Laser-sensor-based automated bridge deck concrete leveling robot

Abstract

This invention relates to the field of bridge deck construction equipment technology, specifically to an automatic leveling robot for bridge deck concrete based on laser sensing. The robot includes a mobile vehicle, a vibration leveling mechanism and sensors located at the rear of the mobile vehicle, and a tire cleaning mechanism. The tire cleaning mechanism includes a fixed part, a drive part located within the fixed part, a cleaning part and an air-blowing part driven by the drive part, and a vibration part located at the front of the fixed part. This automatic leveling robot for bridge deck concrete based on laser sensing synchronously drives the air-blowing part and the cleaning brush via a dual-axis motor. The air-blowing part, driven by a reciprocating screw, moves a piston plate reciprocating within a square tube, directionally spraying air through an inclined nozzle. This, combined with the rotation of the cleaning brush, uses air blowing to initially peel away loose concrete, while the cleaning brush deeply removes adhesive residue, significantly reducing tire adhesion, maintaining stable wheel diameter and rolling resistance, eliminating vehicle body elevation errors caused by tire thickening, and ensuring the control accuracy of the laser leveling system.

Description

Technical Field

[0001] This invention relates to the field of bridge deck construction equipment technology, and more specifically, to an automatic leveling concrete leveling robot for bridge decks based on laser sensing. Background Technology

[0002] Concrete leveling robots are intelligent equipment for building surface construction. At their core, they use a high-precision laser emitter to establish a horizontal reference plane. Laser receiving sensors installed on the robot capture elevation information in real time. The built-in intelligent control system compares the sensor signals with the set elevation and automatically drives the hydraulic or electric leveling mechanism in real time to precisely control the height of the scraper. It automatically scrapes and fine-tunes the freshly mixed concrete after it is laid. It can significantly improve the flatness of large-area bridge surfaces, achieve high-quality "one-time molding", and greatly reduce reliance on manual labor and subsequent repairs.

[0003] Patent application number CN202410551787.4 discloses an automatic leveling device for the legs of a concrete laser leveling machine, including 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, which has strong applicability.

[0004] However, traditional equipment lacks a dynamic cleaning mechanism. When the tire rolls on the concrete, the material continues to stick, causing the wheel diameter to increase uncontrollably. This not only causes fluctuations in rolling resistance, affecting the uniformity of travel, but also causes the vehicle body elevation to shift due to changes in the effective tire diameter, 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 tire presses in too deeply, it can easily cause instability and further affect the smoothness of movement.

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

[0006] The purpose of this invention is to provide an automatic leveling robot for bridge concrete based on laser sensing. The robot uses a dual-axis motor to synchronously drive the air blowing unit and the cleaning brush. Air is blown in a directional manner through an inclined nozzle, and the cleaning brush rotates in conjunction with the air blowing to initially peel off loose concrete. This ensures the control accuracy of the laser leveling system and solves the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] The automatic leveling concrete bridge deck robot based on laser sensing includes a mobile vehicle, a leveling mechanism and sensors located at the rear of the mobile vehicle, and a tire cleaning mechanism. The tire cleaning mechanism includes a fixed part, a driving part located within the fixed part, a cleaning part and an air blowing part driven by the fixed part, and a vibrating part located at the front of the fixed part.

[0009] The drive unit includes a dual-axis motor, two output shafts driven by the motor, a cam sleeved on the output shafts, a transmission rod that rotates with the output shafts, and two reciprocating lead screws sleeved on the transmission rods.

[0010] This feature uses a dual-axis motor to drive the output shaft, which in turn drives the transmission rod and the reciprocating lead screw to rotate, thereby causing the cleaning unit to rotate and clean the tires of the mobile cleaning vehicle.

[0011] The air blowing unit includes a square tube, a piston plate that slides inside the square tube, a slider sleeved outside the reciprocating lead screw, a long rod connecting the piston plate and the slider, and an air pipe located below the cleaning unit.

[0012] This setting uses a reciprocating screw to drive the slider to move back and forth laterally, which in turn moves the piston plate along with the long rod, sending the gas in the square cylinder into the air pipe and blowing it onto the tires of the moving vehicle.

[0013] The vibrating section includes a plurality of vibrating rods, a sliding plate disposed on the top surface of the plurality of vibrating rods, and a spring sleeved on the vibrating rods.

[0014] When the cam rotates, it squeezes the slide plate downwards, and then it returns to its original position under the action of the spring. The concrete on the moving vehicle path is pre-loosened by the vibrating rod.

[0015] In the technical solution of the present invention, the fixing part includes two fixing frames that are fixedly connected to the outer walls of the left and right sides of the mobile vehicle by bolts, several reinforcing plates that are regularly welded and fixed to the inner walls of the fixing frames, and a connecting plate that is fixedly connected to the end of the fixing frames by bolts. The outer wall of the connecting plate is provided with two through grooves.

[0016] This setup provides a foundation for the modification of the overall equipment by adding a detachable fixing frame to the outside of the mobile vehicle.

[0017] In the technical solution of the present invention, the driving part further includes a first worm gear snapped onto the end of the output shaft, a first worm wheel snapped onto the front end of the transmission rod, and two second worm gears snapped onto the outer wall of the transmission rod.

[0018] 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.

[0019] In the technical solution of the present invention, the reciprocating lead screw is fixedly connected to the outer wall of the transmission rod by a locking pin, the first worm meshes with the first worm wheel, and the second worm is located directly above the cleaning part.

[0020] The above setup uses a rotating cam, a reciprocating lead screw, and a second worm gear to drive the internal structures of the vibrating section, the air blowing section, and the cleaning section to move, reducing the need for external drive devices.

[0021] 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 snap pin and meshing with the second worm, and a cleaning brush snapped and fixed to the outer end of the rotating shaft.

[0022] This feature uses a cleaning brush at the end to perform a secondary cleaning of the concrete adhering to the outside of the tire.

[0023] 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 snapped 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 snapped and fixed to the air outlet valve and the air inlet valve.

[0024] In the technical solution of the present invention, the air blowing part further includes a hose snapped onto the outside of the air outlet valve on the rear wall of the square tube and the end of the air pipe, several air nozzles threaded onto the outer wall of the air pipe, and a hook for fixing the air pipe by screws to the bottom surface of the fixed frame.

[0025] The above setup involves several inclined air nozzles on the air pipe blowing air onto the surface of the tires of the mobile vehicle, thus initially treating the concrete adhering to the outside of the tires.

[0026] In the technical solution of the present invention, the vibrating part further includes a fixing plate that is fixedly connected to the outer wall of the front end of the mobile vehicle by bolts, and two square frames that are snapped and fixed to the outer wall of the slide plate and slidably connected to the inside of the slide groove.

[0027] 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 fixedly connected to the bottom surface of the slide plate by bolts. The square frame abuts against 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.

[0028] The above setup uses a vibratory rod to continuously tampe the concrete along the tire path at the front of the mobile vehicle, thereby ensuring the stability of the mobile vehicle during movement.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1. This laser-sensor-based automatic leveling bridge concrete robot uses a dual-axis motor to synchronously drive an air blowing unit and a cleaning brush. The air blowing unit, driven by a reciprocating screw, moves a piston plate back and forth within a square tube, directionally spraying air through an inclined nozzle. This, combined with the rotation of the cleaning brush, allows for the initial stripping of loose concrete using air blowing, while the cleaning brush thoroughly removes any adhesive residue. This significantly reduces tire adhesion, maintains stable wheel diameter and rolling resistance, eliminates vehicle elevation errors caused by increased tire thickness, and ensures the control accuracy of the laser leveling system.

[0031] 2. This laser-sensor-based automatic leveling bridge deck concrete leveling robot uses a dual-axis motor to drive the output shaft, which causes the cam to periodically squeeze the frame, driving the slide plate and vibrating rod to reciprocate vertically. Spring-assisted reset helps to pre-compact the concrete on the path of the front tires of the mobile vehicle, reducing the tire penetration depth, preventing collapse during movement, and ensuring stable movement. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the tire cleaning mechanism in this invention;

[0034] Figure 3 This is a partial structural diagram of the tire cleaning mechanism in this invention;

[0035] Figure 4 This is a schematic diagram of the fixing part in this invention;

[0036] Figure 5 This is a schematic diagram of the drive unit in the present invention;

[0037] Figure 6 This is a partial structural diagram of the drive unit in the present invention;

[0038] Figure 7 This is a schematic diagram of the cleaning section in this invention;

[0039] Figure 8 This is a cross-sectional schematic diagram of the air blowing section in this invention;

[0040] Figure 9 This is a schematic diagram of the structure of the vibrating section in this invention;

[0041] Explanation of reference numerals in the attached figures:

[0042] 100. Mobile vehicle;

[0043] 200. Zhenping mechanism;

[0044] 300. Sensors;

[0045] 400. Tire cleaning mechanism; 410. Fixing part; 411. Fixing frame; 412. Reinforcing plate; 413. Connecting plate; 4130. Slide groove; 420. Drive part; 421. Dual-shaft motor; 422. Output shaft; 423. First worm gear; 424. Cam; 425. First worm wheel; 426. Transmission rod; 427. Reciprocating screw; 428. Second worm gear; 430. Cleaning part; 431. Rotating shaft; 432. Second worm wheel; 433. Cleaning brush; 440. Air blowing part; 441. Square tube; 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 Implementation

[0046] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0047] Please see Figures 1-4 As shown, this embodiment provides the following technical solution:

[0048] The laser-sensing-based automatic leveling bridge concrete robot includes a mobile vehicle 100, a vibration leveling mechanism 200 and a sensor 300 located at the rear of the mobile vehicle 100, and a tire cleaning mechanism 400. The tire cleaning mechanism 400 includes a fixed part 410, a driving part 420 located within the fixed part 410, a cleaning part 430 and an air blowing part 440 driven by the fixed part 420, and a vibration part 450 located at the front of the fixed part 410.

[0049] Specifically, the fixing part 410 includes two fixing frames 411 that are fixed to the outer walls of the left and right sides of the mobile vehicle 100 by bolts, several reinforcing plates 412 that are regularly welded and fixed to the inner walls of the fixing frames 411, and a connecting plate 413 that is fixed to the end of the fixing frames 411 by bolts. The outer wall of the connecting plate 413 is provided with two through grooves 4130.

[0050] Furthermore, the fixed frame 411, together with several reinforcing plates 412 inside it, is used to ensure the strength of its overall structure, while providing a placement area for the structure of the drive unit 420, cleaning unit 430 and air blowing unit 440. The groove 4130 on the connecting plate 413 is used to limit the movement range of the internal structure of the vibrating unit 450. This setting, by adding a detachable fixed frame 411 to the outside of the mobile vehicle 100, provides a basis for the modification of the overall equipment.

[0051] Please see Figures 5-6 As shown, in this embodiment, the drive unit 420 includes a dual-axis motor 421, two output shafts 422 driven by the motor, a cam 424 sleeved on the output shafts 422, a transmission rod 426 that rotates with the output shafts 422, and two reciprocating lead screws 427 sleeved on the transmission rods 426. The dual-axis motor 421 drives the output shafts 422 to rotate the transmission rods 426 together with the reciprocating lead screws 427, thereby driving the cleaning unit 430 to rotate and clean the tires of the mobile cleaning vehicle 100.

[0052] Specifically, the drive unit 420 also includes a first worm 423 that is snapped onto the end of the output shaft 422, a first worm wheel 425 that is snapped onto the front end of the transmission rod 426, and two second worms 428 that are snapped onto the outer wall of the transmission rod 426.

[0053] 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 front and rear outer walls of the fixed frame 411.

[0054] Furthermore, the reciprocating lead screw 427 is fixedly connected to the outer wall of the transmission rod 426 by a locking pin, the first worm 423 meshes with the first worm wheel 425, and the second worm 428 is located directly above the cleaning section 430.

[0055] Furthermore, the dual-axis motor 421 in the drive unit 420 is activated, causing the output shafts 422 on both sides to rotate. This causes the first worm 423 and cam 424 on the outer side of the output shaft 422 to rotate. The first worm 423 meshes with the first worm wheel 425 to drive the transmission rod 426 to rotate, which in turn causes the reciprocating screw 427 and the second worm 428 on its outer wall to rotate synchronously. This configuration, through the rotating cam 424, reciprocating screw 427 and the second worm 428, respectively drives the internal structures of the vibrating unit 450, the air blowing unit 440 and the cleaning unit 430 to move, reducing the need for an external drive device.

[0056] Please see Figures 5-7 As shown, in this embodiment, the cleaning unit 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 snap pin and meshing with the second worm 428, and a cleaning brush 433 snapped and fixed to the outer end of the rotating shaft 431.

[0057] Furthermore, the second worm 428 rotates, meshing with the second worm wheel 432 and driving the shaft 431 to rotate. This configuration allows for secondary cleaning of the concrete adhering to the outside of the tire via the cleaning brush 433 at the end.

[0058] Please see Figures 5-8 As shown, in this embodiment, the air blowing unit 440 includes a square cylinder 441, a piston plate 442 sliding inside the square cylinder 441, a slider 444 sleeved outside the reciprocating screw 427, a long rod 443 connecting the piston plate 442 and the slider 444, and an air pipe 446 disposed below the cleaning unit 430. The reciprocating screw 427 rotates to drive the slider 444 to move back and forth laterally, and the long rod 443 drives the piston plate 442 to move together, so that the gas in the square cylinder 441 is sent into the air pipe 446 through the pipe and blown towards the tires of the mobile vehicle 100.

[0059] Specifically, the square tube 441 is fixedly connected to the inner wall of the fixed frame 411 by screws, and the front and rear ends of the long rod 443 are respectively snapped and fixed to the outer walls of the slider 444 and the piston plate 442. The upper and lower sides of the rear wall of the square tube 441 are respectively snapped and fixed to the air outlet valve and the air inlet valve.

[0060] Furthermore, the air blowing unit 440 also includes a hose 445 that is snapped onto the outside of the air outlet valve on the rear wall of the square tube 441 and the end of the air pipe 446, several air nozzles 447 that are threaded onto the outer wall of the air pipe 446, and a hook 448 that is fixedly connected to the bottom surface of the fixing frame 411 by screws for fixing the air pipe 446.

[0061] Furthermore, the reciprocating screw 427 rotates, causing the slider 444 in the air blowing section 440 to move back and forth on its outer side. The piston plate 442 is driven to move back and forth inside the square tube 441 by the long rod 443. When the piston plate 442 moves forward, external gas rushes into the square tube 441 through the air inlet valve on the rear wall of the square tube 441. When the piston plate 442 moves backward, the gas inside the square tube 441 rushes into the hose 445 through the air outlet valve. This setting is then blown onto the tire surface of the moving vehicle 100 by several inclined air nozzles 447 on the air pipe 446, thus initially treating the concrete adhering to the outside of the tire.

[0062] Please see Figures 5-9 As shown, in this embodiment, the vibrating section 450 includes a plurality of vibrating rods 452, a sliding plate 453 disposed on the top surface of the plurality of vibrating rods 452, and a spring 455 sleeved on the vibrating rods 452. When the cam 424 rotates, it squeezes the sliding plate 453 to move down, and then it returns to its original position under the action of the spring 455. The concrete on the path of the moving vehicle 100 is pre-loosened by the vibrating rods 452.

[0063] Specifically, the vibrating section 450 also includes a fixing plate 451 that is fixedly connected to the outer wall of the front end of the mobile vehicle 100 by bolts, and two square frames 454 that are snapped and fixed to the outer wall of the slide plate 453 and slidably connected to the inside of the slide groove 4130.

[0064] 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 abuts against the cam 424, and the upper and lower ends of the spring 455 are welded and fixed to the bottom surface of the slide plate 453 and the top surface of the fixed plate 451, respectively.

[0065] Furthermore, as the output shaft 422 rotates, the outer cam 424 rotates along with it, and the position of its outer wall against the inner wall of the square frame 454 changes continuously. When its protruding end presses against the square frame 454, it drives the slide plate 453 to move downward. When the protruding end of the cam 424 moves away, the slide plate 453 moves upward under the elastic force of the spring 455. This setting continuously tamps the concrete on the front tire path of the mobile vehicle 100 through the vibrating rod 452, thereby ensuring the stability of the mobile vehicle 100 when it moves.

[0066] Finally, it should be noted that the dual-axis motor 421 involved in this invention is a general standard part or a component known to those skilled in the art. Its structure and principle can be known to those skilled in the art through technical manuals or conventional experimental methods. In the idle part of this device, the dual-axis motor 421 is connected to an external power source through wires. The specific connection method should refer to the working principle in this invention. The electrical components are connected in the order of operation. The detailed connection methods are all known technologies in the art.

[0067] When using the laser-sensing-based automatic leveling bridge concrete leveling robot of the present invention, firstly, a laser level is installed on the bridge surface, and the installation height of the laser level is determined according to the floor base surface in order to determine the concrete elevation.

[0068] 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 leveling instrument, and the externally remotely controlled mobile vehicle 100 is used to move it on the pumped concrete, and the concrete is leveled by the vibration leveling mechanism 200.

[0069] At the same time, the dual-axis motor 421 in the drive unit 420 is started, which drives the output shafts 422 on both sides to rotate. The first worm 423 meshes with the first worm wheel 425 to drive the transmission rod 426 to rotate, which in turn drives the reciprocating screw 427 and the second worm 428 on its outer wall to rotate synchronously.

[0070] The reciprocating screw 427 rotates, causing the slider 444 in the air blowing section 440 to move back and forth on its outer side. The piston plate 442 is driven to move back and forth inside the square tube 441 through the long rod 443. When the piston plate 442 moves forward, the external gas rushes into the square tube 441 through the air inlet valve on the rear wall of the square tube 441. When the piston plate 442 moves backward, the gas inside the square tube 441 rushes into the hose 445 through the air outlet valve, and then blows out onto the tire surface of the moving vehicle 100 through several inclined air nozzles 447 on the air pipe 446, thus initially treating the concrete adhering to the outside of the tire.

[0071] The second worm 428 rotates, meshes with the second worm wheel 432, and drives the rotating shaft 431 to rotate. The cleaning brush 433 at the end performs secondary cleaning of the concrete adhering to the outside of the tire.

[0072] At the same time, as the output shaft 422 rotates, the outer cam 424 rotates along with it. During this process, the position of the outer wall of the cam 424 in contact with the inner wall of the frame 454 changes continuously. When the convex end of the cam 424 presses against the frame 454, it causes 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 causing the vibrating rod 452 to continuously pre-compact the concrete on the front tire path of the mobile vehicle 100, so as to ensure the stability of the mobile vehicle 100 when it moves.

[0073] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the specification and its equivalents.

Claims

1. A laser-sensing-based automated bridge deck concrete leveling robot, comprising a mobile vehicle, a vibration leveling mechanism and sensors disposed at the rear of the mobile vehicle, characterized in that: It also includes a tire cleaning mechanism, which includes a fixing part, a driving part disposed in the fixing part, a cleaning part and an air blowing part driven by the fixing part, and a vibrating part disposed in front of the fixing part. The fixing part includes two fixing frames that are fixedly connected to the outer walls of the left and right sides of the mobile vehicle by bolts, and a connecting plate that is fixedly connected to the end of the fixing frames by bolts. The outer wall of the connecting plate is provided with two sliding grooves that run through the front and back. The drive unit includes a dual-axis motor, two output shafts driven by the motor, a cam sleeved outside the output shafts, a transmission rod that rotates with the output shafts, and two reciprocating lead screws sleeved outside the transmission rods. The dual-axis motor drives the output shafts to rotate the transmission rods together with the reciprocating lead screws, thereby driving the cleaning unit to rotate and clean the tires of the mobile cleaning vehicle. The drive unit also includes a first worm gear snapped onto the end of the output shaft, a first worm wheel snapped onto the front end of the transmission rod, and two second worm gears snapped onto the outer wall of the transmission rod; The cleaning unit 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 snap pin and meshing with the second worm, and a cleaning brush snapped and fixed to the outer end of the rotating shaft. The air blowing unit includes a square cylinder, a piston plate that slides inside the square cylinder, a slider sleeved outside the reciprocating screw, a long rod connecting the piston plate and the slider, and an air pipe located below the cleaning unit. The reciprocating screw rotates to drive the slider to move back and forth laterally, and the piston plate moves together through the long rod, so that the gas in the square cylinder is sent into the air pipe through the pipe and blown towards the tires of the mobile vehicle. 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 snapped and fixed to the outer walls of the slider and the piston plate. The upper and lower sides of the rear wall of the square tube are respectively snapped and fixed to the air outlet valve and the air inlet valve. The air blowing unit also includes a hose snapped onto the outside of the air outlet valve on the rear wall of the square tube and the end of the air pipe, several air nozzles threaded onto the outer wall of the air pipe, and hooks fixed to the bottom surface of the fixed frame by screws for fixing the air pipe. The vibrating section includes a plurality of vibrating rods, a sliding plate disposed on the top surface of the plurality of vibrating rods, and a spring sleeved on the vibrating rods. The vibrating section also includes a fixing plate that is bolted to the outer wall of the front end of the mobile vehicle and two square frames that are snapped to the outer wall of the slide plate and slidably connected inside the slide groove. When the cam rotates, it squeezes the slide plate down and then resets it under the action of the spring. The concrete on the path of the mobile vehicle is pre-loosened by the vibrating rod.

2. The laser-sensing-based automatic bridge deck concrete leveling robot according to claim 1, characterized in that: The fixing part includes several reinforcing plates that are regularly welded and fixed to the inner wall of the fixing frame.

3. The laser-sensing-based automatic bridge deck concrete leveling robot according to claim 2, 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. 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.

4. The laser-sensing-based automatic bridge deck concrete leveling robot according to claim 3, characterized in that: The reciprocating lead screw is fixedly connected to the outer wall of the transmission rod by a locking pin. The first worm meshes with the first worm wheel, and the second worm is located directly above the cleaning section.

5. The automatic leveling bridge deck concrete leveling robot based on laser sensing according to claim 1, characterized in that: The vibrating rod is slidably connected to the inside of the fixed plate, and the vibrating rod is fixedly connected to the bottom surface of the slide plate by bolts. The square frame abuts against 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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