Concrete leveling robot

Abstract

The concrete leveling robot comprises a robot body, a mechanical arm is installed at the front end of the robot body, and a leveling head is installed at the tail end of the mechanical arm; the leveling head comprises a leveling head frame, and the leveling head frame is mounted at the tail end of the mechanical arm; the lifting type scraping plate is installed on the front side of the bottom end face of the leveling head frame and used for roughly leveling concrete; the lifting type spiral stirring mechanism is installed on the bottom end face of the leveling head frame, located on the rear side of the lifting type scraping plate and used for stirring the segregated and insufficient-compactness concrete in a turning mode so as to achieve homogenization of the concrete; the leveling vibration head is fixed to the bottom end face of the leveling head frame, located on the rear side of the lifting type spiral stirring mechanism and used for finely leveling concrete. The robot has the advantages of being high in concrete leveling quality, good in leveling effect, good in chassis stability and not prone to tipping over.

Description

Technical Field

[0001] This invention relates to the field of concrete construction equipment technology, and more specifically to a concrete leveling robot. Background Technology

[0002] Traditional concrete sizing robots often tilt due to uneven ground, making it difficult for the sizing plate to conform to the ground in real time, thus affecting sizing accuracy. Furthermore, they mostly operate with a single scraper or sizing ruler, making it difficult to ensure the uniformity of the concrete's internal structure. This can easily result in a smooth surface but internal segregation, increasing the risk of cracking after the concrete has set. Additionally, traditional sizing robots tend to accumulate concrete in the direction the sizing ruler moves, affecting construction progress and potentially causing the robot to malfunction due to excessive concrete buildup. Moreover, concrete sizing robots have poor adaptability to uneven ground, especially slopes, where they struggle to adapt to the terrain, leading to poor sizing results. On sloping ground, the robot is prone to tilting or even instability, severely impacting the quality of concrete sizing.

[0003] Therefore, how to provide a concrete leveling robot with high quality, good leveling effect, good chassis stability, and low risk of tipping over is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention provides a concrete leveling robot with high concrete leveling quality, good leveling effect, good chassis stability, and is not easy to tip over.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A concrete leveling robot, comprising: The machine body has a robotic arm installed at its front end and a flattening head installed at the end of the robotic arm. The leveling head includes: A flattening head frame is mounted on the end of the robotic arm; A lifting scraper is installed on the front side of the bottom end face of the leveling head frame for rough leveling concrete. A lifting spiral mixing mechanism is installed on the bottom end face of the leveling head frame and located behind the lifting scraper. It is used to turn over and mix concrete with segregation and insufficient density to achieve homogeneity of concrete. A leveling vibrating head is fixed to the bottom surface of the leveling head frame and located behind the lifting spiral mixing mechanism, and is used for fine leveling of concrete.

[0006] Furthermore, the lifting scraper includes: The first hydraulic cylinder has its cylinder barrel fixed to the front side of the bottom end face of the flattening head frame. A folding scraper is fixed to the telescopic end of the first hydraulic cylinder.

[0007] Furthermore, the folding scraper includes: multiple scrapers and multiple electric push rods, with adjacent scrapers hinged together and each adjacent scraper being hinged with an electric push rod, and the telescopic end of the first hydraulic cylinder being fixed to one of the scrapers located on the side.

[0008] Furthermore, a spring hook is connected between each pair of adjacent scrapers, which is used to mechanically lock the two adjacent scrapers in a folded state.

[0009] Furthermore, the lifting spiral stirring mechanism includes: The second hydraulic cylinder has its cylinder barrel fixed to the bottom end face of the flattening head frame and located behind the first hydraulic cylinder. A spiral mixer, which is fixed to the telescopic end of the second hydraulic cylinder.

[0010] Furthermore, the leveling vibrating head includes: A leveling block, the top of which is fixed to the bottom end face of the leveling head frame and located behind the second hydraulic cylinder, the leveling block having an internal receiving cavity; A vibrator, which is disposed within the receiving cavity.

[0011] Furthermore, a first laser receiver and a first controller are installed on the bottom surface of the flattening head frame. The first laser receiver is used to receive the laser signal emitted by the first laser emitter arranged at the construction site and send the signal to the first controller. The first controller controls the movement of the robotic arm, the first hydraulic cylinder, the second hydraulic cylinder, the vibrator, the spiral mixer, and the electric push rod.

[0012] Furthermore, the chassis of the fuselage is equipped with spring-dampened auxiliary support wheels and multiple slope-adaptive multi-link wheel mechanisms. These multiple slope-adaptive multi-link wheel mechanisms are evenly distributed on the outer periphery of the spring-dampened auxiliary support wheels. Each slope-adaptive multi-link wheel mechanism includes: A lifting adjustment rod, the top end of which is hinged to the bottom end of the chassis; The main support wheel has a double-row tapered roller bearing mounted on its wheel shaft, and the wheel shaft is connected to the bottom end of the lifting adjustment main rod via a first steering knuckle. The wheel posture adjustment auxiliary rods are two symmetrically arranged on both sides of the lifting adjustment main rod. The top end of each wheel posture adjustment auxiliary rod is hinged to the bottom end of the chassis, and the bottom end of the wheel posture adjustment auxiliary rod is fixed to the outer ring of the double row tapered roller bearing. The spring-loaded auxiliary support wheel includes: a hydraulic cylinder shock absorber, a helical shock absorber spring, and an auxiliary support wheel. The cylinder of the hydraulic cylinder shock absorber is connected to the wheel rod of the auxiliary support wheel through a second steering knuckle. The piston rod of the hydraulic cylinder shock absorber is connected to the bottom end of the chassis. The helical shock absorber spring is sleeved on the outside of the hydraulic cylinder shock absorber. One end of the helical shock absorber spring is fixed to the bottom end of the chassis, and the other end is fixed to the outer wall of the cylinder of the hydraulic cylinder shock absorber.

[0013] Furthermore, the lifting adjustment rod includes: The upper main rod is hinged to the bottom end of the chassis; The third hydraulic cylinder, the cylinder barrel of which is connected to the bottom end of the upper main rod; The lower main rod is connected at its top end to the telescopic end of the third hydraulic cylinder, and at its bottom end to the wheel shaft of the main support wheel via the first steering knuckle. The wheel attitude adjustment lever includes an upper control lever, a lower control lever, and a second steering knuckle. The top end of the upper control lever is hinged to the bottom end of the chassis. The bottom end of the upper control lever is connected to the top end of the lower control lever through the second steering knuckle. The bottom end of the lower control lever is fixed to the outer ring of the double-row tapered roller bearing.

[0014] Furthermore, an angle sensor, a second laser receiver, and a second controller are provided on the bottom surface of the chassis. The third hydraulic cylinder, the angle sensor, the second laser receiver, and the second controller are all electrically connected. The second laser receiver is used to receive the laser signal emitted by the second laser transmitter arranged at the construction site and send the signal to the second controller. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0016] Figure 1 This is a front view structural diagram of a concrete leveling robot provided by the present invention.

[0017] Figure 2This is a schematic diagram of the overall head structure.

[0018] Figure 3 This is a schematic diagram of a folding scraper.

[0019] Figure 4 This is a bottom view diagram of the chassis.

[0020] Figure 5 A schematic diagram of a slope-adaptive multi-link wheel mechanism installed on a chassis.

[0021] Figure 6 A schematic diagram showing the installation of spring-loaded shock absorbers to assist in supporting the wheels on the chassis. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] See Figures 1-6This invention discloses a concrete leveling robot, which has the advantages of high concrete leveling quality, good leveling effect, good chassis stability, and is not easy to tip over. Specifically, it includes: The machine body 1 has a robotic arm 2 installed at the front end and a flattening head 3 installed at the end of the robotic arm 2. Flattening head 3 includes: Flattening head frame 31 is installed at the end of robotic arm 2; The lifting scraper 32 is installed on the front side of the bottom end face of the leveling head frame 31 and is used for rough leveling of concrete. The lifting spiral mixing mechanism 33 is installed on the bottom end face of the leveling head frame 31 and located behind the lifting scraper 32. It is used to turn over and mix the concrete with segregation and insufficient density to achieve homogeneity of concrete. The leveling vibrating head 34 is fixed on the bottom surface of the leveling head frame 31 and located behind the lifting spiral mixing mechanism 33, and is used for fine leveling of concrete.

[0024] The flattened head frame 31 is made of hollow square steel. The height of the hollow square steel is 0.12~0.15m, the width of the hollow square steel is 0.25~0.3m, and the wall thickness of the hollow square steel is 12~15mm.

[0025] The lifting scraper 32 includes: The first hydraulic cylinder 321 has its cylinder barrel fixed to the front side of the bottom end face of the flattening head frame 31. Folding scraper 322 is fixed on the telescopic end of the first hydraulic cylinder 321.

[0026] The height of the folding scraper 322 can be adjusted via the first hydraulic cylinder 321. The function of the folding scraper 322 is to scrape away any excess concrete, performing preliminary leveling to prepare for subsequent mixing and leveling vibration work. The folding scraper 322 has a width of 0.8-1m when unfolded.

[0027] The folding scraper 322 includes: multiple scrapers 3221 and multiple electric push rods 3222. Two adjacent scrapers 3221 are hinged together by a hinge 3223, and an electric push rod 3222 is hinged between each two adjacent scrapers 3221. The telescopic end of the first hydraulic cylinder 321 is fixed to the surface of a scraper 3221 located on the side, namely scraper A.

[0028] The 3221 scraper uses a lightweight, high-strength carbon fiber composite board, combining good rigidity and toughness to withstand the pressure and impact during construction. When the folding scraper needs to be unfolded, the telescopic end of the electric push rod extends, pushing the corresponding scraper to rotate and unfold around the hinge. After unfolding, the coverage radius of the leveling head can be increased by 30cm, significantly improving construction efficiency, and is especially suitable for large-area ground leveling operations.

[0029] A spring hook 3224 is connected between each pair of adjacent scrapers 3221. The spring hook 3224 is used to mechanically lock the two adjacent scrapers 3221 in a folded state.

[0030] The locking of scraper 3221 mainly relies on the force of electric push rod 3222. When locked, the two adjacent scrapers form an angle of 20°. In order to ensure stable locking when the scraper is folded and to avoid failure of a certain electric push rod to lock the scraper, in some embodiments, mechanical locking between scrapers can also be achieved by spring hook 3224. When a scraper needs to be unfolded, the hook end of spring hook 3224 can be disengaged from the hook hole of the scraper.

[0031] The lifting spiral stirring mechanism 33 includes: The second hydraulic cylinder 331 has its cylinder barrel fixed on the bottom end face of the flattening head frame 31 and located behind the first hydraulic cylinder 321. The spiral mixer 332 is fixed to the telescopic end of the second hydraulic cylinder 331. The spiral diameter of the spiral mixer 332 is 200-300mm, the length is 1-1.5m, and the pitch is between 100-200mm.

[0032] In this way, the height of the spiral mixer 332 is adjusted by the second hydraulic cylinder 331, so that after the folding scraper has finished leveling, the spiral mixer 332 sinks down to turn over and mix the segregated and insufficiently dense concrete, so as to achieve homogeneous mixing of the concrete.

[0033] The leveling vibrating head 34 includes: The leveling block 341 has its top end fixed to the bottom end face of the leveling head frame 31 and is located behind the second hydraulic cylinder 331. The leveling block 341 has an internal receiving cavity. Vibrator 342 is disposed inside the receiving cavity.

[0034] The vibrator 342 drives the leveling block 341 to vibrate and compact the concrete, making it denser and smoother. The vibrator is 0.5-1m long, 100-200mm in diameter, has an excitation force of 500-2000N, and a vibration frequency of 3000 times / min. A damping pad, made of rubber or other elastic material, is placed between the vibrator and the leveling block. This pad reduces the transmission of vibrations generated by the vibrator to the leveling block, preventing fatigue damage due to prolonged vibration. It also provides cushioning, protecting the vibrator itself from excessive impact.

[0035] The present invention achieves the following effects after optimizing the process by using a "folding scraper for leveling → spiral stirring → leveling with a vibrating head": First, it improves the quality of leveling. The folding scraper, as the first step, can quickly address large-area height differences on the concrete surface (such as accumulations or depressions during pouring), initially scraping the concrete to near the design elevation, reducing "redundant workload" for subsequent processes. Its folding design allows for flexible adjustment of the working width (adapting to different construction areas), ensuring rapid "rough leveling" of large areas and avoiding repeated operations by the spiral mixer and leveling blocks due to excessive initial height differences, thus reducing surface wear or over-treatment. After the initial scraping, the spiral mixer sinks to precisely address issues such as localized concrete segregation and insufficient density that the scraper could not resolve (such as surface crusting and internal air bubbles). At this point, the concrete has minimal height differences after initial leveling, allowing the spiral mixer to act more evenly on the concrete, avoiding "localized over-mixing" or "inadequate mixing" caused by initial unevenness, reducing the risk of later cracking. After mixing, the leveling blocks sink to perform final fine leveling of the concrete surface. Since the first two processes have already addressed the macroscopic flatness and internal quality, the leveling block only needs to focus on surface precision control (such as slope and flatness errors), which greatly improves the final forming effect and meets high-standard construction requirements.

[0036] Secondly, it optimizes concrete treatment. By controlling the force in stages, it reduces concrete disturbance and structural damage. The folding scraper primarily "levels" the concrete with gentle force, avoiding violent pushing of freshly poured concrete. The spiral mixer operates only in localized areas after initial leveling, reducing aggregate segregation caused by large-area mixing. The leveling block is then lightly pressed for final fine leveling, preventing excessive weight from bending reinforcing bars or damaging formwork, thus solving the problem of excessive weight-related disturbance associated with traditional equipment. Protecting the internal structure: Due to the targeted treatment of each process, the concrete experiences more uniform stress during the "rough leveling → homogenization → fine leveling" process, reducing safety hazards such as support deformation and reinforcing bar displacement caused by excessive disturbance, and ensuring the structural design performance.

[0037] Thirdly, it enhances equipment adaptability: the folding design of the scraper can adapt to different construction site widths, and the spiral mixer and leveling head's "sinking" operation allows for flexible adjustment of the sinking depth according to the concrete pouring thickness (e.g., 5cm~20cm), avoiding "excessive depth disturbing the reinforcing steel / formwork" or "insufficient depth causing inadequate treatment" due to a fixed height, thus adapting to the thickness requirements of different projects. Compared to traditional robots, it is more adaptable to different construction scenarios and concrete conditions.

[0038] A first laser receiver 4 and a first controller 5 are installed on the bottom surface of the flattening head frame 31. The first laser receiver 4 is used to receive the laser signal emitted by the first laser transmitter arranged at the construction site and send the signal to the first controller 5. The first controller 5 controls the movement of the robotic arm 2, the first hydraulic cylinder 321, the second hydraulic cylinder 331, the vibrator 342, the spiral mixer 332, and the electric push rod 3222.

[0039] The first laser emitter is independently positioned on the construction site. Its emitted laser beam provides a reference plane or elevation for the leveling head's leveling work. The first laser receiver transmits the received laser signal to the first controller. The first controller compares and analyzes the received signal with the preset elevation or flatness requirements, then issues commands to control the corresponding hydraulic cylinders and other actuators. This precisely adjusts the height and angle of the leveling head, enabling it to perform leveling operations according to the preset elevation and slope, ensuring the construction surface achieves high-precision flatness and levelness requirements. 1. Fuselage frame structure The fuselage frame is made of high-strength, lightweight alloy material, with an overall box-shaped structure that provides excellent rigidity and torsional resistance, capable of withstanding vibrations and pressure during operation. Internal reinforcing ribs and shock-absorbing rubber pads further enhance structural strength and reduce vibration transmission. Standardized interfaces are provided on the exterior of the frame for easy installation of various sensors, actuators, and auxiliary equipment, while protective plates provide dust and water protection for critical internal components.

[0040] 2. Power System The hybrid powertrain solution, centered on a dual-power system and incorporating efficient hot-swappable battery swapping and optimized battery installation design, provides continuous and stable power output to the equipment, meeting the requirements for 24-hour continuous operation. Key features are as follows: 1) Dual power supply system construction (1) Lithium battery module Employing high-energy-density ternary lithium battery packs with a modular design, each battery module has a capacity of 50kWh and can be flexibly combined according to operational needs. The battery packs are equipped with an advanced battery management system (BMS) that monitors battery voltage, current, temperature, and other parameters in real time, and features overcharge, over-discharge, and short-circuit protection to ensure safe and stable battery operation. The lithium battery packs are connected to the equipment's power system via a high-voltage DC bus, providing a stable and continuous power supply suitable for the energy needs of conventional operating scenarios.

[0041] (2) Supercapacitor Module The supercapacitor bank is connected in parallel with the lithium battery bank into the system. Each supercapacitor module has a capacity of 10F and an operating voltage range of 48-600V. The supercapacitor features rapid charging and discharging characteristics, allowing it to instantly release a large amount of electrical energy during equipment startup, acceleration, and sudden high-power operations (such as high-frequency vibration startup of a leveling head), assisting the lithium battery in meeting peak power demands and effectively extending its lifespan. Simultaneously, the supercapacitor can also recover energy during equipment braking or deceleration, achieving efficient energy utilization.

[0042] 2) Hot-swappable battery swapping structure (1) Battery swapping interface design The battery compartment features a standardized, quick-plug interface using aerospace-grade connectors, offering high reliability and waterproof / dustproof performance. The interface comprises three parts: power transmission terminals, data communication terminals, and mechanical positioning pins. The power transmission terminals utilize high-current contacts, capable of handling current transmissions exceeding 200A; the data communication terminals facilitate data exchange between the battery management system and the device's main control system, ensuring the device can quickly identify the battery status after a battery swap; and the mechanical positioning pins ensure precise alignment of the battery modules, preventing misalignment and damage during insertion and removal.

[0043] (2) Battery swapping operation mechanism The battery compartment is equipped with an external electric push-rod battery swapping device. Operators simply issue a swapping command via the equipment control panel, and the electric push-rod automatically unlocks the battery, gently pushing the battery module to be replaced out of the battery compartment. The new battery module, with its guide rail design, can be easily pushed into the battery compartment along the guide groove. Once in place, the electric push-rod automatically locks and clamps the battery, completing the battery installation. The entire swapping process can be completed within 3 minutes, eliminating the need for prolonged downtime and ensuring continuous equipment operation.

[0044] 3. Intelligent Control System 1) Processing received data The main control unit on the machine receives data from various sensors, analyzes and processes it through built-in algorithms, and generates control commands.

[0045] 2) Deploy multiple sensors (1) Attitude monitoring sensor A high-precision MEMS gyroscope is mounted at the center of mass of the robot body, employing a three-axis design. It can monitor the robot's angular velocity and angular acceleration in the X, Y, and Z directions in real time, with a detection accuracy of 0.01° / s. Together with an accelerometer, it forms an inertial measurement unit (IMU). Through data fusion using a Kalman filter algorithm, it accurately calculates the robot's attitude angles (pitch, roll, and yaw), providing fundamental data for slope-adaptive chassis leveling and robotic arm motion control. (2) Positioning sensor The dual-frequency GPS / BeiDou module is integrated on the top of the robot body, employing a high-gain antenna design and supporting BDS B1 / B2 and GPS L1 / L2 frequency bands, achieving centimeter-level positioning accuracy. The module incorporates RTK (Real-Time Kinematic) positioning technology, reducing positioning errors to within ±2cm by receiving differential signals from a base station. This ensures precise positioning of the robot in large construction areas and also supports integration with BIM model data for construction path planning. 3) Achieve efficient data transmission The sensors employ a hybrid networking approach using CAN bus and Ethernet. The CAN bus is used for sensors with extremely high real-time requirements, such as gyroscopes and accelerometers, with a transmission rate of up to 1Mbps, supporting multi-master communication, and possessing strong anti-interference capabilities, ensuring attitude data is transmitted to the main control unit with millisecond-level latency. Ethernet carries large-volume sensors such as LiDAR and GPS / BeiDou modules, using the TCP / IP protocol with a transmission rate of 100Mbps-1Gbps, meeting the rapid transmission requirements of point cloud maps and positioning data. The main control unit has a built-in gateway to parse and convert data from different protocols, building a stable and high-speed data transmission network. The chassis 6 of the fuselage 1 is equipped with spring-dampened auxiliary support wheels 7 and multiple slope-adaptive multi-link wheel mechanisms 8. If a five-wheel suspension structure is adopted, the four slope-adaptive multi-link wheel mechanisms 8 are evenly distributed on the outer periphery of the spring-dampened auxiliary support wheels 7. Each slope-adaptive multi-link wheel mechanism 8 includes: The lifting adjustment main rod 81 is hinged at the top end to the bottom end of the chassis 6. The main support wheel 82 has a double-row tapered roller bearing 83 mounted on its wheel shaft, and the wheel shaft is connected to the bottom end of the lifting adjustment main rod 81 through the first steering knuckle 84. The wheel posture adjustment auxiliary rod 85 consists of two symmetrically arranged on both sides of the lifting adjustment main rod 81. The top of each wheel posture adjustment auxiliary rod 85 is hinged to the bottom of the chassis 6, and the bottom of the wheel posture adjustment auxiliary rod 85 is fixed to the outer ring of the double row tapered roller bearing 83. The spring-dampened auxiliary support wheel 7 includes: a hydraulic cylinder shock absorber 71, a helical damping spring 72, and a secondary support wheel 73. The cylinder of the hydraulic cylinder shock absorber 71 is connected to the wheel rod of the secondary support wheel 73 via a second steering knuckle 74. The piston rod of the hydraulic cylinder shock absorber 71 is connected to the bottom end of the chassis 6. The helical damping spring 72 is sleeved on the outside of the hydraulic cylinder shock absorber 71, with one end fixed to the bottom end of the chassis 6 and the other end fixed to the outer wall of the cylinder of the hydraulic cylinder shock absorber 71. The function of the hydraulic cylinder shock absorber 71 is to suppress the reciprocating vibration of the helical damping spring 72 through damping force, rapidly attenuating vibration energy and ensuring vehicle stability. The function of the helical damping spring 72 is to bear the vertical load and absorb the vertical vibration transmitted from the ground through elastic deformation, reducing vehicle bumps.

[0046] The lifting adjustment rod 81 includes: The top of the upper main rod 811 is hinged to the bottom of the chassis 6; The third hydraulic cylinder 812 has its cylinder barrel connected to the bottom end of the upper main rod 811. The lower main rod 813 is connected at its top end to the telescopic end of the third hydraulic cylinder 812, and at its bottom end to the wheel rod of the main support wheel 82 via the first steering knuckle 84. The wheel attitude adjustment lever 85 includes: an upper control lever 851, a lower control lever 852, and a second steering knuckle 853. The top end of the upper control lever 851 is hinged to the bottom end of the chassis 6. The bottom end of the upper control lever 851 is connected to the top end of the lower control lever 852 through the second steering knuckle 853. The bottom end of the lower control lever 852 is fixed to the outer ring of the double-row tapered roller bearing 83.

[0047] In the multi-link articulated structure of the slope-adaptive chassis, the main reasons and advantages for setting up a lifting adjustment main rod 81 and two wheel attitude adjustment auxiliary rods 85 are as follows: Improved stability: The two wheel attitude adjustment sub-rods 85 assist the lifting adjustment main rod 81 in better stabilizing the wheel attitude and preventing tilting. When encountering a slope, the lifting adjustment main rod 81 is responsible for the main support and attitude adjustment, while the wheel attitude adjustment sub-rods 85 limit the lateral displacement of the wheels when they bounce up and down, allowing the wheels to maintain a more stable contact with the ground and ensuring the stability of the chassis.

[0048] Enhanced load-bearing capacity: As an auxiliary component that bears vertical forces, the sub-rod, together with the main rod, shares the weight of the vehicle and the lateral and vertical forces brought about by the slope, improving the load-bearing capacity of the entire suspension system and enabling the chassis to adapt to more complex terrain and greater loads.

[0049] Optimized force transmission: The coordinated work of the main rod and auxiliary rod can transmit force more rationally, distributing the force on the wheels evenly to the chassis body, reducing the force concentration on individual components, and thus extending the service life of the suspension system.

[0050] A third hydraulic cylinder 812 is installed at the middle of the main rod to control vertical displacement. The upper and lower control rods are connected by a second steering knuckle 853, enabling vertical displacement between them: when the wheel encounters different terrain, it will bounce up and down. At this time, the upper and lower control rods will rotate around their connection point with the second steering knuckle 853 to limit the lateral displacement of the wheel during this bounce. During this process, the angle between the upper and lower control rods changes, resulting in vertical displacement between them. For example, when the wheel bounces upwards, the lower control rod moves upwards, while the upper control rod rotates around its connection point, changing the vertical distance between them.

[0051] Therefore, the vertical displacement of the main rod is controlled by the third hydraulic cylinder 812, primarily used to adjust the overall height of the wheels to adapt to different terrain slopes. The upper and lower control rods in the auxiliary rods, based on the wheel height adjustment by the main rod, further fine-tune the wheel's posture, limiting lateral displacement and ensuring good contact between the wheels and the ground. The vertical displacement of the main rod is a macroscopic adjustment, while the action of the auxiliary rods is a microscopic posture adjustment; the two work together to achieve the chassis's adaptability to complex terrain. For example, when the main rod moves upward under the action of the hydraulic cylinder, the wheels rise as a whole, and simultaneously, the upper and lower control rods rotate and displace accordingly based on the specific posture of the wheels to ensure that the wheels always maintain stable contact with the ground.

[0052] The main functions of double-row tapered roller bearings are as follows: Combined load bearing: Double-row tapered roller bearings can withstand combined radial and axial loads, with radial loads being the primary component. In chassis suspension systems, they can withstand the vertical forces (radial loads) on the wheels and the lateral forces (axial loads) caused by factors such as slope changes, and distribute these forces evenly across the chassis frame.

[0053] Ensuring rotational flexibility: Its unique structural design, through the cooperation of inner and outer conical raceways and conical rollers, achieves pure rolling friction, reduces the coefficient of friction, and ensures that the wheel can smoothly adjust its posture under various terrains.

[0054] Improved structural rigidity: The double-row design and optimized contact angle and number of rollers give the bearings high rigidity, which reduces deformation under load and improves the stability and reliability of the entire suspension system.

[0055] In traditional structures, "keeping the wheels close to the ground" and "ensuring chassis stability" are contradictory: if the suspension is too soft, the wheels maintain good ground contact but the chassis wobbles; if the suspension is too stiff, the chassis is stable but the wheels don't maintain ground contact. This composite structure, consisting of a spring-loaded shock-absorbing auxiliary support wheel 7 and multiple slope-adaptive multi-link wheel mechanisms 8, breaks this contradiction mechanically through the synergy of these two structures (the multi-link mechanism is responsible for "ground contact," and the coil spring shock absorber is responsible for "chassis stability"), achieving both "ground contact and stability" on slopes. Traditional rigid chassis (such as hingeless frame structures) may experience situations like "front wheels climbing while rear wheels are suspended" or "excessive force on one side of the wheel" on small slopes (5°-15°) because they cannot adjust wheel posture, leading to decreased power transmission efficiency or accelerated chassis wear. The multi-link articulation of this structure allows for fine adjustments on small slopes, ensuring even force distribution across all wheels through micro-adjustments of wheel posture, improving passability and durability on small slopes.

[0056] Furthermore, in this composite structure, the five-wheel independent suspension allows each wheel to operate independently, reducing mutual interference. The multi-link articulation of the four peripheral wheels can flexibly adjust the wheel posture in real time. For example, on slopes, the linkage rotates around the articulation point, ensuring that the wheel always remains perpendicular to the slope. Combined with the shock absorption assistance of the middle wheel, this significantly improves the wheel's ground contact rate. Even on complex sloping terrain, this composite structure achieves a balance between "multi-link articulation (ensuring ground contact) + coil spring shock absorption (assisting stability)" by synergistically allowing the wheels to follow the terrain's undulations (terrain following) and limiting excessive chassis tilt through structural rigidity (leveling rigidity). Traditional multi-wheel structures (such as three-wheel or four-wheel structures) have fewer support points on slopes, making them prone to tilting or slipping due to center of gravity shift. The five-wheel layout increases the density of support points. Combined with the posture adjustment of the independent suspension and articulated structure, the lateral and vertical forces from the slope are evenly distributed across multiple wheels, reducing the risk of rollover. The coil spring and shock absorber of the middle wheel also buffer ground impacts, further suppressing chassis vibration and improving overall stability.

[0057] An inclination sensor 9, a second laser receiver 10, and a second controller 11 are installed on the bottom surface of the chassis 6. The third hydraulic cylinder 812, the inclination sensor 9, the second laser receiver 10, and the second controller 11 are all electrically connected. The second laser receiver 10 is used to receive the laser signal emitted by the second laser transmitter arranged at the construction site and send the signal to the second controller 11.

[0058] A tilt sensor is installed under the chassis to monitor the tilt angle of the chassis in real time. When the equipment is in a slope environment (≤8°), the tilt sensor transmits the angle data to the second controller 11. The second controller 11 calculates the angle data using an algorithm and quickly extends or retracts the corresponding third hydraulic cylinder 812. By adjusting the height of different wheels, the chassis can be quickly restored to a level state within 5 seconds.

[0059] A laser elevation calibration system is installed on the chassis to ensure high precision in equipment operation. This system consists of a second laser transmitter, a second laser receiver, and a second controller. The second laser transmitter is installed in a fixed position on the equipment and emits a horizontal laser beam covering the work area. The second laser receivers are distributed at key locations on the chassis to receive laser signals. After the chassis is leveled, the second laser receiver transmits the received laser signal to the second controller. The second controller calculates the positional deviation of the laser beam on different receivers to obtain the actual elevation data of the chassis.

[0060] The system compares the actual elevation data with the preset standard elevation. If the error exceeds ±2mm, the second controller sends a fine-tuning command to the third hydraulic cylinder 812. By precisely controlling the extension and retraction of the hydraulic cylinder, the chassis elevation is adjusted until the error is controlled within the allowable range. The laser elevation calibration system has real-time monitoring and dynamic calibration functions, which can continuously monitor elevation changes during equipment operation and make timely adjustments to ensure that the operational accuracy always meets the requirements.

[0061] Therefore, the present invention has the following technical advantages: 1. Precise and efficient adaptation The leveling system significantly improves leveling quality through a step-by-step process of "folded scraper leveling → spiral mixing → leveling block leveling." The folded scraper quickly handles large areas of unevenness to achieve "rough leveling," reducing redundant work in subsequent processes; the spiral mixing precisely addresses localized segregation and insufficient density, reducing the risk of cracking; and the leveling blocks focus on surface precision control, greatly improving the final molding effect and meeting high-standard construction requirements. Simultaneously, it optimizes concrete treatment, with step-by-step force control at each stage to avoid violent pushing, aggregate segregation, and structural damage, reducing safety hazards and ensuring structural design performance. The system also enhances equipment adaptability; the folded scraper can flexibly adjust its working width, and the spiral mixing and leveling blocks can adjust their depth according to the pouring thickness, adapting to different scenarios. A laser measurement and control system achieves high-precision control, ensuring the construction surface meets high flatness and levelness requirements.

[0062] 2. Stable, durable, and highly efficient The robot's chassis system utilizes a high-strength, lightweight alloy box-type frame, combined with reinforcing ribs and shock-absorbing rubber pads, effectively enhancing structural rigidity and torsional resistance. This allows it to withstand vibrations and pressures during operation while minimizing vibration transmission and protecting internal components. A hybrid powertrain ensures 24-hour continuous operation. The dual-power system provides stable and continuous power from lithium batteries, while supercapacitors assist in handling peak power demands and recovering energy, extending lithium battery life. A hot-swappable battery swapping structure enables rapid battery replacement within 3 minutes, reducing downtime. The intelligent control system employs multiple high-precision sensors to accurately monitor the robot's attitude and position. Combined with an efficient data transmission network, it provides timely and accurate data support to the main control unit, ensuring precise positioning and stable operation of the robot during large-scale construction. This improves overall operational efficiency and reliability, meeting the demands of long-duration, high-intensity construction. 3. Adjusting and leveling the slope ensures safety. The slope-adaptive chassis effectively solves the traditional chassis's dilemma of "conflict between ground contact and stability" through a composite structure of five-wheel independent suspension and multi-link articulation. The five-wheel layout increases support points, and combined with the independent suspension and articulated structure, ensures the wheels maintain good contact with the ground on sloping terrain, increasing wheel ground contact rate, dispersing lateral and vertical forces, and reducing the risk of rollover. The coil springs and shock absorbers on the middle wheels buffer ground impacts, suppress chassis vibration, and enhance stability. When the equipment is on a slope of ≤8°, the chassis is leveled within 5 seconds via a high-precision hydraulic cylinder, aided by tilt sensor feedback. A laser elevation calibration system monitors the elevation in real time, making timely fine adjustments when the error exceeds ±2mm to ensure operational accuracy. The overall structure uses a high-strength, lightweight alloy, balancing strength and mobility, significantly improving the chassis's passability, durability, and operational accuracy on complex sloping terrain, meeting high-standard construction requirements. The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0063] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A concrete finishing robot characterized by, Include: The fuselage (1), the front end of the fuselage (1) is provided with a mechanical arm (2), the end of the mechanical arm (2) is provided with a leveling head (3); The leveling head (3) comprises: Leveling head frame (31), the leveling head frame (31) is installed at the end of the mechanical arm (2); Lifting type blade (32), the lifting type blade (32) is installed on the front side of the bottom end surface of the leveling head frame (31), which is used for rough leveling concrete; Lifting type spiral stirring mechanism (33), the lifting type spiral stirring mechanism (33) is installed on the bottom end surface of the leveling head frame (31) and located at the rear side of the lifting type blade (32), which is used for stirring the concrete to realize the homogeneity of the concrete; Leveling vibration head (34), the leveling vibration head (34) is fixed on the bottom end surface of the leveling head frame (31) and located at the rear side of the lifting type spiral stirring mechanism (33), which is used for fine leveling concrete.

2. The concrete finishing robot of claim 1, wherein, The lifting type blade (32) comprises: First hydraulic cylinder (321), the cylinder of the first hydraulic cylinder (321) is fixed on the front side of the bottom end surface of the leveling head frame (31); Folding blade (322), the folding blade (322) is fixed on the telescopic end of the first hydraulic cylinder (321).

3. The concrete finishing robot of claim 2, wherein, The folding blade (322) comprises: a plurality of blades (3221) and a plurality of electric push rods (3222), adjacent two blades (3221) are hinged through hinges (3223), and adjacent two blades (3221) are hinged with the electric push rod (3222), and the telescopic end of the first hydraulic cylinder (321) is fixed with one blade (3221) located at the side.

4. The concrete finishing robot of claim 3, wherein, Adjacent two blades (3221) are connected with spring hooks (3224), and adjacent two blades (3221) in the folded state are mechanically locked through the spring hooks (3224).

5. A concrete finishing robot according to any one of claims 3-4, characterized in that, The lifting type spiral stirring mechanism (33) comprises: Second hydraulic cylinder (331), the cylinder of the second hydraulic cylinder (331) is fixed on the bottom end surface of the leveling head frame (31) and located at the rear side of the first hydraulic cylinder (321); Spiral mixer (332), the spiral mixer (332) is fixed on the telescopic end of the second hydraulic cylinder (331).

6. The concrete finishing robot of claim 5, wherein, The leveling vibration head (34) comprises: Leveling block (341), the leveling block (341) is fixed on the bottom end surface of the leveling head frame (31) and located at the rear side of the second hydraulic cylinder (331), and the leveling block (341) has a containing cavity inside; Vibrator (342), the vibrator (342) is arranged in the containing cavity.

7. The concrete finishing robot of claim 6, wherein, The bottom end surface of the leveling head frame (31) is provided with a first laser receiver (4) and a first controller (5), the first laser receiver (4) is used for receiving the laser signal emitted by the first laser transmitter arranged at the construction site and sending the signal to the first controller (5), and the first controller (5) controls the action of the mechanical arm (2), the first hydraulic cylinder (321), the second hydraulic cylinder (331), the vibrator (342), the spiral mixer (332) and the electric push rod (3222).

8. The concrete finishing robot of claim 5, wherein, The chassis (6) of the fuselage (1) is provided with spring damping auxiliary support wheels (7) and a plurality of slope self-adaptive multi-link wheel mechanisms (8), which are uniformly distributed on the outer circumferential side of the spring damping auxiliary support wheels (7), and each slope self-adaptive multi-link wheel mechanism (8) comprises: A lifting type adjustment main rod (81), the top end of the lifting type adjustment main rod (81) is hinged to the bottom end of the chassis (6); A main support wheel (82), a double-row tapered roller bearing (83) is sleeved on the wheel rod of the main support wheel (82), and the wheel rod is connected to the bottom end of the lifting type adjustment main rod (81) through a first steering joint (84); A wheel posture adjustment auxiliary rod (85), the wheel posture adjustment auxiliary rod (85) is symmetrically arranged on both sides of the lifting type adjustment main rod (81), the top end of each wheel posture adjustment auxiliary rod (85) is hinged to the bottom end of the chassis (6), and the bottom end of the wheel posture adjustment auxiliary rod (85) is fixed to the outer ring of the double-row tapered roller bearing (83); The spring damping auxiliary support wheel (7) comprises a hydraulic cylinder shock absorber (71), a spiral damping spring (72) and a sub support wheel (73), the cylinder barrel of the hydraulic cylinder shock absorber (71) is connected to the wheel rod of the sub support wheel (73) through a second steering joint (74), the piston rod of the hydraulic cylinder shock absorber (71) is connected to the bottom end of the chassis (6), the spiral damping spring (72) is sleeved outside the hydraulic cylinder shock absorber (71), one end of the spiral damping spring (72) is fixed to the bottom end of the chassis (6), and the other end is fixed to the outer wall of the cylinder barrel of the hydraulic cylinder shock absorber (71).

9. The concrete finishing robot of claim 8, wherein, The lifting type adjustment main rod (81) comprises: An upper main rod (811), the top end of the upper main rod (811) is hinged to the bottom end of the chassis (6); A third hydraulic cylinder (812), the cylinder barrel of the third hydraulic cylinder (812) is connected to the bottom end of the upper main rod (811); A lower main rod (813), the top end of the lower main rod (813) is connected to the telescopic end of the third hydraulic cylinder (812), and the bottom end of the lower main rod (813) is connected to the wheel rod of the main support wheel (82) through the first steering joint (84); The wheel posture adjustment sub-link (85) comprises an upper control link (851), a lower control link (852), and a second steering knuckle (853), the upper control link (851) is hingedly connected to the bottom end of the chassis (6), the bottom end of the upper control link (851) is connected to the top end of the lower control link (852) through the second steering knuckle (853), and the bottom end of the lower control link (852) is fixed to the outer ring of the double-row tapered roller bearing (83).

10. The concrete finishing robot of claim 9, wherein, The bottom end of the chassis (6) is provided with an inclination sensor (9), a second laser receiver (10), and a second controller (11), the third hydraulic cylinder (812), the inclination sensor (9), the second laser receiver (10), and the second controller (11) are electrically connected, the second laser receiver (10) is used for receiving a laser signal emitted by a second laser emitter arranged at a construction site and sending the signal to the second controller (11).

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