Floor vibrating and leveling equipment suitable for narrow and small space and using method

Abstract

The invention discloses floor vibrating and leveling equipment suitable for a narrow space and a using method, and relates to the technical field of floor vibrating and leveling. Comprising an equipment main body in which a control component is mounted; the detection assembly is mounted on the equipment main body; the positioning assembly comprises a supporting arm and a rotating electric cylinder; an output shaft of the rotating electric cylinder is provided with a rotating part and drives the rotating part to move, and the bottom end of the rotating part is connected with the leveling mechanism; the leveling mechanism comprises a connecting plate and a leveling plate, and a vibration motor is fixedly mounted on the leveling plate; the edge cleaning mechanism comprises a rear plate, a steering arm is rotationally mounted on the rear plate, a steering component is mounted at one end of the steering arm, and a slicking component is mounted at the other end of the steering arm; the slicking component comprises corner combination wheels, and the corner combination wheels are located on the two sides of the rear plate and steer along with rotation of the steering arm, so that the technical problem that in the prior art, ground flatness of corner areas needs to be manually cleaned and repaired for the second time is solved.

Description

Technical Field

[0001] This invention relates to the field of floor vibration leveling technology, specifically to a floor vibration leveling equipment and its usage method adapted to confined spaces. Background Technology

[0002] In current concrete floor construction, existing equipment, due to its large structural volume and limited freedom of movement, is difficult to adapt to the operational needs of confined spaces such as corners, areas with dense pipelines, and column bases. When the equipment is working along the edges, it is prone to interference with the boundary, requiring manual secondary repairs in corner areas. This not only results in low construction efficiency but also makes it difficult to ensure the flatness of the ground, severely restricting the construction quality and automation process in complex scenarios.

[0003] Traditional leveling equipment lacks sufficient intelligence and cannot autonomously plan the optimal working path based on the construction environment. The equipment lacks real-time environmental perception and dynamic path adjustment capabilities, and is prone to path deviation or repeated coverage in unstructured areas (such as pipeline intersections and wall corners). It requires frequent manual calibration and intervention, resulting in poor construction continuity, low efficiency, and difficulty in meeting the standardized construction requirements of high-precision flooring.

[0004] Existing reference CN202510639767.7 describes a high-efficiency, high-precision leveling device for concrete floor flatness, which has the effect of flattening and leveling, but does not have the function of cleaning edges and corners.

[0005] Therefore, this invention proposes a floor vibration leveling equipment and its usage method adapted to confined spaces to solve the above-mentioned problems. Summary of the Invention

[0006] This invention provides a floor vibration leveling equipment and its usage method adapted to confined spaces, to solve the technical problem in the prior art where the flatness of the ground in corner areas requires manual secondary cleaning and repair.

[0007] A floor vibration leveling device suitable for confined spaces, comprising:

[0008] Equipment body; control components are installed inside the equipment body; a transverse sliding table is installed at the end;

[0009] The detection components are installed on the main body of the equipment;

[0010] The positioning assembly includes a support arm and a rotary electric cylinder; the transverse slide is fixedly installed on the front side of the equipment body, and the support arm is slidably installed on the transverse slide; the body of the rotary electric cylinder is fixedly installed on the support arm, the output shaft of the rotary electric cylinder is equipped with a rotating component and drives the rotating component to move, and the bottom end of the rotating component is connected to the leveling mechanism.

[0011] The leveling mechanism includes a connecting plate and a leveling plate. An electric cylinder is installed under the connecting plate. The electric cylinder is set downward and its output end drives the leveling plate downward. A vibration motor is fixedly installed on the leveling plate.

[0012] The edge-cleaning mechanism includes a rear plate, the height of which is greater than the height of the entire plate, and the size of which is smaller than the size of the entire plate. A steering arm is rotatably mounted on the rear plate, a steering component is mounted on one end of the steering arm, and a scraping component is mounted on the other end. The scraping component includes corner combination wheels, which are located on both sides of the rear plate and rotate with the steering arm.

[0013] In a further technical solution, the rotating component includes a rotating base and a rotating arm, with the rotating base fixedly connected to the support arm; the rotating base is C-shaped, and the output end of the rotating electric cylinder passes through the rotating base and is connected to the rotating arm;

[0014] The rotating arm includes a connecting part and a supporting part, both of which are V-shaped and integrally arranged with their tips facing each other. The output end of the rotating electric cylinder is hinged to one side of the connecting part at point A. A rotating shaft is provided on the supporting part, which is vertically distributed and connected to the rotating base through bearings. The center of the rotating shaft is point B. The line connecting point A and point B is not parallel to the axis of the output end of the rotating electric cylinder. The end of the supporting part away from the rotating electric cylinder is fixedly installed on the upper side of the connecting plate.

[0015] The rotary electric cylinder is used to drive the rotary arm to rotate around the axis of the rotating shaft.

[0016] In a further technical solution, limit plates are installed at both ends of the transverse slide, and the transverse slide is provided with two parallel lines running vertically. A rack is provided at the lower part of the upper transverse slide, and a transverse motor is installed on the top of the rotary electric cylinder. The body of the transverse motor is fixedly connected to the support arm, and the output end passes through the support arm and is equipped with a transverse gear, which meshes with the rack.

[0017] Two sets of electric cylinders are installed at the bottom of the connecting plate, and the two sets of electric cylinders are located on both sides of the vibration motor.

[0018] The output end of the electric cylinder faces downward and is fitted with a fixing box, and a connecting spring is installed inside the fixing box; the bottom end of the connecting spring is fixedly connected to the flat plate.

[0019] In a further technical solution, a central component is installed on the rotating arm, and one side of the central component is connected to the rear plate; the steering component includes a guide groove, a partition plate and a drive electric cylinder are installed in the guide groove, and a slider is installed through the partition plate at the output end of the drive electric cylinder.

[0020] A vertical guide frame is installed on the upper part of the slider, and an adapter is installed inside the vertical guide frame for vertical movement; the end of the adapter extends out of the vertical guide frame and is rotatably connected to the steering arm.

[0021] A fixed column is installed on the rear plate, with connecting columns at both ends and a fixing part in the middle. The fixing part is fixedly connected to the rear plate. The steering components are symmetrically arranged in two sets along the center of the fixed column, which are used for the two sets of steering arms to rotate to both sides.

[0022] The steering arm is provided with a rotating port, which is adapted to the connecting column.

[0023] In a further technical solution, the vertical guide frame includes a housing, a guide post is provided inside the housing, and an adapter is movably sleeved on the guide post; a vertical groove is formed on one side of the housing, and the end of the adapter extends out of the vertical groove.

[0024] A vertical spring is installed at the bottom of the guide post. The vertical spring is sleeved on the guide post, and its bottom is fixed to the inner wall of the vertical guide frame, while its top is fixedly connected to the adapter.

[0025] In a further technical solution, the leveling component includes a position body, and a connecting cavity is provided inside the position body; a worm and a worm wheel are respectively installed in the connecting cavity, and the worm and the worm wheel are arranged perpendicularly and mesh with each other;

[0026] The corner combination wheel includes a side wheel and a bottom wheel. A shorting shaft is coaxially provided at the end of the worm and coaxially connected to the side wheel. A synchronous shaft is installed at the center of the worm wheel and connected to the bottom wheel at the bottom end. The side wheel and the bottom wheel are vertically distributed.

[0027] A motor is fixedly mounted on the steering arm, and a transmission flexible shaft is mounted on the output end of the motor. A coupling is mounted on the end of the transmission flexible shaft away from the motor. The coupling is used to connect the worm gear and the transmission flexible shaft.

[0028] A connecting bearing is installed outside the shorting shaft; the outer ring of the connecting bearing is fixed to the inner wall of the connecting cavity, and the inner ring is fixedly connected to the shorting shaft.

[0029] In a further technical solution, both the side wheel and the bottom wheel are conical wheels, and a reinforcing ring is provided on the side edge away from the position body;

[0030] Position bearings and waterproof structures are installed on the shorting shaft and the synchronous shaft respectively with the position body.

[0031] In a further technical solution, the central component includes a cylinder and a base plate, with the base plate located at the bottom of the cylinder and connected to the connecting plate; side plates are respectively provided on both sides of the cylinder, one set of side plates is connected to the rear plate, and the end of the other set of side plates is fitted with the front plate;

[0032] A tilting electric cylinder is installed on the front plate, and a leading scraper is installed at the output end of the tilting electric cylinder. An inclined surface is provided on the front plate, and the output end of the tilting electric cylinder drives the leading scraper to move along the inclined surface, thereby driving the leading scraper downward. A guide telescopic rod is also installed between the front plate and the leading scraper. A rear cavity is provided in the rear plate, and a two-way point contact switch is installed in the rear cavity. Working contacts are installed at both ends of the two-way point contact switch. One end of the working contact extends into the guide groove, and the other end movably abuts against the two-way point contact switch.

[0033] The slider movement is used to press the working contact; when two sets of sliders press two sets of working contacts simultaneously, the bidirectional point contact switch is activated to control the displacement.

[0034] The main body of the equipment is provided with an installation cavity, which is divided by an internal plate. The upper installation cavity is equipped with two sets of opposing traction motors, the output ends of which drive the traction wheel to rotate. A traction wheel is wound around the traction wheel. The side plates are provided with side grooves, and traction blocks are installed in the side grooves of the front plate and the rear plate. The traction blocks are connected to the traction wheels.

[0035] In a further technical solution, the detection components include a lidar, a depth camera, and an ultrasonic radar, and the control components include an industrial computer and a microcontroller; the lidar is located on the top of the equipment body, and the depth camera is located on the side of the equipment body facing the support arm;

[0036] The ultrasonic radar includes an ultrasonic obstacle avoidance sensor and an ultrasonic height measurement sensor. The microcontroller is equipped with an inertial sensor. The microcontroller, lidar, depth camera, and ultrasonic radar are respectively connected to an industrial control computer. The bottom of the equipment body is equipped with wheels and hub motors.

[0037] A method for using floor vibratory leveling equipment adapted to confined spaces.

[0038] Includes the following steps:

[0039] Step 1: First, pour concrete or fill with sand, then pull the equipment to the starting position;

[0040] Synchronously, ultrasonic height sensors are arranged on the side wall of the main body of the equipment and detect downwards to measure elevation information;

[0041] The ultrasonic obstacle avoidance sensor is installed on the side wall of the equipment body and points outward to detect lateral distance, thereby realizing dynamic obstacle avoidance; the distance between the equipment body and the construction ground is detected in real time by ultrasonic waves to fit the processing reference surface.

[0042] The industrial control computer can intelligently identify specific work areas by extracting geometric features from the two-dimensional environmental map established by LiDAR and depth camera, and then autonomously plan its movement path.

[0043] Step 2: The positioning component is equipped with a transverse slide, which, in conjunction with the boundary contour data scanned by the LiDAR, drives the transverse gear to mesh and move on the rack via the transverse motor;

[0044] Step 3: Install the center unit and connect the two sets of traction wheels to the front plate and the rear plate respectively; the length of the side groove on the front plate is shorter than the length of the side groove on the rear plate.

[0045] In the initial state, the bottom height of the front panel is higher than the bottom height of the entire flat panel and the rear panel, while the bottom height of the entire flat panel and the rear panel are the same.

[0046] Step 4: When the initial position is in contact with the wall, the drive cylinder drives the slider to move, so that the steering arm rotates around the connecting column as the axis. The bottom moves along the vertical guide column through the adapter, driving the steering arm to rotate until the adapter is at the limit top of the guide column, and the vertical spring at the bottom is in a stretched state.

[0047] Simultaneously, the side wheel of the other end of the steering arm is in contact with the bottom of the wall and the bottom wheel is in contact with the concrete or sand surface respectively;

[0048] Step 5: The motor drives the transmission flexible shaft to rotate, which in turn drives the worm gear to rotate. The worm gear then drives the side wheel to rotate. Simultaneously, the worm wheel drives the bottom wheel to rotate via the synchronous shaft.

[0049] Step 6: Move the bottom wheels of the main body of the equipment to complete the leveling of the edges and corners;

[0050] Step 7: When the equipment is located in concrete or sand that is not in contact with the wall, a set of traction motors will pull and lift the rear plate so that the bottom of the position body is detached from the surface; the main body of the equipment moves to drive the equipment to scrape and vibrate to level the surface.

[0051] Step 8: When the secondary vibration leveling is completed, the drive electric cylinder will reset the steering arm and simultaneously press the working contact. At this time, the two-way point contact switch is turned on, controlling the tilting electric cylinder to drive the leading scraper to rise along the inclined surface.

[0052] Step 9: After vibration and leveling are completed, the front plate is lifted upward by the traction motor to complete the vibration and leveling of a single space.

[0053] Compared with existing known technologies, the technical solution provided by this invention has the following significant advantages:

[0054] When the integrated concrete floor vibration and leveling equipment operates autonomously on the construction site, it can identify environmental features, such as corner edges, cylinders, and other special narrow and unstructured spaces. Then, through the algorithm deployed in the industrial control computer, it plans the optimal construction path and achieves high-efficiency edge-fitting operation by dynamically adjusting the lateral movement distance and rotation angle of the positioning components and the height of the leveling mechanism, while ensuring the flatness requirements of the floor.

[0055] This invention utilizes an edge-cleaning mechanism to clean the corner areas of the floor during vibration compaction, making it suitable for operations in confined spaces such as wall corners or areas with dense pipelines. The mechanism uses two sets of steering arms to drive a positioner at the end, opening and closing the mechanism. A drive cylinder's output passes through a partition plate and connects to a slider, which moves along a guide groove to drive the vertical guide frame. When the positioner is in contact with the wall corner, a motor drives a transmission shaft to rotate a worm gear. The end of the worm gear drives a side wheel to rotate, simultaneously rotating a bottom wheel coaxial with the worm wheel through the worm gear meshing. This achieves edge cleaning of the wall base and the vibrated floor at corners.

[0056] This invention adds a front plate, whose bottom height is normally higher than the flat plate and serves no purpose. When pre-leveling is required, a tilting electric cylinder pushes the front scraper to tilt and lower. At its limit position, the bottom height of the front scraper matches the height of the flat plate. This clears away any previously poured concrete or filled sand, reducing the height of any loose stones or lumps, facilitating subsequent vibration and leveling. This invention uses a traction motor to adjust the height of the front and rear plates, making it suitable for situations where pre-leveling and post-edge cleaning are not required, and applicable to non-corner locations. In subsequent use, the front and rear plates can be raised and lowered independently for separate leveling or edge cleaning functions. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the integrated floor vibration and compaction equipment of the present invention. Figure 1 ;

[0058] Figure 2 This is a side view of the main body of the equipment of the present invention;

[0059] Figure 3 This is a top view of the positioning component of the present invention;

[0060] Figure 4 This is a side view of the leveling mechanism of the present invention;

[0061] Figure 5 This is a schematic diagram of the edge-cleaning mechanism of the present invention;

[0062] Figure 6 This is a top view of the edge clearing structure of the present invention;

[0063] Figure 7 This is a vertical sectional view of the vertical guide frame of the present invention;

[0064] Figure 8 This is a schematic diagram of the adapter structure of the present invention;

[0065] Figure 9 This is a non-working schematic diagram of the scraping component of the present invention;

[0066] Figure 10 This is a schematic diagram of the working function of the scraping component of the present invention;

[0067] Figure 11 This is a schematic diagram of the position body, side wheel, and bottom wheel of the present invention;

[0068] Figure 12 This is a vertical sectional view of the position body of the present invention;

[0069] Figure 13 This is a horizontal cross-sectional view of the position body of the present invention;

[0070] Figure 14 for Figure 13 Enlarged view of part C;

[0071] Figure 15 This is a schematic diagram of the integrated floor vibration and compaction equipment of the present invention. Figure 2 ;

[0072] Figure 16 for Figure 15 Enlarged view of part D;

[0073] Figure 17 This is a vertical sectional view of the main body of the equipment of the present invention;

[0074] Figure 18 This is a horizontal sectional view of the main body of the equipment of the present invention;

[0075] Figure 19 This is a cross-sectional view of the rear plate of the present invention;

[0076] Figure 20 This is a schematic diagram of the sensing system of the present invention.

[0077] In the picture:

[0078] 1. Main body of the equipment; 11. Lateral slide; 12. Limiting plate; 13. Traction motor; 14. Traction wheel; 15. Traction bar; 16. Wheel;

[0079] 2. Positioning assembly; 21. Rotary electric cylinder; 22. Support arm; 23. Rotating base; 24. Rotating arm; 241. Connecting part; 242. Support part; 243. Rotating shaft; 25. Transverse motor; 26. Transverse gear; 27. Cylinder; 28. Base plate; 29. ​​Side plate; 291. Side groove;

[0080] 3. Leveling mechanism; 31. Connecting plate; 32. Leveling plate; 33. Electric cylinder; 34. Vibration motor; 35. Connecting spring; 36. Fixing box;

[0081] 4. Edge cleaning mechanism; 41. Rear plate; 42. Steering arm; 43. Fixed column; 44. Connecting column; 45. Fixing part; 46. Two-way contact switch; 47. Working contact;

[0082] 5. Steering component; 51. Guide groove; 52. Partition plate; 53. Drive cylinder; 54. Slider; 55. Vertical guide frame; 56. Adapter; 551. Housing 1; 552. Guide post; 553. Vertical groove; 554. Vertical spring;

[0083] 6. Scraping component; 61. Positioning body; 62. Worm gear; 63. Worm wheel; 64. Side wheel; 65. Bottom wheel; 66. Shorting shaft; 67. Synchronous shaft; 69. Motor; 610. Transmission flexible shaft; 611. Connecting bearing; 612. Reinforcing ring; 613. Positioning bearing; 615. Waterproof structure;

[0084] 7. Front plate; 71. Tilting electric cylinder; 72. Lead scraper; 73. Guide telescopic rod;

[0085] 8. Detection components; 81. LiDAR; 82. Depth camera; 83. Industrial computer; 84. Ultrasonic obstacle avoidance sensor; 85. Ultrasonic height sensor. Detailed Implementation

[0086] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0087] Example 1

[0088] like Figure 1-14 As shown, this is one embodiment of the present invention: an integrated vibratory leveling and compaction equipment for floors adapted to confined spaces, comprising:

[0089] like Figure 1As shown, the equipment body 1; control components are installed inside the equipment body 1; a transverse sliding table 11 is installed at the end;

[0090] Detection component 8 is installed on the main body of the equipment 1;

[0091] like Figure 1 and 3 As shown, the positioning component 2 includes a support arm 22 and a rotary electric cylinder 21; the transverse slide 11 is fixedly installed on the front side of the equipment body 1, and the support arm 22 is slidably installed on the transverse slide 11; the body of the rotary electric cylinder 21 is fixedly installed on the support arm 22, the output shaft of the rotary electric cylinder 21 is equipped with a rotating component and drives the rotating component to move, and the bottom end of the rotating component is connected to the leveling mechanism 3.

[0092] like Figure 1 and 4 As shown, the leveling mechanism 3 includes a connecting plate 31 and a leveling plate 32. An electric cylinder 33 is installed under the connecting plate 31. The electric cylinder 33 is set downward and its output end drives the leveling plate 32 downward. A vibration motor 34 is fixedly installed on the leveling plate 32.

[0093] like Figure 1 and 5 As shown, the edge clearing mechanism 4 includes a rear plate 41, the size of which is smaller than that of the flat plate 32; a steering arm 42 is rotatably mounted on the rear plate 41, a steering component 5 is mounted on one end of the steering arm 42, and a scraping component 6 is mounted on the other end; the scraping component 6 includes corner combination wheels, which are located on both sides of the rear plate 41 and turn with the steering arm 42.

[0094] like Figure 3 As shown, the rotating component includes a rotating base 23 and a rotating arm 24. The rotating base 23 is fixedly connected to the support arm 22. The rotating base 23 is C-shaped, and the output end of the rotating electric cylinder 21 passes through the rotating base 23 and is connected to the rotating arm 24.

[0095] The rotating arm 24 includes a connecting part 241 and a supporting part 242. Both the connecting part 241 and the supporting part 242 are V-shaped and are integrally arranged with their tips facing each other. The output end of the rotating electric cylinder 21 is hinged to one side of the connecting part 241 at point A. A rotating shaft 243 is provided on the supporting part 242. The rotating shaft 243 is vertically distributed and connected to the rotating base 23 through bearings. The center of the rotating shaft 243 is point B. The line connecting point A and point B is not parallel to the axis of the output end of the rotating electric cylinder 21. The end of the supporting part 242 away from the rotating electric cylinder 21 is fixedly installed on the upper side of the connecting plate 31.

[0096] In use, the rotary electric cylinder 21 is controlled by an industrial computer. When energized, its output end moves forward, driving the connecting part 241 of the rotary arm 24 to rotate around the axis of the rotating shaft 243, thereby realizing the rotation of the leveling mechanism. A sliding groove is provided on the connecting part. The output end of the rotary electric cylinder is connected to a fixed plate. A pin is installed in the fixed plate and inserted into the sliding groove, pushing linearly and moving along the groove. The pin's movement along the groove achieves linear pushing, driving the support part to rotate along the rotating shaft 243.

[0097] like Figure 2 As shown, limit plates 12 are installed at both ends of the transverse slide 11, and the transverse slide 11 has two parallel vertical lines. A rack section is provided at the lower part of the upper transverse slide 11, and a transverse motor 25 is installed on the top of the rotary electric cylinder 21. The body of the transverse motor 25 is fixedly connected to the support arm 22, and its output end passes through the support arm 22 and is equipped with a transverse gear 26. Figure 3 As shown, the transverse gear 26 meshes with the rack section;

[0098] Two sets of electric cylinders 33 are installed at the bottom of the connecting plate 31, and the two sets of electric cylinders 33 are located on both sides of the vibration motor 34.

[0099] like Figure 4 As shown, the output end of the electric cylinder 33 faces downward and is fitted with a fixing box 36. A connecting spring 35 is installed inside the fixing box 36. The bottom end of the connecting spring 35 is fixedly connected to the flat plate 32.

[0100] A central component is mounted on the rotating arm 24, and one side of the central component is connected to the rear plate 41;

[0101] like Figure 6 As shown, the steering component 5 includes a guide groove 51, a partition plate 52 and a drive cylinder 53 are installed in the guide groove 51, and a slider 54 is installed at the output end of the drive cylinder 53 through the partition plate 52.

[0102] A vertical guide frame 55 is installed on the upper part of the slider 54, and an adapter 56 is installed vertically inside the vertical guide frame 55; the end of the adapter 56 extends out of the vertical guide frame 55 and is rotatably connected to the steering arm 42.

[0103] A fixing column 43 is installed on the rear plate 41. The two ends of the fixing column 43 are connected to the connecting columns 44, and the middle is provided with the fixing part 45. The fixing part 45 is fixedly connected to the rear plate 41. There are two sets of steering components 5 symmetrically arranged around the center of the fixing column 43, which are used for the two sets of steering arms 42 to rotate to both sides.

[0104] The steering arm 42 is provided with a rotation port, which is adapted to the connecting column 44.

[0105] like Figure 7As shown, the vertical guide frame 55 includes a housing 551, a guide post 552 is provided inside the housing 551, and an adapter 56 is movably sleeved on the guide post 552; a vertical groove 553 is opened on one side of the housing 551, and the end of the adapter 56 extends out of the vertical groove 553.

[0106] A vertical spring 554 is installed at the bottom of the guide post 552. The vertical spring 554 is sleeved on the guide post 552, and its bottom is fixed to the inner wall of the vertical guide frame 55, while its top is fixedly connected to the adapter 56.

[0107] When the output end of the drive cylinder passes through the partition plate and connects to the slider, the slider moves along the guide groove to drive the vertical guide frame. A vertical spring is fixedly connected to the guide post inside the vertical guide frame, such as... Figure 6 As shown, the vertical guide frame located on the bottom guide groove moves laterally to the left, causing the steering arm to move and rotate around the center of the fixed column, forming... Figure 9 The shape shown is as follows. When the drive cylinder retracts, it moves the slider and vertical guide frame to the right. One end of the steering arm moves downward along the guide post with the adapter, compressing the vertical spring. Simultaneously, the steering arm rotates along the connecting shaft axis, making the position body horizontal, forming a shape as shown. Figure 10 The work status.

[0108] like Figure 11-14 As shown, the leveling component 6 includes a position body 61, and a connecting cavity is provided inside the position body 61; a worm 62 and a worm wheel 63 are respectively installed in the connecting cavity, and the worm 62 and the worm wheel 63 are arranged perpendicularly and mesh with each other;

[0109] The corner combination wheel includes a side wheel 64 and a bottom wheel 65. A shorting shaft 66 is coaxially provided at the end of the worm 62 and coaxially connected to the side wheel 64. A synchronous shaft 67 is installed at the center of the worm wheel 63 and connected to the bottom wheel 65 at the bottom end. The side wheel 64 and the bottom wheel 65 are vertically distributed.

[0110] A motor 69 is fixedly mounted on the steering arm 42. A transmission flexible shaft 610 is mounted on the output end of the motor 69. A coupling is mounted on the end of the transmission flexible shaft 610 away from the motor 69. The coupling is used to connect the worm gear 62 and the transmission flexible shaft 610.

[0111] A connecting bearing 611 is mounted on the outside of the shorting shaft 66; the outer ring of the connecting bearing 611 is fixed to the inner wall of the connecting cavity, and the inner ring is fixedly connected to the shorting shaft 66. The side wheel 64 and the bottom wheel 65 are both conical wheels, and a reinforcing ring 612 is provided on the side edge away from the position body 61; a position bearing 613 and a waterproof structure 615 are respectively installed on the shorting shaft 66 and the synchronous shaft 67 and the position body 61.

[0112] This invention utilizes an edge-cleaning mechanism to clean the corner areas of the floor during vibration compaction, making it suitable for operations in confined spaces such as wall corners or areas with dense pipelines. The mechanism uses two sets of steering arms to drive a positioner at the end, opening and closing the mechanism. A drive cylinder's output passes through a partition plate and connects to a slider, which moves along a guide groove to drive the vertical guide frame. When the positioner is in contact with the wall corner, a motor drives a transmission shaft to rotate a worm gear. The end of the worm gear drives a side wheel to rotate, simultaneously rotating a bottom wheel coaxial with the worm wheel through the worm gear meshing. This achieves edge cleaning of the wall base and the vibrated floor at corners.

[0113] Example 2

[0114] like Figure 15-18 As shown, another embodiment of the present invention is provided. Based on embodiment 1, the central component includes a cylinder 27 and a base plate 28. The base plate 28 is located at the bottom of the cylinder 27 and is connected to the connecting plate 31. Side plates 29 are respectively provided on both sides of the cylinder 27. One set of side plates 29 is connected to the rear plate 41, and the end of the other set of side plates 29 is equipped with a front plate 7.

[0115] like Figure 16 As shown, a tilting electric cylinder 71 is installed on the front plate 7, and a leading scraper 72 is installed at the output end of the tilting electric cylinder 71. An inclined surface is provided on the front plate 7, and the output end of the tilting electric cylinder 71 drives the leading scraper 72 to move along the inclined surface, thereby driving the leading scraper 72 downward. A guide telescopic rod 73 is also installed between the front plate 7 and the leading scraper 72. The guide telescopic rod here serves a guiding function and can be replaced by a guide spring or a guide rod.

[0116] like Figure 17 As shown, the main body 1 of the equipment has a mounting cavity, which is divided by an internal mounting plate. Two sets of opposing traction motors 13 are installed in the upper mounting cavity, and the output ends of the traction motors 13 drive the traction wheels 14 to rotate. Traction bars 15 are wound around the traction wheels 14. Side plates 29 are each provided with side grooves 291, and traction blocks are installed in the side grooves 291 of the front plate 7 and the rear plate 41. The traction blocks are connected to the traction bars 15. The direction of travel is from the rear plate towards the front plate. Arrows indicate the direction.

[0117] This invention adds a front plate, whose bottom height is normally higher than the flat plate and serves no purpose. When pre-leveling is required, a tilting electric cylinder pushes the front scraper to tilt and lower. At its limit position, the bottom height of the front scraper matches the height of the flat plate. This clears away any previously poured concrete or filled sand, reducing the height of any loose stones or lumps, facilitating subsequent vibration and leveling. This invention uses a traction motor to adjust the height of the front and rear plates, making it suitable for situations where pre-leveling and post-edge cleaning are not required, and applicable to non-corner locations. In subsequent use, the front and rear plates can be raised and lowered independently for separate leveling or edge cleaning functions.

[0118] Example 3

[0119] like Figure 1 , 19 As shown in Figure 20, another embodiment of the present invention is provided. Based on embodiment 2, a rear cavity is provided in the rear plate 41, and a bidirectional touch switch 46 is installed in the rear cavity. Working contacts 47 are installed at both ends of the bidirectional touch switch 46. One end of the working contact 47 extends into the guide groove 51, and the other end movably abuts against the bidirectional touch switch 46.

[0120] The slider 54 moves to press the working contact 47; when the two sets of sliders 54 press the two sets of working contacts 47 at the same time, the bidirectional point contact switch 46 is activated to control the displacement.

[0121] like Figure 1 As shown, the detection component 8 includes a lidar 81, a depth camera 82, and an ultrasonic radar, and the control components include an industrial computer 83 and a microcontroller; the lidar 81 is located on the top of the equipment body 1, and the depth camera 82 is located on the side of the equipment body 1 facing the support arm 22.

[0122] The ultrasonic radar includes an ultrasonic obstacle avoidance sensor 84 and an ultrasonic height measuring sensor 85. An inertial sensor is installed in the microcontroller. The microcontroller, lidar 81, depth camera 82 and ultrasonic radar are respectively connected to the industrial control computer 83. Wheels 16 and hub motors are installed at the bottom of the main body 1.

[0123] A method for using an integrated vibratory leveling and compaction equipment for floors in confined spaces.

[0124] Includes the following steps:

[0125] Step 1: First, pour concrete or fill with sand, then pull the equipment to the starting position;

[0126] Synchronously, the ultrasonic height sensor 85 is arranged on the side wall of the main body 1 of the equipment and detects downwards to measure elevation information.

[0127] The ultrasonic obstacle avoidance sensor 84 is arranged on the side wall of the equipment body 1 and looks outward to detect the lateral distance in order to achieve dynamic obstacle avoidance; the distance between the equipment body 1 and the construction ground is detected in real time by ultrasonic waves to fit the processing reference surface.

[0128] The industrial control computer 83 extracts geometric features from the two-dimensional environmental map established by the lidar 81 and the depth camera 82 to intelligently identify specific work areas and autonomously plan movement paths; thus, it can achieve independent operation without relying on external references while ensuring a certain level of accuracy; and realize the dynamic adjustment of the lateral sliding stroke to cover the blind spots of construction operations on both sides of the main body of the equipment to achieve operation in unstructured areas.

[0129] The industrial control computer 83 receives data from the lidar 81, depth camera 82, ultrasonic radar, and inertial sensor. It calculates the distance between the leveling mechanism 3 and the leveling standard surface, filters error data related to the posture of the main equipment 1, and adjusts the extension and retraction of the electric cylinders 33 on both sides and the rotation of the rotating arm 24 by the output end of the rotary cylinder 21 to achieve overlap between the leveling plane and the leveling standard surface, ensuring that the flatness requirements during leveling operations are met. The electric cylinders 33 and the rotary cylinder 21 are electrically connected to the control system within the industrial control computer 83.

[0130] Step 2: The positioning component 2 is equipped with a transverse slide 11, which, in conjunction with the boundary contour data scanned by the lidar 81, drives the transverse gear 26 to mesh and move on the rack via the transverse motor 25.

[0131] Step 3: Install the center component and connect the two sets of traction bars 15 to the front plate 7 and the rear plate 41 respectively; the length of the side groove 291 in the front plate 7 is shorter than the length of the side groove 291 in the rear plate 41.

[0132] In the initial state, the bottom height of the front plate 7 is higher than the bottom height of the flat plate 32 and the rear plate 41, while the bottom height of the flat plate 32 and the rear plate 41 are the same.

[0133] Step 4: When the initial position is in contact with the wall, the drive cylinder 53 drives the slider 54 to move, so that the steering arm 42 rotates around the connecting column 44 as the axis. The bottom moves along the vertical guide column 552 through the adapter 56, driving the steering arm 42 to rotate to the limit top of the adapter 56 on the guide column 552, and the vertical spring 554 at the bottom is in a stretched state.

[0134] Simultaneously, the side wheel 64 of the position body 61 at the other end of the steering arm 42 is in contact with the bottom of the wall and the bottom wheel 65 is in contact with the concrete or sand surface respectively.

[0135] Step 5: Motor 69 drives transmission flexible shaft 610 to rotate, which in turn drives worm 62 to rotate, and worm 62 drives side wheel 64 to rotate; synchronously, worm wheel 63 drives bottom wheel 65 to rotate through synchronous shaft 67.

[0136] Step 6: The main body 1 drives the bottom wheels 16 to move, and the edges and corners are leveled.

[0137] Step 7: When the object is in concrete or sand that is not in contact with the wall, a set of traction motors 13 pulls and lifts the rear plate 41, so that the bottom of the position body 61 is detached from the surface; the main body of the equipment moves to drive the equipment to scrape and vibrate to level.

[0138] Step 8: When the secondary vibration leveling is completed, the drive cylinder 53 resets the steering arm 42 and simultaneously presses the working contact 47. At this time, the bidirectional contact switch 46 is turned on, controlling the tilting cylinder 71 to drive the leading scraper 72 to rise.

[0139] Step 9: After vibration and leveling are completed, the front plate 7 is lifted upward by the traction motor 13 to complete the vibration and leveling of a single space.

[0140] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A floor vibration leveling equipment suitable for confined spaces, characterized in that, include: Equipment body (1); control components are installed inside the equipment body (1); A transverse sliding table (11) is installed at the end; The detection component (8) is installed on the main body of the equipment (1); The positioning component (2) includes a support arm (22) and a rotary electric cylinder (21); the transverse slide (11) is fixedly installed on the front side of the equipment body (1), and the support arm (22) is slidably installed on the transverse slide (11); the body of the rotary electric cylinder (21) is fixedly installed on the support arm (22), the output shaft of the rotary electric cylinder (21) is equipped with a rotating component and drives the rotating component to move, and the bottom end of the rotating component is connected to the leveling mechanism (3); The leveling mechanism (3) includes a connecting plate (31) and a leveling plate (32). An electric cylinder (33) is installed under the connecting plate (31). The electric cylinder (33) is set downward and its output end drives the leveling plate (32) downward. A vibration motor (34) is fixedly installed on the leveling plate (32). The edge clearing mechanism (4) includes a rear plate (41), the size of which is smaller than that of the flat plate (32); a steering arm (42) is rotatably mounted on the rear plate (41), a steering component (5) is mounted on one end of the steering arm (42), and a scraping component (6) is mounted on the other end; the scraping component (6) includes a corner combination wheel, which is located on both sides of the rear plate (41) and rotates with the steering arm (42).

2. The floor vibration leveling equipment adapted to confined spaces according to claim 1, characterized in that, The rotating component includes a rotating base (23) and a rotating arm (24). The rotating base (23) is fixedly connected to the support arm (22). The rotating base (23) is C-shaped. The output end of the rotating electric cylinder (21) passes through the rotating base (23) and is connected to the rotating arm (24). The rotating arm (24) includes a connecting part (241) and a supporting part (242). Both the connecting part (241) and the supporting part (242) are V-shaped and are integrally set with their tips facing each other. The output end of the rotating electric cylinder (21) is hinged to one side of the connecting part (241), and the hinge position is point A. A rotating shaft (243) is provided on the supporting part (242). The rotating shaft (243) is vertically distributed and connected to the rotating base (23) through bearings. The center of the rotating shaft (243) is point B. The line connecting point A to point B is not parallel to the output end axis of the rotating electric cylinder (21). The end of the supporting part (242) away from the rotating electric cylinder (21) is fixedly installed on the upper side of the connecting plate (31). The rotary electric cylinder (21) is used to drive the rotary arm (24) to rotate around the axis of the rotating shaft (243).

3. The floor vibration leveling equipment adapted to confined spaces according to claim 2, characterized in that, Limit plates (12) are installed at both ends of the transverse slide (11), and two parallel upper and lower slides are respectively provided on the transverse slide (11); a rack is provided at the lower part of the upper transverse slide (11), and a transverse motor (25) is installed on the top of the rotary electric cylinder (21); the body of the transverse motor (25) is fixedly connected to the support arm (22), and the output end passes through the support arm (22) and is equipped with a transverse gear (26), which meshes with the rack; Two sets of electric cylinders (33) are installed at the bottom of the connecting plate (31), and the two sets of electric cylinders (33) are located on both sides of the vibration motor (34). The output end of the electric cylinder (33) faces downward and is fitted with a fixing box (36). A connecting spring (35) is installed inside the fixing box (36). The bottom end of the connecting spring (35) is fixedly connected to the flat plate (32).

4. The floor vibration leveling equipment adapted to confined spaces according to claim 2, characterized in that, A central component is installed on the rotating arm (24), and one side of the central component is connected to the rear plate (41); the steering component (5) includes a guide groove (51), a partition plate (52) and a drive cylinder (53) are installed in the guide groove (51), and a slider (54) is installed at the output end of the drive cylinder (53) through the partition plate (52). A vertical guide frame (55) is installed on the upper part of the slider (54), and an adapter (56) is installed vertically inside the vertical guide frame (55); the end of the adapter (56) extends out of the vertical guide frame (55) and is rotatably connected to the steering arm (42). A fixed column (43) is installed on the rear plate (41). The two ends of the fixed column (43) are connected to the connecting column (44), and a fixed part (45) is provided in the middle. The fixed part (45) is fixedly connected to the rear plate (41). The steering component (5) is symmetrically arranged in two sets along the center of the fixed column (43) for the two sets of steering arms (42) to rotate to both sides. The steering arm (42) is provided with a rotating port, which is adapted to the connecting column (44).

5. The floor vibration leveling equipment adapted to confined spaces according to claim 4, characterized in that, The vertical guide frame (55) includes a housing (551), a guide post (552) is provided inside the housing (551), and an adapter (56) is movably sleeved on the guide post (552); a vertical groove (553) is opened on one side of the housing (551), and the end of the adapter (56) extends out of the vertical groove (553). A vertical spring (554) is installed at the bottom of the guide post (552). The vertical spring (554) is sleeved on the guide post (552), and its bottom is fixed to the inner wall of the vertical guide frame (55), and its top is fixedly connected to the adapter (56).

6. The floor vibration leveling equipment adapted to confined spaces according to claim 5, characterized in that, The scraping component (6) includes a position body (61), and a connecting cavity is provided inside the position body (61); a worm (62) and a worm wheel (63) are respectively installed in the connecting cavity, and the worm (62) and the worm wheel (63) are arranged perpendicularly and mesh with each other; The corner combination wheel includes a side wheel (64) and a bottom wheel (65). A shorting shaft (66) is coaxially provided at the end of the worm (62) and coaxially connected to the side wheel (64). A synchronous shaft (67) is installed at the center of the worm wheel (63) and connected to the bottom wheel (65) at the bottom end. The side wheel (64) and the bottom wheel (65) are vertically distributed. A motor (69) is fixedly mounted on the steering arm (42). A transmission flexible shaft (610) is mounted on the output end of the motor (69). A coupling is mounted on the end of the transmission flexible shaft (610) away from the motor (69). The coupling is used to connect the worm (62) and the transmission flexible shaft (610). A connecting bearing (611) is installed outside the shorting shaft (66); the outer ring of the connecting bearing (611) is fixed to the inner wall of the connecting cavity, and the inner ring is fixedly connected to the shorting shaft (66).

7. The floor vibration leveling equipment adapted to confined spaces according to claim 6, characterized in that, Both the side wheel (64) and the bottom wheel (65) are conical wheels, and a reinforcing ring (612) is provided on the side edge away from the position body (61). Position bearings (613) and waterproof structures (615) are respectively installed on the shorting shaft (66) and the synchronous shaft (67) and the position body (61).

8. The floor vibration leveling equipment adapted to confined spaces according to claim 7, characterized in that, The central component includes a cylinder (27) and a base plate (28). The base plate (28) is located at the bottom of the cylinder (27) and connected to the connecting plate (31). Side plates (29) are respectively provided on both sides of the cylinder (27). One set of side plates (29) is connected to the rear plate (41), and the end of the other set of side plates (29) is equipped with a front plate (7). A tilting electric cylinder (71) is installed on the front plate (7), and a leading scraper (72) is installed at the output end of the tilting electric cylinder (71). An inclined surface is provided on the front plate (7), and the output end of the tilting electric cylinder (71) drives the leading scraper (72) to move along the inclined surface, thereby driving the leading scraper (72) downward. A guide telescopic rod (73) is also installed between the front plate (7) and the leading scraper (72). The rear plate (41) is provided with a rear cavity, and a two-way point touch switch (46) is installed in the rear cavity. Working contacts (47) are installed at both ends of the two-way point touch switch (46). One end of the working contact (47) extends into the guide groove (51), and the other end moves to abut against the two-way point touch switch (46). The slider (54) moves to press the working contact (47); when the two sets of sliders (54) press the two sets of working contacts (47) at the same time, the bidirectional point contact switch (46) is activated to control the displacement. The main body (1) of the equipment is provided with an installation cavity, which is divided by an internal plate. The upper installation cavity is equipped with two sets of opposing traction motors (13), and the output ends of the traction motors (13) drive the traction wheel (14) to rotate. A traction bar (15) is wound around the traction wheel (14). A side groove (291) is provided on each of the side plates (29). A traction block is installed in the side groove (291) of the front plate (7) and the rear plate (41). The traction block is connected to the traction bar (15).

9. A floor vibration leveling equipment adapted to confined spaces according to claim 7, characterized in that, The detection component (8) includes a lidar (81), a depth camera (82) and an ultrasonic radar, and the control component includes an industrial computer (83) and a microcontroller; the lidar (81) is located on the top of the equipment body (1), and the depth camera (82) is located on the side of the equipment body (1) facing the support arm (22); The ultrasonic radar includes an ultrasonic obstacle avoidance sensor (84) and an ultrasonic height measurement sensor (85). The microcontroller is equipped with an inertial sensor. The microcontroller, lidar (81), depth camera (82) and ultrasonic radar are respectively connected to an industrial control computer (83). The bottom of the equipment body (1) is equipped with wheels (16) and hub motors.

10. A method for using a floor vibratory leveling equipment adapted to confined spaces, characterized in that, Includes the following features: Step 1: First, pour concrete or fill with sand, then pull the equipment to the starting position; Synchronously, an ultrasonic height sensor (85) is arranged on the side wall of the main body of the equipment (1) and detects downwards to measure elevation information; An ultrasonic obstacle avoidance sensor (84) is arranged on the side wall of the equipment body (1) and detects outwards to detect lateral distance in order to achieve dynamic obstacle avoidance; the distance between the equipment body (1) and the construction ground is detected in real time by ultrasonic waves to fit the processing reference surface. The industrial control computer (83) extracts geometric features from the two-dimensional environment map established by the lidar (81) and depth camera (82) to intelligently identify specific work areas and thus autonomously plan movement paths. Step 2, the positioning component (2) is equipped with a transverse slide (11), which, in conjunction with the boundary contour data scanned by the laser radar (81), drives the transverse gear (26) to mesh and move on the rack via the transverse motor (25); Step 3, install the center piece, and connect the two sets of traction bars (15) to the front plate (7) and the rear plate (41) respectively; the length of the side groove (291) on the front plate (7) is shorter than the length of the side groove (291) on the rear plate (41); In the initial state, the bottom height of the front plate (7) is higher than the bottom height of the whole plate (32) and the rear plate (41), and the bottom height of the whole plate (32) and the rear plate (41) are the same. Step 4: When the initial position is in contact with the wall, the drive cylinder (53) drives the slider (54) to move, so that the steering arm (42) rotates around the connecting column (44) as the axis, and the bottom moves along the vertical guide column (552) through the adapter (56), driving the steering arm (42) to rotate until the adapter (56) is at the limit top of the guide column (552), and the vertical spring (554) at the bottom is in a stretched state; Synchronously, the side wheel (64) of the position body (61) at the other end of the steering arm (42) is in contact with the bottom of the wall and the bottom wheel (65) is in contact with the concrete or sand surface respectively; Step 5: The motor (69) drives the transmission flexible shaft (610) to rotate, which in turn drives the worm (62) to rotate. The worm (62) drives the side wheel (64) to rotate. Simultaneously, the worm wheel (63) drives the bottom wheel (65) to rotate through the synchronous shaft (67). Step 6: The main body (1) drives the bottom wheels (16) to move, and the edges and corners are leveled. Step 7, when the concrete or sand is not attached to the wall, a set of traction motors (13) pulls and lifts the rear plate (41) so that the bottom of the position body (61) is separated from the surface; the equipment body (1) moves to drive the equipment to scrape and vibrate to level; Step 8: When the secondary vibration leveling is completed, the drive cylinder (53) resets the steering arm (42) and simultaneously presses the working contact (47). At this time, the two-way point contact switch (46) is turned on, controlling the tilting cylinder (71) to drive the leading scraper (72) to rise along the inclined surface. Step 9: After vibration and leveling are completed, the front plate (7) is lifted upward by the traction motor (13) to complete the vibration and leveling of a single space.

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