Automatic leveling type bridge deck concrete leveling robot based on laser sensing

Abstract

The invention relates to the technical field of bridge floor construction equipment, in particular to an automatic leveling type bridge floor concrete leveling robot based on laser sensing, which comprises a mobile vehicle, a vibration leveling mechanism and a sensor arranged on the rear side of the mobile vehicle, and a tire cleaning mechanism, the tire cleaning mechanism comprises a fixing part, a driving part arranged in the fixing part, a cleaning part and an air blowing part which are driven by the driving part, and a vibrating part arranged on the front side of the fixing part. According to the automatic leveling type bridge deck concrete leveling robot based on laser sensing, an air blowing part and a cleaning brush are synchronously driven by a double-shaft motor, the air blowing part drives a piston plate to reciprocate in a square cylinder through a reciprocating lead screw, directional air injection is conducted through an inclined air nozzle, the cleaning brush is matched with rotation, and loose concrete is preliminarily stripped through air blowing; the cleaning brush deeply removes bonding residues, the tire adhesion amount is remarkably reduced, the stability of the wheel diameter and the rolling resistance is maintained, the vehicle body elevation error caused by tire thickening is eliminated, and the control precision of a laser leveling system is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge deck construction equipment, in particular to an automatic leveling bridge deck concrete leveling robot based on laser sensing. Background Art

[0002] The concrete leveling robot is an intelligent equipment for ground construction. Its core uses a high-precision laser transmitter to establish a horizontal reference plane. The laser receiving sensor installed on the robot captures elevation information in real time. The built-in intelligent control system compares the sensor signal with the set elevation, automatically drives the hydraulic or electric leveling mechanism in real time, accurately controls the scraper height, and automatically scrapes and fine-tunes the fresh concrete after paving. It can significantly improve the flatness of large-area bridge decks, achieve high-quality "one-time forming", and greatly reduce dependence on manual labor and subsequent repairs.

[0003] The patent application number CN202410551787.4 discloses an automatic leveling device for the legs of a concrete laser leveling machine, which includes a control body and a main body. The surface of the control body is provided with a control module body for controlling the main body; when the control body drives the main body to work, the adjustment plate can be adjusted in multiple axes under the action of the control module body, the laser leveling module and the adjustment mechanism, so that the adjustment plate can drive the leveling mechanism to adjust to different angles, and it has strong applicability.

[0004] However, traditional equipment lacks a dynamic cleaning mechanism. When the tires roll on the concrete, they continue to adhere to the material, causing the wheel diameter to increase uncontrollably. This not only causes fluctuations in rolling resistance and affects the uniformity of travel, but also causes the vehicle body elevation to shift due to changes in the effective diameter of the tire, directly interfering with the control accuracy of the laser sensing system. At the same time, the concrete in the untreated wheel track area is in a loose state, and if the tires are pressed too deeply, it can easily cause unstable walking, further affecting the smoothness of movement.

[0005] In view of this, we propose an automatic leveling bridge deck concrete leveling robot based on laser sensing. Summary of the Invention

[0006] The purpose of the present invention is to provide an automatic leveling bridge deck concrete leveling robot based on laser sensing, which synchronously drives the air blowing part and the cleaning brush through a dual-axis motor, sprays air in a directional manner through an inclined air nozzle, cooperates with the rotation of the cleaning brush, and uses air blowing to initially peel off loose concrete, thereby ensuring the control accuracy of the laser leveling system and solving the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions: An automatic bridge deck concrete leveling robot based on laser sensing includes a mobile vehicle, a leveling mechanism and a sensor disposed at the rear of the mobile vehicle, and a tire cleaning mechanism. The tire cleaning mechanism includes a fixed portion, a driving portion disposed within the fixed portion, a cleaning portion and an air blowing portion driven by the driving portion, and a vibrating portion disposed in front of the fixed portion. The driving part includes a dual-shaft motor, two output shafts driven by the motor, a cam sleeved outside the output shaft, a transmission rod rotating with the output shaft, and two reciprocating screw rods sleeved outside the transmission rod; This setup uses a dual-axis motor to drive the output shaft to drive the transmission rod and reciprocating screw to rotate, thereby driving the cleaning part to rotate and clean the tires of the mobile vehicle; The air blowing part includes a square cylinder, a piston plate sliding in the square cylinder, a slider sleeved outside the reciprocating screw, a long rod connected between the piston plate and the slider, and an air pipe arranged below the cleaning part; This setting uses a reciprocating screw to drive the slider to move back and forth, and the long rod drives the piston plate to move together, sending the gas in the square cylinder through the pipeline into the air pipe and blowing it toward the tires of the mobile vehicle; The vibrating part includes a plurality of vibrating rods, a slide plate arranged on the top surface of the plurality of vibrating rods, and a spring sleeved outside the vibrating rods; When the cam rotates, the extrusion slide moves down, and then returns to its original position under the action of the spring, and the concrete on the moving vehicle path is loosened in advance by the vibrating rod.

[0008] In the technical solution of the present invention, the fixing part includes two fixing frames fixedly connected to the left and right outer walls of the mobile vehicle by bolts, a number of reinforcing plates regularly welded and fixed to the inner walls of the fixing frames, and a connecting plate fixedly connected to the ends of the fixing frames by bolts, and two sliding grooves running through the front and back are opened on the outer wall of the connecting plate.

[0009] This setting provides a basis for modification of the entire equipment by installing a detachable fixed frame outside the mobile vehicle.

[0010] In the technical solution of the present invention, the driving part also includes a first worm connected to the end of the output shaft, a first worm wheel connected to the front end of the transmission rod, and two second worms connected and fixed to the outer wall of the transmission rod.

[0011] In the technical solution of the present invention, the dual-axis motor is fixedly connected to the front outer wall of the mobile vehicle by bolts, the output shaft is coaxially connected to the output shaft of the dual-axis motor, and the front and rear ends of the transmission rod are rotatably connected to the outer walls of the front and rear ends of the fixed frame.

[0012] In the technical solution of the present invention, the reciprocating screw is fixedly connected to the outer wall of the transmission rod through a bayonet, the first worm is engaged with the first worm wheel, and the second worm is located directly above the cleaning portion.

[0013] The above arrangement drives the internal structures of the vibrating part, the air blowing part and the cleaning part to move respectively through the rotating cam, the reciprocating screw and the second worm, thereby reducing the investment in external drive devices.

[0014] In the technical solution of the present invention, the cleaning part includes a rotating shaft rotatably connected to the outer wall of the fixed frame, a second worm gear fixedly connected to the end of the rotating shaft by a pin and meshing with the second worm, and a cleaning brush fixed to the outer end of the rotating shaft.

[0015] This setting uses the cleaning brush at the end to perform a secondary cleaning of the concrete adhering to the outside of the tire.

[0016] In the technical solution of the present invention, the square tube is fixedly connected to the inner wall of the fixed frame by screws, the front and rear ends of the long rod are respectively clamped and fixed to the outer walls of the slider and the piston plate, and the upper and lower sides of the rear wall of the square tube are respectively clamped and fixed with the outlet valve and the inlet valve.

[0017] In the technical solution of the present invention, the air blowing part also includes a hose clamped to the outside of the air outlet valve on the rear wall of the square cylinder and the end of the air pipe, several air nozzles threadedly connected to the outer wall of the air pipe, and a hook fixed to the bottom surface of the fixed frame by screws for fixing the air pipe.

[0018] The above arrangement uses a plurality of obliquely arranged air nozzles on the air pipe to blow air toward the tire surface of the mobile vehicle, thereby preliminarily processing the concrete adhered to the outer side of the tire.

[0019] In the technical solution of the present invention, the vibrating part also includes a fixing plate fixedly connected to the outer wall of the front end of the moving vehicle by bolts and two square frames fixed to the outer wall of the slide plate and slidably connected to the inside of the slide groove.

[0020] In the technical solution of the present invention, the vibrating rod is slidably connected to the inside of the fixed plate, and the vibrating rod is fixed to the bottom surface of the slide plate by bolts. The square frame is in conflict with the cam, and the upper and lower ends of the spring are respectively welded and fixed to the bottom surface of the slide plate and the top surface of the fixed plate.

[0021] The above arrangement continuously pre-vibrates the concrete on the tire path at the front end of the mobile vehicle through a vibrating rod, thereby ensuring the stability of the mobile vehicle during movement.

[0022] Compared with the prior art, the present invention has the following beneficial effects: 1. This laser-sensing-based automatic leveling bridge deck concrete leveling robot uses a dual-axis motor to synchronously drive the air blowing part and the cleaning brush. The air blowing part is driven by a reciprocating screw to drive the piston plate to reciprocate in the square cylinder, and the air is sprayed in a direction through the inclined air nozzle. In conjunction with the rotation of the cleaning brush, the air is used to initially peel off the loose concrete, and the cleaning brush deeply removes the adhesive residue, significantly reducing the amount of tire adhesion, maintaining the stability of the wheel diameter and rolling resistance, eliminating the vehicle elevation error caused by tire thickening, and ensuring the control accuracy of the laser leveling system.

[0023] 2. This laser-sensing automatic-leveling bridge deck concrete leveling robot uses a dual-axis motor to drive the output shaft, allowing the cam to periodically squeeze the box, driving the slide and vibrating rod to move vertically back and forth. The spring assists in reset and pre-tamping the concrete on the path of the front tire of the mobile vehicle, reducing the tire's pressure depth, avoiding walking collapse, and ensuring smooth movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 Schematic diagram of the structure of the tire cleaning mechanism of the present invention; Figure 3 A partial structural diagram of the tire cleaning mechanism of the present invention; Figure 4 Schematic diagram of the structure of the fixing part in the present invention; Figure 5 Schematic diagram of the structure of the driving part of the present invention; Figure 6 It is a partial structural diagram of the driving part of the present invention; Figure 7 Schematic diagram of the structure of the cleaning part of the present invention; Figure 8 It is a schematic cross-sectional view of the structure of the air blowing portion of the present invention; Figure 9 Schematic diagram of the structure of the vibrating part of the present invention; Description of reference numerals: 100. Mobile vehicle; 200, leveling mechanism; 300, sensor; 400, tire cleaning mechanism; 410, fixing part; 411, fixing frame; 412, reinforcing plate; 413, connecting plate; 4130, slide; 420, driving part; 421, dual-axis motor; 422, output shaft; 423, first worm; 424, cam; 425, first worm gear; 426, transmission rod; 427, reciprocating screw; 428, second worm; 430, cleaning part; 431, rotating shaft; 432, second worm gear; 433, cleaning brush; 440, air blowing part; 441, square cylinder; 442, piston plate; 443, long rod; 444, slider; 445, hose; 446, air pipe; 447, air nozzle; 448, hook; 450, vibrating part; 451, fixing plate; 452, vibrating rod; 453, slide plate; 454, square frame; 455, spring. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0026] See also Figures 1-4 As shown, this embodiment provides a technical solution: An automatic leveling bridge deck concrete leveling robot based on laser sensing includes a mobile vehicle 100, a leveling mechanism 200 and a sensor 300 arranged on the rear side of the mobile vehicle 100, and also includes a tire cleaning mechanism 400. The tire cleaning mechanism 400 includes a fixing part 410, a driving part 420 arranged in the fixing part 410, a cleaning part 430 and an air blowing part 440 driven by the driving part 420, and a vibrating part 450 arranged on the front side of the fixing part 410.

[0027] Specifically, the fixing part 410 includes two fixing frames 411 fixedly connected to the left and right outer walls of the mobile vehicle 100 by bolts, a number of reinforcing plates 412 regularly welded and fixed to the inner walls of the fixing frames 411, and a connecting plate 413 fixedly connected to the end of the fixing frame 411 by bolts, and two sliding grooves 4130 running through the front and back are opened on the outer wall of the connecting plate 413.

[0028] Furthermore, the fixed frame 411 cooperates with several reinforcing plates 412 inside it to ensure the strength of its overall structure, and at the same time provides a placement space for the structures of the driving part 420, the cleaning part 430 and the air blowing part 440. The slide groove 4130 on the connecting plate 413 is used to limit the movement range of the internal structure of the vibration part 450. This setting provides a basis for the modification of the overall equipment by adding a detachable fixed frame 411 to the outside of the mobile vehicle 100.

[0029] See also Figure 5-Figure 6 As shown, in this embodiment, the driving part 420 includes a dual-axis motor 421, two output shafts 422 driven by the dual-axis motor 421, a cam 424 mounted on the outside of the output shaft 422, a transmission rod 426 rotating with the output shaft 422, and two reciprocating screws 427 mounted on the outside of the transmission rod 426. The dual-axis motor 421 drives the output shaft 422 to drive the transmission rod 426 and the reciprocating screw 427 to rotate, thereby driving the cleaning part 430 to rotate to clean the tires of the mobile vehicle 100.

[0030] Specifically, the driving part 420 further includes a first worm 423 clamped to the end of the output shaft 422 , a first worm wheel 425 clamped to the front end of the transmission rod 426 , and two second worms 428 clamped and fixed to the outer wall of the transmission rod 426 .

[0031] Furthermore, the dual-axis motor 421 is fixedly connected to the front outer wall of the mobile vehicle 100 by bolts, the output shaft 422 is coaxially connected to the output shaft of the dual-axis motor 421, and the front and rear ends of the transmission rod 426 are rotatably connected to the outer walls of the front and rear ends of the fixed frame 411.

[0032] Furthermore, the reciprocating screw 427 is fixedly connected to the outer wall of the transmission rod 426 by a bayonet, the first worm 423 is engaged with the first worm wheel 425 , and the second worm 428 is located directly above the cleaning portion 430 .

[0033] Furthermore, the dual-axis motor 421 in the driving part 420 is started to drive the output shafts 422 on both sides thereof to rotate, so that the first worm 423 and the cam 424 on the outside of the output shaft 422 rotate, and the first worm 423 engages with the first worm wheel 425 to drive the transmission rod 426 to rotate, driving the reciprocating screw 427 and the second worm 428 on its outer wall to rotate synchronously. This setting drives the internal structures of the vibrating part 450, the air blowing part 440 and the cleaning part 430 to move respectively through the rotating cam 424, the reciprocating screw 427 and the second worm 428, thereby reducing the investment in external drive devices.

[0034] See also Figure 5-Figure 7 As shown, in this embodiment, the cleaning part 430 includes a rotating shaft 431 rotatably connected to the outer wall of the fixed frame 411, a second worm gear 432 fixedly connected to the end of the rotating shaft 431 by a pin and meshing with the second worm 428, and a cleaning brush 433 fixed to the outer end of the rotating shaft 431.

[0035] Furthermore, the second worm 428 rotates, meshing with the second worm gear 432 to drive the rotating shaft 431 to rotate. This arrangement allows the cleaning brush 433 at the end to perform a secondary cleaning on the concrete adhered to the outer side of the tire.

[0036] See also Figure 5-Figure 8As shown, in this embodiment, the air blowing part 440 includes a square cylinder 441, a piston plate 442 sliding in the square cylinder 441, a slider 444 sleeved on the outside of the reciprocating screw 427, a long rod 443 connected between the piston plate 442 and the slider 444, and an air pipe 446 arranged under the cleaning part 430. The reciprocating screw 427 rotates to drive the slider 444 to move back and forth, and drives the piston plate 442 to move together through the long rod 443, so that the gas in the square cylinder 441 is sent into the air pipe 446 through the pipeline and blown toward the tire of the mobile vehicle 100.

[0037] Specifically, the square cylinder 441 is fixed to the inner wall of the fixed frame 411 by screws, the front and rear ends of the long rod 443 are respectively clamped and fixed to the outer walls of the slider 444 and the piston plate 442, and the upper and lower sides of the rear wall of the square cylinder 441 are respectively clamped and fixed with the outlet valve and the inlet valve.

[0038] Furthermore, the air blowing part 440 also includes a hose 445 that is clamped to the outside of the air outlet valve on the rear wall of the square cylinder 441 and the end of the air pipe 446, several air nozzles 447 that are threadedly connected to the outer wall of the air pipe 446, and a hook 448 that is fixed to the bottom surface of the fixed frame 411 by screws for fixing the air pipe 446.

[0039] Furthermore, the reciprocating screw 427 rotates, driving the slider 444 in the air blowing part 440 to move forward and backward on its outside, and the piston plate 442 is driven to move forward and backward inside the square cylinder 441 through the long rod 443. The piston plate 442 moves forward, and the external air flows into the square cylinder 441 from the air inlet valve on the rear wall of the square cylinder 441. The piston plate 442 moves backward, and the air inside the square cylinder 441 flows into the hose 445 from the air outlet valve. This setting is then blown toward the tire surface of the mobile vehicle 100 by several inclined air nozzles 447 on the air pipe 446, thereby preliminarily treating the concrete adhering to the outside of the tire.

[0040] See also Figure 5-Figure 9 As shown, in this embodiment, the vibrating part 450 includes a plurality of vibrating rods 452, a slide plate 453 arranged on the top surface of the plurality of vibrating rods 452, and a spring 455 sleeved on the outside of the vibrating rods 452. When the cam 424 rotates, the slide plate 453 is squeezed downward and then reset under the action of the spring 455, and the concrete on the path of the mobile vehicle 100 is loosened in advance by the vibrating rods 452.

[0041] Specifically, the vibrating part 450 further includes a fixing plate 451 fixedly connected to the outer wall of the front end of the mobile vehicle 100 by bolts and two square frames 454 fixed to the outer wall of the slide plate 453 and slidably connected to the inside of the slide groove 4130.

[0042] Furthermore, the vibrating rod 452 is slidably connected to the inside of the fixed plate 451, and the vibrating rod 452 is fixedly connected to the bottom surface of the slide plate 453 by bolts. The square frame 454 is in conflict with the cam 424, and the upper and lower ends of the spring 455 are respectively welded and fixed to the bottom surface of the slide plate 453 and the top surface of the fixed plate 451.

[0043] Furthermore, when the output shaft 422 rotates, the cam 424 on its outside rotates therewith, and the position at which its outer wall contacts the inner wall of the frame 454 constantly changes. When its convex end squeezes the frame 454, it drives the slide plate 453 to move downward, and when the convex end of the cam 424 moves away, the slide plate 453 moves upward under the elastic force of the spring 455. This setting continuously pre-vibrates the concrete on the tire path at the front end of the mobile vehicle 100 through the vibrating rod 452, thereby ensuring the stability of the mobile vehicle 100 during movement.

[0044] Finally, it should be noted that the dual-axis motor 421 involved in the present invention is a universal standard part or a component known to technical personnel in this field. Its structure and principle can be known to technical personnel through technical manuals or through conventional experimental methods. In the idle space of this device, the dual-axis motor 421 is connected to the external power supply through a wire. The specific connection method should refer to the working principle of the present invention. The electrical connection between each electrical component is completed in a sequential working order, and the detailed connection methods are all well-known technologies in this field.

[0045] When the automatic leveling bridge deck concrete leveling robot based on laser sensing of the present invention is used, first, a laser level is placed on the bridge deck, and the installation height of the laser leveler is determined according to the floor base surface to determine the concrete elevation; Next, the installation height of the sensor 300 is adjusted so that its top sensing device is parallel to the light emitted by the laser leveler. The mobile vehicle 100 is remotely controlled externally to move on the pumped concrete, and the concrete is leveled by the vibrating mechanism 200. At the same time, the dual-axis motor 421 in the driving unit 420 is started, driving the output shafts 422 on both sides thereof to rotate, and the first worm 423 engages with the first worm wheel 425 to drive the transmission rod 426 to rotate, driving the reciprocating screw 427 and the second worm 428 on the outer wall thereof to rotate synchronously; The reciprocating screw 427 rotates, driving the slider 444 in the air blowing section 440 to move forward and backward on its outer side, and the long rod 443 drives the piston plate 442 to move forward and backward inside the square cylinder 441. The piston plate 442 moves forward, and the external air flows into the square cylinder 441 through the air inlet valve on the rear wall of the square cylinder 441. The piston plate 442 moves backward, and the air inside the square cylinder 441 flows into the hose 445 through the air outlet valve. The air is then blown out from the plurality of obliquely arranged air nozzles 447 on the air pipe 446 toward the tire surface of the mobile vehicle 100, thereby preliminarily treating the concrete adhering to the outer side of the tire. The second worm 428 rotates, meshing with the second worm gear 432 to drive the rotating shaft 431 to rotate, and the cleaning brush 433 at the end performs a secondary cleaning on the concrete adhered to the outer side of the tire; At the same time, when the output shaft 422 rotates, the cam 424 on its outside rotates therewith, and the position at which its outer wall contacts the inner wall of the frame 454 keeps changing. When its convex end squeezes the frame 454, it drives the slide plate 453 to move downward. When the convex end of the cam 424 moves away, the slide plate 453 moves upward under the elastic force of the spring 455, thereby driving the vibrating rod 452 to continuously pre-tamp the concrete on the tire path at the front end of the mobile vehicle 100, thereby ensuring the stability of the mobile vehicle 100 during movement.

[0046] The foregoing descriptions of specific exemplary embodiments of the present invention are for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is apparent that many variations and modifications are possible in light of the foregoing teachings. The exemplary embodiments have been selected and described for the purpose of explaining the specific principles of the invention and their practical application, thereby enabling those skilled in the art to make and utilize a variety of exemplary embodiments of the invention and various options and modifications. The scope of the invention is intended to be defined by the description and its equivalents.

Claims

1. A laser-sensing automatic bridge deck concrete leveling robot, comprising a mobile vehicle, a vibrating mechanism and a sensor located behind the mobile vehicle, and characterized by: The tire cleaning mechanism includes a fixing portion, a driving portion disposed in the fixing portion, a cleaning portion and an air blowing portion driven by the driving portion, and a vibrating portion disposed in front of the fixing portion; The driving unit includes a dual-axis motor, two output shafts driven by the dual-axis motor, a cam sleeved outside the output shaft, a transmission rod rotating with the output shaft, and two reciprocating screws sleeved outside the transmission rod. The dual-axis motor drives the output shaft to drive the transmission rod and the reciprocating screw to rotate, thereby driving the cleaning unit to rotate and clean the tires of the mobile vehicle. The air blowing part includes a square cylinder, a piston plate sliding in the square cylinder, a slider sleeved outside the reciprocating screw, a long rod connected between the piston plate and the slider, and an air pipe arranged below the cleaning part. The reciprocating screw rotates to drive the slider to move back and forth, and the piston plate is driven to move together through the long rod, so that the gas in the square cylinder is sent into the air pipe through the pipeline and blown toward the tire of the mobile vehicle. The vibrating part includes a plurality of vibrating rods, a slide plate arranged on the top surface of the plurality of vibrating rods, and a spring sleeved on the outside of the vibrating rods. When the cam rotates, the slide plate is squeezed downward and then reset under the action of the spring, and the concrete on the path of the moving vehicle is loosened in advance by the vibrating rods.

2. The laser sensing-based automatic leveling bridge deck concrete leveling robot according to claim 1, characterized in that: The fixing part includes two fixing frames fixedly connected to the left and right outer walls of the mobile vehicle by bolts, a number of reinforcing plates regularly welded and fixed to the inner walls of the fixing frames, and a connecting plate fixedly connected to the ends of the fixing frames by bolts, and two sliding grooves running through the front and back are opened on the outer wall of the connecting plate.

3. The laser sensing-based automatic leveling bridge deck concrete leveling robot according to claim 2, characterized in that: The driving part also includes a first worm connected to the end of the output shaft, a first worm wheel connected to the front end of the transmission rod, and two second worms connected and fixed to the outer wall of the transmission rod.

4. The laser sensing-based automatic leveling bridge deck concrete leveling robot according to claim 3, characterized in that: The dual-axis motor is fixedly connected to the front outer wall of the mobile vehicle by bolts, the output shaft is coaxially connected to the output shaft of the dual-axis motor, and the front and rear ends of the transmission rod are rotatably connected to the outer walls of the front and rear ends of the fixed frame.

5. The laser sensing-based automatic leveling bridge deck concrete leveling robot according to claim 4, characterized in that: The reciprocating screw is fixedly connected to the outer wall of the transmission rod through a bayonet pin, the first worm is engaged with the first worm wheel, and the second worm is located just above the cleaning portion.

6. The laser sensing-based automatic leveling bridge deck concrete leveling robot according to claim 5, characterized in that: The cleaning part includes a rotating shaft rotatably connected to the outer wall of the fixed frame, a second worm gear fixedly connected to the end of the rotating shaft through a bayonet and meshing with the second worm, and a cleaning brush clamped and fixed to the outer end of the rotating shaft.

7. The laser sensing-based automatic leveling bridge deck concrete leveling robot according to claim 1, characterized in that: The square tube is fixedly connected to the inner wall of the fixed frame by screws, the front and rear ends of the long rod are respectively clamped and fixed to the outer walls of the slider and the piston plate, and the upper and lower sides of the rear wall of the square tube are respectively clamped and fixed with the outlet valve and the inlet valve.

8. The laser sensing-based automatic leveling bridge deck concrete leveling robot according to claim 7, characterized in that: The air blowing part also includes a hose clamped to the outside of the air outlet valve on the rear wall of the square cylinder and the end of the air pipe, a plurality of air nozzles threadedly connected to the outer wall of the air pipe, and a hook fixed to the bottom surface of the fixing frame by screws for fixing the air pipe.

9. The laser sensing-based automatic leveling bridge deck concrete leveling robot according to claim 1, characterized in that: The vibrating part also includes a fixing plate fixedly connected to the outer wall of the front end of the moving vehicle through bolts and two square frames fixed to the outer wall of the slide plate and slidably connected to the inside of the slide groove.

10. The laser sensing-based automatic leveling bridge deck concrete leveling robot according to claim 9, characterized in that: The vibrating rod is slidably connected to the inside of the fixed plate, and the vibrating rod is fixed to the bottom surface of the slide plate by bolts. The square frame is in conflict with the cam, and the upper and lower ends of the spring are respectively welded and fixed to the bottom surface of the slide plate and the top surface of the fixed plate.

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