Intelligent semi-dry mortar high-precision leveling robot

Abstract

The invention relates to an intelligent semi-dry mortar high-precision leveling robot, and relates to the field of building robots. Comprising a frame, a mortar stirring system erected on the top of the frame, a scraper erected on the frame below the mortar stirring system, a vibrating assembly erected on the frame on one side of the scraper, a walking mechanism erected at the bottom of the frame and a controller driving the walking mechanism to advance. The maximum mortar outflow speed of the mortar stirring system is synchronously controlled to be 12 L / min, the scraper blade is synchronously controlled to do transverse movement of + / -5 cm and the maximum inclination angle of 3 degrees, and the maximum vibration frequency of the vibrating assembly is synchronously controlled to be 50 Hz, so that the robot can conduct mortar laying and leveling work on areas without height difference and areas with height difference. The device has the advantage that feeding, dry mortar stirring, transferring, paving, leveling and compacting work can be efficiently completed only by one person.

Description

Technical Field

[0001] This invention relates to the field of construction robot technology, and in particular to an intelligent semi-dry mortar high-precision leveling robot. Background Technology

[0002] Existing mortar leveling robots all use a laser level or laser scanning instrument as a reference for elevation. They receive laser signals through sensors, calculate the difference based on the calibrated zero point, and adjust the height accordingly. However, most robots only achieve the function of leveling the mortar surface and do not achieve the functions of compaction, mixing, or spreading the mortar.

[0003] Pre-leveling before tile laying requires a high degree of precision in the finished surface. Because it uses semi-dry mortar, which has a loose structure, it needs to be vibrated and compacted to ensure the quality of the finished surface meets requirements and prevents hollow spots later. Furthermore, to facilitate pre-leveling with a tile-laying robot, the mortar's surface hardening and load-bearing capacity are crucial, but currently available robots cannot meet these requirements. Additionally, existing equipment lacks mixing and leveling functions, resulting in construction efficiency that cannot meet the cycle time requirements of a tile-laying robot.

[0004] Therefore, to address the above shortcomings, there is a need to provide an intelligent semi-dry mortar high-precision leveling robot. Summary of the Invention

[0005] (a) Technical problems to be solved The technical problem to be solved by this invention is to address the issues of existing leveling robots having limited functionality, large size, and low work efficiency.

[0006] (II) Technical Solution To address the aforementioned technical problems, this invention provides an intelligent semi-dry mortar high-precision leveling robot, comprising a frame, a mortar mixing system mounted on top of the frame, a scraper mounted on the frame below the mortar mixing system, a vibrating assembly mounted on the frame to one side of the scraper, a walking mechanism mounted at the bottom of the frame, and a controller for driving the walking mechanism. The controller, based on the walking speed feedback from the walking mechanism, synchronously controls the mortar mixing system to achieve a maximum mortar flow rate of 12 L / min, synchronously controls the scraper to move laterally by ±5 cm and tilt at a maximum angle of 3°, and synchronously controls the vibrating assembly to achieve a maximum vibration frequency of 50 Hz, enabling the robot to perform mortar spreading and leveling work on areas with and without elevation differences.

[0007] As a further explanation of the present invention, preferably, the mortar mixing system includes a material cylinder and an auger. The material cylinder is fixedly connected to the frame, and the top of the material cylinder is open to load sand, cement and water. The auger has a spiral ribbon structure, and two augers are rotatably connected inside the material cylinder. A mixing motor is fixedly connected to the bottom of the frame, and the mixing motor drives the two augers to rotate so that the augers mix the sand, cement and water into dry mortar.

[0008] As a further explanation of the present invention, preferably, the output end of the stirring motor is connected to a sprocket, and the ends of the two augers extending out of the material cylinder on the same side are also fixedly connected to sprockets, with a chain sleeved between the sprockets.

[0009] As a further explanation of the present invention, preferably, the bottom of the material cylinder near the scraper has a discharge port, and the discharge port is provided with an electric gate, which is electrically connected to the controller to control the gate opening degree to be 0 or 8% to 30%.

[0010] As a further explanation of the present invention, preferably, the scraper has a U-shaped structure, the end face of the scraper is vertical and the top is slidably connected to the frame; the frame is fixedly connected to a transverse motor below the material cylinder, and a gear set consisting of gears and racks is provided between the output end of the transverse motor and the top of the scraper, so that the transverse motor drives the scraper to move horizontally through the gear set.

[0011] As a further explanation of the present invention, preferably, a height adjustment component is connected between the scraper and the gear set, and the height adjustment component controls the height of the scraper; an elevation component is fixedly connected to the scraper to detect the height of the bottom end of the scraper and the mortar, and the elevation component is a height sensor.

[0012] As a further explanation of the present invention, preferably, the vibrating assembly includes a vibrating motor and a vibrating plate. The vibrating motor is a vibrating motor, the vibrating plate is connected to the vehicle frame through a connecting rod, the vibrating motor is mounted in the middle of the vibrating plate, and the horizontal part of the end face of the vibrating plate is in contact with the mortar.

[0013] As a further explanation of the present invention, preferably, a floating mechanism is provided between the vibrating plate and the vehicle frame so that the vibrating plate floats on the mortar surface for vibration and compaction; the floating mechanism is equipped with a shock-absorbing pad to reduce the impact on the height of the scraper.

[0014] As a further explanation of the present invention, preferably, electrical cabinets are fixedly connected to both sides of the bottom of the frame. The electrical cabinets encapsulate a light source and a camera. The light source illuminates the tile boundaries on both sides of the frame, and the camera captures the tile edges or the smoothed mortar edges. The images are transmitted to the controller to calculate the coordinate difference between the edges and the calibration values, thereby calculating the robot's movement deviation. Finally, the controller controls the walking mechanism to work to compensate for the deviation.

[0015] As a further explanation of the present invention, preferably, the walking mechanism includes a slewing support, a drive motor, a walking reducer, and wheels. The four slewing supports are horizontally rotatably connected to the four corners of the frame. The output end of the drive motor is connected to the transmission mechanism inside the walking reducer. The housing of the walking reducer is fixedly connected to the slewing support, and the wheels are rotatably connected to the walking reducer.

[0016] (III) Beneficial Effects The above-described technical solution of the present invention has the following advantages: This invention, through a highly integrated design, enables a robot to perform automatic navigation, mortar mixing, mortar transportation, automatic paving, automatic leveling, and automatic vibration compaction within a minimal footprint, saving 2-3 workers compared to similar products. It also ensures the accuracy of mortar leveling and the density of compaction; simultaneously, it automatically adjusts its position during the leveling process, guaranteeing the accuracy of overlapping work surfaces and preventing damage to already completed surfaces. The system design also enables automatic robot navigation and more precise secondary positioning, reducing manual intervention in the leveling process and further reducing labor intensity. Attached Figure Description

[0017] Figure 1 This is an assembly rendering of the present invention; Figure 2 yes Figure 1 Enlarged view of A in the middle; Figure 3 This is a diagram of the bottom structure of the vehicle frame of the present invention; Figure 4 yes Figure 3 Enlarged view of B in the middle; Figure 5 This is a top view of the present invention; Figure 6 This is a rear view of the present invention; Figure 7 This is a side view of the present invention; Figure 8 This is a front view of the present invention.

[0018] In the diagram: 1. Chassis; 2. Mortar mixing system; 21. Cylinder; 22. Screwdriver; 23. Mixing motor; 24. Sprocket; 25. Discharge port; 3. Scraper; 31. Transverse motor; 32. Transverse reducer; 33. Gear set; 34. Elevation assembly; 4. Vibration assembly; 41. Vibration motor; 42. Vibration plate; 5. Traveling mechanism; 51. Slewing support; 52. Drive motor; 53. Travel reducer; 54. Wheel; 55. Turntable; 6. Controller; 7. Electrical cabinet. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] A smart semi-dry mortar high-precision leveling robot, combined with Figure 1 , Figure 3 It includes a metal square frame 1, a mortar mixing system 2 mounted on top of the frame 1, a scraper 3 mounted on the frame 1 below the mortar mixing system 2, a vibrating assembly 4 mounted on the frame 1 on one side of the scraper 3, a traveling mechanism 4 mounted on the bottom of the frame 1, a controller 6 for driving the traveling mechanism 5, and an electrical cabinet 7 mounted on both sides of the bottom of the frame 1.

[0021] Combination Figure 1 , Figure 5 The mortar mixing system 2 includes a material cylinder 21 and an auger 22. The material cylinder 21 is a roughly square shell with a W-shaped, arc-shaped bottom. The material cylinder 21 is fixed to the frame 1, and the top of the material cylinder 21 is open to hold sand, cement, and water. The auger 22 has a spiral ribbon structure, and two augers 22 are rotatably connected within the two arc sections of the material cylinder 21, allowing the spiral blades of the auger 22 to contact the bottom of the material cylinder 21, thereby stirring up the sand and cement and achieving thorough mixing with water.

[0022] Combination Figure 3 , Figure 5 A mixing motor 23 is fixedly connected to the bottom of the chassis 1. A sprocket 23 is rotatably connected to the output end of the mixing motor 23. Sprockets 23 are also fixedly connected to the ends of the two augers 22 extending from the material cylinder 21 on the same side. A chain is fitted between the sprockets 23, allowing the mixing motor 23 to drive the two augers 22 to rotate, thus mixing sand, cement, and water into dry mortar. Furthermore, by placing the mixing motor 23 in the middle of the bottom of the chassis 1, compared to the traditional method of using couplings to align the mixing motor 21 and the augers 22, this ensures the robot can achieve a speed of 80m / hour. 2 The reduced mortar mixing volume allows for a shorter robot length and thus a smaller size, enabling the robot to be used in confined spaces such as kitchens and bathrooms, improving its applicability. The material cylinder 21 has a discharge port 25 at its bottom near the scraper 3. An electric gate is installed on the discharge port 25, electrically connected to the controller 6 to control the gate opening degree to 0% or 8%–30%. By controlling the gate opening degree, the flow rate of dry mortar can be controlled. This allows for increased mortar spreading speed in large-area standardized paving scenarios, while reducing spreading speed in small areas or areas requiring elevation differences to improve spreading accuracy.

[0023] Combination Figure 1 , Figure 2 The scraper 3 has a U-shaped structure with a vertical end face. A transverse motor 31 is fixedly connected to the frame 1 below the material cylinder 21. A transverse reducer 32 is located at the output end of the transverse motor 31 and is fixedly connected to the frame 1. A gear set 33, consisting of gears and racks, is provided between the output end of the transverse reducer 32 and the top of the scraper 3, allowing the transverse motor 31 to drive the scraper 3 to move horizontally via the gear set 33. The transverse motor 31 and other components are mainly responsible for adjusting the transverse position based on the difference feedback from the automatic cruise system within the controller 6, ensuring that the mortar does not come into contact with already laid tiles or interfere with the scraper 3 and the already smoothed and compacted dry mortar. Furthermore, a height adjustment component is connected between the scraper 3 and the gear set 33. The height adjustment component is preferably a telescopic motor located on both sides of the scraper 3. The height adjustment component controls the height of the scraper 3 by sensing the height of a laser level. An elevation component 34 is fixedly connected to the scraper 3 to detect the height between the bottom of the scraper 3 and the mortar. The elevation component 34 is preferably a height sensor. The height adjustment component is responsible for adjusting the elevation on both sides of the scraper 3 based on the difference between the current height and the calibrated height fed back by the respective connected elevation component 34. This ensures that the scraper 3 can both level the mortar and remove excess dry mortar, thereby guaranteeing both height accuracy and mortar levelness.

[0024] Combination Figure 2 , Figure 6 The vibratory assembly 4 includes a vibratory motor 41 and a vibratory plate 42. The vibratory motor 41 is a vibratory motor. The vibratory plate 42 has connecting rods on both sides along its length. The connecting rods are connected to the frame 1 through a floating mechanism with baffles, so that the vibratory plate 42 always floats on the mortar surface for vibration and compaction. The vibratory motor 41 is mounted in the middle of the vibratory plate 42, and the horizontal part of the end face of the vibratory plate 42 is in contact with the mortar. The floating mechanism is preferably a composite structure of magnetorheological damping and spring. The damper and spring are connected in parallel and the top is fixed to the frame 1, while the bottom is connected to the baffle. The controller 6 adjusts the damping coefficient by changing the current in the damper coil.

[0025] Specifically, in low-frequency scenarios with a vibration frequency of 30–40 Hz, the damper coil is de-energized, and passive floating is achieved by relying on the elasticity of the spring, ensuring that the vibrating plate 42 rises and falls slowly with the mortar surface. When the vibration frequency increases to 50–60 Hz, to prevent the vibrating plate 42 from "jumping" off the mortar surface due to resonance caused solely by the spring, the controller 6 controls the energization of the damper, increasing the damping coefficient to 3000 N·s / m, suppressing the high-frequency vibration of the spring, and ensuring that the vibrating plate 42 always "sticks" to the mortar surface (floating displacement fluctuation ≤ 0.3 mm). When the floating amount is > 8 mm, the system simultaneously reduces the vibration frequency and increases the damping to prevent excessive shaking of the vibrating plate 42, which could affect the height adjustment of the scraper 3. A shock-absorbing pad can also be installed on the floating mechanism to further reduce the impact on the height of the scraper 3.

[0026] Combination Figure 3 , Figure 4 The walking mechanism 5 includes a slewing support 51, a drive motor 52, a walking reducer 53, and wheels 54. A turntable 55 is located at each of the four corners of the bottom of the frame 1. The slewing supports 51 serve as brackets, and the four slewing supports 51 are horizontally rotatably connected to the lower part of the turntable 55. The output end of the drive motor 52 is connected to the transmission mechanism inside the walking reducer 53. The housing of the walking reducer 53 is fixedly connected to the slewing supports 51, and the wheels 54 are rotatably connected to the walking reducer 53. Driving the wheels 54 with the motor equipped with the reducer allows the wheels 54 to move the robot carrying a large amount of dry mortar. The turntable 55 controls the robot's rotation in place, lateral movement, and turning during movement.

[0027] Combination Figure 2 , Figure 7 Electrical cabinets 7 are fixed to both sides of the bottom of the frame 1. Light sources and cameras are encapsulated inside the electrical cabinets 7. The light sources illuminate the tile boundaries on both sides of the frame 1, and the cameras capture images of the tile edges or the edges of the mortar after it has been smoothed. The images are transmitted to the controller 6 to calculate the coordinate difference between the edges and the calibration values, thereby calculating the robot's movement deviation. Finally, the controller 6 controls the walking mechanism 5 to work to compensate for the deviation.

[0028] This invention also provides examples of three usage scenarios, specifically: I. Large-area standardized tiling scenarios, such as living rooms and showrooms, where there are no complex height differences: The initial speed of the walking mechanism 5 is set to 0.8 m / min to adapt to the efficiency of large-area operations. The controller 6 receives the walking speed of the frame 1 in real time, and the robot controller 6 synchronously sends instructions to the gate and auger 22. Specifically, the rotation speed of the auger 22 is synchronously adjusted to 150 r / min, and the opening of the material drop gate is adjusted to 30%, so that the dry mortar flow rate is controlled at about 12 L / min, ensuring that the mortar just fills the path; at the same time, the mortar is pre-spread into a uniform strip 30 cm wide and 5 cm thick to avoid the scraper 3 pushing a large amount of material a second time. Through the cruise speed + electronic control instructions + material drop / auger linkage, the problems of fast walking and missed laying and slow walking and material accumulation caused by the fixed material drop speed of ordinary material laying robots are eliminated.

[0029] The frequency of the vibrating motor 41 is set to 50Hz, and the lateral movement motor 31 presets the grouting width of the scraper 3 to 30cm based on the boundary of the laid tiles fed back by the cruise system. The elevation component 34 is calibrated to a height of 5cm, and the height deviation on both sides of the scraper 3 is controlled to be ≤1mm.

[0030] Based on the above settings, when laying 20m... 2 In this environment, the results of leveling using existing robots and manual methods are compared, as shown in the table below: II. Scenarios in small, irregularly shaped spaces, such as bathrooms and kitchens: The controller 6 uses a camera to identify obstacles and divides the area into a "core work zone" (20cm away from the obstacle) and a "detailed work zone" (20cm away from the obstacle). In the core operating area, the walking mechanism 5 is set to a walking speed of 0.5 m / min and the gate opening is set to 20% so that the material dropping speed is about 8 L / min, which meets the basic material supply requirements; In the precision operation area, the walking mechanism 5 is set to travel at a speed reduced to 0.2 m / min, and the gate opening is set to 8% to reduce the material discharge speed to approximately 3 L / min. This, combined with the low-speed rotating auger 22 for material feeding, prevents mortar from clogging the pipes. Through integrated image recognition and electronic zone control, the problem of mortar overflow in narrow areas caused by ordinary automatic robots discharging material at the same speed throughout the entire area is solved, eliminating the need for manual cleaning.

[0031] When the mortar is within 5cm of the corner, the frequency of the vibrating motor 41 is reduced to 35Hz to shorten the contact time of the vibrating plate 42 and avoid mortar splashing onto the wall due to high-frequency vibration; while the area away from obstacles and corners is kept at a high frequency of 50Hz to ensure compaction.

[0032] The lateral movement motor 31 drives the scraper 3 to make a slight lateral movement of ±5cm based on the obstacle coordinates fed back by the cruise system. The integrated obstacle avoidance signal and real-time fine adjustment of the scraper solve the problem of frequent stops for adjustment required by ordinary automatic robots with a fixed scraper width, and also avoid the risk of damaging the tiles due to hand tremors when manually scraping the slurry.

[0033] Based on the above settings, when laying 8m 2 In this environment, the results of leveling using existing robots and manual methods are compared, as shown in the table below: III. Scenarios with complex elevation differences, such as balconies, entryways, and other areas containing floor drains: The elevation component 34 pre-calibrates the high and low elevation points. Based on the position signal from the cruise system, the controller 6 controls the gate opening to 25% at the high elevation point to ensure a material discharge rate of approximately 10L / min, guaranteeing sufficient mortar thickness. At the low elevation point, the gate opening is controlled to 15% to ensure a material discharge rate of approximately 5L / min, preventing mortar accumulation and clogging of the drain. In the intermediate transition zone, the material discharge rate is linearly reduced from 10L / min to approximately 5L / min, achieving a smooth slope transition.

[0034] The vibratory motor 41 is set to a vibration frequency of 55Hz at high elevations, with a vibration time extended to 1 second per cycle to ensure deep compaction. At low elevations, the vibration frequency is set to 40Hz, with a vibration time shortened to 0.6 seconds per cycle to avoid over-vibration that could cause mortar depressions. In the transition zone, the frequency is set to linearly decrease from 55Hz to 40Hz to match changes in mortar thickness.

[0035] The elevation component 34 monitors the height on both sides of the scraper 3 and adjusts the scraper tilt angle in real time, with the maximum tilt angle not exceeding 3°, ensuring that the slope meets the 1‰ design requirement after leveling. Through integrated dual sensors and real-time angle adjustment, the problem of large slope deviations and the need for repeated measurements and adjustments caused by manual slurry application based on experience is solved.

[0036] Based on the above settings, when laying 6m 2 In this environment, the results of leveling using existing robots and manual methods are compared, as shown in the table below: Furthermore, ordinary automated robots suffer from material loss rates of approximately 8% to 12% due to the lack of coordination between material feeding and movement, resulting in mortar overflow / missed areas. Manual mortar scraping leads to material loss rates of approximately 15% to 20% due to over-spreading and missed areas. This invention, however, reduces the loss rate to below 3% by coordinating the material feeding speed, movement speed, and auger rotation speed. Moreover, compared to ordinary automated robots requiring one person to monitor and assist with leveling, and manual mortar scraping requiring two people for mixing and leveling, this solution requires only one person for remote control, eliminating the need for real-time intervention and reducing labor costs by 50% to 75%.

[0037] In summary, this invention, through a highly integrated structure and multi-parameter coordination enabled by an intelligent control system, upgrades the traditional sequential efficiency of independent operations (i.e., A finishes and waits for B, B finishes and waits for C) to parallel efficiency with synchronized linkage of all stages. This means A, B, and C adjust simultaneously based on real-time data. Precise parameter matching achieves one-time compliance, ultimately resulting in a multiplier effect in efficiency across four dimensions: time, quality, materials, and labor. Compared to ordinary automated robots, overall efficiency is increased by 50%–100%; compared to manual scraping, efficiency is increased by 200%–300%, with a rework rate reduced by over 80%, making its overall cost-effectiveness significantly superior to traditional solutions.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-precision intelligent semi-dry mortar leveling robot, characterized in that: The system includes a frame (1), a mortar mixing system (2) mounted on top of the frame (1), a scraper (3) mounted on the frame (1) below the mortar mixing system (2), a vibrating assembly (4) mounted on the frame (1) on one side of the scraper (3), a walking mechanism (5) mounted on the bottom of the frame (1), and a controller (6) that drives the walking mechanism (5). The controller (6) controls the mortar mixing system (2) to a maximum mortar flow rate of 12L / min, controls the scraper (3) to move laterally by ±5cm and tilt by a maximum of 3°, and controls the vibrating assembly (4) to a maximum vibration frequency of 50Hz based on the walking speed fed back by the walking mechanism (5), so that the robot can perform mortar spreading and leveling work in areas with no elevation difference and areas with elevation difference.

2. The intelligent semi-dry mortar high-precision leveling robot according to claim 2, characterized in that: The mortar mixing system (2) includes a material cylinder (21) and an auger (22). The material cylinder (21) is fixedly connected to the frame (1). The top of the material cylinder (21) is open to be filled with sand, cement and water. The auger (22) is a spiral ribbon structure. Two augers (22) are rotatably connected inside the material cylinder (21). A mixing motor (23) is fixedly connected to the bottom of the frame (1). The mixing motor (23) drives the two augers (22) to rotate so that the augers (22) mix the sand, cement and water into dry mortar.

3. The intelligent semi-dry mortar high-precision leveling robot according to claim 2, characterized in that: The output end of the stirring motor (23) is connected to a sprocket (24), and the two screw conveyors (22) are also fixed to a sprocket (24) at one end of the material cylinder (21) on the same side. A chain is fitted between the sprockets (24).

4. The intelligent semi-dry mortar high-precision leveling robot according to claim 3, characterized in that: The bottom of the material cylinder (21) near the scraper (3) has a discharge port (25). The discharge port (25) is equipped with an electric gate. The gate is electrically connected to the controller (6) to control the gate opening to be 0 or 8% to 30%.

5. The intelligent semi-dry mortar high-precision leveling robot according to claim 4, characterized in that: The scraper (3) has a gate-shaped structure. The end face of the scraper (3) is vertical and the top is slidably connected to the frame (1). The frame (1) is located below the material cylinder (21) and a transverse motor (31) is fixedly connected. A gear set (33) consisting of gears and racks is provided between the output end of the transverse motor (31) and the top of the scraper (3) so that the transverse motor (31) drives the scraper (3) to move horizontally through the gear set (33).

6. The intelligent semi-dry mortar high-precision leveling robot according to claim 5, characterized in that: A height adjustment component is connected between the scraper (3) and the gear set (33), which controls the height of the scraper (3); an elevation component (34) is fixed on the scraper (3) to detect the height of the bottom of the scraper (3) and the mortar. The elevation component (34) is a height sensor.

7. The intelligent semi-dry mortar high-precision leveling robot according to claim 6, characterized in that: The vibrating assembly (4) includes a vibrating motor (41) and a vibrating plate (42). The vibrating motor (41) is a vibrating motor. The vibrating plate (42) is connected to the frame (1) through a connecting rod. The vibrating motor (41) is mounted in the middle of the vibrating plate (42). The horizontal part of the end face of the vibrating plate (42) is in contact with the mortar.

8. The intelligent semi-dry mortar high-precision leveling robot according to claim 7, characterized in that: A floating mechanism is provided between the vibrating plate (42) and the frame (1) so that the vibrating plate floats on the mortar surface for vibration and compaction; the floating mechanism is equipped with a shock-absorbing pad to reduce the impact on the height of the scraper (3).

9. The intelligent semi-dry mortar high-precision leveling robot according to claim 8, characterized in that: Electrical cabinets (7) are fixed to both sides of the bottom of the frame (1). The electrical cabinets (7) contain a light source and a camera. The light source illuminates the tile boundaries on both sides of the frame (1). The camera takes pictures of the tile edges or the mortar edges after they are smoothed. The images are transmitted to the controller (6) to calculate the coordinate difference between the edges and the calibration values. Then, the robot's movement deviation is calculated. Finally, the controller (6) controls the walking mechanism (5) to work to compensate for the deviation.

10. The intelligent semi-dry mortar high-precision leveling robot according to claim 9, characterized in that: The walking mechanism (5) includes a slewing support (51), a drive motor (52), a walking reducer (53), and wheels (54). The four slewing supports (51) are horizontally rotatably connected to the four corners of the frame (1). The output end of the drive motor (52) is connected to the transmission mechanism inside the walking reducer (53). The outer shell of the walking reducer (53) is fixedly connected to the slewing support (51), and the wheels (54) are rotatably connected to the walking reducer (53).

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