustment of the distance between the mortar scraper and the ground through the height-adjustable mortar scraper, thereby realizing the adjustment of the cement mortar paving thickness.

[0014] Optionally, the mortar scraper includes a mounting portion and two sliding portions, the sliding portion is sleeved on the mounting portion, and the mounting portion is slidingly connected to the sliding portion.

[0015] By adopting the above technical solution, the segmented mortar scraper is connected to the sliding part through the sliding connection between the mounting part, which facilitates the automatic adjustment of the mortar scraper width according to the distance between the two mortar templates, thereby achieving uniform spreading of cement mortar.

[0016] Optionally, the mortar scraper is located at the end of the mortar template, and the distance between the mortar scraper and the output end of the discharge pipe gradually increases from high to low.

[0017] By adopting the above technical solution, the mortar scraper is tilted, which reduces the force applied to the mortar scraper during operation and extends the service life of the mortar scraper.

[0018] Optionally, the lifting column includes a rotating part, a lifting part and a hydraulic cylinder, the rotating part is rotatably connected to the warehouse plate of the vehicle body, the rotating part is sleeved on the lifting part, and the rotating part and the lifting part are slidingly connected, and the hydraulic cylinder is installed in the inner cavity of the rotating part.

[0019] By adopting the above technical solution, the designed lifting column is convenient for adjusting the height of the telescopic beam, and then the height of the mechanical gripper is convenient for adjusting the height of the curb.

[0020] Optionally, the rotating assembly includes a rotating motor, a driving gear and a driven gear ring, the rotating motor is mounted on the compartment plate of the vehicle body, the driving gear is coaxially connected to the output shaft of the rotating motor, the driven gear ring is coaxially sleeved on the rotating part, the driven gear ring is fixedly connected to the rotating part, and the driven gear ring is meshed with the driven gear ring.

[0021] By adopting the above technical solution, the rotating motor is adjusted, and the output shaft of the rotating motor drives the driving gear to rotate, the driving gear drives the driven gear ring to rotate, and the driven gear ring drives the rotation of the rotating part; the designed rotating assembly is convenient for driving the rotating part to rotate, and then facilitates the rotation of the lifting column, realizing the synchronous rotation of the telescopic beam and the mechanical gripper, and then realizing the grabbing and installation of the curb.

[0022] Optionally, the telescopic beam includes a beam portion, a moving portion and a telescopic cylinder, the beam portion is fixedly connected to the lifting portion, and the moving portion is slidingly connected to the beam portion, the telescopic cylinder is installed in the inner cavity of the beam portion, and the piston rod of the telescopic cylinder is connected to the moving portion, and the mechanical gripper is connected to the moving portion.

[0023] By adopting the above technical solution, the designed telescopic beam makes it easy to adjust the distance between the mechanical gripper and the lifting column, thereby facilitating the grabbing of curbstones at different positions in the retention area.

[0024] Optionally, the mechanical gripper includes an auxiliary column, a chuck cylinder, an adjustment plate, and two sets of chuck parts; The auxiliary connecting column is installed at one end of the moving part away from the crossbeam part, and the auxiliary connecting column is arranged axially parallel to the lifting column; The chuck cylinder is mounted on the auxiliary connecting column, and the piston rod of the chuck cylinder is coaxially arranged with the auxiliary connecting column; The adjustment plate is mounted on the piston rod of the chuck cylinder; The two groups of chuck members are symmetrically distributed about the auxiliary column, and the chuck members include a movable rod, a hinge rod, an adjustment rod and a chuck plate; The movable rod is rotatably connected to the auxiliary column, the hinged rod is rotatably connected to the end of the movable rod away from the auxiliary column, and the chuck plate is rotatably connected to the end of the hinged rod away from the movable rod; One end of the adjusting rod is rotatably connected to the adjusting plate, and the other end is rotatably connected to the hinge rod.

[0025] By adopting the above technical solution, the chuck cylinder is adjusted, and the piston rod of the chuck cylinder drives the adjustment plate to move, the adjustment plate drives the adjustment rod to rotate, the adjustment rod drives the articulated rod to rotate, and at the same time, the articulated rod drives the chuck plate to move, thereby realizing the limited clamping of the curb; the designed mechanical gripper is convenient for limited clamping of the curb, and then facilitates the adjustment of the position of the curb, realizing the clamping and installation of the curb in different retention areas, ensuring that the curb is installed during the driving process of the vehicle, and improving the installation efficiency of the curb.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. The designed integrated curb installation robot combines a curb transfer mechanism with a mortar spreading mechanism, allowing the robot to spread cement mortar in the curb installation area and install the curb while the vehicle is in motion, improving curb installation efficiency and achieving integrated curb installation. 2. The designed integrated curb installation robot facilitates the adjustment of the distance between the two mortar templates through the paving component, and thus facilitates the adjustment of the cement mortar paving width to ensure the stable installation of curbs of different widths; at the same time, through the height-adjustable mortar scraper, it is easy to adjust the distance between the mortar scraper and the ground, thereby realizing the adjustment of the cement mortar paving thickness and achieving uniform paving of the cement mortar. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the overall structure of the integrated curb installation robot according to Example 1 of the present application; Figure 2 yes Figure 1 A magnified schematic diagram of part A; Figure 3 is a cross-sectional view of the integrated curb installation robot according to Example 1 of the present application; Figure 4 yes Figure 3 An enlarged schematic diagram of part B; Figure 5 This is a partial schematic diagram of the integrated curb installation robot in Example 1 of the present application, for illustration purposes only; Figure 6 yes Figure 5 Enlarged schematic diagram of part C.

[0028] Explanation of the accompanying symbols: 1. vehicle body; 11. retention area; 2. curbstone transfer mechanism; 21. lifting column; 211. rotating part; 212. lifting part; 213. hydraulic cylinder; 22. telescopic beam; 221. beam part; 222. moving part; 223. telescopic cylinder; 23. mechanical gripper; 231. auxiliary column; 232. chuck cylinder; 233. adjustment plate; 234. chuck member; 2341. movable rod; 2342. hinged rod; 2343. adjustment rod; 2344. chuck plate; 24. rotating Components; 241. Rotating motor; 242. Driving gear; 243. Driven gear ring; 3. Mortar spreading mechanism; 31. Mortar temporary storage box; 32. Discharge pipe; 33. Mortar pump; 34. Control valve; 35. Spreading assembly; 351. Driving motor; 352. Bidirectional screw; 353. Guide; 354. Mortar template; 355. Guide chute; 356. Guide slider; 357. Locking bolt; 358. Mortar scraper; 3581. Sliding part; 3582. Mounting part; 3583. Compression spring. DETAILED DESCRIPTION

[0029] The following is combined with Figure 1-6 This application is described in further detail.

[0030] An embodiment of the present application discloses an integrated curb installation robot.

[0031] Reference Figure 1 and Figure 2 An integrated curb installation robot includes a vehicle body 1, a control mechanism, a curb transfer mechanism 2, and a mortar paving mechanism 3. The control mechanism, the curb transfer mechanism 2, and the mortar paving mechanism 3 are all installed on the warehouse plate of the vehicle body 1. In this embodiment, the vehicle body 1 can be a tracked vehicle body, an off-road vehicle body, or a transport vehicle body, as long as it can drive the movement of the entire device. In addition, the vehicle body 1 in this application is equipped with an on-board radar. The on-board radar transmits high-frequency electromagnetic waves and receives reflected signals. After signal processing, it can identify and locate obstacles around the vehicle, and at the same time, it is convenient to collect road surface information. Elevation and curb installation position, etc.; the curb transfer mechanism 2 is used for grabbing and installing curbs, the mortar spreading mechanism 3 is used for grouting and spreading cement mortar, and the control mechanism is used for automatic control of the curb transfer mechanism 2 and the mortar spreading mechanism 3; and, a retention area 11 for temporarily storing curbs is reserved on the warehouse plate of the vehicle body 1, and the retention area 11 is located between the lifting column 21 and the mortar spreading mechanism 3, so as to facilitate centralized stacking of curbs. In this embodiment, the placement method of the curbs on the vehicle body 1 is the same as the placement method of the curbs in the installation state, so that the curbs can be grabbed and installed by the curb transfer mechanism 2.

[0032] Reference Figure 3 and Figure 4 The curbstone transfer mechanism 2 includes a lifting column 21, a telescopic beam 22, a mechanical gripper 23 and a rotating assembly 24; the lifting column 21 is mounted on the vehicle body 1, and the axial direction of the lifting column 21 is perpendicular to the plane of the warehouse plate of the vehicle body 1; the lifting column 21 includes a rotating part 211, a lifting part 212 and a hydraulic cylinder 213. In this embodiment, the rotating part 211, the lifting part 212 and the hydraulic cylinder 213 are coaxially arranged, and the rotating part 211 is rotatably connected to the warehouse plate of the vehicle body 1, the rotating part 211 is sleeved on the lifting part 212, and the rotating part 211 and the lifting part 212 are slidingly connected, and the hydraulic cylinder 213 is installed in the inner cavity of the rotating part 211. In this embodiment, the hydraulic cylinder 213 is fixed to the rotating part 211 by bolts, and the piston rod of the hydraulic cylinder 213 is fixed to the lifting part 212 by a flange, so that the lifting part 212 can be driven up and down by the hydraulic cylinder 213 to achieve height adjustment of the lifting column 21.

[0033] Reference Figure 3 and Figure 4The telescopic beam 22 is installed at the end of the lifting column 21 away from the vehicle body 1, and the telescopic beam 22 is arranged along the radial direction of the lifting column 21; the telescopic beam 22 includes a beam portion 221, a moving portion 222 and a telescopic cylinder 223, the beam portion 221 is fixedly connected to the lifting portion 212, and in this embodiment, the beam portion 221 is arranged along the radial direction of the lifting portion 212, the beam portion 221 and the moving portion 222 are coaxially arranged, and the moving portion 222 is slidingly connected to the beam portion 221; the telescopic cylinder 223 is installed in the inner cavity of the beam portion 221, in this embodiment, the telescopic cylinder 223 is fixed to the beam by bolts, and the piston rod of the telescopic cylinder 223 is fixedly connected to the moving portion 222 by a flange; the mechanical gripper 23 is fixedly connected to the end of the moving portion 222 away from the lifting column 21, and the mechanical gripper 23 faces the warehouse plate side of the vehicle body 1, so as to facilitate the grabbing and installation of the curb in the retention area 11.

[0034] Reference Figure 1 and Figure 2 The mechanical gripper 23 is used to clamp the curbstone. The mechanical gripper 23 includes an auxiliary column 231, a chuck cylinder 232, an adjustment plate 233 and two sets of chuck parts 234; the auxiliary column 231 is installed at the end of the moving part 222 away from the beam part 221, and the auxiliary column 231 is axially parallel to the lifting column 21. In this embodiment, the auxiliary column 231 is fixedly connected to the moving part 222; the chuck cylinder 232 is installed on the auxiliary column 231. In this embodiment, the chuck cylinder 232 is installed at the end of the auxiliary column 231 away from the moving part 222, and the piston rod of the chuck cylinder 232 is coaxially arranged with the auxiliary column 231; the adjustment plate 233 is installed on the piston rod of the chuck cylinder 232, and the adjustment plate 233 is fixed to the piston rod of the chuck cylinder 232 by bolts; the two sets of chuck parts 234 are symmetrically distributed about the auxiliary column 231 The chuck member 234 includes a movable rod 2341, a hinged rod 2342, an adjusting rod 2343 and a chuck plate 2344; the movable rod 2341 is rotatably connected to the auxiliary column 231, the hinged rod 2342 is rotatably connected to the end of the movable rod 2341 away from the auxiliary column 231, and the chuck plate 2344 is rotatably connected to the end of the hinged rod 2342 away from the movable rod 2341; one end of the adjusting rod 2343 is rotatably connected to the adjusting plate 233, and the other end is rotatably connected to the hinged rod 2342; by adjusting the chuck cylinder 232, the piston rod of the chuck cylinder 232 drives the adjusting plate 233 to rise and fall, the adjusting plate 233 drives the adjusting rod 2343 to rotate, the adjusting rod 2343 drives the hinged rod 2342 to rotate, and the hinged rod 2342 drives the chuck plate 2344 to limit the curb stone, thereby realizing the grabbing and installation of the curb stone.

[0035] Reference Figure 3 and Figure 4, the rotating assembly 24 is mounted on the warehouse plate of the vehicle body 1, and the rotating assembly 24 is used to drive the lifting column 21 to rotate; the rotating assembly 24 includes a rotating motor 241, a driving gear 242 and a driven gear ring 243. The rotating motor 241 is mounted on the warehouse plate of the vehicle body 1. In this embodiment, the rotating motor 241 is fixed to the warehouse plate of the vehicle body 1 by bolts; the driving gear 242 is coaxially connected to the output shaft of the rotating motor 241. In this embodiment, the driving gear 242 is keyed to the output shaft of the rotating motor 241 so that the driving gear 242 and the output shaft of the rotating motor 241 rotate synchronously; the driven gear ring 243 is coaxially sleeved on the rotating part 211, and the driven gear ring 243 is fixedly connected to the rotating part 211. In this embodiment, the driven gear ring 243 is welded to the rotating part 211, and the driven gear ring 243 is meshed with the driven gear ring 243.

[0036] Reference Figure 1 and Figure 5 The mortar spreading mechanism 3 is installed on the warehouse plate of the vehicle body 1, and the mortar spreading mechanism 3 is used to spread cement mortar to the curb installation area. The mortar spreading mechanism 3 includes a mortar temporary storage box 31, a discharge pipe 32, a control valve 34, a mortar pump 33 and a spreading component 35; the mortar temporary storage box 31 is installed on the warehouse plate of the vehicle body 1. In this embodiment, a stirring mechanism is installed on the mortar temporary storage box 31 to fully stir the cement mortar in the mortar temporary storage box 31 to prevent the cement mortar in the mortar temporary storage box 31 from stagnation. The raw solidification or stratification of cement mortar occurs; the input end of the discharge pipe 32 is installed at the discharge end of the mortar storage box 31, and the discharge pipe 32 is installed on the vehicle body 1, the discharge pipe 32 passes through one end of the warehouse plate of the vehicle body 1 and extends to the vertical projection of the warehouse plate of the vehicle body 1, and the discharge end of the discharge pipe 32 is facing the curb installation area, so as to facilitate grouting of cement mortar to the curb installation area; the control valve 34 and the mortar pump 33 are both installed on the discharge pipe 32 to control the discharge of cement mortar in the mortar storage box 31.

[0037] Reference Figure 5 and Figure 6The paving assembly 35 is installed at the output end of the discharge pipe 32. The paving assembly 35 includes a bidirectional screw 352, a drive motor 351, a guide 353, two mortar templates 354, a retractable mortar scraper 358, two sets of guide sliders 356 and a locking bolt 357 installed on each guide slider 356. The discharge pipe 32 includes a pipeline portion and a frame portion, and the frame portion is fixed to the discharge pipe 32 by bolts; the bidirectional screw 352 is installed on the frame portion, and the bidirectional screw 352 is rotatably connected to the discharge pipe 32, and the two mortar templates 354 are arranged in parallel, one of which is installed on the positive thread section of the bidirectional screw 352, and the other is installed on the negative thread section of the bidirectional screw 352, and The two mortar templates 354 are symmetrically distributed about the central vertical section of the bidirectional screw 352, so that the bidirectional screw 352 can drive the two mortar templates 354 to move synchronously close to or away from each other; the guide member 353 is installed on the discharge pipe 32, and the guide member 353 is used for the mortar template 354 to move along the axial direction of the bidirectional screw 352. The guide member 353 includes at least one guide rod. In this application, the guide rod can be one, two, or three. As long as the guidance of the mortar template 354 is achieved, the bidirectional screw 352 can drive the two mortar templates 354 to move closer to or away from each other. In this embodiment, the guide member 353 is set as one, and the guide rod is axially parallel to the bidirectional screw 352, and the guide rod is fixedly welded. The cam 352 is connected to the frame part; the driving motor 351 is installed on the warehouse plate of the vehicle body 1, and the output shaft of the driving motor 351 is coaxially connected to the bidirectional screw 352. In this embodiment, the output shaft of the driving motor 351 is connected to the bidirectional screw 352 through a coupling so that the output shaft of the driving motor 351 and the bidirectional screw 352 can rotate synchronously; two sets of guide sliders 356 are symmetrically arranged on opposite sides of the mortar scraper 358, and the guide sliders 356 are fixedly connected to the mortar scraper 358. The two mortar templates 354 are close to each other and are provided with a guide slot 355 for the sliding of the guide slider 356. The guide slot 355 is tilted. In this embodiment, the distance between the guide slot 355 and the discharge end of the pipeline portion gradually increases from high to low. Large; the locking bolt 357 is threadedly connected to the guide slider 356, and one end of the locking bolt 357 passes through the guide slider 356 and is tightly pressed against the mortar template 354; the mortar scraper 358 includes a mounting portion 3582 and two sliding portions 3581, the sliding portion 3581 is sleeved on the mounting portion 3582, and the mounting portion 3582 is slidingly connected to the sliding portion 3581. In this embodiment, the sliding portion 3581 is hollow, and a compression spring is installed in the inner cavity of the sliding portion 3581, one end of the compression spring is connected to the sliding portion 3581, and the other end is connected to the mounting portion 3582. The mortar scraper 358 is located at the end of the mortar template 354, and the distance between the mortar scraper 358 and the output end of the discharge pipe 32 gradually increases from high to low.

[0038] The control mechanism includes a battery element, a control panel and a controller, which are all installed on the vehicle body 1. The control panel, battery element, controller, hydraulic cylinder 213, telescopic cylinder 223, drive motor 351, chuck cylinder 232, rotating motor 241, control valve 34 and mortar pump 33 are electrically connected to facilitate the control of the hydraulic cylinder 213, telescopic cylinder 223, drive motor 351, chuck cylinder 232, rotating motor 241, control valve 34 and mortar pump 33 through the control panel to perform construction operations.

[0039] The implementation principle of the integrated curb installation robot of the embodiment of the present application is as follows: during the curb installation process, first, the staff levels the ground foundation for the curb installation and performs measurements and markings; then, the cement mortar is stored in the mortar temporary storage box 31, and the curb is temporarily stored in the retention area 11; the vehicle body 1 drives the curb transfer mechanism 2 and the mortar paving mechanism 3 to move synchronously, and during the driving process of the vehicle body 1, the drive motor 351 is adjusted, and the output shaft of the drive motor 351 drives the bidirectional screw 352 to rotate. Due to the threaded connection between the mortar template 354 and the bidirectional screw 352, the bidirectional screw 352 drives the mortar template 354 to move closer to or away from each other, thereby adjusting the distance between the two mortar templates 354; then the locking bolt 357 is adjusted so that the locking bolt 357 and the mortar template are tightly connected. 354 is separated, and then force is applied to the mortar scraper 358, which drives the guide slider 356 to slide along the guide slide groove 355 until the distance between the mortar scraper 358 and the ground meets the paving height requirement of the cement mortar. When the locking bolt 357 is rotated, since the locking bolt 357 is threadedly connected to the guide slider 356, it is rotated until one end of the locking bolt 357 is tightly pressed against the mortar template 354, so that the position of the mortar scraper 358 is fixed; then, the control valve 34 and the mortar pump 33 are adjusted, and the cement mortar flows along the mortar temporary storage box 31 to the discharge pipe 32, and then is transported along the discharge pipe 32 to the curb installation area, and the installation area formed between the two mortar templates 354 is grouting. As the vehicle body 1 travels, the curb installation area is grouted and paved with cement mortar.

[0040] At the same time, the vehicle body 1 is adjusted, and the mortar spreading mechanism 3 spreads cement mortar on the curb installation area, and the lifting column 21 and the mechanical gripper 23 are adjusted. The lifting column 21 drives the telescopic beam 22 to rise and fall, and the telescopic beam 22 drives the mechanical gripper 23. The mechanical gripper 23 grabs the curb in the retention area 11 and installs the curb to the curb installation area to realize the integrated installation of the curb.

[0041] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. An integrated curb installation robot, characterized in that: It comprises a vehicle body (1), a curbstone transfer mechanism (2) and a mortar spreading mechanism (3); The curbstone transfer mechanism (2) comprises a lifting column (21), a telescopic beam (22), a mechanical gripper (23) and a rotating assembly (24); The lifting column (21) is installed on the vehicle body (1), and the axial direction of the lifting column (21) is perpendicular to the warehouse plate of the vehicle body (1); The rotating assembly (24) is mounted on the storage plate of the vehicle body (1), and the rotating assembly (24) is used to drive the lifting column (21) to rotate; The telescopic crossbeam (22) is mounted on an end of the lifting column (21) away from the vehicle body (1), and the telescopic crossbeam (22) is arranged along the radial direction of the lifting column (21); The mechanical gripper (23) is installed at one end of the telescopic beam (22) away from the lifting column (21), and the mechanical gripper (23) is used to clamp the curbstone; A retention area (11) for temporarily storing curbstones is retained on the storage plate of the vehicle body (1), and the retention area (11) is located between the lifting column (21) and the mortar paving mechanism (3); The mortar spreading mechanism (3) is installed on the cargo floor of the vehicle body (1), and the mortar spreading mechanism (3) is used to spread cement mortar on the curb installation area.

2. The integrated curb installation robot according to claim 1, characterized in that: The mortar paving mechanism (3) comprises a mortar temporary storage box (31), a discharge pipe (32), a control valve (34), a mortar pump (33) and a paving assembly (35); The mortar temporary storage box (31) is installed on the storage plate of the vehicle body (1); The input end of the discharge pipe (32) is installed at the discharge end of the mortar temporary storage box (31), and the discharge pipe (32) is installed on the vehicle body (1). The discharge pipe (32) passes through one end of the warehouse plate of the vehicle body (1) and extends to the projection of the warehouse plate of the vehicle body (1) in the vertical direction, and the discharge end of the discharge pipe (32) faces the curb installation area; The control valve (34) and the mortar pump (33) are both installed on the discharge pipe (32); The paving assembly (35) is installed at the output end of the discharge pipe (32).

3. The integrated curb installation robot according to claim 2, characterized in that: The paving assembly (35) includes a bidirectional screw (352), a drive motor (351), a guide member (353) and two mortar templates (354); The bidirectional screw (352) is installed on the discharge pipe (32), and the bidirectional screw (352) is rotatably connected to the discharge pipe (32); The driving motor (351) is mounted on the compartment plate of the vehicle body (1), and the output shaft of the driving motor (351) is coaxially connected to the bidirectional screw (352); The two mortar templates (354) are arranged in parallel, wherein one of the mortar templates (354) is installed on the positive thread section of the bidirectional screw (352), and the other mortar template (354) is installed on the negative thread section of the bidirectional screw (352), and the two mortar templates (354) are symmetrically distributed about the central vertical section of the bidirectional screw (352); The guide member (353) is installed on the discharge pipe (32), and the guide member (353) is used for the mortar template (354) to move along the axial direction of the bidirectional screw (352).

4. The integrated curb installation robot according to claim 3, characterized in that: The paving assembly (35) further includes a retractable mortar scraper (358), two sets of guide slides (356), and a locking bolt (357) mounted on each of the guide slides (356); Two groups of guide sliders (356) are symmetrically arranged on opposite sides of the mortar scraper (358), and the guide sliders (356) are fixedly connected to the mortar scraper (358); A guide slot (355) for the guide slider (356) to slide is provided on one side of the two mortar templates (354) close to each other, and the guide slot (355) is inclined. The locking bolt (357) is threadedly connected to the guide slider (356), and one end of the locking bolt (357) passes through the guide slider (356) and is pressed against the mortar template (354).

5. The integrated curb installation robot according to claim 4, characterized in that: The mortar scraper (358) includes a mounting portion (3582) and two sliding portions (3581), wherein the sliding portion (3581) is sleeved on the mounting portion (3582), and the mounting portion (3582) is slidingly connected to the sliding portion (3581).

6. The integrated curb installation robot according to claim 4, characterized in that: The mortar scraper (358) is located at the end of the mortar template (354), and the distance between the mortar scraper (358) and the output end of the discharge pipe (32) gradually increases from high to low.

7. The integrated curb installation robot according to claim 1, characterized in that: The lifting column (21) comprises a rotating part (211), a lifting part (212) and a hydraulic cylinder (213); the rotating part (211) is rotatably connected to the warehouse plate of the vehicle body (1); the rotating part (211) is sleeved on the lifting part (212), and the rotating part (211) and the lifting part (212) are slidably connected; the hydraulic cylinder (213) is installed in the inner cavity of the rotating part (211).

8. The integrated curb installation robot according to claim 7, characterized in that: The rotating assembly (24) comprises a rotating motor (241), a driving gear (242) and a driven gear ring (243); the rotating motor (241) is mounted on a compartment plate of the vehicle body (1); the driving gear (242) is coaxially connected to an output shaft of the rotating motor (241); the driven gear ring (243) is coaxially sleeved on the rotating portion (211); the driven gear ring (243) is fixedly connected to the rotating portion (211), and the driven gear ring (243) is meshed with the driven gear ring (243).

9. The integrated curb installation robot according to claim 7, characterized in that: The telescopic crossbeam (22) comprises a crossbeam portion (221), a moving portion (222) and a telescopic cylinder (223); the crossbeam portion (221) is fixedly connected to the lifting portion (212), and the moving portion (222) is slidably connected to the crossbeam portion (221); the telescopic cylinder (223) is installed in the inner cavity of the crossbeam portion (221), and the piston rod of the telescopic cylinder (223) is connected to the moving portion (222); and the mechanical gripper (23) is connected to the moving portion (222).

10. The integrated curb installation robot according to claim 1, characterized in that: The mechanical gripper (23) comprises an auxiliary column (231), a chuck cylinder (232), an adjustment plate (233) and two sets of chuck members (234); The auxiliary connecting column (231) is installed at one end of the moving part (222) away from the crossbeam part (221), and the auxiliary connecting column (231) is axially parallel to the lifting column (21); The chuck cylinder (232) is installed on the auxiliary connecting column (231), and the piston rod of the chuck cylinder (232) is coaxially arranged with the auxiliary connecting column (231); The adjustment plate (233) is mounted on the piston rod of the chuck cylinder (232); The two groups of clamping members (234) are symmetrically distributed about the auxiliary column (231), and the clamping members (234) include a movable rod (2341), a hinge rod (2342), an adjustment rod (2343) and a clamping plate (2344); The movable rod (2341) is rotatably connected to the auxiliary column (231), the hinged rod (2342) is rotatably connected to one end of the movable rod (2341) away from the auxiliary column (231), and the clamping plate (2344) is rotatably connected to one end of the hinged rod (2342) away from the movable rod (2341); One end of the adjusting rod (2343) is rotatably connected to the adjusting plate (233), and the other end is rotatably connected to the hinge rod (2342).

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